Shih-Ho Hsieh / Mbed 2 deprecated pololu5mag_with_platform

5 sensors on a board with a moving platform.

Dependencies:   mbed

Fork of Motor_XYZ_UI_SPI_I2C_5mag by Shih-Ho Hsieh

ui.cpp@23:eede1fe4494b, 2018-08-15 (annotated)

Committer:
hober
Date:
Wed Aug 15 02:42:43 2018 +0000
Branch:
envelope
Revision:
23:eede1fe4494b
Parent:
20:ba6de7e5240c 
2018/08/15 remove altimu lib test.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hober 6:ce02d396c961 1 #include "motor.h"
hober 6:ce02d396c961 2 #include "xyz_sensor_platform.h"
hober 8:33d34a775873 3 #include "envelopetracker.h"
hober 6:ce02d396c961 4
hober 20:ba6de7e5240c 5 #define I2C_FREQUENCY 1000000
hober 20:ba6de7e5240c 6 #define SPI_FREQUENCY 1e7
hober 20:ba6de7e5240c 7 //#define DELAY_COMPENSATE 0.000537
hober 20:ba6de7e5240c 8 #define BIG_CHAR_MASK 0x1F
hober 20:ba6de7e5240c 9 #define BAUD 921600
hober 20:ba6de7e5240c 10 #define Fs 1e3 // sampling rate -- max: 1kHz
hober 6:ce02d396c961 11
hober 8:33d34a775873 12 typedef unsigned char byte;
hober 10:a49cdab3810f 13 uint8_t* dataToSend;
hober 8:33d34a775873 14 int sendArrayIndex = 0;
hober 8:33d34a775873 15 int sendBufferMax = 10000;
hober 8:33d34a775873 16 Serial pc(SERIAL_TX, SERIAL_RX, BAUD );
hober 7:ee0569d49c52 17 DigitalOut led(LED2),led3(LED3);
hober 20:ba6de7e5240c 18 DigitalOut mag_test(PC_8);
hober 12:2e1b1b1726fa 19 InterruptIn button(USER_BUTTON);
hober 20:ba6de7e5240c 20 Timeout nextRecord;
hober 6:ce02d396c961 21 XYZSensorPlatform platform;
hober 8:33d34a775873 22 Envelope *command;
hober 8:33d34a775873 23 EnvelopeTracker tracker;
hober 7:ee0569d49c52 24 byte commandToSend[10]= {'H','O','1','2','3','4','5','6','E',0};
hober 7:ee0569d49c52 25 bool isRecording = false;
hober 9:c4f7257dee47 26 Envelope* result;
hober 9:c4f7257dee47 27 float x, y, z;
hober 9:c4f7257dee47 28 float pos[3];
hober 9:c4f7257dee47 29 int n = 0;
hober 9:c4f7257dee47 30 int getMag = 0;
hober 20:ba6de7e5240c 31 char magSel = 0;
hober 9:c4f7257dee47 32 int leftCount = 0;
hober 9:c4f7257dee47 33 int rightCount = 0;
hober 9:c4f7257dee47 34 int upCount = 0;
hober 9:c4f7257dee47 35 int downCount = 0;
hober 9:c4f7257dee47 36 int forwardCount = 0;
hober 9:c4f7257dee47 37 int backwardCount = 0;
hober 9:c4f7257dee47 38 bool commandToDo = false;
hober 9:c4f7257dee47 39 int recordTime;
hober 9:c4f7257dee47 40 float waitTime;
hober 12:2e1b1b1726fa 41 bool isEcho = false;
hober 15:5dd07840023c 42 bool isReset = false;
hober 20:ba6de7e5240c 43 bool isTimeToRecord = false;
hober 20:ba6de7e5240c 44 bool isMagReset = false;
hober 20:ba6de7e5240c 45 uint8_t magData[80] = {0}; //80 bytes
hober 12:2e1b1b1726fa 46 enum PatternRecordState{NONE,INIT,MAGNET,TO};
hober 12:2e1b1b1726fa 47 struct Pattern
hober 12:2e1b1b1726fa 48 {
hober 12:2e1b1b1726fa 49 float xStart, xEnd, xStep, yStart, yEnd, yStep, zStart, zEnd, zStep;
hober 12:2e1b1b1726fa 50 int num;
hober 12:2e1b1b1726fa 51 float x, y, z;
hober 12:2e1b1b1726fa 52 int count;
hober 12:2e1b1b1726fa 53 PatternRecordState state;
