Final version
Dependencies: mbed SparkfunAnalogJoystick LSM9DS1_Library_cal PinDetect
main.cpp@2:da3e288789a4, 2018-12-11 (annotated)
- Committer:
- kzar
- Date:
- Tue Dec 11 21:22:01 2018 +0000
- Revision:
- 2:da3e288789a4
- Parent:
- 1:0ec1b59239f2
ye
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kzar | 1:0ec1b59239f2 | 1 | // This mbed code creates a connection with the car mbeds server and reads from it |
kzar | 0:5ad3d5f99603 | 2 | // The car will host the server, the remote controll will send data to the server |
kzar | 0:5ad3d5f99603 | 3 | |
kzar | 0:5ad3d5f99603 | 4 | #include "mbed.h" |
kzar | 0:5ad3d5f99603 | 5 | #include "PinDetect.h" |
kzar | 2:da3e288789a4 | 6 | #include "SparkfunAnalogJoystick.h" |
kzar | 2:da3e288789a4 | 7 | #include "LSM9DS1.h" |
kzar | 2:da3e288789a4 | 8 | #define PI 3.14159 |
kzar | 0:5ad3d5f99603 | 9 | |
kzar | 2:da3e288789a4 | 10 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. |
kzar | 2:da3e288789a4 | 11 | // Construct serial objects |
kzar | 0:5ad3d5f99603 | 12 | Serial pc(USBTX, USBRX); |
kzar | 0:5ad3d5f99603 | 13 | Serial esp(p28, p27); // tx, rx |
kzar | 0:5ad3d5f99603 | 14 | // Standard Mbed LED definitions |
kzar | 0:5ad3d5f99603 | 15 | DigitalOut led1(LED1); |
kzar | 0:5ad3d5f99603 | 16 | DigitalOut led2(LED2); |
kzar | 2:da3e288789a4 | 17 | // Joystick for control |
kzar | 2:da3e288789a4 | 18 | SparkfunAnalogJoystick joystick(p18, p19, p20); |
kzar | 2:da3e288789a4 | 19 | // Construct imu object |
kzar | 2:da3e288789a4 | 20 | LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);//sda, scl |
kzar | 2:da3e288789a4 | 21 | // function for geting mag heading |
kzar | 2:da3e288789a4 | 22 | float calc_heading(float mx, float my); |
kzar | 0:5ad3d5f99603 | 23 | |
kzar | 0:5ad3d5f99603 | 24 | // things for sending/receiving data over serial |
kzar | 0:5ad3d5f99603 | 25 | volatile int tx_in=0; |
kzar | 0:5ad3d5f99603 | 26 | volatile int tx_out=0; |
kzar | 0:5ad3d5f99603 | 27 | volatile int rx_in=0; |
kzar | 0:5ad3d5f99603 | 28 | volatile int rx_out=0; |
kzar | 0:5ad3d5f99603 | 29 | const int buffer_size = 4095; |
kzar | 0:5ad3d5f99603 | 30 | char tx_buffer[buffer_size+1]; |
kzar | 0:5ad3d5f99603 | 31 | char rx_buffer[buffer_size+1]; |
kzar | 0:5ad3d5f99603 | 32 | void Tx_interrupt(); |
kzar | 0:5ad3d5f99603 | 33 | void Rx_interrupt(); |
kzar | 2:da3e288789a4 | 34 | //void read_line(); |
kzar | 0:5ad3d5f99603 | 35 | |
kzar | 0:5ad3d5f99603 | 36 | int DataRX; |
kzar | 0:5ad3d5f99603 | 37 | int update; |
kzar | 0:5ad3d5f99603 | 38 | char cmdbuff[1024]; |
kzar | 0:5ad3d5f99603 | 39 | char replybuff[4096]; |
