Revision 5:5fd053d79f06, committed 2018-06-22

Comitter:

adaphoto

Date:

Fri Jun 22 08:14:55 2018 +0000

Parent:

4:5ac470115649

Commit message:

??Nucleo F411RE??????????????????

Changed in this revision

diff -r 5ac470115649 -r 5fd053d79f06 main.cpp
--- a/main.cpp	Sun Apr 08 14:49:52 2018 +0000
+++ b/main.cpp	Fri Jun 22 08:14:55 2018 +0000
@@ -3,9 +3,24 @@
 Serial pc(SERIAL_TX, SERIAL_RX);
 DigitalOut led01(LED1);
 
+// 光流传感器接口,串口,波特率115200,每一帧数据20个byte
+// IO口定义
+Serial Optical_Flow(PA_15,PB_7);
+// 变量
+char *get_Optical_Flow_Cmd();
+// 数据处理函数
+void Optical_Flow_Process_Cmd(char *cmd);
+// 线程实现函数
+void Optical_Flow_Call_Back();
+// 线程
+Thread Optical_Flow_Thread;
+
+
+
+
 int i;          // for cycles
-    char cmd_on[] = "on";
-    char cmd_off[] = "off"; 
+char cmd_on[] = "on";
+char cmd_off[] = "off"; 
     
 char *getCmd();
 void processCmd(char *cmd);
@@ -24,6 +39,19 @@
         }   
     }    
 }
+////////////////////////////////////////////////////////////////////////////////
+void Optical_Flow_Call_Back()
+{
+    while(true)
+    {
+        if (Optical_Flow.readable()) // if there is an character to read from the device
+        {
+            char *SerialCommand = get_Optical_Flow_Cmd();
+            Optical_Flow_Process_Cmd(SerialCommand);
+            free(SerialCommand);
+        }
+    }
+}
  ///////////////////////////////////////////////////////////////////////////////
 char *getCmd()
 {
@@ -59,6 +87,40 @@
     }  
     return NULL;  
 }
+
+char *get_Optical_Flow_Cmd()
+{
+    char buff[128];
+    unsigned char ch;
+    int buffIndex = 0;
+    memset(buff, 0, sizeof(buff));          // clean the buffer
+    
+    char *cmd = (char*)malloc(128);
+    if (!cmd)
+        return NULL;
+    do 
+    {
+        ch = Optical_Flow.getc();           // read it
+        if (buffIndex < 128){               // just to avoid buffer overflow
+            buff[buffIndex] = ch;           // put it into the value array and increment the index
+            buffIndex++;
+        }
+     }
+     while (ch != '\r' && ch != '\n' );
+     buff[buffIndex]='\0';                  // add the end-signalling char
+    
+    if(strlen(buff) != 0){
+        
+        for (i = 0 ; i < sizeof(buff) ; i++){
+            if (buff[i] == '\r' || buff[i] == '\n'){
+                cmd[i] = '\0';
+                return cmd;
+            }
+            cmd[i] = buff[i];                
+        }
+    }  
+    return NULL;
+}
  ///////////////////////////////////////////////////////////////////////////////
 void processCmd(char *cmd)
 {
@@ -73,18 +135,31 @@
     }
 }
 
+void Optical_Flow_Process_Cmd(char *cmd)
+{
+    int8_t Delta_X,Delta_Y,Delta_Z;
+    
+    Delta_X = (int8_t)(cmd[6]);
+    Delta_Y = (int8_t)(cmd[7]);
+    Delta_Z = (int8_t)(cmd[5]);
+    //pc.printf("rec: \"%s\"\n\r", cmd);
+    pc.printf("\r\n X:%d, Y:%d, Z:%d",Delta_X,Delta_Y,cmd[5]);
+}
 ///////////////////////////////////////////////////////////////////////////////
 int main() 
 {
-    t1.start(tSerial_body);
-
-    led01 = 1;
+    pc.baud(115200);
+    Optical_Flow.baud(115200);
+    //t1.start(tSerial_body);
+    Optical_Flow_Thread.start(Optical_Flow_Call_Back);
+    pc.printf("\r\n Optical Flow Test \r\n");
+    //led01 = 1;
     
-    pc.printf("\n\r App started______Banik pyco\n\r");
-    int counter = 1;
+    //pc.printf("\n\r App started______Banik pyco\n\r");
+    //int counter = 1;
     while(1)
     {   
-        pc.printf("seconds: %d\n\r", counter++);
+        //pc.printf("seconds: %d\n\r", counter++);
         wait(1);
     }
 }
\ No newline at end of file