hober 12:2e1b1b1726fa 54 } pattern;
hober 12:2e1b1b1726fa 55
hober 8:33d34a775873 56
hober 8:33d34a775873 57
hober 6:ce02d396c961 58 void echo(char typ, float x, float y, float z);
hober 20:ba6de7e5240c 59 uint8_t* echo(char typ, int16_t *p_data, bool isWriteNow = true);
hober 9:c4f7257dee47 60 void Rx_interrupt();
hober 20:ba6de7e5240c 61 void recordTimeup()
hober 20:ba6de7e5240c 62 {
hober 20:ba6de7e5240c 63 isTimeToRecord = true;
hober 20:ba6de7e5240c 64 }
hober 12:2e1b1b1726fa 65 void released()
hober 12:2e1b1b1726fa 66 {
hober 12:2e1b1b1726fa 67 led = !led;
hober 12:2e1b1b1726fa 68 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 12:2e1b1b1726fa 69 }
hober 20:ba6de7e5240c 70 void no_call(){}
hober 8:33d34a775873 71
hober 6:ce02d396c961 72 int main()
hober 6:ce02d396c961 73 {
hober 6:ce02d396c961 74 led=1;
hober 20:ba6de7e5240c 75 // char msg[] = "start!!";
hober 20:ba6de7e5240c 76 // fwrite(msg,1, 7,stdout);
hober 8:33d34a775873 77 command = new Envelope;
hober 8:33d34a775873 78 command->enableHeader(std::string("H"));// 48 H
hober 8:33d34a775873 79 command->enableFooter(std::string("E"),8);// 45 E
hober 8:33d34a775873 80 command->enableCheckXOR(9);
hober 8:33d34a775873 81 tracker.setEnvelope(*command);
hober 8:33d34a775873 82 tracker.setBufferLength(100);
hober 12:2e1b1b1726fa 83 pattern.state = NONE;
hober 7:ee0569d49c52 84 pc.format(8,SerialBase::None,1);
hober 20:ba6de7e5240c 85 // button.rise(&released);
hober 6:ce02d396c961 86 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 87 // platform.reset(); // need to be modified here
hober 20:ba6de7e5240c 88 platform.setSensorSpiFrequency(SPI_FREQUENCY);
hober 7:ee0569d49c52 89 platform.setSensorI2cFrequency(I2C_FREQUENCY);
hober 9:c4f7257dee47 90 // Setup a serial interrupt function to receive data
hober 9:c4f7257dee47 91 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 20:ba6de7e5240c 92 // echo('B',0,0,0);
hober 6:ce02d396c961 93 while(1) {
hober 15:5dd07840023c 94 if(platform.isMoving()) continue;
hober 12:2e1b1b1726fa 95 if(isReset){
hober 12:2e1b1b1726fa 96 platform.set_speed(1);
hober 12:2e1b1b1726fa 97 platform.reset();
hober 12:2e1b1b1726fa 98 isReset = false;
hober 12:2e1b1b1726fa 99 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 100 }
hober 12:2e1b1b1726fa 101 if(pattern.state != NONE)
hober 12:2e1b1b1726fa 102 {
hober 13:6850d2b41b2c 103 if(pattern.state == INIT)
hober 13:6850d2b41b2c 104 {
hober 13:6850d2b41b2c 105 pattern.x = pattern.xStart;
hober 13:6850d2b41b2c 106 pattern.y = pattern.yStart;
hober 13:6850d2b41b2c 107 pattern.z = pattern.zStart;
hober 13:6850d2b41b2c 108 pattern.count = pattern.num;
hober 13:6850d2b41b2c 109 pattern.state = MAGNET;
hober 15:5dd07840023c 110 //isEcho = true;
hober 15:5dd07840023c 111 platform.to(pattern.x,pattern.y,pattern.z);
hober 13:6850d2b41b2c 112 isEcho = true;
hober 15:5dd07840023c 113 continue;
hober 13:6850d2b41b2c 114 }
hober 12:2e1b1b1726fa 115 if(pattern.count == 0) pattern.state = TO;