kzar | 2:da3e288789a4 | 40 | char webdata[4096]; // This may need to be bigger depending on WEB browser used |
kzar | 0:5ad3d5f99603 | 41 | char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added |
kzar | 2:da3e288789a4 | 42 | void SendCMD(); |
kzar | 2:da3e288789a4 | 43 | //void getreply(); |
kzar | 0:5ad3d5f99603 | 44 | void getConnection(); // Sets up a connection with the car server |
kzar | 0:5ad3d5f99603 | 45 | char rx_line[1024]; |
kzar | 2:da3e288789a4 | 46 | int port = 80; // set server port |
kzar | 2:da3e288789a4 | 47 | int SERVtimeout = 5; // set server timeout in seconds in case link breaks. |
kzar | 0:5ad3d5f99603 | 48 | |
kzar | 0:5ad3d5f99603 | 49 | int main() |
kzar | 0:5ad3d5f99603 | 50 | { |
kzar | 0:5ad3d5f99603 | 51 | pc.baud(9600); |
kzar | 0:5ad3d5f99603 | 52 | esp.baud(9600); |
kzar | 2:da3e288789a4 | 53 | |
kzar | 2:da3e288789a4 | 54 | // Init leds |
kzar | 2:da3e288789a4 | 55 | led1=0,led2=0; |
kzar | 2:da3e288789a4 | 56 | |
kzar | 0:5ad3d5f99603 | 57 | // Setup a serial interrupt function to receive data |
kzar | 0:5ad3d5f99603 | 58 | esp.attach(&Rx_interrupt, Serial::RxIrq); |
kzar | 0:5ad3d5f99603 | 59 | // Setup a serial interrupt function to transmit data |
kzar | 0:5ad3d5f99603 | 60 | esp.attach(&Tx_interrupt, Serial::TxIrq); |
kzar | 2:da3e288789a4 | 61 | |
kzar | 0:5ad3d5f99603 | 62 | // Get connection to server |
kzar | 0:5ad3d5f99603 | 63 | getConnection(); |
kzar | 0:5ad3d5f99603 | 64 | |
kzar | 2:da3e288789a4 | 65 | // Set up the imu |
kzar | 2:da3e288789a4 | 66 | IMU.begin(); |
kzar | 2:da3e288789a4 | 67 | if (!IMU.begin()) { |
kzar | 2:da3e288789a4 | 68 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
kzar | 2:da3e288789a4 | 69 | } |
kzar | 2:da3e288789a4 | 70 | IMU.calibrate(1); |
kzar | 2:da3e288789a4 | 71 | IMU.calibrateMag(0); |
kzar | 2:da3e288789a4 | 72 | float forward, current, diff; |
kzar | 2:da3e288789a4 | 73 | float servo_x; |
kzar | 2:da3e288789a4 | 74 | //initial heading calc, need to rotate by 360 degrees. |
kzar | 2:da3e288789a4 | 75 | while(!IMU.magAvailable(X_AXIS)); |
kzar | 2:da3e288789a4 | 76 | IMU.readMag(); |
kzar | 2:da3e288789a4 | 77 | forward = calc_heading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my)); |
kzar | 2:da3e288789a4 | 78 | |
kzar | 2:da3e288789a4 | 79 | // Variables used for joystick |
kzar | 2:da3e288789a4 | 80 | float lm, rm; |
kzar | 2:da3e288789a4 | 81 | float x, y; |
kzar | 2:da3e288789a4 | 82 | |
kzar | 2:da3e288789a4 | 83 | while (1) { |
kzar | 2:da3e288789a4 | 84 | // Update the motor speeds |
kzar | 2:da3e288789a4 | 85 | // Get x and y |
kzar | 2:da3e288789a4 | 86 | x = joystick.xAxis(); |
kzar | 2:da3e288789a4 | 87 | y = joystick.yAxis(); |
