Simon Dziadon / Mbed 2 deprecated mbed_cz2_5_test

Finalny program mbed2

Dependencies:   LCD_DISCO_F429ZI mbed TS_DISCO_F429ZI BSP_DISCO_F429ZI

main.cpp@0:33ff53112cc9, 2020-06-09 (annotated)

Committer:
azmuth_sd
Date:
Tue Jun 09 08:24:40 2020 +0000
Revision:
0:33ff53112cc9
Ostatni program drugiej czesci mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
azmuth_sd 0:33ff53112cc9 1 #include "mbed.h"
azmuth_sd 0:33ff53112cc9 2 #include <string.h>
azmuth_sd 0:33ff53112cc9 3 #include "servo.h"
azmuth_sd 0:33ff53112cc9 4 #include "command_decoder.h"
azmuth_sd 0:33ff53112cc9 5
azmuth_sd 0:33ff53112cc9 6 DigitalOut led_green(LED1);
azmuth_sd 0:33ff53112cc9 7 DigitalOut led_red(LED2);
azmuth_sd 0:33ff53112cc9 8
azmuth_sd 0:33ff53112cc9 9 Serial uart(USBTX, USBRX);
azmuth_sd 0:33ff53112cc9 10
azmuth_sd 0:33ff53112cc9 11 Servo myServo;
azmuth_sd 0:33ff53112cc9 12 Ticker myTimer;
azmuth_sd 0:33ff53112cc9 13 Token myToken;
azmuth_sd 0:33ff53112cc9 14
azmuth_sd 0:33ff53112cc9 15 unsigned char UART_puts(char * pcString, unsigned char ucSize)
azmuth_sd 0:33ff53112cc9 16 {
azmuth_sd 0:33ff53112cc9 17 unsigned char ucLoopCounter;
azmuth_sd 0:33ff53112cc9 18 if( *(pcString + ucSize - 1) != NULL ) return 1;
azmuth_sd 0:33ff53112cc9 19 for(ucLoopCounter = 0; ucLoopCounter < (ucSize-1); ucLoopCounter++) {
azmuth_sd 0:33ff53112cc9 20 uart.putc(pcString[ucLoopCounter]);
azmuth_sd 0:33ff53112cc9 21 }
azmuth_sd 0:33ff53112cc9 22 uart.putc('\r');
azmuth_sd 0:33ff53112cc9 23 return 0;
azmuth_sd 0:33ff53112cc9 24 }
azmuth_sd 0:33ff53112cc9 25
azmuth_sd 0:33ff53112cc9 26 unsigned char UART_gets(char *pcDestString, unsigned char ucSize)
azmuth_sd 0:33ff53112cc9 27 {
azmuth_sd 0:33ff53112cc9 28 unsigned char ucLoopCounter;
azmuth_sd 0:33ff53112cc9 29 for(ucLoopCounter = 0; ucLoopCounter < (ucSize-1); ucLoopCounter++) {
azmuth_sd 0:33ff53112cc9 30 pcDestString[ucLoopCounter] = uart.getc();
azmuth_sd 0:33ff53112cc9 31 if(pcDestString[ucLoopCounter] == '\r') {
azmuth_sd 0:33ff53112cc9 32 pcDestString[ucLoopCounter] = NULL;
azmuth_sd 0:33ff53112cc9 33 return 0;
azmuth_sd 0:33ff53112cc9 34 }
azmuth_sd 0:33ff53112cc9 35 }
azmuth_sd 0:33ff53112cc9 36 return 1;
azmuth_sd 0:33ff53112cc9 37 }
azmuth_sd 0:33ff53112cc9 38
azmuth_sd 0:33ff53112cc9 39 void ServoUpdate (void){
azmuth_sd 0:33ff53112cc9 40 myServo.Automat();
azmuth_sd 0:33ff53112cc9 41 }
azmuth_sd 0:33ff53112cc9 42
azmuth_sd 0:33ff53112cc9 43 int main()
azmuth_sd 0:33ff53112cc9 44 {
azmuth_sd 0:33ff53112cc9 45 uart.baud(9600);
azmuth_sd 0:33ff53112cc9 46 char acUartBuffor[15];
azmuth_sd 0:33ff53112cc9 47
azmuth_sd 0:33ff53112cc9 48 myTimer.attach(&ServoUpdate, 0.2);
azmuth_sd 0:33ff53112cc9 49
azmuth_sd 0:33ff53112cc9 50 myServo.Callib();
azmuth_sd 0:33ff53112cc9 51
azmuth_sd 0:33ff53112cc9 52 while(1) {
azmuth_sd 0:33ff53112cc9 53
azmuth_sd 0:33ff53112cc9 54 if (uart.readable()){
azmuth_sd 0:33ff53112cc9 55 UART_gets(acUartBuffor,15);
azmuth_sd 0:33ff53112cc9 56 myToken.DecodeMsg(acUartBuffor);
azmuth_sd 0:33ff53112cc9 57
azmuth_sd 0:33ff53112cc9 58 if( (myToken.ucTokenNr != 0) && (KEYWORD == myToken.asToken[0].eType) )
azmuth_sd 0:33ff53112cc9 59 {
azmuth_sd 0:33ff53112cc9 60 switch(myToken.asToken[0].uValue.eKeyword)
azmuth_sd 0:33ff53112cc9 61 {
azmuth_sd 0:33ff53112cc9 62 case ID:
azmuth_sd 0:33ff53112cc9 63 UART_puts("ID 1234\n", 9);
azmuth_sd 0:33ff53112cc9 64 break;
azmuth_sd 0:33ff53112cc9 65
azmuth_sd 0:33ff53112cc9 66 case CALIB:
azmuth_sd 0:33ff53112cc9 67 myServo.Callib();
azmuth_sd 0:33ff53112cc9 68 UART_puts("ok\n", 4);
azmuth_sd 0:33ff53112cc9 69 break;
azmuth_sd 0:33ff53112cc9 70
azmuth_sd 0:33ff53112cc9 71 case GOTO:
azmuth_sd 0:33ff53112cc9 72 UART_puts("ok\n", 4);
azmuth_sd 0:33ff53112cc9 73 myServo.GoTo(myToken.asToken[1].uValue.uiNumber);
azmuth_sd 0:33ff53112cc9 74 break;
azmuth_sd 0:33ff53112cc9 75
azmuth_sd 0:33ff53112cc9 76 case STEP:
azmuth_sd 0:33ff53112cc9 77 UART_puts("ok\n", 4);
azmuth_sd 0:33ff53112cc9 78 myServo.StepRight(myToken.asToken[1].uValue.uiNumber);
azmuth_sd 0:33ff53112cc9 79 break;
azmuth_sd 0:33ff53112cc9 80 }
azmuth_sd 0:33ff53112cc9 81 }
azmuth_sd 0:33ff53112cc9 82 else if((myToken.ucTokenNr != 0)){
azmuth_sd 0:33ff53112cc9 83 UART_puts("unknowncommand\n", 16);
azmuth_sd 0:33ff53112cc9 84 }
azmuth_sd 0:33ff53112cc9 85
azmuth_sd 0:33ff53112cc9 86 }
azmuth_sd 0:33ff53112cc9 87
azmuth_sd 0:33ff53112cc9 88 }
azmuth_sd 0:33ff53112cc9 89 }