Diff: uart_comm_thread.cpp

Revision:

11:d43f8b421d6d

Parent:

8:49ac75c42da0

Child:

15:9f32f64eee5b

--- a/uart_comm_thread.cpp	Wed Apr 28 08:26:37 2021 +0000
+++ b/uart_comm_thread.cpp	Wed Apr 28 12:51:02 2021 +0000
@@ -80,8 +80,6 @@
 
 // #### destructor
 uart_comm_thread::~uart_comm_thread() {
-    
-    
 }
 
 // #### request data from device
@@ -113,38 +111,38 @@
 		switch(send_state)
 			{
 			case 101:
-				send_f_data(101,12,2*4,data.sens_phi);		// done in every 2nd cycle!
-				send_f_data(101,34,2*4,data.est_xy);		// done in every 2nd cycle!
-				send_state = 121;
+				send_f_data(101,12,2*4,data.sens_phi);		// send actual phi values (1 and 2)
+				send_f_data(101,34,2*4,data.est_xy);		// send actual xy values 
+				send_state = 202;
 				break;	
-			case 121:
-				send_data(121,34,2*2,mk.inc_additional_offset);		// done in every 2nd cycle!
+			case 121:		// currently omitted
+				send_data(121,34,2*2,mk.inc_additional_offset);	
 				send_state = 202;
 				break;
-			case 202:
-				send_f_data(202,12,2*4,data.cntrl_phi_des);		// done in every 2nd cycle!
-				send_state = 125;
-				break;
-			case 125:
-				send_data(125,1,data.num_it);		// done in every 2nd cycle!
+			case 202:		// desired phi
+				send_f_data(202,12,2*4,data.cntrl_phi_des);
 				send_state = 250;
 				break;
-			case 250:
+			case 125:		// number of iterations in the trafo
+				send_data(125,1,data.num_it);		
+				send_state = 250;
+				break;
+			case 250:		// send GPA values
 				if(myGPA.new_data_available)
 					{
 					float dum[8];
 					myGPA.getGPAdata(dum);
-					send_f_data(250,1,(uint16_t)32,dum);
+					send_f_data(250,1,(uint16_t)32,dum);	// send new values (8 floats)
 					}
 				else if(myGPA.start_now)
 					{
-					send_char_data(250,2,0);	
+					send_char_data(250,2,0);			// send start flag
 					myGPA.start_now = false;
 					gpa_stop_sent  = false;
 					}
 				else if(myGPA.meas_is_finished && !gpa_stop_sent && !myGPA.new_data_available)
 					{
-                    send_char_data(250,255,1);
+                    send_char_data(250,255,1);		// send stop flag
 					gpa_stop_sent = true;
 					}
 				send_state = 101;
@@ -164,15 +162,9 @@
 		
 		thread.start(callback(this, &uart_comm_thread::run));
 		ticker.attach(callback(this, &uart_comm_thread::sendThreadFlag), Ts);
-	
-    //    thread.start(callback(this, &uart_comm_thread::run));
-    //    ticker.attach(callback(this, &uart_comm_thread::sendSignal), Ts);
-        printf("UART Thread started\r\n");
-
 }
 // this is for realtime OS
 void uart_comm_thread::sendThreadFlag() {
-    
     thread.flags_set(threadFlag);
 }
 
