Jonathan Moreno
stingr lib for v8_1
Diff: Stingr.cpp
- Revision:
- 0:0159aa4d2062
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stingr.cpp Mon Oct 29 12:45:27 2018 +0000
@@ -0,0 +1,761 @@
+/*
+ * mbed STINGR Library
+ * Copyright (c) 2018
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Stingr.h"
+#include "mbed.h"
+#include "rtos.h"
+
+#define QUERY_ESN 'a'
+#define QUERY_BURSTS 'b'
+#define QUERY_FIRMWARE 'c'
+#define QUERY_SETUP 'd'
+#define QUERY_HARDWARE 'e'
+#define NAK_COMMAND 'f'
+#define SETUP 'g'
+#define SEND_DATA 'h'
+#define ABORT_TRANSMISSION 'i'
+
+// These two lines redundant?
+Serial _stingrUART(p13, p14, 9600); // tx, rx Comunicación Serial con el STINGR
+Serial _pc(USBTX, USBRX, 9600); // tx, rx Comunicación Serial con la PC
+
+// Pin Digital de entrada "CTS" en modo Pull-Up
+// para encontrarse normalmente a VCC cuando no haya un pulso.
+DigitalIn _CTS(p11, PullUp);
+
+// Pin Digital de Salida "RTS"
+// Predefinido para valer 1 en su estado inactivo dentro del código.
+DigitalOut _RTS(p12, 1);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Constructor
+Stingr::Stingr()
+{
+ incomingByte = 0;
+ flag = 1;
+ num = 0;
+ incomingByteR = 0;
+ incomingByteX = 0;
+
+ // For Luis Fernando:
+ // This thread is for the Mbed to read and serial print responses from STINGR
+ t1.start(callback(this,&Stingr::respuesta));
+
+ // For Luis Fernando:
+ // This thread is for reading commands from serial PC. (May be commented)
+ t2.start(callback(this,&Stingr::PC_communication));
+}
+
+// Accessor
+const char* Stingr::get_resp() const
+{
+ return _resp;
+}
+
+// Mutator
+void Stingr::setPacketByte(int incomingByte)
+{
+ _packet[num] = incomingByte;
+ num++;
+}
+
+/******************************************************************************/
+/********************[SERIAL PACKET PROCESSING FUNCTIONS]**********************/
+/******************************************************************************/
+
+void Stingr::clearPacket()
+{
+ num = 0;
+ for(int i = 0; i < 15 ; i++)
+ _packet[i] = 0;
+}
+
+void Stingr::printPacket()
+{
+ _pc.printf("\nResponse(Stingr)dec: \t");
+ for(int i = 0; i < 15 ; i++)
+ {
+ _pc.printf("%u",_packet[i]); // Format specifier
+ _pc.printf(" ");
+ }
+}
+
+void Stingr::waitCTS()
+{
+ Thread::wait(200); // Se da un tiempo para que el analizador se estabilice
+ incomingByte=0;
+ //pc.printf("El valor de CTS es %d\n\r",CTS.read()); // Se lee el valor de la variable CTS, la cual debe ser 1
+ //pc.printf("El valor de RTS es %d\n\r",RTS.read()); // Se lee el valor de la variable RTS, la cual debe ser 1
+ _RTS=0; // Se manda un pulso en bajo en RTS, para inicial el proceso de transmisión
+
+ while(flag==1)
+ {// Flag inicialmente vale 1, así que el ciclo while cambiará hasta que esa condición no se cumpla
