Revision 0:bcd01ae054eb, committed 2019-05-04

Comitter:

bwang

Date:

Sat May 04 18:46:43 2019 +0000

Commit message:

first commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/crc.cpp	Sat May 04 18:46:43 2019 +0000
@@ -0,0 +1,46 @@
+unsigned short update_crc(unsigned short crc_accum, unsigned char *data_blk_ptr, unsigned short data_blk_size)
+{
+    unsigned short i, j;
+    unsigned short crc_table[256] = {
+        0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+        0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
+        0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
+        0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
+        0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
+        0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
+        0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
+        0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+        0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
+        0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
+        0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
+        0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
+        0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
+        0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
+        0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+        0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
+        0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
+        0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
+        0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
+        0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
+        0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
+        0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+        0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
+        0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
+        0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
+        0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
+        0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
+        0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
+        0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+        0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
+        0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
+        0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
+    };
+
+    for(j = 0; j < data_blk_size; j++)
+    {
+        i = ((unsigned short)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF;
+        crc_accum = (crc_accum << 8) ^ crc_table[i];
+    }
+
+    return crc_accum;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/crc.h	Sat May 04 18:46:43 2019 +0000
@@ -0,0 +1,6 @@
+#ifndef __CRC_H
+#define __CRC_H
+
+unsigned short update_crc(unsigned short crc_accum, unsigned char *data_blk_ptr, unsigned short data_blk_size);
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 04 18:46:43 2019 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "crc.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+Serial uart(PA_11, PA_12);
+DigitalOut RTS(D12);
+
+DigitalOut dbg(D2);
+DigitalOut flip(D3);
+
+volatile int rx_count = 0;
+uint8_t rx_buffer[100];
+
+void rxCallback() {
+    while (uart.readable()) {
+        rx_buffer[rx_count] = uart.getc();
+        rx_count++;
+    }
+}
+
+void write_get_position(uint8_t id) {
+    uint8_t tx_buffer[14];
+    rx_count = 0;    
+
+    tx_buffer[0] = 0xff;
+    tx_buffer[1] = 0xff;
+    tx_buffer[2] = 0xfd;
+    tx_buffer[3] = 0x00;
+    tx_buffer[4] = id; //ID
+    tx_buffer[5] = 0x07; //length
+    tx_buffer[6] = 0x00; //length2
+    tx_buffer[7] = 0x02; //read command
+    tx_buffer[8] = 0x84; //position identifier
+    tx_buffer[9] = 0x00;
+    tx_buffer[10] = 0x04; 
+    tx_buffer[11] = 0x00; 
+    uint16_t crc = update_crc(0, tx_buffer, 12);
+    tx_buffer[12] = crc & 0xff;
+    tx_buffer[13] = (crc >> 8) & 0xff;
+    
+    printf("0x%x 0x%x\n", tx_buffer[12], tx_buffer[13]);
+    
+    RTS = 1;
+    wait_us(100);
+    for (int i = 0; i < 14; i++) {
+        uart.putc(tx_buffer[i]);
+    }
+    wait_us(200);
+    RTS = 0;
+    
+    flip = 1;
+    while (rx_count < 15) {
+    }
+    flip = 0;
+    
+    for (int i = 0; i < 15; i++) {
+        pc.printf("0x%x ", rx_buffer[i]);
+    }
+    pc.printf("\n");
+}
+
+int main()
+{
+    pc.baud(115200);
+    uart.baud(115200);
+    uart.attach(rxCallback);
+    
+    pc.printf("Program is running!\n");
+    
+    for (;;) {
+        dbg = 1;
+        write_get_position(0x01);
+        dbg = 0;
+        wait(1);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat May 04 18:46:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file