hober 12:2e1b1b1726fa 116 if(pattern.state == TO)
hober 12:2e1b1b1726fa 117 {
hober 13:6850d2b41b2c 118 if(abs(pattern.x-pattern.xEnd)>abs(pattern.xStep))
hober 13:6850d2b41b2c 119 {
hober 13:6850d2b41b2c 120 pattern.x += pattern.xStep;
hober 13:6850d2b41b2c 121 platform.set_speed(1.5);
hober 13:6850d2b41b2c 122 }
hober 12:2e1b1b1726fa 123 else if(abs(pattern.y-pattern.yEnd)>abs(pattern.yStep)){
hober 12:2e1b1b1726fa 124 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 125 pattern.y += pattern.yStep;
hober 12:2e1b1b1726fa 126 }
hober 12:2e1b1b1726fa 127 else if(abs(pattern.z-pattern.zEnd)>abs(pattern.zStep)){
hober 12:2e1b1b1726fa 128 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 129 pattern.y = pattern.yStart;
hober 12:2e1b1b1726fa 130 pattern.z += pattern.zStep;
hober 12:2e1b1b1726fa 131 }
hober 12:2e1b1b1726fa 132 else{
hober 12:2e1b1b1726fa 133 pattern.state = NONE;
hober 13:6850d2b41b2c 134 echo('S',0,0,0);
hober 12:2e1b1b1726fa 135 continue;
hober 12:2e1b1b1726fa 136 }
hober 12:2e1b1b1726fa 137 platform.to(pattern.x,pattern.y,pattern.z);
hober 12:2e1b1b1726fa 138 isEcho = true;
hober 12:2e1b1b1726fa 139 pattern.count = pattern.num;
hober 12:2e1b1b1726fa 140 pattern.state = MAGNET;
hober 13:6850d2b41b2c 141 platform.set_speed(2.5);
hober 15:5dd07840023c 142 continue;
hober 12:2e1b1b1726fa 143 }
hober 12:2e1b1b1726fa 144 if(pattern.state == MAGNET)
hober 12:2e1b1b1726fa 145 {
hober 12:2e1b1b1726fa 146 if(pattern.count-- <= 0) pattern.state = TO;
hober 12:2e1b1b1726fa 147 getMag++;
hober 20:ba6de7e5240c 148 nextRecord.attach(&recordTimeup, 1.0f/(float)Fs);
hober 20:ba6de7e5240c 149 // wait(waitTime);
hober 12:2e1b1b1726fa 150 }
hober 12:2e1b1b1726fa 151 }
hober 12:2e1b1b1726fa 152 if(isEcho)
hober 12:2e1b1b1726fa 153 {
hober 12:2e1b1b1726fa 154 platform.position(pos);
hober 12:2e1b1b1726fa 155 echo('O',pos[0],pos[1],pos[2]);
hober 12:2e1b1b1726fa 156 led3 = !led3;
hober 12:2e1b1b1726fa 157 isEcho = false;
hober 20:ba6de7e5240c 158 // printf(" %f ",1.0f/(float)Fs);
hober 12:2e1b1b1726fa 159 }
hober 20:ba6de7e5240c 160 if(isRecording && n < recordTime && isTimeToRecord) {
hober 20:ba6de7e5240c 161 nextRecord.attach(&recordTimeup, 1.0f/(float)Fs);
hober 20:ba6de7e5240c 162 isTimeToRecord = false;
hober 20:ba6de7e5240c 163 char curMag = 1;
hober 20:ba6de7e5240c 164 int16_t mag[NUMBER_OF_MAGNETOMETERS][3] = {0};
hober 20:ba6de7e5240c 165 mag_test=!mag_test;
hober 20:ba6de7e5240c 166 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 167 {
hober 20:ba6de7e5240c 168 if((curMag & magSel) != 0) platform.get_mag_raw(i, &(mag[i][0]));
hober 20:ba6de7e5240c 169 curMag <<= 1;
hober 7:ee0569d49c52 170 }
hober 20:ba6de7e5240c 171 curMag = 1;
hober 20:ba6de7e5240c 172 int line = 0;
hober 20:ba6de7e5240c 173 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 174 {
hober 20:ba6de7e5240c 175 if((curMag & magSel) != 0)
hober 20:ba6de7e5240c 176 {
hober 20:ba6de7e5240c 177 memcpy(&magData[line++*10],echo(('M'&BIG_CHAR_MASK)|(i<<5),&mag[i][0],false),10);