+ flag=_CTS.read(); // Cuando entra el ciclo, se iguala flag a CTS, el cual cuando cambie a 0 provocará que termine el while (máx 125 ms)
+ //pc.printf("El valor de flag es %d\n\r", flag); // Se imprime el valor de flag, para identificar cuando termina el ciclo while
+ }
+}
+
+void Stingr::postCommand()
+{
+ Thread::wait(10); // Se esperan .1 segundos una vez que se terminaron de hacer las transmisiones
+ //El tiempo total de transmisión es; el wait previo a las transmisiones, el tiempo que tarda el Mu en enviar los datos y el wait posterior a la transmisión
+ _RTS=1;
+ Thread::wait(150);
+ //pc.printf("\n\rCTS: %d\n\r",CTS.read());
+ flag=1;
+}
+
+void Stingr::command(char* com)
+{
+ char c = com[0];
+
+ switch(c)
+ {
+ case QUERY_ESN:
+ query_ESN();
+ break;
+
+ case QUERY_BURSTS:
+ query_Bursts();
+ break;
+
+ case QUERY_FIRMWARE:
+ query_Firmware();
+ break;
+
+ case QUERY_SETUP:
+ query_Setup();
+ break;
+
+ case QUERY_HARDWARE:
+ query_Hardware();
+ break;
+
+ case NAK_COMMAND:
+ NAK_command();
+ break;
+
+ case SETUP:
+ _setup(com); //* later make this function to pass buf parameter
+ break;
+
+ case SEND_DATA:
+ send_Data(com);
+ break;
+
+ case ABORT_TRANSMISSION:
+ abort_Transmission();
+ break;
+
+ default:
+ {
+ //do nothing
+ }
+ }
+}
+
+void Stingr::execute(char* com)
+{
+ char c = com[0];
+
+ switch(c)
+ {
+ case 'a':
+ case 'b':
+ case 'c':
+ case 'd':
+ case 'e':
+ case 'f':
+ case 'g':
+ case 'h':
+ case 'i':
+ // if 'a'-'i', set _resp to garbage for 1st call
+ strncpy(_resp,"garbage",sizeof(_resp));
+ break;
+ default:
+ {
+ // do nothing for 2nd call.
+ }
+ }
+}
+
+/******************************************************************************/
+/************************[STINGR COMMAND FUNCTIONS]****************************/
+/******************************************************************************/
+
+//0x01 Query ESN
+void Stingr::query_ESN()
+{
+ led1=!led1;
+
+ _pc.printf("\r0x01\t\t\tQuery ESN\n");
+ _pc.printf("Command(HEX):\t\tAA 5 1 50 D5\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+
+ waitCTS();
+ Thread::wait(10);
+
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X01);
+ _stingrUART.putc(0X50);
+ _stingrUART.putc(0XD5);
+
+ postCommand();
+ printPacket();
+
+// Correct ESN
+ if (_packet[3] == 0 && // 0x00
+ _packet[4] == 41 && // 0x29
+ _packet[5] == 72 && // 0x48 //0x43 STINGR TLE
+ _packet[6] == 254) // 0xFE //0xB3 STINGR TLE
+ {
+ clearPacket();
+ _pc.printf("\nQuery ESN is correct. VALID\n");
+ strncpy(_resp,"Query ESN is correct",sizeof(_resp));
+ }
+// Wrong ESN
+ else
+ {
+ clearPacket();
+ _pc.printf("\nNAK response. INVALID\n");
+ strncpy(_resp,"NAK response (Query ESN)",sizeof(_resp));
+ }
+}
+
+//0x04 Query Bursts
+void Stingr::query_Bursts()
+{
+ int bursts = 0; //default value
+
+ led2=!led2;
+ _pc.printf("\r0x04\t\t\tQuery Burst Remaining\n");