kzar | 2:da3e288789a4 | 88 | // Get the angle of direction |
kzar | 2:da3e288789a4 | 89 | // Determine which direction (straight, complete turn, or in a coordinate quadrant) |
kzar | 2:da3e288789a4 | 90 | // straight (set motor speed directly to y |
kzar | 2:da3e288789a4 | 91 | if (x < .1 && x > -.1) { |
kzar | 2:da3e288789a4 | 92 | lm = (y); |
kzar | 2:da3e288789a4 | 93 | rm = (-1*y);\ |
kzar | 2:da3e288789a4 | 94 | } |
kzar | 2:da3e288789a4 | 95 | // Complete turn (set outside motor directly to x) |
kzar | 2:da3e288789a4 | 96 | else if ( y < .1 && y > -.1) { |
kzar | 2:da3e288789a4 | 97 | if (x > 0) { |
kzar | 2:da3e288789a4 | 98 | lm = (x); |
kzar | 2:da3e288789a4 | 99 | rm = (0); |
kzar | 2:da3e288789a4 | 100 | } else { |
kzar | 2:da3e288789a4 | 101 | lm = (0); |
kzar | 2:da3e288789a4 | 102 | rm = (x); |
kzar | 2:da3e288789a4 | 103 | } |
kzar | 0:5ad3d5f99603 | 104 | } |
kzar | 0:5ad3d5f99603 | 105 | |
kzar | 2:da3e288789a4 | 106 | // Update the servo |
kzar | 2:da3e288789a4 | 107 | while(!IMU.magAvailable(X_AXIS)); |
kzar | 2:da3e288789a4 | 108 | IMU.readMag(); |
kzar | 2:da3e288789a4 | 109 | current = calc_heading(IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my)); |
kzar | 2:da3e288789a4 | 110 | // diff is the final difference from forward direction in [-180, 180] range |
kzar | 2:da3e288789a4 | 111 | // this needs to be normalized to [0, 1] while only keeping [-45, 45] |
kzar | 2:da3e288789a4 | 112 | diff = fmod((forward - current + 180), 360) - 180; |
kzar | 2:da3e288789a4 | 113 | diff = (diff < -180) ? (diff + 360) : diff; |
kzar | 2:da3e288789a4 | 114 | servo_x = (diff / 90.0) + 0.45; |
kzar | 2:da3e288789a4 | 115 | |
kzar | 2:da3e288789a4 | 116 | // Send the updated value of the motors and servos |
kzar | 2:da3e288789a4 | 117 | sprintf(cmdbuff, "cl:send(\"<l=%f,r=%f,x=%f>\")\r\n)", lm, rm, servo_x); |
kzar | 2:da3e288789a4 | 118 | |
kzar | 2:da3e288789a4 | 119 | SendCMD(); |
kzar | 2:da3e288789a4 | 120 | wait(0.18); |
kzar | 2:da3e288789a4 | 121 | led1=!led1; |
kzar | 0:5ad3d5f99603 | 122 | } |
kzar | 0:5ad3d5f99603 | 123 | } |
kzar | 0:5ad3d5f99603 | 124 | |
kzar | 2:da3e288789a4 | 125 | // Gets magnetic heading |
kzar | 2:da3e288789a4 | 126 | float calc_heading(float mx, float my) |
kzar | 0:5ad3d5f99603 | 127 | { |
kzar | 2:da3e288789a4 | 128 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
kzar | 2:da3e288789a4 | 129 | mx = -mx; |
kzar | 2:da3e288789a4 | 130 | float heading; |
kzar | 2:da3e288789a4 | 131 | if (my == 0.0) |
kzar | 2:da3e288789a4 | 132 | heading = (mx < 0.0) ? 180.0 : 0.0; |
kzar | 2:da3e288789a4 | 133 | else |
kzar | 2:da3e288789a4 | 134 | heading = atan2(mx, my)*360.0/(2.0*PI); |
