main.cpp

00001 #include "mbed.h"
00002 //#include "mbed_events.h"
00003 #include "rtos.h"
00004 #include "BufferedSerial.h"
00005 #include "Parameters.h"
00006 
00007 
00008 //------------------------------------
00009 // Hyperterminal configuration
00010 // 9600 bauds, 8-bit data, no parity
00011 //------------------------------------
00012 
00013 Serial pc(SERIAL_TX, SERIAL_RX);
00014 BufferedSerial esp(D1,D0);
00015 
00016 DigitalOut myled(LED1);
00017 DigitalOut led2(LED2);
00018 
00019 //PwmOut servoPwm(D9);
00020 
00021 //EventQueue queue(3 * EVENTS_EVENT_SIZE);
00022 Thread event_queue_thread;
00023 
00024 
00025 Thread esp_read_thread;
00026 void read_esp();
00027 void check_serial1();
00028 
00029 Thread control_and_actuate_thread;
00030 void control_and_actuate();
00031 
00032 
00033 
00034 
00035 int main()
00036 {
00037     esp.baud(115200);
00038     wait(0.1);
00039     esp_read_thread.start(control_and_actuate);
00040     wait(0.1);
00041     control_and_actuate_thread.start(control_and_actuate);
00042     wait(0.1);
00043     wait(0.1);
00044     wait(1);
00045 
00046     int i = 1;
00047     while(1) {
00048         wait(1);
00049         char tmp = 't';
00050         pc.printf("Main loop, %d , %c \r\n", i++, tmp);
00051         esp.printf("test\n");
00052         myled = !myled;
00053     }
00054 }
00055 
00056 void control_and_actuate()
00057 {
00058     //servoPwm.period(0.015f);
00059     //servoPwm.pulsewidth(0.0015f);
00060 
00061     while(1)
00062     {
00063 
00064     }
00065 }
00066 
00067 void read_esp()
00068 {
00069     while(1)
00070     {
00071         //check_serial1();
00072     }
00073 }
00074 
00075 void check_serial1()
00076 {
00077     char c;
00078     static char param[20] = {""};
00079     static char value[10] = {""};
00080     static uint8_t value_index = 0;
00081     static uint8_t param_index = 0;
00082     static int count = 0;
00083     static enum State {READ_PARAM,READ_VALUE,SEARCH} state;
00084     while (esp.readable()) {
00085         // read the incoming byte:
00086         c = esp.getc();
00087         switch (state)
00088         {
00089         case READ_PARAM:
00090             //pc.printf("State read param");
00091             count++;
00092             if(c=='='){
00093                 count = 0;
00094                 value[0] = '\0';
00095                 value_index = 0;
00096                 state = READ_VALUE;
00097             }
00098             else if(c=='&') {count = 0;param[0] = '\0';}
00099             else
00100                 {
00101                 param[param_index] = c;
00102                 param_index++;
00103                 if (param_index >= 20)
00104                 {
00105                     error("Param buffer ovf");
00106                     param_index = 0;
00107                     state = SEARCH;
00108                 }
00109                 param[param_index] = '\0';
00110                 }
00111             break;
00112         /* Reading value from serial *** */
00113         case READ_VALUE:
00114             if(c=='=') {
00115                 value[0] = '\0';
00116             }
00117             else if(c=='&'){
00118                 pc.printf("Found param value:");
00119                 pc.printf(param);pc.printf(value);
00120                 pms.try_write(param,value);
00121             }
00122             else
00123             {
00124                 value[value_index++] = c;
00125                 if (param_index >= 20)
00126                 {
00127                     error("Value buffer ovf");
00128                     param_index = 0;
00129                     state = SEARCH;
00130                 }
00131             value[value_index] = '\0';
00132             }
00133             break;
00134 
00135         /*****              Searching for & *************/
00136         case SEARCH:
00137             if(c=='&'){
00138                 param[0] = '\0';
00139                 param_index = 0;
00140                 value[0] = '\0';
00141                 value_index = 0;
00142                 state = READ_PARAM;
00143             }
00144             break;
00145         }
00146         pc.putc(c);
00147     }
00148 }
00149