+ _pc.printf("Command(HEX):\t\tAA 5 4 FD 82\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X04);
+ _stingrUART.putc(0XFD);
+ _stingrUART.putc(0X82);
+
+ postCommand();
+ printPacket();
+
+// NAK response
+ if (_packet[0] == 170 && // 0xAA
+ _packet[1] == 5 && // 0x05
+ _packet[2] == 255 && // 0xFF
+ _packet[3] == 161 && // 0xA1
+ _packet[4] == 203) // 0xCB
+ {
+ clearPacket();
+
+ _pc.printf("\nNAK response. INVALID");
+ strncpy(_resp,"NAK response (Query Bursts)",sizeof(_resp));
+ }
+// ACK response
+ else
+ {
+ bursts = _packet[3];
+ clearPacket();
+
+ char qry[2];
+ sprintf(qry,"%d",bursts);
+ char strt[] = "Bursts Remaining is ";
+ strcat(strt,qry);
+
+ _pc.printf("\nBursts Remaining: \t");
+ _pc.printf("%u",bursts);
+ _pc.printf("\n");
+
+ strncpy(_resp,strt,sizeof(_resp));
+ }
+}
+
+//0x05 Query Firmware
+void Stingr::query_Firmware()
+{
+ led3=!led3;
+ _pc.printf("\r0x05\t\t\tQuery Firmware Version\n");
+ _pc.printf("Command(HEX):\t\tAA 5 5 74 93\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X74);
+ _stingrUART.putc(0X93);
+
+ postCommand();
+ printPacket();
+ if (_packet[3] == 1 && // 0x01
+ _packet[4] == 3) // 0x03
+ {
+ clearPacket();
+ _pc.printf("\nResponse Processing:\tQuery Firmware is correct. VALID\n");
+ _pc.printf(" Firmware Version: 1.3\n");
+ strncpy(_resp,"Query Firmware is correct",sizeof(_resp));
+ }
+ else
+ {
+ clearPacket();
+ _pc.printf("NAK. INVALID");
+ strncpy(_resp,"NAK response (Query Firmware)",sizeof(_resp));
+ }
+}
+
+//0x07 Query Setup
+void Stingr::query_Setup()
+{
+ int numSetup = 0;
+ led4=!led4;
+ _pc.printf("\r0x07\t\t\tQuery Setup\n");
+ _pc.printf("Command(HEX):\t\tAA 5 7 66 B0\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X07);
+ _stingrUART.putc(0X66);
+ _stingrUART.putc(0XB0);
+
+ postCommand();
+
+// NAK response
+ if (_packet[0] == 170 && // 0xAA
+ _packet[1] == 5 && // 0x05
+ _packet[2] == 255 && // 0xFF
+ _packet[3] == 161 && // 0xA1
+ _packet[4] == 203) // 0xCB
+ {
+ clearPacket();
+ _pc.printf("NAK");
+ }
+// ACK response
+ else
+ {
+ numSetup = _packet[7]*10000000 + _packet[8]*100000 + _packet[9]*1000 + _packet[10];
+ clearPacket();
+
+ char qryRF[1];
+ char qryBursts[2];
+ char qryMin[3];
+ char qryMax[3];
+
+ char strt[] = "";
+
+ //Print Channel
+ _pc.printf("\n RF Channel: ");
+ _pc.printf("%u",numSetup/(10000000));
+ int rfprint = numSetup/(10000000); // RF channel
+ sprintf(qryRF,"%d",rfprint);
+ strcat(strt,qryRF);
+ numSetup = numSetup - (numSetup/10000000)*10000000; // Truncate RF Digits
+
+ //Print Bursts
+ _pc.printf("\n # of Bursts: ");
+ _pc.printf("%u",numSetup/(100000)); // Bursts Per Message
+ int burprint = numSetup/(100000);
+ sprintf(qryBursts,"%d",burprint);
+ strcat(strt,qryBursts);
+ numSetup = numSetup - (numSetup/100000)*100000; // Truncate Burst Digits
+
+ //Print Min Interval
