Diff: uart_comm_thread.h

Revision:

7:942fd77d5e19

Child:

8:49ac75c42da0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart_comm_thread.h	Thu Apr 15 05:36:55 2021 +0000
@@ -0,0 +1,85 @@
+#ifndef UART_COMM_THREAD_H_
+#define UART_COMM_THREAD_H_
+
+#include "mbed.h"
+#include "ThreadFlag.h"
+#include "data_structs.h"
+#include "data_structs.h"
+#include "Mirror_Kinematic.h"
+
+using namespace std;
+
+extern DATA_Xchange data;
+extern Mirror_Kinematic mk;
+
+// "protocol" specifics
+
+#define BUF_LEN      	20  // max 256
+#define DATA_LEN      	20  // max 256
+
+// states
+#define IDLE    0
+#define WAIT    1
+#define RECEIVE 2
+#define DONE    3
+
+#define LEN_OF_EXP_TYPE2 1   // length in bytes of expected Type
+#define NUM_OF_VALUE    7   // number of expected values
+#define EXPECTED2        LEN_OF_EXP_TYPE2 * NUM_OF_VALUE  // byte per Value * expected values = total expected bytes
+
+extern Mirror_Kinematic mc;
+
+// predefiniton for callback (couldn't implement as member)
+
+class uart_comm_thread{
+public:
+// public members
+    uart_comm_thread(BufferedSerial*,float);
+    virtual ~uart_comm_thread();
+    void run(void);             // runs the statemachine, call this function periodicly, returns true when new data ready (only true for 1 cycle)
+   // void request();         // request new set of data
+    void start_uart(void);
+
+    // public vars
+    // public vars
+	const uint8_t N = DATA_LEN;
+
+	uint16_t 	head[6];
+	float 		f_values[20];
+	uint8_t 	checksum;
+	uint8_t 	buffer[80];     // RX buffer
+	uint8_t buffCnt;            // max 255
+	uint8_t expected;
+	uint8_t num_floats;
+	uint8_t k_write;
+
+private:
+
+    // private members 
+    void sendCmd(char);     // sends comand to device
+    void callBack();        // ISR for storing serial bytes
+    void callBack_2();        // ISR for storing serial bytes
+    void init();            // re initializes the buffers and the statemachine
+    float Ts;
+    EventQueue printfQueue;
+    bool analyse_received_data(void);
+    
+// -------------------
+//	uint8_t buffer[BUF_LEN];     // RX buffer
+//	uint8_t buffCnt;            // max 255
+	uint8_t state;              // statemachine state variable
+	BufferedSerial* uart;   // pointer to uart for communication with device
+    ThreadFlag              threadFlag;
+    Thread                  thread;
+    Ticker                  ticker;
+    Mutex mutex;
+	void sendThreadFlag();
+	void send_data(char,char,uint16_t,float*);
+	void send_data(char,char,uint16_t,int16_t*);
+	void send_data(char,char,int16_t);
+	void send_data(char,char,uint8_t);
+};
+
+#endif
+
+