Diff: main.cpp

Revision:

0:e35c4c5a52d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 15 08:04:23 2011 +0000
@@ -0,0 +1,80 @@
+// Example PwmIn class to detect PWM inputs, sford
+//  - Note: uses InterruptIn, so not available on p19/p20
+
+#include "mbed.h"
+//#include "PwmIn.h"
+
+#define BAUD 115200
+#define TX_PIN p9
+#define RX_PIN p10
+
+#include "MODSERIAL.h"
+
+ DigitalOut led1(LED1);
+ DigitalOut led2(LED2);
+ DigitalOut led3(LED3);
+ DigitalOut led4(LED4);
+ 
+ MODSERIAL pc(USBTX, USBRX);
+ MODSERIAL uart(TX_PIN, RX_PIN);
+ 
+ bool newpacket = false;
+
+//PwmIn a(p21), b(p22), c(p23), d(p24), e(p25);
+
+int  yaw=0,pitch=0,roll=0, Dyaw=0,Dpitch=0,Droll=0,chk=0;
+
+int main() 
+{   char  ileB=0,kan1=0,kan2=0;
+    char zna='0', znak, pakiet[255]="aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa";
+    int licz=0;
+     pc.baud(BAUD);
+     uart.baud(BAUD);
+    // uart.attach(&rxCallback, MODSERIAL::RxIrq);
+    pc.printf("Start\n\r");
+    
+  while(1)
+  { 
+    if( uart.readable() );
+    led1 = 1; // Show start of sending with LED1.
+    while( (znak=uart.getc())!=115);
+    {  led2 =1;
+       if(uart.getc()==110)
+       {
+          if(uart.getc()==112)
+          {
+             if(uart.getc()==0xB7)
+             {  led3=1;
+                ileB=uart.getc();
+                for(int i=0; i<ileB+2; i++) pakiet[i]=uart.getc();
+                /*
+                kan1=uart.getc();   kan2= uart.getc();
+                yaw   =  256 * (int)uart.getc() + uart.getc(); 
+                pitch =  256 * (int)uart.getc() + uart.getc();
+                roll   = 256 * (int)uart.getc() + uart.getc();
+                chk   =  256 * (int)uart.getc() + uart.getc();
+                */
+                led4=1; led1=0; led2=0; led3=0;
+                newpacket=1;
+                //pc.txBufferFlush();
+                pc.printf("\n\r N = %2d,  NoBytes: ", ileB);
+                for(int i=0; i<ileB+2; i++) 
+                    pc.printf(" %3d ",pakiet[i]);
+                wait(1);
+              }
+              else pc.printf("No PT");
+           }
+           else pc.printf("No P");
+        }      
+        else pc.printf("No N");
+     } 
+     
+  }
+    
+     //pc.printf("Kanaly=  %5.3f  %5.3f  %5.3f %5.3f %5.3f\n\r", a.pulsewidth()*1000, a.pulsewidth()*1000, b.pulsewidth()*1000, c.pulsewidth()*1000, d.pulsewidth()*1000, e.pulsewidth()*1000);
+    //wait(1);
+  
+}    
+
+
+     // higher than "uart" baud rate below.