Andrew Olguin / Mbed 2 deprecated Nucleo_serial_interrupt

Serial interrupt and parsing

Dependencies:   mbed

main.cpp@0:d33d2745b11b, 2016-07-24 (annotated)

Committer:
aolgu003
Date:
Sun Jul 24 23:58:30 2016 +0000
Revision:
0:d33d2745b11b
Serial interrupt and parsing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aolgu003 0:d33d2745b11b 1 #include "mbed.h"
aolgu003 0:d33d2745b11b 2 #include <string>
aolgu003 0:d33d2745b11b 3 #include <vector>
aolgu003 0:d33d2745b11b 4 // Need to create sensor library to handle all the sensor readings
aolgu003 0:d33d2745b11b 5
aolgu003 0:d33d2745b11b 6 DigitalOut led1(LED1);
aolgu003 0:d33d2745b11b 7 DigitalOut led2(LED2);
aolgu003 0:d33d2745b11b 8
aolgu003 0:d33d2745b11b 9 Serial pc(USBTX, USBRX);
aolgu003 0:d33d2745b11b 10
aolgu003 0:d33d2745b11b 11 typedef struct {
aolgu003 0:d33d2745b11b 12 string direction; //Forward or Downward facing gives context for the values of x and y
aolgu003 0:d33d2745b11b 13 float x;
aolgu003 0:d33d2745b11b 14 float y;
aolgu003 0:d33d2745b11b 15 float yaw;
aolgu003 0:d33d2745b11b 16 float depth;
aolgu003 0:d33d2745b11b 17 } message;
aolgu003 0:d33d2745b11b 18
aolgu003 0:d33d2745b11b 19 typedef struct {
aolgu003 0:d33d2745b11b 20 float w_yaw;
aolgu003 0:d33d2745b11b 21 float w_pitch;
aolgu003 0:d33d2745b11b 22 float w_roll;
aolgu003 0:d33d2745b11b 23 float yaw;
aolgu003 0:d33d2745b11b 24 float pitch;
aolgu003 0:d33d2745b11b 25 float roll;
aolgu003 0:d33d2745b11b 26 } orientation;
aolgu003 0:d33d2745b11b 27
aolgu003 0:d33d2745b11b 28 typedef struct {
aolgu003 0:d33d2745b11b 29 float depth; //From pressure sensor
aolgu003 0:d33d2745b11b 30 float velsurge; //from flow meter
aolgu003 0:d33d2745b11b 31 float accelsurge; //forward
aolgu003 0:d33d2745b11b 32 float accelsway; //side to side
aolgu003 0:d33d2745b11b 33 float accelheave; //downwards
aolgu003 0:d33d2745b11b 34 } translation;
aolgu003 0:d33d2745b11b 35
aolgu003 0:d33d2745b11b 36
aolgu003 0:d33d2745b11b 37 orientation vehicle_att;
aolgu003 0:d33d2745b11b 38 translation vehicle_trans;
aolgu003 0:d33d2745b11b 39 message vehicle_cmd;
aolgu003 0:d33d2745b11b 40
aolgu003 0:d33d2745b11b 41 #define BUFFER_SIZE 255
aolgu003 0:d33d2745b11b 42
aolgu003 0:d33d2745b11b 43 char buffer[BUFFER_SIZE] = {' '};
aolgu003 0:d33d2745b11b 44 int buffer_iter = 0;
aolgu003 0:d33d2745b11b 45
aolgu003 0:d33d2745b11b 46 void callback() {
aolgu003 0:d33d2745b11b 47 char c = 0;
aolgu003 0:d33d2745b11b 48 string packet;
aolgu003 0:d33d2745b11b 49 string command;
aolgu003 0:d33d2745b11b 50 float x, y, yaw, depth;
aolgu003 0:d33d2745b11b 51
aolgu003 0:d33d2745b11b 52 // Note: you need to actually read from the serial to clear the RX interrupt
aolgu003 0:d33d2745b11b 53 if (pc.readable()) {
aolgu003 0:d33d2745b11b 54 do {
aolgu003 0:d33d2745b11b 55 c = pc.getc();
aolgu003 0:d33d2745b11b 56 buffer[buffer_iter] = c;
aolgu003 0:d33d2745b11b 57 buffer_iter++;
aolgu003 0:d33d2745b11b 58 }
aolgu003 0:d33d2745b11b 59 while (buffer_iter < BUFFER_SIZE && c != '\n');
aolgu003 0:d33d2745b11b 60
aolgu003 0:d33d2745b11b 61 command = strtok (buffer," ,\n");
aolgu003 0:d33d2745b11b 62 x = atof(strtok (NULL, " ,\n"));
aolgu003 0:d33d2745b11b 63 y = atof(strtok (NULL, " ,\n"));
aolgu003 0:d33d2745b11b 64 yaw = atof(strtok (NULL, " ,\n"));
aolgu003 0:d33d2745b11b 65 depth = atof(strtok (NULL, " ,\n"));
aolgu003 0:d33d2745b11b 66 pc.printf("Received Command: %s, X: %f, Y: %f, Yaw: %f, Depth: %f\n", command, x, y, yaw);
aolgu003 0:d33d2745b11b 67
aolgu003 0:d33d2745b11b 68 memset(buffer, ' ', sizeof(buffer));
aolgu003 0:d33d2745b11b 69 buffer_iter = 0;
aolgu003 0:d33d2745b11b 70 fflush(stdout);
aolgu003 0:d33d2745b11b 71
aolgu003 0:d33d2745b11b 72 vehicle_cmd.direction = command;
aolgu003 0:d33d2745b11b 73 vehicle_cmd.x = x;
aolgu003 0:d33d2745b11b 74 vehicle_cmd.y = y;
aolgu003 0:d33d2745b11b 75 vehicle_cmd.yaw = yaw;
aolgu003 0:d33d2745b11b 76 vehicle_cmd.depth = depth;
aolgu003 0:d33d2745b11b 77 }
aolgu003 0:d33d2745b11b 78 }
aolgu003 0:d33d2745b11b 79
aolgu003 0:d33d2745b11b 80
aolgu003 0:d33d2745b11b 81 int main() {
aolgu003 0:d33d2745b11b 82 pc.attach(&callback);
aolgu003 0:d33d2745b11b 83
aolgu003 0:d33d2745b11b 84 while (1) {
aolgu003 0:d33d2745b11b 85 led1 = !led1;
aolgu003 0:d33d2745b11b 86 pc.printf("Current Command: %s, X: %f, Y: %f, Yaw: %f, Depth: %f\n", vehicle_cmd.direction, vehicle_cmd.x, vehicle_cmd.y,
aolgu003 0:d33d2745b11b 87 vehicle_cmd.yaw, vehicle_cmd.depth);
aolgu003 0:d33d2745b11b 88 wait_ms(500);
aolgu003 0:d33d2745b11b 89 }
aolgu003 0:d33d2745b11b 90 }