hober 20:ba6de7e5240c 178 }
hober 20:ba6de7e5240c 179 curMag <<= 1;
hober 20:ba6de7e5240c 180 }
hober 20:ba6de7e5240c 181 if(pc.writeable()) {
hober 20:ba6de7e5240c 182 for(int i = 0; i < line*10; i++) pc.putc(magData[i]);
hober 20:ba6de7e5240c 183 //pc.putc('\0');
hober 20:ba6de7e5240c 184 }/*
hober 20:ba6de7e5240c 185 if(pc.writeable()) {
hober 20:ba6de7e5240c 186 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 187 {
hober 20:ba6de7e5240c 188 if((curMag & magSel) != 0) echo(('M'&BIG_CHAR_MASK)|(i<<5),&mag[i][0]);
hober 20:ba6de7e5240c 189 curMag <<= 1;
hober 20:ba6de7e5240c 190 }
hober 20:ba6de7e5240c 191 // wait(waitTime);
hober 20:ba6de7e5240c 192 }*/
hober 7:ee0569d49c52 193 n++;
hober 20:ba6de7e5240c 194 if(isRecording && n == recordTime) {
hober 20:ba6de7e5240c 195 nextRecord.detach();
hober 20:ba6de7e5240c 196 n = 0;
hober 20:ba6de7e5240c 197 isRecording = false;
hober 20:ba6de7e5240c 198 echo('S',0,0,0);
hober 20:ba6de7e5240c 199 }
hober 8:33d34a775873 200 }// end recording if
hober 20:ba6de7e5240c 201 if(getMag>0 && isTimeToRecord) {
hober 20:ba6de7e5240c 202 isTimeToRecord = false;
hober 20:ba6de7e5240c 203 char curMag = 1;
hober 20:ba6de7e5240c 204 int16_t mag[NUMBER_OF_MAGNETOMETERS][3] = {0};
hober 20:ba6de7e5240c 205 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 206 {
hober 20:ba6de7e5240c 207 if((curMag & magSel) != 0) platform.get_mag_raw(i, &(mag[i][0]));
hober 20:ba6de7e5240c 208 curMag <<= 1;
hober 20:ba6de7e5240c 209 }
hober 20:ba6de7e5240c 210 curMag = 1;
hober 20:ba6de7e5240c 211 int line = 0;
hober 20:ba6de7e5240c 212 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 213 {
hober 20:ba6de7e5240c 214 if((curMag & magSel) != 0)
hober 20:ba6de7e5240c 215 {
hober 20:ba6de7e5240c 216 memcpy(&magData[line++*10],echo(('M'&BIG_CHAR_MASK)|(i<<5),&mag[i][0],false),10);
hober 20:ba6de7e5240c 217 }
hober 20:ba6de7e5240c 218 curMag <<= 1;
hober 20:ba6de7e5240c 219 }
hober 20:ba6de7e5240c 220 if(pc.writeable()) {
hober 20:ba6de7e5240c 221 for(int i = 0; i < line*10; i++) pc.putc(magData[i]);
hober 20:ba6de7e5240c 222 //pc.putc('\0');
hober 20:ba6de7e5240c 223 }
hober 9:c4f7257dee47 224 getMag--;
hober 9:c4f7257dee47 225 }
hober 9:c4f7257dee47 226 if(commandToDo) {
hober 9:c4f7257dee47 227 platform.to(x,y,z);
hober 15:5dd07840023c 228 isEcho = true;
hober 9:c4f7257dee47 229 commandToDo = false;
hober 15:5dd07840023c 230 continue;
hober 9:c4f7257dee47 231 }
hober 9:c4f7257dee47 232 if(leftCount > 0||rightCount > 0||upCount > 0||downCount > 0||forwardCount > 0||backwardCount > 0) {
hober 9:c4f7257dee47 233 if(leftCount > 0) {
hober 9:c4f7257dee47 234 platform.go_left();
hober 9:c4f7257dee47 235 leftCount--;
hober 9:c4f7257dee47 236 }
hober 9:c4f7257dee47 237 if(rightCount > 0) {
hober 9:c4f7257dee47 238 platform.go_right();
hober 9:c4f7257dee47 239 rightCount--;
hober 9:c4f7257dee47 240 }
hober 9:c4f7257dee47 241 if(upCount > 0) {
hober 9:c4f7257dee47 242 platform.go_up();