@@ -187,8 +179,8 @@
 	char *float_data = (char *)dat;
 	uart->write(float_data,N);
 	uart->write("\r",2);		// line end
-	//mutex.unlock();
 }
+// send uint16 data
 void uart_comm_thread::send_data(char id1,char id2,uint16_t N,int16_t *dat)
 {	
 	buffer[0]=254;buffer[1]=1;buffer[2]=255;	// standard pattern
@@ -199,8 +191,8 @@
 	char *int_data = (char *)dat;
 	uart->write(int_data,N);
 	uart->write("\r",2);		// line end
-	//mutex.unlock();
 }
+// send one uint16 data
 void uart_comm_thread::send_data(char id1,char id2,int16_t dat)
 {	
 	buffer[0]=254;buffer[1]=1;buffer[2]=255;	// standard pattern
@@ -212,8 +204,8 @@
 	char *int_data = (char *)dat;
 	uart->write(int_data,2);
 	uart->write("\r",2);		// line end
-	//mutex.unlock();
 }
+// send text
 void uart_comm_thread::send_char_data(char id1,char id2,uint8_t dat)
 {	
 	buffer[0]=254;buffer[1]=1;buffer[2]=255;	// standard pattern
@@ -225,42 +217,38 @@
 	char int8_data = (char)dat;
 	uart->write(&int8_data,1);
 	uart->write("\r",2);		// line end
-	//mutex.unlock();
 }
 void uart_comm_thread::send_text(const char *txt)
 {	
 	uint16_t N=0;
-   	while(txt[N] != '\0')
+   	while(txt[N] != '\0')		// get length of text
      	N++;
 	buffer[0]=254;buffer[1]=1;buffer[2]=255;	// standard pattern
 	buffer[3] = 241;
 	buffer[4] = 1;
 	buffer[5] = *(char *)N;
 	uart->write(buffer, 7);
-//	char int8_data = 66;
-//	uart->write(&int8_data,1);
-
 	uart->write(txt,N);
 	uart->write("\r",2);		// line end
-	//mutex.unlock();
 }
-
+// -----------------------------------------------------------------------------
+// analyse data, see comments at top of this file for numbering
 bool uart_comm_thread::analyse_received_data(void){
 	char msg_id1 = buffer[3];
 	char msg_id2 = buffer[4];
 	uint16_t N = 256 * buffer[6] + buffer[5];
 	switch(msg_id1)
 		{
-		case 201:
+		case 201:   // add additional offsets to offsets
 			if(N != 2)
 				return false;
 			switch(msg_id2)
 				{
-				case 1:
+				case 1:			// for phi1
 					mk.add_additional_offsets(256 * buffer[8] + buffer[7],0);
 					return true;
 					break;
-				case 2:
+				case 2:			// for phi2
 					mk.add_additional_offsets(0,256 * buffer[8] + buffer[7]);
 					return true;
 					break;
@@ -268,7 +256,7 @@
 					break;
 				}
 			break;		// case 201
-		case 202:
+		case 202:				// set desired phi or xy-values
 			if(N != 4)
 				return false;
 			switch(msg_id2)
@@ -282,7 +270,7 @@
 					return true;
 					break;
 				case 3:
-					data.cntrl_xy_des[1] = 	*(float *)&buffer[7];
+					data.cntrl_xy_des[0] = 	*(float *)&buffer[7];
 					return true;
 					break;
 				case 4:
@@ -293,7 +281,7 @@
 					break;
 				}
 			break;		// case 202
-		case 203:
+		case 203: 		// increment desired values
 			if(N != 4)
 				return false;
 			switch(msg_id2)
@@ -307,7 +295,7 @@
 					return true;
 					break;
 				case 3:
-					data.cntrl_xy_des[1] += 	*(float *)&buffer[7];
+					data.cntrl_xy_des[0] += 	*(float *)&buffer[7];
 					return true;
 					break;
 				case 4:
@@ -318,7 +306,7 @@
 					break;
 				}
 			break;		// case 203
-		case 220:
+		case 220:				// switch laser on/off
 			if(N != 1)
 				return false;
 			switch(msg_id2)
@@ -332,7 +320,7 @@
 					break;
 				}
 			break;
-		case 221:
+		case 221:				// switch trafo on/off
 			if(N != 1)
 				return false;
 			switch(msg_id2)
@@ -346,7 +334,7 @@
 					break;
 				}
 			break;
-		case 230:
+		case 230:				// set internal/external control
 			if(N != 1)
 				return false;
 			switch(msg_id2)