kzar | 2:da3e288789a4 | 135 | heading -= DECLINATION; //correct for geo location |
kzar | 2:da3e288789a4 | 136 | if(heading>180.0) heading = heading - 360.0; |
kzar | 2:da3e288789a4 | 137 | else if(heading<-180.0) heading = 360.0 + heading; |
kzar | 2:da3e288789a4 | 138 | else if(heading<0.0) heading = 360.0 + heading; |
kzar | 2:da3e288789a4 | 139 | |
kzar | 2:da3e288789a4 | 140 | // pc.printf("Magnetic Heading: %f degrees\n\r",heading); |
kzar | 2:da3e288789a4 | 141 | return heading; |
kzar | 0:5ad3d5f99603 | 142 | } |
kzar | 1:0ec1b59239f2 | 143 | |
kzar | 2:da3e288789a4 | 144 | |
kzar | 0:5ad3d5f99603 | 145 | // Sets up connection with car server |
kzar | 0:5ad3d5f99603 | 146 | void getConnection() |
kzar | 2:da3e288789a4 | 147 | { |
kzar | 1:0ec1b59239f2 | 148 | // Reset the ESP8266 |
kzar | 1:0ec1b59239f2 | 149 | pc.printf("++++++++++ Resetting ESP ++++++++++\r\n"); |
kzar | 1:0ec1b59239f2 | 150 | strcpy(cmdbuff,"node.restart()\r\n"); |
kzar | 1:0ec1b59239f2 | 151 | SendCMD(); |
kzar | 2:da3e288789a4 | 152 | wait(1); |
kzar | 1:0ec1b59239f2 | 153 | |
kzar | 0:5ad3d5f99603 | 154 | // Disconncet from any potential connections |
kzar | 0:5ad3d5f99603 | 155 | strcpy(cmdbuff,"wifi.sta.disconnect()\r\n"); |
kzar | 0:5ad3d5f99603 | 156 | SendCMD(); |
kzar | 2:da3e288789a4 | 157 | wait(1); |
kzar | 0:5ad3d5f99603 | 158 | // Set mode (STATION) |
kzar | 0:5ad3d5f99603 | 159 | strcpy(cmdbuff,"wifi.setmode(wifi.STATION)\r\n"); |
kzar | 0:5ad3d5f99603 | 160 | SendCMD(); |
kzar | 2:da3e288789a4 | 161 | //getreply(); |
kzar | 2:da3e288789a4 | 162 | wait(1); |
kzar | 0:5ad3d5f99603 | 163 | // Connect to car server |
kzar | 1:0ec1b59239f2 | 164 | strcpy(cmdbuff,"wifi.sta.config(\"Marlon's iPhone\", \"feelsbadman\")\r\n"); |
kzar | 0:5ad3d5f99603 | 165 | SendCMD(); |
kzar | 2:da3e288789a4 | 166 | wait(1); |
kzar | 0:5ad3d5f99603 | 167 | // Connect to server |
kzar | 0:5ad3d5f99603 | 168 | strcpy(cmdbuff,"wifi.sta.connect()\r\n"); |
kzar | 0:5ad3d5f99603 | 169 | SendCMD(); |
kzar | 2:da3e288789a4 | 170 | wait(1); |
kzar | 1:0ec1b59239f2 | 171 | |
kzar | 1:0ec1b59239f2 | 172 | strcpy(cmdbuff,"print(\"Looking for a connection\")\r\n"); |
kzar | 1:0ec1b59239f2 | 173 | SendCMD(); |
kzar | 2:da3e288789a4 | 174 | wait(1); |
kzar | 0:5ad3d5f99603 | 175 | |
kzar | 0:5ad3d5f99603 | 176 | strcpy(cmdbuff,"tmr.alarm(1,2000,1, function()\r\n"); |
kzar | 0:5ad3d5f99603 | 177 | SendCMD(); |
kzar | 2:da3e288789a4 | 178 | wait(1); |
kzar | 0:5ad3d5f99603 | 179 | |
kzar | 1:0ec1b59239f2 | 180 | strcpy(cmdbuff,"if(wifi.sta.getip()~=nil) then\r\n"); |
kzar | 0:5ad3d5f99603 | 181 | SendCMD(); |
kzar | 2:da3e288789a4 | 182 | wait(1); |
