FILIP KSIĘŻYC
callib
Dependencies: LCD_DISCO_F429ZI mbed BSP_DISCO_F429ZI
Revision 0:befccd954577, committed 2020-06-09
- Comitter:
- filipksiezyc
- Date:
- Tue Jun 09 10:21:57 2020 +0000
- Commit message:
- 1331;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BSP_DISCO_F429ZI.lib Tue Jun 09 10:21:57 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ST/code/BSP_DISCO_F429ZI/#53d9067a4feb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LCD_DISCO_F429ZI.lib Tue Jun 09 10:21:57 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/filipksiezyc/code/LCD_DISCO_F429ZI/#a35e1053b0fa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ServoGUI.cpp Tue Jun 09 10:21:57 2020 +0000
@@ -0,0 +1,117 @@
+#include "ServoGUI.h"
+#include "mbed.h"
+#include "mbed.h"
+
+DigitalIn UserButton(USER_BUTTON);
+
+enum eStep{RIGHT, LEFT};
+enum eDetectorState{ACTIVE, OFF};
+
+ServoGUI::ServoGUI(){
+ LCD_Display.Clear(LCD_COLOR_WHITE);
+ sPosition.X=120;
+ sPosition.Y=210;
+ ucCurrentPosition=0;
+ ucStepPosition=0;
+ ucCallibPosition=12;
+
+ DrawServo();
+ LedOn(0);
+ Callib();
+}
+
+void ServoGUI::DrawServo(){
+ LCD_Display.SetTextColor(LCD_COLOR_BLACK);
+ LCD_Display.FillCircle(120,110,102);
+ LCD_Display.SetTextColor(LCD_COLOR_BLUE);
+ LCD_Display.FillCircle(120, 110, 100);
+ LCD_Display.SetTextColor(LCD_COLOR_YELLOW);
+ LCD_Display.DrawLine(120, 110, sPosition.X, sPosition.Y);
+ LCD_Display.SetTextColor(LCD_COLOR_WHITE);
+ LCD_Display.FillCircle(120, 110, 20);
+ }
+
+void ServoGUI::DrawLed(unsigned char ucCurrentLed, uint32_t uiLedColor){
+ LCD_Display.SetTextColor(LCD_COLOR_BLACK);
+ LCD_Display.FillCircle(30+60*ucCurrentLed,270,20);
+ LCD_Display.SetTextColor(uiLedColor);
+ LCD_Display.FillCircle(30+60*ucCurrentLed,270,18);
+ }
+
+void ServoGUI::LedOn(unsigned char ucLed){
+ unsigned char ucCurrentLed;
+ for(ucCurrentLed=0; ucCurrentLed<NUMBER_OF_LEDS; ucCurrentLed++){
+ if(ucCurrentLed==ucLed){
+ DrawLed(ucCurrentLed,LCD_COLOR_BLUE);
+ }
+ else{
+ DrawLed(ucCurrentLed, LCD_COLOR_WHITE);
+ }
+ }
+ }
+
+void ServoGUI::Step(void){
+ double dStep;
+ dStep=((((ucCurrentPosition+ucCallibPosition)%48))%48*(3.1415/24));
+ sPosition.X=(120+100*cos(dStep));
+ sPosition.Y=(110+100*sin(dStep));
+ DrawServo();
+ LedOn(ucCurrentPosition%4);
+ wait(0.1);
+ }
+
+void ServoGUI::MovePos(enum eStep eDirection){
+ while(ucCurrentPosition!=ucStepPosition){
+ if(eDirection==LEFT){
+ ucCurrentPosition--;
+ }
+ else if(eDirection==RIGHT){
+ ucCurrentPosition++;
+ }
+ else;
+ ucCurrentPosition=ucCurrentPosition%48;
+ Step();
+ }
+ }
+
+
+
+void ServoGUI::GoTo(unsigned char ucPosition){
+ ucStepPosition=ucPosition;
+
+ if(ucCurrentPosition!=ucStepPosition){
+ enum eStep eDirection= ucPosition < ucCurrentPosition ? LEFT : RIGHT;
+ MovePos(eDirection);
+ }
+ else;
+ }
+
+
+void ServoGUI::Shift(unsigned char ucLed){
+ ucStepPosition+=ucLed;
+ if(ucCurrentPosition!=ucStepPosition){
+ enum eStep eDirection= ucStepPosition < ucCurrentPosition ? LEFT : RIGHT;
+ ucStepPosition=ucStepPosition%48;
+ MovePos(eDirection);
+ }
+ else;
+ }
+
+enum eDetectorState ServoGUI::GetDetector(){
+ if(UserButton==1)
+ return ACTIVE;
+ else
+ return OFF;
+}
+
+void ServoGUI::Callib(){
+ unsigned char ucCallibCounter=12;
+ while(GetDetector()!=ACTIVE){
+ Shift(1);
+ ucCallibCounter++;
