Ruprecht Altenburger / Mbed OS mirror_actuator_V1

Mirror actuator for RT2 lab

Dependencies:   FastPWM

uart_comm_thread.h@7:942fd77d5e19, 2021-04-15 (annotated)

Committer:
altb2
Date:
Thu Apr 15 05:36:55 2021 +0000
Revision:
7:942fd77d5e19
Child:
8:49ac75c42da0
intermediate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 7:942fd77d5e19 1 #ifndef UART_COMM_THREAD_H_
altb2 7:942fd77d5e19 2 #define UART_COMM_THREAD_H_
altb2 7:942fd77d5e19 3
altb2 7:942fd77d5e19 4 #include "mbed.h"
altb2 7:942fd77d5e19 5 #include "ThreadFlag.h"
altb2 7:942fd77d5e19 6 #include "data_structs.h"
altb2 7:942fd77d5e19 7 #include "data_structs.h"
altb2 7:942fd77d5e19 8 #include "Mirror_Kinematic.h"
altb2 7:942fd77d5e19 9
altb2 7:942fd77d5e19 10 using namespace std;
altb2 7:942fd77d5e19 11
altb2 7:942fd77d5e19 12 extern DATA_Xchange data;
altb2 7:942fd77d5e19 13 extern Mirror_Kinematic mk;
altb2 7:942fd77d5e19 14
altb2 7:942fd77d5e19 15 // "protocol" specifics
altb2 7:942fd77d5e19 16
altb2 7:942fd77d5e19 17 #define BUF_LEN 20 // max 256
altb2 7:942fd77d5e19 18 #define DATA_LEN 20 // max 256
altb2 7:942fd77d5e19 19
altb2 7:942fd77d5e19 20 // states
altb2 7:942fd77d5e19 21 #define IDLE 0
altb2 7:942fd77d5e19 22 #define WAIT 1
altb2 7:942fd77d5e19 23 #define RECEIVE 2
altb2 7:942fd77d5e19 24 #define DONE 3
altb2 7:942fd77d5e19 25
altb2 7:942fd77d5e19 26 #define LEN_OF_EXP_TYPE2 1 // length in bytes of expected Type
altb2 7:942fd77d5e19 27 #define NUM_OF_VALUE 7 // number of expected values
altb2 7:942fd77d5e19 28 #define EXPECTED2 LEN_OF_EXP_TYPE2 * NUM_OF_VALUE // byte per Value * expected values = total expected bytes
altb2 7:942fd77d5e19 29
altb2 7:942fd77d5e19 30 extern Mirror_Kinematic mc;
altb2 7:942fd77d5e19 31
altb2 7:942fd77d5e19 32 // predefiniton for callback (couldn't implement as member)
altb2 7:942fd77d5e19 33
altb2 7:942fd77d5e19 34 class uart_comm_thread{
altb2 7:942fd77d5e19 35 public:
altb2 7:942fd77d5e19 36 // public members
altb2 7:942fd77d5e19 37 uart_comm_thread(BufferedSerial*,float);
altb2 7:942fd77d5e19 38 virtual ~uart_comm_thread();
altb2 7:942fd77d5e19 39 void run(void); // runs the statemachine, call this function periodicly, returns true when new data ready (only true for 1 cycle)
altb2 7:942fd77d5e19 40 // void request(); // request new set of data
altb2 7:942fd77d5e19 41 void start_uart(void);
altb2 7:942fd77d5e19 42
altb2 7:942fd77d5e19 43 // public vars
altb2 7:942fd77d5e19 44 // public vars
altb2 7:942fd77d5e19 45 const uint8_t N = DATA_LEN;
altb2 7:942fd77d5e19 46
altb2 7:942fd77d5e19 47 uint16_t head[6];
altb2 7:942fd77d5e19 48 float f_values[20];
altb2 7:942fd77d5e19 49 uint8_t checksum;
altb2 7:942fd77d5e19 50 uint8_t buffer[80]; // RX buffer
altb2 7:942fd77d5e19 51 uint8_t buffCnt; // max 255
altb2 7:942fd77d5e19 52 uint8_t expected;
altb2 7:942fd77d5e19 53 uint8_t num_floats;
altb2 7:942fd77d5e19 54 uint8_t k_write;
altb2 7:942fd77d5e19 55
altb2 7:942fd77d5e19 56 private:
altb2 7:942fd77d5e19 57
altb2 7:942fd77d5e19 58 // private members
altb2 7:942fd77d5e19 59 void sendCmd(char); // sends comand to device
altb2 7:942fd77d5e19 60 void callBack(); // ISR for storing serial bytes
altb2 7:942fd77d5e19 61 void callBack_2(); // ISR for storing serial bytes
altb2 7:942fd77d5e19 62 void init(); // re initializes the buffers and the statemachine
altb2 7:942fd77d5e19 63 float Ts;
altb2 7:942fd77d5e19 64 EventQueue printfQueue;
altb2 7:942fd77d5e19 65 bool analyse_received_data(void);
altb2 7:942fd77d5e19 66
altb2 7:942fd77d5e19 67 // -------------------
altb2 7:942fd77d5e19 68 // uint8_t buffer[BUF_LEN]; // RX buffer
altb2 7:942fd77d5e19 69 // uint8_t buffCnt; // max 255
altb2 7:942fd77d5e19 70 uint8_t state; // statemachine state variable
altb2 7:942fd77d5e19 71 BufferedSerial* uart; // pointer to uart for communication with device
altb2 7:942fd77d5e19 72 ThreadFlag threadFlag;
altb2 7:942fd77d5e19 73 Thread thread;
altb2 7:942fd77d5e19 74 Ticker ticker;
altb2 7:942fd77d5e19 75 Mutex mutex;
altb2 7:942fd77d5e19 76 void sendThreadFlag();
altb2 7:942fd77d5e19 77 void send_data(char,char,uint16_t,float*);
altb2 7:942fd77d5e19 78 void send_data(char,char,uint16_t,int16_t*);
altb2 7:942fd77d5e19 79 void send_data(char,char,int16_t);
altb2 7:942fd77d5e19 80 void send_data(char,char,uint8_t);
altb2 7:942fd77d5e19 81 };
altb2 7:942fd77d5e19 82
altb2 7:942fd77d5e19 83 #endif
altb2 7:942fd77d5e19 84
altb2 7:942fd77d5e19 85