kzar | 0:5ad3d5f99603 | 183 | |
kzar | 0:5ad3d5f99603 | 184 | strcpy(cmdbuff,"tmr.stop(1)\r\n"); |
kzar | 0:5ad3d5f99603 | 185 | SendCMD(); |
kzar | 2:da3e288789a4 | 186 | wait(1); |
kzar | 0:5ad3d5f99603 | 187 | // Print out controller ip address |
kzar | 0:5ad3d5f99603 | 188 | strcpy(cmdbuff,"print(\"Connected!\")\r\n"); |
kzar | 0:5ad3d5f99603 | 189 | SendCMD(); |
kzar | 2:da3e288789a4 | 190 | wait(1); |
kzar | 0:5ad3d5f99603 | 191 | // Print out controller ip address |
kzar | 1:0ec1b59239f2 | 192 | strcpy(cmdbuff,"print(\"Client IP Address: \",wifi.sta.getip())\r\n"); |
kzar | 1:0ec1b59239f2 | 193 | SendCMD(); |
kzar | 2:da3e288789a4 | 194 | wait(1); |
kzar | 1:0ec1b59239f2 | 195 | // Create connetion |
kzar | 1:0ec1b59239f2 | 196 | strcpy(cmdbuff,"cl=net.createConnection(net.TCP, 0)\r\n"); |
kzar | 1:0ec1b59239f2 | 197 | SendCMD(); |
kzar | 2:da3e288789a4 | 198 | wait(1); |
kzar | 1:0ec1b59239f2 | 199 | // Connect the connection |
kzar | 1:0ec1b59239f2 | 200 | strcpy(cmdbuff,"cl:connect(80, \"192.168.4.1\")\r\n"); |
kzar | 0:5ad3d5f99603 | 201 | SendCMD(); |
kzar | 2:da3e288789a4 | 202 | wait(1); |
kzar | 2:da3e288789a4 | 203 | |
kzar | 0:5ad3d5f99603 | 204 | strcpy(cmdbuff,"else\r\n"); |
kzar | 0:5ad3d5f99603 | 205 | SendCMD(); |
kzar | 2:da3e288789a4 | 206 | wait(1); |
kzar | 2:da3e288789a4 | 207 | |
kzar | 0:5ad3d5f99603 | 208 | strcpy(cmdbuff,"print(\"Connecting...\")\r\n"); |
kzar | 0:5ad3d5f99603 | 209 | SendCMD(); |
kzar | 2:da3e288789a4 | 210 | wait(1); |
kzar | 2:da3e288789a4 | 211 | |
kzar | 0:5ad3d5f99603 | 212 | strcpy(cmdbuff,"end\r\n"); |
kzar | 0:5ad3d5f99603 | 213 | SendCMD(); |
kzar | 2:da3e288789a4 | 214 | wait(1); |
kzar | 2:da3e288789a4 | 215 | |
kzar | 0:5ad3d5f99603 | 216 | strcpy(cmdbuff,"end)\r\n"); |
kzar | 0:5ad3d5f99603 | 217 | SendCMD(); |
kzar | 2:da3e288789a4 | 218 | //getreply(); |
kzar | 2:da3e288789a4 | 219 | wait(5); |
kzar | 0:5ad3d5f99603 | 220 | } |
kzar | 0:5ad3d5f99603 | 221 | |
kzar | 0:5ad3d5f99603 | 222 | |
kzar | 0:5ad3d5f99603 | 223 | // ESP Command data send |
kzar | 0:5ad3d5f99603 | 224 | void SendCMD() |
kzar | 0:5ad3d5f99603 | 225 | { |
kzar | 0:5ad3d5f99603 | 226 | int i; |
kzar | 0:5ad3d5f99603 | 227 | char temp_char; |
kzar | 0:5ad3d5f99603 | 228 | bool empty; |
kzar | 0:5ad3d5f99603 | 229 | i = 0; |
kzar | 0:5ad3d5f99603 | 230 | // Start Critical Section - don't interrupt while changing global buffer variables |
kzar | 0:5ad3d5f99603 | 231 | NVIC_DisableIRQ(UART1_IRQn); |
kzar | 0:5ad3d5f99603 | 232 | empty = (tx_in == tx_out); |
kzar | 0:5ad3d5f99603 | 233 | while ((i==0) || (cmdbuff[i-1] != '\n')) { |
kzar | 0:5ad3d5f99603 | 234 | // Wait if buffer full |