+ _pc.printf("\n Min Burst Interval: ");
+ _pc.printf("%u",numSetup/1000*5); // Min Interval
+ int minprint = numSetup/1000*5;
+ sprintf(qryMin,"%d",minprint);
+ strcat(strt,qryMin);
+ numSetup = numSetup - (numSetup/1000)*1000; // Truncate Min Interval
+ _pc.printf(" seconds");
+
+ //Print Max Interval
+ _pc.printf("\n Max Burst Interval: ");
+ _pc.printf("%u",numSetup*5);
+ int maxprint = numSetup*5; // Max Interval
+ sprintf(qryMax,"%d",maxprint);
+ strcat(strt,qryMax);
+ _pc.printf(" seconds\n");
+
+ strncpy(_resp,strt,sizeof(_resp));
+ }
+}
+
+//0x09 Query Hardware
+void Stingr::query_Hardware()
+{
+ led1=!led1;
+ _pc.printf("\r0x09\t\t\tQuery Hardware Version\n");
+ _pc.printf("Command(HEX):\t\tAA 5 9 18 59\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X09);
+ _stingrUART.putc(0X18);
+ _stingrUART.putc(0X59);
+
+ postCommand();
+ printPacket();
+
+// ACK response
+ if (_packet[5] == 143 && // 0x8F
+ _packet[6] == 98 && // 0x62
+ _packet[7] == 98) // 0x62
+ {
+ clearPacket();
+ _pc.printf("\nResponse Processing:\tQuery Hardware is correct. VALID\n");
+ _pc.printf(" Device Code: 01\n");
+ _pc.printf(" CPU Revision: 62\n");
+ _pc.printf(" Radio Revision: 62\n");
+ strncpy(_resp,"Query Hardware is correct",sizeof(_resp));
+ }
+// NAK response
+ else
+ {
+ clearPacket();
+ _pc.printf("\n");
+ _pc.printf("NAK. INVALID");
+ strncpy(_resp,"NAK response (Query Hardware)",sizeof(_resp));
+ }
+}
+
+//NAK Command
+void Stingr::NAK_command()
+{
+ led2=!led2;
+ _pc.printf("\rXxXX\t\t\tNAK\n");
+ _pc.printf("Command(HEX):\t\tAA 5 7 66 B1\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X07);
+ _stingrUART.putc(0X66);
+ _stingrUART.putc(0XB1);
+
+ postCommand();
+ printPacket();
+ clearPacket();
+ _pc.printf("\n");
+ strncpy(_resp,"NAK response",sizeof(_resp));
+}
+
+//0x06 Setup
+void Stingr::_setup(char* b)
+{
+ led3=!led3;
+ _pc.printf("\r0x06\t\t\tSetup\n");
+ //_pc.printf("Command(HEX):\t\tAA 0E 06 00 00 00 00 00 03 18 30 00 CE 9C\n\r");
+
+// RF Channel
+ int rf = b[1] - '0';
+ _pc.printf("rf channel: %u \n",rf);
+
+// Bursts
+ int brst = b[2] - '0';
+ _pc.printf("bursts: %u \n", brst);
+
+// Min Interval
+ int min_hund = b[3] - '0';
+ int min_tens = b[4] - '0';
+ int min_ones = b[5] - '0';
+ //_pc.printf("Min interval: %u%u%u seconds\n", min_hund, min_tens, min_ones);
+ int min_int = (min_hund*100 + min_tens*10 + min_ones)/5;
+ _pc.printf("Min interval: %u seconds\n", min_int*5);
+
+// Max Interval
+ int max_hund = b[6] - '0';
+ int max_tens = b[7] - '0';
+ int max_ones = b[8] - '0';
+ //_pc.printf("Max interval: %u%u%u seconds\n", max_hund, max_tens, max_ones);
+ int max_int = (max_hund*100 + max_tens*10 + max_ones)/5;
+ _pc.printf("Max interval: %u seconds\n", max_int*5);
+
+ char header[12] = {0xAA,0x0E,0x06,0x00,0x00,0x00,0x00,rf,brst,min_int,max_int,0x00};
+
