Diff: main.cpp

Revision:

6:3d15e8b4d035

Parent:

5:2908292a8cf3

Child:

7:bb6454b72c57

--- a/main.cpp	Wed Aug 12 14:58:59 2015 +0000
+++ b/main.cpp	Fri Sep 04 08:03:30 2015 +0000
@@ -14,7 +14,7 @@
 DigitalOut myled3(LED3);
 DigitalOut myled4(LED4);
 
-DigitalOut enableEscons(p14,1); 
+DigitalOut enableEscons(p14,0); 
  
 InterruptIn  encoder0_A(p5);
 InterruptIn  encoder0_B(p7);
@@ -23,6 +23,10 @@
 InterruptIn  encoder2_A(p11);
 InterruptIn  encoder2_B(p13);
 
+Timeout msg_watchdog;
+
+
+
 
 Serial pc(USBTX, USBRX); // tx, rx
 
@@ -114,12 +118,31 @@
     unsigned int debug;
 };
 
+void escon_timeout() {
+    enableEscons = 0;
+    myled2 = 0;
+    
+    myled3 = 0;
+    myled4 = 0;
+        
+    for(int i=0;i<3;i++){
+        pwm[i].write(0);  
+        direction[i]=0;
+    }        
+}
  
 int main(void) {
     myled1 = 1;   // SETUP
+    myled2 = 1;
+    myled3 = 1;
+    myled4 = 1;  
+    
+    wait_ms(500); 
+    myled1 = 0;   // SETUP
     myled2 = 0;
     myled3 = 0;
-    myled4 = 0;    
+    myled4 = 0;  
+
     
     encoder0_A.rise(&callback_0_A_rise);
     encoder0_A.fall(&callback_0_A_fall);
@@ -136,7 +159,7 @@
     encoder2_B.rise(&callback_2_B_rise);
     encoder2_B.fall(&callback_2_B_fall);
     
-    enableEscons = 1;
+    enableEscons = 0;
     
     configuration config = default_woody();  
     
@@ -156,21 +179,24 @@
     hid_to_pc.debug = 0;
     pc_to_hid_message pc_to_hid;
     
-    Timer t;
-    t.start();
+//    Timer t;
+//    t.start();
     
     Timer usb_timer;
     usb_timer.start();
 
     Timer debug_t;
     debug_t.start();
+    
+    Timer message_timeout;
+    message_timeout.start();
 
 
     pc.printf("Hello World Debug!\n\r");
     
+    
     while (1) {
         myled1 = 1;
-        myled2 = 1;
         
 
 
@@ -182,6 +208,16 @@
 
             if(recv_report.length == 8){ // It should always be!                
             
+            
+                //message_timeout.reset();
+                //enableEscons = 1;
+                //myled2 = 1;
+                msg_watchdog.detach();
+                msg_watchdog.attach(&escon_timeout,0.5);
+                enableEscons = 1;
+                myled2 = 1;
+
+            
                 pc_to_hid = *reinterpret_cast<pc_to_hid_message*>(recv_report.data);
                 
                 //if(debug_t.read() > 0.5){
@@ -204,6 +240,7 @@
                     else
                         pwm[i].write(0.8*abs_val/3.0+0.1);
                 }
+                
 
                 
                 /*