hober 9:c4f7257dee47 243 upCount--;
hober 9:c4f7257dee47 244 }
hober 9:c4f7257dee47 245 if(downCount > 0) {
hober 9:c4f7257dee47 246 platform.go_down();
hober 9:c4f7257dee47 247 downCount--;
hober 9:c4f7257dee47 248 }
hober 9:c4f7257dee47 249 if(forwardCount > 0) {
hober 9:c4f7257dee47 250 platform.go_forward();
hober 9:c4f7257dee47 251 forwardCount--;
hober 9:c4f7257dee47 252 }
hober 9:c4f7257dee47 253 if(backwardCount > 0) {
hober 9:c4f7257dee47 254 platform.go_backward();
hober 9:c4f7257dee47 255 backwardCount--;
hober 9:c4f7257dee47 256 }
hober 15:5dd07840023c 257 isEcho = true;
hober 9:c4f7257dee47 258 }
hober 20:ba6de7e5240c 259 if(isMagReset)
hober 20:ba6de7e5240c 260 {
hober 20:ba6de7e5240c 261 isMagReset = false;
hober 20:ba6de7e5240c 262 char curMag = 1;
hober 20:ba6de7e5240c 263 for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
hober 20:ba6de7e5240c 264 {
hober 20:ba6de7e5240c 265 if((curMag & magSel) != 0) platform.resetMagnetometer(i);
hober 20:ba6de7e5240c 266 curMag <<= 1;
hober 20:ba6de7e5240c 267 }
hober 20:ba6de7e5240c 268 }
hober 7:ee0569d49c52 269 } // end while
hober 6:ce02d396c961 270
hober 6:ce02d396c961 271 }
hober 6:ce02d396c961 272
hober 6:ce02d396c961 273 void echo(char typ,float x, float y, float z)
hober 6:ce02d396c961 274 {
hober 7:ee0569d49c52 275 int16_t p_data[3]= {(int16_t)(x*10), int16_t(y*10), int16_t(z*10)};
hober 7:ee0569d49c52 276 echo(typ,p_data);
hober 6:ce02d396c961 277 }
hober 6:ce02d396c961 278
hober 20:ba6de7e5240c 279 uint8_t* echo(char typ, int16_t *p_data, bool isWriteNow)
hober 6:ce02d396c961 280 {
hober 8:33d34a775873 281 char tmp[] = {typ, p_data[0]>>8, p_data[0], p_data[1]>>8, p_data[1], p_data[2]>>8, p_data[2]};
hober 8:33d34a775873 282 command->setEnvelopeData(tmp,7);
hober 10:a49cdab3810f 283 dataToSend = (uint8_t*)(command->getEnvelopeArray());
hober 20:ba6de7e5240c 284 if(pc.writeable()&&isWriteNow)
hober 20:ba6de7e5240c 285 {
hober 20:ba6de7e5240c 286 for(int i = 0; i < 10; i++) pc.putc(dataToSend[i]);
hober 20:ba6de7e5240c 287 // pc.printf("%.*s",10,dataToSend);
hober 20:ba6de7e5240c 288 //pc.fsync();
hober 20:ba6de7e5240c 289 //pc.putc('\0');
hober 20:ba6de7e5240c 290 }
hober 20:ba6de7e5240c 291 return dataToSend;
hober 20:ba6de7e5240c 292 /*
hober 8:33d34a775873 293 for(int i = 0; i < command->length(); i++) {
hober 10:a49cdab3810f 294 pc.putc(dataToSend[i]);
hober 20:ba6de7e5240c 295 }*/
hober 6:ce02d396c961 296 }
hober 6:ce02d396c961 297
hober 9:c4f7257dee47 298 void Rx_interrupt()
hober 9:c4f7257dee47 299 {
hober 9:c4f7257dee47 300 char c;
hober 9:c4f7257dee47 301 while(pc.readable()) {
hober 9:c4f7257dee47 302 c = pc.getc();
hober 9:c4f7257dee47 303 tracker.parse(&c,1);
hober 6:ce02d396c961 304
hober 9:c4f7257dee47 305 result = tracker.getEnvelope();
hober 9:c4f7257dee47 306 if(result!=NULL) {
hober 9:c4f7257dee47 307 char *dataArray = result->getPayload();
hober 9:c4f7257dee47 308 switch(dataArray[0]) {
hober 20:ba6de7e5240c 309 // following alphabets is used