kzar | 0:5ad3d5f99603 | 235 | if (((tx_in + 1) % buffer_size) == tx_out) { |
kzar | 0:5ad3d5f99603 | 236 | // End Critical Section - need to let interrupt routine empty buffer by sending |
kzar | 0:5ad3d5f99603 | 237 | NVIC_EnableIRQ(UART1_IRQn); |
kzar | 0:5ad3d5f99603 | 238 | while (((tx_in + 1) % buffer_size) == tx_out) { |
kzar | 0:5ad3d5f99603 | 239 | } |
kzar | 0:5ad3d5f99603 | 240 | // Start Critical Section - don't interrupt while changing global buffer variables |
kzar | 0:5ad3d5f99603 | 241 | NVIC_DisableIRQ(UART1_IRQn); |
kzar | 0:5ad3d5f99603 | 242 | } |
kzar | 0:5ad3d5f99603 | 243 | tx_buffer[tx_in] = cmdbuff[i]; |
kzar | 0:5ad3d5f99603 | 244 | i++; |
kzar | 0:5ad3d5f99603 | 245 | tx_in = (tx_in + 1) % buffer_size; |
kzar | 0:5ad3d5f99603 | 246 | } |
kzar | 0:5ad3d5f99603 | 247 | if (esp.writeable() && (empty)) { |
kzar | 0:5ad3d5f99603 | 248 | temp_char = tx_buffer[tx_out]; |
kzar | 0:5ad3d5f99603 | 249 | tx_out = (tx_out + 1) % buffer_size; |
kzar | 0:5ad3d5f99603 | 250 | // Send first character to start tx interrupts, if stopped |
kzar | 0:5ad3d5f99603 | 251 | esp.putc(temp_char); |
kzar | 0:5ad3d5f99603 | 252 | } |
kzar | 0:5ad3d5f99603 | 253 | // End Critical Section |
kzar | 0:5ad3d5f99603 | 254 | NVIC_EnableIRQ(UART1_IRQn); |
kzar | 0:5ad3d5f99603 | 255 | return; |
kzar | 0:5ad3d5f99603 | 256 | } |
kzar | 0:5ad3d5f99603 | 257 | |
kzar | 0:5ad3d5f99603 | 258 | |
kzar | 0:5ad3d5f99603 | 259 | // Get Command and ESP status replies |
kzar | 2:da3e288789a4 | 260 | //void getreply() |
kzar | 2:da3e288789a4 | 261 | //{ |
kzar | 2:da3e288789a4 | 262 | // read_line(); |
kzar | 2:da3e288789a4 | 263 | // sscanf(rx_line,replybuff); |
kzar | 2:da3e288789a4 | 264 | //} |
kzar | 0:5ad3d5f99603 | 265 | |
kzar | 0:5ad3d5f99603 | 266 | // FUNCTIONS BELOW ARE FOR RX AND TX INTERUPTS (NOT WEB STUFF) |
kzar | 0:5ad3d5f99603 | 267 | |
kzar | 0:5ad3d5f99603 | 268 | // Read a line from the large rx buffer from rx interrupt routine |
kzar | 2:da3e288789a4 | 269 | //void read_line() { |
kzar | 2:da3e288789a4 | 270 | // int i; |
kzar | 2:da3e288789a4 | 271 | // i = 0; |
kzar | 2:da3e288789a4 | 272 | //// Start Critical Section - don't interrupt while changing global buffer variables |
kzar | 2:da3e288789a4 | 273 | // NVIC_DisableIRQ(UART1_IRQn); |
kzar | 2:da3e288789a4 | 274 | //// Loop reading rx buffer characters until end of line character |
kzar | 2:da3e288789a4 | 275 | // while ((i==0) || (rx_line[i-1] != '\r')) { |
kzar | 2:da3e288789a4 | 276 | //// Wait if buffer empty |
kzar | 2:da3e288789a4 | 277 | // if (rx_in == rx_out) { |
kzar | 2:da3e288789a4 | 278 | //// End Critical Section - need to allow rx interrupt to get new characters for buffer |
