michael hollegha / Mbed 2 deprecated LineSensTest_B16

LineSensTest for Bertl16

Dependencies:   mbed

Fork of B16Test4 by michael hollegha

LineSensTest_B16.cpp@1:a2c68aba6d98, 2017-12-27 (annotated)

Committer:
hollegha3
Date:
Wed Dec 27 12:15:27 2017 +0000
Revision:
1:a2c68aba6d98
Child:
2:fffc57eb649f
V 1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hollegha3 1:a2c68aba6d98 1
hollegha3 1:a2c68aba6d98 2 #include "mbed.h"
hollegha3 1:a2c68aba6d98 3 #include "Serial_HL.h"
hollegha3 1:a2c68aba6d98 4 #include "Bertl16.h"
hollegha3 1:a2c68aba6d98 5
hollegha3 1:a2c68aba6d98 6 SerialBLK pc(USBTX, USBRX);
hollegha3 1:a2c68aba6d98 7 SvProtocol ua0(&pc);
hollegha3 1:a2c68aba6d98 8
hollegha3 1:a2c68aba6d98 9 void CommandHandler();
hollegha3 1:a2c68aba6d98 10
hollegha3 1:a2c68aba6d98 11 AnalogInHL2 ls1(P1_9), ls2(P0_23), ls3(P0_16), ls4(P0_15), ls5(P1_3);
hollegha3 1:a2c68aba6d98 12
hollegha3 1:a2c68aba6d98 13 int main(void)
hollegha3 1:a2c68aba6d98 14 {
hollegha3 1:a2c68aba6d98 15 // MainPow und LineSensor einschalten
hollegha3 1:a2c68aba6d98 16 boardPow = 3;
hollegha3 1:a2c68aba6d98 17 pc.format(8,SerialBLK::None,1); pc.baud(115200); // 115200
hollegha3 1:a2c68aba6d98 18 ua0.SvMessage("LineSensTest_5"); // Meldung zum PC senden
hollegha3 1:a2c68aba6d98 19 AllLedsOff();
hollegha3 1:a2c68aba6d98 20
hollegha3 1:a2c68aba6d98 21 Timer stw; stw.start();
hollegha3 1:a2c68aba6d98 22 while(1)
hollegha3 1:a2c68aba6d98 23 {
hollegha3 1:a2c68aba6d98 24 CommandHandler();
hollegha3 1:a2c68aba6d98 25 if( (stw.read_ms()>10) ) // 100Hz
hollegha3 1:a2c68aba6d98 26 { // dieser Teil wird mit 100Hz aufgerufen
hollegha3 1:a2c68aba6d98 27 stw.reset();
hollegha3 1:a2c68aba6d98 28 if( ua0.acqON ) {
hollegha3 1:a2c68aba6d98 29 // nur wenn vom PC aus das Senden eingeschaltet wurde
hollegha3 1:a2c68aba6d98 30 // wird auch etwas gesendet
hollegha3 1:a2c68aba6d98 31 ua0.WriteSvI16(1, ls1.Read());
hollegha3 1:a2c68aba6d98 32 ua0.WriteSvI16(2, ls2.Read());
hollegha3 1:a2c68aba6d98 33 ua0.WriteSvI16(3, ls3.Read());
hollegha3 1:a2c68aba6d98 34 ua0.WriteSvI16(4, ls4.Read());
hollegha3 1:a2c68aba6d98 35 ua0.WriteSvI16(5, ls5.Read());
hollegha3 1:a2c68aba6d98 36 }
hollegha3 1:a2c68aba6d98 37 }
hollegha3 1:a2c68aba6d98 38 }
hollegha3 1:a2c68aba6d98 39 return 1;
hollegha3 1:a2c68aba6d98 40 }
hollegha3 1:a2c68aba6d98 41
hollegha3 1:a2c68aba6d98 42 void CommandHandler()
hollegha3 1:a2c68aba6d98 43 {
hollegha3 1:a2c68aba6d98 44 uint8_t cmd;
hollegha3 1:a2c68aba6d98 45 // Fragen ob überhaupt etwas im RX-Reg steht
hollegha3 1:a2c68aba6d98 46 if( !pc.IsDataAvail() )
hollegha3 1:a2c68aba6d98 47 return;
hollegha3 1:a2c68aba6d98 48 // wenn etwas im RX-Reg steht
hollegha3 1:a2c68aba6d98 49 // Kommando lesen
hollegha3 1:a2c68aba6d98 50 cmd = ua0.GetCommand();
hollegha3 1:a2c68aba6d98 51 }
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