+ _pc.printf("Command(HEX):\t\t");
+ //Print b characters in HEX
+ for(int k = 0; k < 12; k++)
+ _pc.printf("%X ",header[k]);
+
+ // CRC calculation
+ char *t = (char *)header; //a
+ char crc1 = ModRTU_CRC(t,t[1]-2)&0xFF;
+ char crc2 = ModRTU_CRC(t,t[1]-2)>>8;
+
+ _pc.printf("%X ",crc1); //%X print char in HEX format
+ _pc.printf("%X ",crc2); //%X print char in HEX format
+
+ _pc.printf("\nResponse(Stingr)HEX:\t");
+
+ waitCTS();
+ Thread::wait(10);
+
+
+ //Send Command to STINGR
+ for(int k = 0; k < 12; k++)
+ _stingrUART.putc(header[k]);
+ _stingrUART.putc(crc1);
+ _stingrUART.putc(crc2);
+
+ /*
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X0E);
+ _stingrUART.putc(0X06);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0X03);
+ _stingrUART.putc(0X18);
+ _stingrUART.putc(0X30);
+ _stingrUART.putc(0X00);
+ _stingrUART.putc(0XCE);
+ _stingrUART.putc(0X9C);
+ */
+
+ postCommand();
+ printPacket();
+
+ _pc.printf("\n");
+ clearPacket();
+}
+
+//0x00 Send Data
+void Stingr::send_Data(char* b) //char* s //Replace "buf" with "b"
+{
+ led4=!led4;
+
+// Count all characters before the "Return" key in the buffer
+ int cnt = 0;
+ for (int k = 0; k < 200; k++)
+ {
+ if(b[k] == '\n')
+ break;
+ cnt++;
+ }
+
+// Print command info and input
+ _pc.printf("0x00\t\t\tSend Data\n\r");
+ cnt--; //Decrement total by 1. Don't count 8/h.
+ _pc.printf("Data Packet length: \t%u\n",cnt);
+
+// Port b array to str, but without first character '8/h'
+ char str[cnt]; //Declare str array. str will copy buf but without '8'
+ for (int k = 0; k < cnt; k++)
+ str[k] = b[k+1]; //Starts 1 index after '8'.
+
+// str1 copies str but with correct datalength by truncating the extra characters
+// found in str
+ char str1[cnt];
+ strncpy(str1,str,cnt); //truncation of extra characters
+ str1[cnt] = '\0'; //Null character
+ _pc.printf("Data Packet: \t\t%s \n",str1);
+
+//--------------------replace b with str1
+
+ waitCTS();
+ Thread::wait(10);
+
+// Put str "data" into Serial packet array (to send to STINGR)
+ size_t n = strlen(str1); //Measure size of b. This includes the zeros //!replaced
+ int number = n+3;
+ int len = n+5;
+ char header[3] = {0xAA,len,0x00}; //Define header information
+ char vec[number];
+ //pc.printf("number = %u\n",number);
+
+ //store all in vec
+ for(int k = 0; k < 3; k++)
+ vec[k] = header[k];
+ for(int k = 3; k < number; k++)
+ vec[k] = str1[k-3];//!replaced
+
+ _pc.printf("Command(HEX):\t\t");
+ //Print b characters in HEX
+ for(int k = 0; k < number; k++)
+ _pc.printf("%X ",vec[k]);
+
+// CRC calculation
+ char *t = (char *)vec; //a
+ char crc1 = ModRTU_CRC(t,t[1]-2)&0xFF;
+ char crc2 = ModRTU_CRC(t,t[1]-2)>>8;
+
+ _pc.printf("%X ",crc1); //%X print char in HEX format
+ _pc.printf("%X ",crc2); //%X print char in HEX format
+ _pc.printf("\nResponse(Stingr)HEX:\t");
+
+//Send Command to STINGR
