michael hollegha
/
LineSensTest_B16
LineSensTest for Bertl16
Fork of B16Test4 by
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?
User | Revision | Line number | New 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 | } |
hollegha3 | 1:a2c68aba6d98 | 52 | |
hollegha3 | 1:a2c68aba6d98 | 53 | |
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