Diff: main.cpp

Revision:

0:bcd01ae054eb

Child:

1:66ff8f8e65f7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 04 18:46:43 2019 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "crc.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+Serial uart(PA_11, PA_12);
+DigitalOut RTS(D12);
+
+DigitalOut dbg(D2);
+DigitalOut flip(D3);
+
+volatile int rx_count = 0;
+uint8_t rx_buffer[100];
+
+void rxCallback() {
+    while (uart.readable()) {
+        rx_buffer[rx_count] = uart.getc();
+        rx_count++;
+    }
+}
+
+void write_get_position(uint8_t id) {
+    uint8_t tx_buffer[14];
+    rx_count = 0;    
+
+    tx_buffer[0] = 0xff;
+    tx_buffer[1] = 0xff;
+    tx_buffer[2] = 0xfd;
+    tx_buffer[3] = 0x00;
+    tx_buffer[4] = id; //ID
+    tx_buffer[5] = 0x07; //length
+    tx_buffer[6] = 0x00; //length2
+    tx_buffer[7] = 0x02; //read command
+    tx_buffer[8] = 0x84; //position identifier
+    tx_buffer[9] = 0x00;
+    tx_buffer[10] = 0x04; 
+    tx_buffer[11] = 0x00; 
+    uint16_t crc = update_crc(0, tx_buffer, 12);
+    tx_buffer[12] = crc & 0xff;
+    tx_buffer[13] = (crc >> 8) & 0xff;
+    
+    printf("0x%x 0x%x\n", tx_buffer[12], tx_buffer[13]);
+    
+    RTS = 1;
+    wait_us(100);
+    for (int i = 0; i < 14; i++) {
+        uart.putc(tx_buffer[i]);
+    }
+    wait_us(200);
+    RTS = 0;
+    
+    flip = 1;
+    while (rx_count < 15) {
+    }
+    flip = 0;
+    
+    for (int i = 0; i < 15; i++) {
+        pc.printf("0x%x ", rx_buffer[i]);
+    }
+    pc.printf("\n");
+}
+
+int main()
+{
+    pc.baud(115200);
+    uart.baud(115200);
+    uart.attach(rxCallback);
+    
+    pc.printf("Program is running!\n");
+    
+    for (;;) {
+        dbg = 1;
+        write_get_position(0x01);
+        dbg = 0;
+        wait(1);
+    }
+}