Jens Frank Jensen / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   mbed FastPWM3

isr.cpp@86:b059f637e9ac, 2017-03-12 (annotated)

Committer:
bwang
Date:
Sun Mar 12 08:54:19 2017 +0000
Revision:
86:b059f637e9ac
Parent:
main_isr.cpp@84:dd32640942a4 
renamed some stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 82:5e741c5ffd9f 1 #include "globals.h"
bwang 83:eb3704d4943f 2 #include "main.h"
bwang 82:5e741c5ffd9f 3 #include "CommandProcessor.h"
bwang 82:5e741c5ffd9f 4
bwang 82:5e741c5ffd9f 5 char linebuf[128];
bwang 82:5e741c5ffd9f 6 int index = 0;
bwang 82:5e741c5ffd9f 7
bwang 82:5e741c5ffd9f 8 void rxCallback() {
bwang 82:5e741c5ffd9f 9 while (io.pc->readable()) {
bwang 82:5e741c5ffd9f 10 char c = io.pc->getc();
bwang 82:5e741c5ffd9f 11 if (c != 127 && c != '\r' && c != '\t') {
bwang 82:5e741c5ffd9f 12 linebuf[index] = c;
bwang 82:5e741c5ffd9f 13 index++;
bwang 82:5e741c5ffd9f 14 io.pc->putc(c);
bwang 82:5e741c5ffd9f 15 } else if (c == 127) {
bwang 82:5e741c5ffd9f 16 if (index > 0) {
bwang 82:5e741c5ffd9f 17 index--;
bwang 82:5e741c5ffd9f 18 io.pc->putc(c);
bwang 82:5e741c5ffd9f 19 }
bwang 82:5e741c5ffd9f 20 } else if (c == '\r') {
bwang 82:5e741c5ffd9f 21 linebuf[index] = 0;
bwang 82:5e741c5ffd9f 22 io.pc->putc(c);
bwang 82:5e741c5ffd9f 23 processCmd(io.pc, io.pref, linebuf);
bwang 82:5e741c5ffd9f 24 index = 0;
bwang 82:5e741c5ffd9f 25 io.pc->putc('>');
bwang 82:5e741c5ffd9f 26 }
bwang 82:5e741c5ffd9f 27 }
bwang 83:eb3704d4943f 28 }
bwang 83:eb3704d4943f 29
bwang 83:eb3704d4943f 30 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 83:eb3704d4943f 31 int start_state = io.throttle_in->state();
bwang 83:eb3704d4943f 32 if (TIM1->SR & TIM_SR_UIF ) {
bwang 83:eb3704d4943f 33 ADC1->CR2 |= 0x40000000;
bwang 83:eb3704d4943f 34 volatile int delay;
bwang 83:eb3704d4943f 35 for (delay = 0; delay < 35; delay++);
bwang 83:eb3704d4943f 36 read.adval1 = ADC1->DR;
bwang 83:eb3704d4943f 37 read.adval2 = ADC2->DR;
bwang 83:eb3704d4943f 38 commutate();
bwang 83:eb3704d4943f 39 }
bwang 83:eb3704d4943f 40 TIM1->SR = 0x00;
bwang 83:eb3704d4943f 41 int end_state = io.throttle_in->state();
bwang 83:eb3704d4943f 42 if (start_state != end_state) io.throttle_in->block();
bwang 82:5e741c5ffd9f 43 }