hober 20:ba6de7e5240c 310 // I O C X Y Z M R S P N B
hober 12:2e1b1b1726fa 311 case 'I': // pattern record
hober 12:2e1b1b1726fa 312 if(dataArray[1] == 'X')
hober 12:2e1b1b1726fa 313 {
hober 12:2e1b1b1726fa 314 pattern.xStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 315 pattern.xEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 316 pattern.xStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 317 if((pattern.xStart-pattern.xEnd)*pattern.xStep>0) pattern.xStep = -pattern.xStep;
hober 12:2e1b1b1726fa 318 }
hober 12:2e1b1b1726fa 319 else if(dataArray[1] == 'Y')
hober 12:2e1b1b1726fa 320 {
hober 12:2e1b1b1726fa 321 pattern.yStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 322 pattern.yEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 323 pattern.yStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 324 if((pattern.yStart-pattern.yEnd)*pattern.yStep>0) pattern.yStep = -pattern.yStep;
hober 12:2e1b1b1726fa 325 }
hober 12:2e1b1b1726fa 326 else if(dataArray[1] == 'Z')
hober 12:2e1b1b1726fa 327 {
hober 12:2e1b1b1726fa 328 pattern.zStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 329 pattern.zEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 330 pattern.zStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 331 if((pattern.zStart-pattern.zEnd)*pattern.zStep>0) pattern.zStep = -pattern.zStep;
hober 12:2e1b1b1726fa 332 }
hober 12:2e1b1b1726fa 333 else if(dataArray[1] == 'N')
hober 12:2e1b1b1726fa 334 {
hober 14:9672e91010a3 335 pattern.num = (int)((dataArray[2]<<8)+dataArray[3]);
hober 20:ba6de7e5240c 336 isTimeToRecord = true;
hober 20:ba6de7e5240c 337 // waitTime = 1.0/Fs-DELAY_COMPENSATE-1/(BAUD/8/10);
hober 12:2e1b1b1726fa 338 }
hober 12:2e1b1b1726fa 339 else if(dataArray[1] == 'M')
hober 12:2e1b1b1726fa 340 {
hober 12:2e1b1b1726fa 341 if(dataArray[2] == 'B'){
hober 12:2e1b1b1726fa 342 pattern.x = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 343 pattern.y = (float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 344 }
hober 12:2e1b1b1726fa 345 if(dataArray[2] == 'U'){
hober 12:2e1b1b1726fa 346 pattern.z = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 347 pattern.state = TO;
hober 12:2e1b1b1726fa 348 printf("%.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %d\n",
hober 12:2e1b1b1726fa 349 pattern.xStart, pattern.xEnd, pattern.xStep, pattern.yStart, pattern.yEnd, pattern.yStep, pattern.zStart, pattern.zEnd, pattern.zStep, pattern.x, pattern.y, pattern.z, pattern.num);
hober 12:2e1b1b1726fa 350 }
hober 12:2e1b1b1726fa 351 }
hober 12:2e1b1b1726fa 352
hober 20:ba6de7e5240c 353 else if(dataArray[1] == 'B') // initial
hober 12:2e1b1b1726fa 354 {
hober 12:2e1b1b1726fa 355 pattern.state = INIT;
hober 12:2e1b1b1726fa 356 }
hober 20:ba6de7e5240c 357 else if(dataArray[1] == 'S') pattern.state = NONE;// stop
hober 12:2e1b1b1726fa 358
hober 9:c4f7257dee47 359 break;
hober 9:c4f7257dee47 360 case 'O': // echo
hober 12:2e1b1b1726fa 361 isEcho = true;