+ for(int k = 0; k < number; k++)
+ _stingrUART.putc(vec[k]);
+ _stingrUART.putc(crc1);
+ _stingrUART.putc(crc2);
+
+ postCommand();
+ printPacket();
+
+// NAK response
+ if (_packet[0] == 170 && // 0xAA
+ _packet[1] == 5 && // 0x05
+ _packet[2] == 255 && // 0xFF
+ _packet[3] == 161 && // 0xA1
+ _packet[4] == 203) // 0xCB
+ {
+ clearPacket();
+ _pc.printf("\n");
+ _pc.printf("\nNAK response. INVALID");
+ strncpy(_resp,"NAK response (Send Data)",sizeof(_resp));
+ }
+// ACK response
+ else
+ {
+ clearPacket();
+ _pc.printf("\n");
+ _pc.printf("\nSend Data is successful. VALID\n");
+ strncpy(_resp,"Send Data is successful",sizeof(_resp));
+ }
+}
+
+//0x03 Abort Transmission
+void Stingr::abort_Transmission()
+{
+ led1=!led1;
+ _pc.printf("\r0x03\t\t\tAbort Transmission\n");
+ _pc.printf("Command(HEX):\t\tAA 5 3 42 F6\n\r");
+ _pc.printf("Response(Stingr)HEX:\t");
+ waitCTS();
+ Thread::wait(10);
+ _stingrUART.putc(0XAA);
+ _stingrUART.putc(0X05);
+ _stingrUART.putc(0X03);
+ _stingrUART.putc(0X42);
+ _stingrUART.putc(0XF6);
+
+ postCommand();
+ printPacket();
+
+// ACK response
+ if (_packet[0] == 170 && // 0xAA
+ _packet[1] == 5 && // 0x05
+ _packet[2] == 3 && // 0x03
+ _packet[3] == 66 && // 0x42
+ _packet[4] == 246) // 0xF6
+ {
+ clearPacket();
+ _pc.printf("\nResponse Processing:\tTransmission successfully aborted.\n");
+ strncpy(_resp,"Transmission successfully aborted.",sizeof(_resp));
+ }
+// NAK response
+ else
+ {
+ clearPacket();
+ _pc.printf("\nResponse Processing:\tNAK response. INVALID");
+ strncpy(_resp,"NAK response (Abort Transmission)",sizeof(_resp));
+ }
+}
+
+uint16_t Stingr::ModRTU_CRC(char * buf, int len)
+{
+ unsigned char i;
+ unsigned short data;
+ uint16_t crc = 0xFFFF;
+
+ do{
+ data = (unsigned int)0x00FF & *buf++;
+ crc = crc ^ data;
+
+ for(i = 8; i > 0; i--)
+ {
+ if(crc & 0x0001)
+ crc = (crc >> 1) ^ 0x8408;
+ else
+ crc >>=1;
+ }
+
+ }while (--len);
+
+ crc = ~crc;
+
+ // Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
+ return (crc);
+}
+
+void Stingr::respuesta()
+{
+ while(1)
+ {
+ if(_stingrUART.readable())
+ { // Se esperan datos provenientes del TX del módulo STX3
+ incomingByteR = _stingrUART.getc();
+ //stingr.setPacketByte(incomingByteR);
+ setPacketByte(incomingByteR);
+ _pc.printf("%X",incomingByteR); // Format specifier
+ _pc.printf(" ");
+ }
+ }
+}
+
+// Thread 2: Reading commands from PC
+void Stingr::PC_communication()
+{
+ int a = 0;
+
+ while(1)
+ {
+ char str1[200];
+ if (_pc.readable())
+ {
+ incomingByteX = _pc.getc();
+ strx[a] = incomingByteX;
+ a++;
+
+ if(incomingByteX == '\n')
+ {
+ _pc.printf("\n\nPC input: \t\t");
+ strncpy(str1,strx,sizeof(strx));
+ _pc.printf("%s",str1);
+ _pc.printf("\n");
+ //stingr.command(str1);
+ command(str1);
+ memset(strx, 0, 200);
+ a = 0;
+ }
+ }
+ }
+}
\ No newline at end of file