Diff: main.cpp

Revision:

6:4edbe75736d9

Parent:

5:e5313b695302

Child:

7:5932ed0bad6d

--- a/main.cpp	Thu Mar 02 16:22:59 2017 +0000
+++ b/main.cpp	Thu Mar 02 17:04:14 2017 +0000
@@ -119,120 +119,103 @@
 
 void fixedSpeed()
 {
+    //Read current motor state
     intState = readRotorState();
+    //Increment state machine to next state
     motorOut((intState-orState+lead+6)%6);
+    //If spinning is required, attach the necessary wait to the
+    //timeout interrupt to call this function again and
+    //keep the motor spinning at the right speed
     if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
-
 }
 
-void Rx_interrupt(void)
-{
-//    NVIC_DisableIRQ(USB_IRQn);
-    HAL_NVIC_DisableIRQ(USB0_IRQn);
-////    printf("Interrupt\n\r");
-//    pc.putc(48);
-//    pc.putc(pc.getc());
-//    printf("Lol");
-
-    char command[ARRAYSIZE];
-    int index=0;
-    char ch;
-//
-//    //command[i++]=pc.getc();
-//    ch=pc.getc();
-
-    do {
-        if (pc.readable()) {    // if there is a character to read from the device
-            ch = USB->RBR;   // read it
-            if (index<ARRAYSIZE) command[index++]=ch;  // put it into the value array and increment the index
-        }
-    } while (ch!='\n');    // loop until the \n character
-
-//    NVIC_EnableIRQ(USB_IRQn);
-    HAL_NVIC_EnableIRQ(USB_IRQn);
-
-//    command[index]='\x0';  // add un 0 to end the c string
-
-    int units = 0, tens = 0, decimals = 0;
-    switch (command[0]) {
-        case 'V':
-            //If decimal point is in the second character (eg, V.1)
-            if(command[1]=='.') {
-                //Extract decimal rev/s
-                decimals = command[2] - '0';
-                //If decimal point is in the third character (eg, V0.1)
-            } else if(command[2]=='.') {
-                units = command[1] - '0';
-                decimals = command[3] - '0';
-                //If decimal point is in the fourth character (eg, V10.1)
-            } else if(command[3]=='.') {
-                tens = command[1] - '0';
-                units = command[2] - '0';
-                decimals = command[4] - '0';
-            }
-            //Calculate the number of revolutions per second required
-            revsec = tens*10 + units + decimals/10;
-            //Calculate the required wait period
-            spinWait = (1/revsec)/6;
-            //Print values for verification
-//            pc.printf("Rev/S: %2.2f, Wait: %2.2f\n\r", revsec, spinWait);
-            break;
-        default:
-//            pc.printf("Error in received data\n\r");
-            break;
-    }
-    return;
-}
 //Main function
 int main()
 {
     pc.printf("Hello\n\r");
-
-    // Setup a serial interrupt function to receive data
-    pc.attach(&Rx_interrupt, Serial::RxIrq);
-//    NVIC_EnableIRQ(USB_IRQn);
-    HAL_NVIC_EnableIRQ(USB_IRQn);
-    pc.putc('a');
+    
     //Run the motor synchronisation
     orState = motorHome();
+    //orState is subtracted from future rotor state inputs to align rotor and motor states
+
     pc.printf("Rotor origin: %x\n\r",orState);
-    //orState is subtracted from future rotor state inputs to align rotor and motor states
-    int counter = 0;
 
+    char command[ARRAYSIZE];
+    int index=0;
+    int units = 0, tens = 0, decimals = 0;
+    char ch;
+    
     while(1) {
+        //Toggle LED so we know something's happening
         clk = !clk;
-        wait(0.5);
+        
+        //If there's a character to read from the serial port
+        if (pc.readable()) {
+            
+            //Clear index counter and control variables
+            index = 0;
+            revsec = spinWait = 0;
+            
+            //Read each value from the serial port until Enter key is pressed
+            do {
+                //Read character
+                ch = pc.getc();
+                //Print character to serial for visual feedback
+                pc.putc(ch);
+                //Add character to input array
+                command[index++]=ch;  // put it into the value array and increment the index
+            //d10 and d13 used for detecting Enter key on Windows/Unix/Mac
+            } while(ch != 10 && ch != 13);
+            
+            //Start new line on terminal for printing data
+            pc.putc('\n');
+            pc.putc('\r');
+            
+            //Analyse the input string
+            switch (command[0]) {
+                //If a V was typed...
+                case 'V':
+                
+                //For each character received, subtract ASCII 0 from ASCII
+                //representation to obtain the integer value of the number
+                   
+                    //If decimal point is in the second character (eg, V.1)
+                    if(command[1]=='.') {
+                        //Extract decimal rev/s
+                        decimals = command[2] - '0';
+                    
+                    //If decimal point is in the third character (eg, V0.1)
+                    } else if(command[2]=='.') {
+                        units = command[1] - '0';
+                        decimals = command[3] - '0';
+                    
+                    //If decimal point is in the fourth character (eg, V10.1)
+                    } else if(command[3]=='.') {
+                        tens = command[1] - '0';
+                        units = command[2] - '0';
+                        decimals = command[4] - '0';
+                    }
+                    
+                    //Calculate the number of revolutions per second required
+                    revsec = float(tens)*10 + float(units) + float(decimals)/10;
+                    //Calculate the required wait period
+                    spinWait = (1/revsec)/6;
+                    
+                    //Print values for verification
+                    pc.printf("Rev/S: %2.2f, Wait: %2.2f\n\r", revsec, spinWait);
+                    
+                    //Run the function to start rotating at a fixed speed
+                    fixedSpeed();
+                    break;
+                //If anything unexpected was received
+                default:
+                    //Set speed variables to zero to stop motor spinning
+                    revsec=0;
+                    //Print error message
+                    pc.printf("Error in received data\n\r");
+                    break;
+            }
+        }
     }
 
-
 }
-
-
-//#include "mbed.h"
-//#include "RawSerial.h"
-//
-//DigitalOut clk(LED1);
-//DigitalOut dat(LED2);
-//DigitalOut enable(LED3);
-//DigitalOut bit(LED4);
-//
-//RawSerial pc(USBTX, USBRX);
-//
-//char ch;
-//
-//void flip(void) {
-//    clk = !clk;
-//    ch = LPC_UART0->RBR;
-//
-//    LPC_UART0->RBR = ch;
-//}
-//
-//int main() {
-//    clk = 1;
-//    pc.attach(&flip, Serial::RxIrq);
-//    while(1) {
-//        dat = !dat;
-//        wait(0.5);
-//    }
-//}
-//