hober 9:c4f7257dee47 362 break;
hober 9:c4f7257dee47 363 case 'C': // command
hober 12:2e1b1b1726fa 364 if(commandToDo) break;
hober 9:c4f7257dee47 365 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 9:c4f7257dee47 366 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 9:c4f7257dee47 367 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 9:c4f7257dee47 368 commandToDo = true;
hober 9:c4f7257dee47 369 break;
hober 20:ba6de7e5240c 370 case 'X': // move in X direction
hober 9:c4f7257dee47 371 if(dataArray[1]&0x80) rightCount++;
hober 9:c4f7257dee47 372 else leftCount++;
hober 9:c4f7257dee47 373 break;
hober 20:ba6de7e5240c 374 case 'Y': // move in Y direction
hober 9:c4f7257dee47 375 if(dataArray[1]&0x80) forwardCount++;
hober 10:a49cdab3810f 376 else backwardCount++;
hober 9:c4f7257dee47 377 break;
hober 20:ba6de7e5240c 378 case 'Z': // move in Z direction
hober 9:c4f7257dee47 379 if(dataArray[1]&0x80) upCount++;
hober 9:c4f7257dee47 380 else downCount++;
hober 9:c4f7257dee47 381 break;
hober 9:c4f7257dee47 382 case 'M': // magnet
hober 9:c4f7257dee47 383 getMag++;
hober 20:ba6de7e5240c 384 magSel = dataArray[1];
hober 20:ba6de7e5240c 385 isTimeToRecord = true;
hober 20:ba6de7e5240c 386 pc.putc('M');
hober 9:c4f7257dee47 387 break;
hober 9:c4f7257dee47 388 case 'R': // record
hober 9:c4f7257dee47 389 recordTime = dataArray[1];
hober 9:c4f7257dee47 390 recordTime *= Fs;
hober 20:ba6de7e5240c 391 magSel = dataArray[2];
hober 20:ba6de7e5240c 392 // mag_test=!mag_test;
hober 20:ba6de7e5240c 393 /*
hober 15:5dd07840023c 394 waitTime = 1.0/Fs-DELAY_COMPENSATE-1/(BAUD/8/10);
hober 10:a49cdab3810f 395 n = 0;
hober 20:ba6de7e5240c 396 if(waitTime < 0) waitTime = 0;*/
hober 20:ba6de7e5240c 397 isTimeToRecord = true;
hober 9:c4f7257dee47 398 isRecording = true;
hober 9:c4f7257dee47 399 break;
hober 9:c4f7257dee47 400 case 'S': // stop
hober 9:c4f7257dee47 401 isRecording = false;
hober 20:ba6de7e5240c 402 nextRecord.detach();
hober 20:ba6de7e5240c 403 isTimeToRecord = false;
hober 9:c4f7257dee47 404 break;
hober 12:2e1b1b1726fa 405 case 'P': // set position
hober 12:2e1b1b1726fa 406 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 12:2e1b1b1726fa 407 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 408 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 409 platform.setPosition(x,y,z);
hober 12:2e1b1b1726fa 410 break;
hober 12:2e1b1b1726fa 411 case 'N': // new set up
hober 12:2e1b1b1726fa 412 isReset = true;
hober 12:2e1b1b1726fa 413 break;
hober 20:ba6de7e5240c 414 case 'B':
hober 20:ba6de7e5240c 415 magSel = dataArray[1];
hober 20:ba6de7e5240c 416 isMagReset = true;
hober 20:ba6de7e5240c 417 break;
hober 9:c4f7257dee47 418 default:
hober 9:c4f7257dee47 419 break;
hober 9:c4f7257dee47 420 } // end switch
hober 9:c4f7257dee47 421 result = NULL;
hober 9:c4f7257dee47 422 dataArray = NULL;
hober 9:c4f7257dee47 423 } // end result if
hober 9:c4f7257dee47 424 } // end parsing if
hober 9:c4f7257dee47 425 }
hober 9:c4f7257dee47 426