+ }
+ ucCallibPosition=ucCallibCounter%48;
+ ucCurrentPosition=0;
+ ucStepPosition=0;
+ }
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ServoGUI.h Tue Jun 09 10:21:57 2020 +0000
@@ -0,0 +1,32 @@
+#ifndef SERVO_GUI
+#define SERVO_GUI
+
+#include "LCD_DISCO_F429ZI.h"
+
+#define NUMBER_OF_LEDS 4
+
+
+struct sPoint{double X; double Y;};
+
+class ServoGUI{
+ private:
+ LCD_DISCO_F429ZI LCD_Display;
+ sPoint sPosition;
+ unsigned char ucCurrentPosition;
+ unsigned char ucStepPosition;
+ unsigned char ucCallibPosition;
+
+ enum eDetectorState GetDetector();
+ void MovePos(enum eStep eDirection);
+ void DrawServo();
+ void DrawLed(unsigned char ucCurrentLed=0,uint32_t uiLedColor=LCD_COLOR_WHITE);
+ void Step();
+ public:
+ ServoGUI();
+ void LedOn(unsigned char ucLed=0);
+ void GoTo(unsigned char ucPosition);
+ void Shift(unsigned char ucLed=0);
+ void Callib();
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TokensHandling.cpp Tue Jun 09 10:21:57 2020 +0000
@@ -0,0 +1,88 @@
+#include "TokensHandling.h"
+#include "mbed.h"
+
+#define MAX_KEYWORD_NR 4
+
+enum Result {OK, ERR};
+
+struct Keyword{
+ enum KeywordCode eCode;
+ char cString[MAX_KEYWORD_STRING_LTH];
+};
+
+struct Keyword asKeywordList[MAX_KEYWORD_NR]={
+ {CALLIB, "callib"},
+ {GOTO, "goto"},
+ {ID, "id"},
+ {STEP, "step"},
+};
+
+void TokensHandler::ReplaceCharactersInString(char *pcString,char cOldChar,char cNewChar){
+ char *CurrentChar = strchr(pcString,cOldChar);
+ while(*CurrentChar){
+ *CurrentChar = cNewChar;
+ CurrentChar = strchr(CurrentChar,cOldChar);
+ }
+}
+
+
+unsigned char TokensHandler::ucFindTokensInString(char *pcString){
+ char *pcTokenString = pcString;
+ pcTokenString = strtok(pcTokenString, " ");
+
+ for(ucTokenNr=0;((pcTokenString != NULL) && (ucTokenNr < MAX_TOKEN_NR));ucTokenNr++)
+ {
+ asToken[ucTokenNr].uValue.pcString = pcTokenString;
+ pcTokenString = strtok(NULL, " ");
+ }
+ return ucTokenNr;
+}
+
+
+
+enum Result TokensHandler::eStringToKeyword (char pcStr[],enum KeywordCode *peKeywordCode){
+ unsigned char ucKeywordCounter;
+
+ for(ucKeywordCounter=0; ucKeywordCounter< MAX_KEYWORD_NR; ucKeywordCounter++){
+
+ if( (strcmp(pcStr, asKeywordList[ucKeywordCounter].cString))==0){
+ *peKeywordCode = asKeywordList[ucKeywordCounter].eCode;
+ return OK;
+ }
+ }
+ return ERR;
+}
+
+void TokensHandler::DecodeTokens(void){
+ unsigned char ucTokenCounter;
+ struct Token *psCurrentToken;
+ unsigned int uiTokenValue;
+ enum KeywordCode eTokenCode;
+
+ for(ucTokenCounter= 0; ucTokenCounter< ucTokenNr; ucTokenCounter++){
+ psCurrentToken= &asToken[ucTokenCounter];
+
+ if(sscanf(asToken[ucTokenCounter].uValue.pcString, "%x", &uiTokenValue) == 1 ){
+ psCurrentToken->eType= NUMBER;
+ psCurrentToken->uValue.uiNumber= uiTokenValue;
+ }
+ else if(OK== eStringToKeyword(psCurrentToken->uValue.pcString, &eTokenCode)){
+ psCurrentToken->eType=KEYWORD;
+ psCurrentToken->uValue.eKeyword=eTokenCode;
+ }
+ else{
+ psCurrentToken->eType=STRING;
+ }
+ }
+}
+
+void TokensHandler::DecodeMsg(char *pcString){
+ ucTokenNr= ucFindTokensInString(pcString);
+ ReplaceCharactersInString(pcString, ' ', NULL);
+ DecodeTokens();
+}
+
+TokensHandler::TokensHandler(){
+ ucTokenNr=0;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TokensHandling.h Tue Jun 09 10:21:57 2020 +0000