kzar | 2:da3e288789a4 | 279 | // NVIC_EnableIRQ(UART1_IRQn); |
kzar | 2:da3e288789a4 | 280 | // while (rx_in == rx_out) { |
kzar | 2:da3e288789a4 | 281 | // } |
kzar | 2:da3e288789a4 | 282 | //// Start Critical Section - don't interrupt while changing global buffer variables |
kzar | 2:da3e288789a4 | 283 | // NVIC_DisableIRQ(UART1_IRQn); |
kzar | 2:da3e288789a4 | 284 | // } |
kzar | 2:da3e288789a4 | 285 | // rx_line[i] = rx_buffer[rx_out]; |
kzar | 2:da3e288789a4 | 286 | // i++; |
kzar | 2:da3e288789a4 | 287 | // rx_out = (rx_out + 1) % buffer_size; |
kzar | 2:da3e288789a4 | 288 | // } |
kzar | 2:da3e288789a4 | 289 | //// End Critical Section |
kzar | 2:da3e288789a4 | 290 | // NVIC_EnableIRQ(UART1_IRQn); |
kzar | 2:da3e288789a4 | 291 | // rx_line[i-1] = 0; |
kzar | 2:da3e288789a4 | 292 | // return; |
kzar | 2:da3e288789a4 | 293 | //} |
kzar | 0:5ad3d5f99603 | 294 | |
kzar | 0:5ad3d5f99603 | 295 | |
kzar | 0:5ad3d5f99603 | 296 | // Interupt Routine to read in data from serial port |
kzar | 0:5ad3d5f99603 | 297 | void Rx_interrupt() { |
kzar | 0:5ad3d5f99603 | 298 | DataRX=1; |
kzar | 0:5ad3d5f99603 | 299 | //led3=1; |
kzar | 0:5ad3d5f99603 | 300 | // Loop just in case more than one character is in UART's receive FIFO buffer |
kzar | 0:5ad3d5f99603 | 301 | // Stop if buffer full |
kzar | 0:5ad3d5f99603 | 302 | while ((esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) { |
kzar | 0:5ad3d5f99603 | 303 | rx_buffer[rx_in] = esp.getc(); |
kzar | 0:5ad3d5f99603 | 304 | // Uncomment to Echo to USB serial to watch data flow |
kzar | 2:da3e288789a4 | 305 | // pc.putc(rx_buffer[rx_in]); |
kzar | 2:da3e288789a4 | 306 | // rx_in = (rx_in + 1) % buffer_size; |
kzar | 0:5ad3d5f99603 | 307 | } |
kzar | 0:5ad3d5f99603 | 308 | //led3=0; |
kzar | 0:5ad3d5f99603 | 309 | return; |
kzar | 0:5ad3d5f99603 | 310 | } |
kzar | 0:5ad3d5f99603 | 311 | |
kzar | 0:5ad3d5f99603 | 312 | |
kzar | 0:5ad3d5f99603 | 313 | // Interupt Routine to write out data to serial port |
kzar | 0:5ad3d5f99603 | 314 | void Tx_interrupt() { |
kzar | 0:5ad3d5f99603 | 315 | //led2=1; |
kzar | 0:5ad3d5f99603 | 316 | // Loop to fill more than one character in UART's transmit FIFO buffer |
kzar | 0:5ad3d5f99603 | 317 | // Stop if buffer empty |
kzar | 0:5ad3d5f99603 | 318 | while ((esp.writeable()) && (tx_in != tx_out)) { |
kzar | 0:5ad3d5f99603 | 319 | esp.putc(tx_buffer[tx_out]); |
kzar | 0:5ad3d5f99603 | 320 | tx_out = (tx_out + 1) % buffer_size; |
kzar | 0:5ad3d5f99603 | 321 | } |
kzar | 0:5ad3d5f99603 | 322 | //led2=0; |
kzar | 0:5ad3d5f99603 | 323 | return; |
kzar | 0:5ad3d5f99603 | 324 | } |