Saša Radosavljevic / Mbed 2 deprecated Lecture_os_2

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Dependencies:   mbed

main.cpp

Committer:
higepi
Date:
2020-02-28
Revision:
3:ac6eead48a9d
Parent:
1:6554c60faa06
Child:
4:4160376d7d69

File content as of revision 3:ac6eead48a9d:

#include "mbed.h"

//AX12 myax12 (PC_4, PC_5, 1,115200);
Serial myserial_ax12(PC_4,PC_5,115200);
char tata[10];
int position;
Ticker fonction_10ms;

void Rx_Irq_fonction(void)
{
    static int i_rx;
    tata[i_rx]=myserial_ax12.getc();
    if (tata[0]!=0xFF) 
        i_rx=0;
    else i_rx++;
    if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7)
    {
        i_rx=0;
        if(tata[4]==00) //si erreur  est nulle
            position = tata[5]+((uint16_t)tata[6]<<8);
        tata[0]=0;
    }
    if (i_rx>9)
    {
        for(int i=0;i<10;i++)
            tata[i]=0;
        i_rx=0;
    }
}

void fonction_10ms(void)
{
    for(i=0;i<=7;i++)
    {
       myserial_ax12.putc(trame_demande_pos[i]);
    }
}

int main(){
    //myax12.SetMode(1); //passage en Continuous rotation
    char trame_demande_pos[8]={0xFF,0xFF,0x01,0x4,0x2,0x24,2,0xD2};
    char trame_cmd_speed[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
    float Angle;
    short speed;
    char data[10];
    char s=0;
    float temp;
    int position_old=0,i,a;
    
    //myax12.SetCRSpeed(0.05);
    
    for(i=0;i<=8;i++)
    {
        myserial_ax12.putc(trame_cmd_speed[i]);
    }
    
    for(i=0;i<=7;i++)
    {
        myserial_ax12.putc(trame_demande_pos[i]);
    }
    myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
        

    while(1) {
        if (position != position_old)
        {   
            printf("\n\rposition = %d\n\r mot recu :",position);    
            for(i=0;i<=7;i++)
            {
                printf("%X ",tata[i]);
            }
            position_old=position;
        }
        wait(0.01);
        a++;
        if(!(a % 20))
            
    }
    
}

void set_speed(ID,speed)
void demande_lecture_pos(ID)


/*
#include "mbed.h"

//AX12 myax12 (PC_4, PC_5, 1,115200);
Serial myserial_ax12(PC_4,PC_5,115200);
char tata[10];
int position;

void Rx_Irq_fonction(void)
{
    static int i_rx;
    tata[i_rx]=myserial_ax12.getc();
    if (tata[0]!=0xFF) 
        i_rx=0;
    else i_rx++;
    if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7)
    {
        i_rx=0;
        if(tata[4]==00) //si erreur  est nulle
            position = tata[5]+((uint16_t)tata[6]<<8);
        tata[0]=0;
    }
    if (i_rx>9)
    {
        for(int i=0;i<10;i++)
            tata[i]=0;
        i_rx=0;
    }
}

int main(){
    //myax12.SetMode(1); //passage en Continuous rotation
    char trame_demande_pos[8]={0xFF,0xFF,0x01,0x4,0x2,0x24,2,0xD2};
    char trame_cmd_speed[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
    float Angle;
    short speed;
    char data[10];
    char s=0;
    float temp;
    int position_old=0,i,a;
    //myax12.SetCRSpeed(0.05);
    
    for(i=0;i<=8;i++)
    {
        myserial_ax12.putc(trame_cmd_speed[i]);
    }
    
    for(i=0;i<=7;i++)
    {
        myserial_ax12.putc(trame_demande_pos[i]);
    }
    myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
        

    while(1) {
        if (position != position_old)
        {   
            printf("\n\rposition = %d\n\r mot recu :",position);    
            for(i=0;i<=7;i++)
            {
                printf("%X ",tata[i]);
            }
            position_old=position;
        }
        wait(0.01);
        a++;
        if(!(a % 20))
            for(i=0;i<=7;i++)
            {
                 myserial_ax12.putc(trame_demande_pos[i]);
            }
    }
    
}

void set_speed(ID,speed)*/