@@ -0,0 +1,34 @@
+#ifndef TOKENS_HANDLING_H
+#define TOKENS_HANDLING_H
+
+#define MAX_KEYWORD_STRING_LTH 15
+#define MAX_TOKEN_NR 2
+
+enum KeywordCode {CALLIB, GOTO, ID, STEP};
+enum TokenType {KEYWORD, NUMBER, STRING};
+
+union TokenValue{
+ enum KeywordCode eKeyword;
+ unsigned int uiNumber;
+ char* pcString;
+};
+
+struct Token{
+ enum TokenType eType;
+ union TokenValue uValue;
+};
+
+class TokensHandler{
+ private:
+ unsigned char ucFindTokensInString(char *pcString);
+ enum Result eStringToKeyword (char pcStr[],enum KeywordCode *peKeywordCode);
+ void DecodeTokens(void);
+ void ReplaceCharactersInString(char pcString[],char cOldChar,char cNewChar);
+ public:
+ TokensHandler();
+ unsigned char ucTokenNr;
+ struct Token asToken[MAX_TOKEN_NR];
+ void DecodeMsg(char *pcString);
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jun 09 10:21:57 2020 +0000
@@ -0,0 +1,101 @@
+#include "mbed.h"
+#include "ServoGUI.h"
+#include "TokensHandling.h"
+
+#define CR '\r'
+
+Serial MySerialConnection(USBTX, USBRX, 9600);
+
+int puts(char *pcCharsToSend, unsigned char ucNumberOfCharsToSend){
+ unsigned char ucCurrentChar;
+
+ for(ucCurrentChar=0; ucCurrentChar<ucNumberOfCharsToSend; ucCurrentChar++){
+ if(pcCharsToSend[ucCurrentChar]==NULL)
+ break;
+ else if((ucCurrentChar==ucNumberOfCharsToSend)&&(pcCharsToSend[ucCurrentChar]!=NULL))
+ return 1;
+ }
+
+ for(ucCurrentChar=0; pcCharsToSend[ucCurrentChar]!=NULL; ucCurrentChar++){
+ MySerialConnection.putc(pcCharsToSend[ucCurrentChar]);
+ }
+
+ MySerialConnection.putc(CR);
+ return 0;
+ }
+
+int gets(char *pcGotCharDestination, unsigned char ucInputBufferSize){
+ unsigned char ucCurrentRecivedChar=0;
+
+ for(ucCurrentRecivedChar=0; ucCurrentRecivedChar<ucInputBufferSize; ucCurrentRecivedChar++){
+ char cInputChar=MySerialConnection.getc();
+
+ if(cInputChar == CR){
+ pcGotCharDestination[ucCurrentRecivedChar]=NULL;
+ return 0;
+ }
+ else {
+ pcGotCharDestination[ucCurrentRecivedChar]=cInputChar;
+ }
+ }
+ pcGotCharDestination[--ucCurrentRecivedChar]=NULL;
+ return 1;
+ }
+
+
+int main(){
+ ServoGUI MyServo;
+ TokensHandler TokenDecoder;
+
+ char cInputString[MAX_KEYWORD_STRING_LTH];
+ char cErrorMessage[]="unknowncommand\n";
+ char cBoardId[]="DISCO_F429ZI\n";
+ char cOkMessage[]="OK\n";
+
+ while(1){
+
+ if(gets(cInputString, MAX_KEYWORD_STRING_LTH)==0){
+ TokenDecoder.DecodeMsg(cInputString);
+
+ if((TokenDecoder.asToken[0].eType==KEYWORD)&&(TokenDecoder.ucTokenNr>0)){
+
+ switch(TokenDecoder.asToken[0].uValue.eKeyword){
+ case GOTO:
+ if(TokenDecoder.asToken[1].eType==NUMBER){
+ MyServo.GoTo(TokenDecoder.asToken[1].uValue.uiNumber);
+ puts(cOkMessage, (strlen(cOkMessage)+1));
+ }
+ break;
+
+ case CALLIB:
+ MyServo.Callib();
+ puts(cOkMessage, (strlen(cOkMessage)+1));
+ break;
+
+ case STEP:
+ if(TokenDecoder.asToken[1].eType==NUMBER){
+ MyServo.Shift(TokenDecoder.asToken[1].uValue.uiNumber);
+ puts(cOkMessage, (strlen(cOkMessage)+1));
+ }
+ break;
+
+ case ID:
+ puts(cBoardId, (strlen(cBoardId)+1));
+ break;
+
+ default:
+ puts(cErrorMessage, (strlen(cErrorMessage)+1));
+ break;
+ }
+ }
+ else {
+ puts(cErrorMessage, (strlen(cErrorMessage)+1));
+ }
+ }
+}
+}
+
+
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jun 09 10:21:57 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file