Revision 7:853fc58d8624, committed 2018-04-17

Comitter:

WeberYang

Date:

Tue Apr 17 06:15:36 2018 +0000

Branch:

RS485_DeltaSevro

Parent:

6:ec210c04bec9

Commit message:

change to get 0x0066(encoder rev)

Changed in this revision

--- a/main.cpp	Tue Apr 17 03:35:44 2018 +0000
+++ b/main.cpp	Tue Apr 17 06:15:36 2018 +0000
@@ -8,7 +8,6 @@
 Serial rs485(PA_9,PA_10);//,115200);//(p9,p10);
 Serial pc(USBTX,USBRX);
 DigitalOut Receiver(D7);//(p5);
-
   
 float cnv;
  
@@ -16,15 +15,16 @@
 void setAddress(char MotorAddress,int16_t DataAddress,int16_t Data);
 
 #define LENG 31   //0x42 + 31 bytes equal to 32 bytes
+#define APR 0x0066  //0066H means encoder abs rev
 unsigned char buffer[LENG];
 //attributes - program variables
 char stringOverSerialBuffer[41];    // buffer to store received string over pc
 int newCommandFlag = 0;             // flag for ISR
 int len;
-
+int a,b;
 char data[BUFFER];
 char num[16];
-
+int dataH,datanum;
 char recChar=0;
 char recArr[20];
 int index=0;
@@ -54,6 +54,16 @@
     }
     return wCrc;
 }
+int str2int(const char* str, int star, int end)
+{
+    int i;
+    int ret = 0;
+    for (i = star; i < end+1; i++)
+    {
+        ret = ret *10 + (str[i] - '0');
+    }
+    return ret;     
+}
 // functions
 void flushSerialBuffer() { 
     while (rs485.readable()) { 
@@ -62,16 +72,41 @@
 }
 void readData() 
 {
-    recChar = rs485.getc();
-    recArr[index] = recChar;
-    index++;
-    if ((recChar == '\r') || (index>=19)) {
-        
-        recArr[index] = 0;
-        index = 0;
-        pc.printf("%s\r\n", recArr);  
-        flushSerialBuffer();
-        recFlag = true;
+    while (rs485.readable()) 
+    {
+        recChar = rs485.getc();
+        recArr[index] = recChar;
+        index++;
+        if ((recChar == '\r') || (index>18)) 
+        {
+            datanum = str2int(recArr,1,2);
+            if (datanum == 1)
+            {
+                dataH = str2int(recArr,7,10);
+                pc.printf("M1 = %d\r\n",dataH);
+            }
+            else
+            {
+                pc.printf("M1 = no data\r\n");
+            }
+            
+            if (datanum == 2)
+            {
+                dataH = str2int(recArr,7,10);
+                pc.printf("M2 = %d\r\n",dataH);
+            }
+            else
+            {
+                pc.printf("M2 = no data\r\n");
+            }
+                    
+            recArr[index] = 0;
+            index = 0;
+            //pc.printf("%s\r\n", recArr);  
+
+            flushSerialBuffer();
+            recFlag = true;
+        }
     }
 }
 
@@ -107,10 +142,11 @@
     }
     wait_ms(1);
     Receiver = 0;
-    //RS485.attach(&onInterrupt,Serial::RxIrq);
-    //===========================================
+    wait_ms(10);        //give 10ms let receive complete.
 }  
 int i;
+bool timeout=false;
+int WDindex = 0;
 int main()
 {
     rs485.baud(38400);
@@ -121,10 +157,22 @@
     while(1)
     {
         recFlag = false;
-        setAddress(1,0x0214,0x0001);
-        while (recFlag == false) 
-        {
-            wait_ms(1);
-        }
+//        setAddress(1,0x0214,0x0001);
+//        setAddress(2,0x0214,0x0001);        
+        setAddress(1,APR,0x0001);
+        setAddress(2,APR,0x0001);
+//        while (recFlag == false || timeout == false) 
+//        {
+//            if(WDindex<100)
+//            {
+//                WDindex++;
+//                wait_ms(1);
+//            }
+//            else
+//            {
+//                WDindex = 0;
+//                timeout = true;
+//            }
+//        }
     }
 }
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