Diff: pc_serial.h

Revision:

0:c21936a3520a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pc_serial.h	Mon Mar 23 08:38:40 2020 +0000
@@ -0,0 +1,316 @@
+#define debug1 0
+#define debug2 0 
+#define Start_com 1
+Serial pc(USBTX, USBRX);
+//Serial pc2(PB_6, PB_7);
+
+char check_pitch[6];
+char rx_buffer[100]={0,};
+char command[100]={0,};
+char tx_buffer[100]="txdat32768,32768,32768,32768,32768,32768\n";
+int tx_index = 0;
+int rx_index = 0;
+bool rx_flag = false;
+
+long data_recive=0;
+
+long bool_cnt=0;
+
+double set_data[100] = {0x00, }; 
+
+unsigned int cmd_roll, cmd_pitch, cmd_heave, cmd_sway, cmd_surge, cmd_yaw;
+
+double set_num = 0;
+
+void Start_Command();
+void Set_Arrangement();
+
+bool data_error_check();
+void char_save_arr(char c);
+//void Rx_Interrupt();
+void READ_and_SAVE();
+void Serial_Init();
+void Rx_Buffer_Clear();
+
+
+
+void comunication()
+{
+        
+        
+        /*
+        taget_speed=set_data[0];
+        Speed_Igain=set_data[1];
+        Speed_Pgain=set_data[2];
+        taget_position=set_data[3];
+        Position_input_filter=set_data[4];
+        position_Pgain1=set_data[5];
+        position_Pgain2=set_data[6];
+        position_Pgain3=set_data[7];
+        offset=set_data[8];
+        */
+        
+    READ_and_SAVE();
+    Start_Command();
+    
+}
+
+void Start_Command()
+{
+    bool com_error=false;
+    
+    unsigned int temp=0;
+
+    unsigned int data1=32768;
+    unsigned int data2=32768;
+    unsigned int data3=32768;
+    unsigned int data4=32768;
+    unsigned int data5=32768;
+    unsigned int data6=32768;
+    
+    com_error=data_error_check();
+    
+    if(com_error==false)
+    if((command[0] == 'S') && (command[1] == 't') && (command[2] == 'a') && (command[3] == 'r') && (command[4] == 't'))
+    {    
+   
+        int num=0;
+        for(int i=5; i<100;i++)
+        {
+
+            if(command[i]==',')
+            {
+                if(num==0)
+                    data1=temp;
+                if(num==1)
+                    data2=temp;
+                if(num==2)
+                    data3=temp;
+                if(num==3)
+                    data4=temp;
+                if(num==4)
+                    data5=temp;
+                    
+                temp=0;
+                num++;
+            }
+            else if(command[i]=='\n')
+            {
+                if(num==5)
+                    data6=temp;
+            }else
+                temp=temp*10+command[i]-0x30;
+        }
+        
+        cmd_roll     =  data1;
+        cmd_pitch    =  data2;
+        cmd_heave    =  data3;
+        cmd_sway     =  data4;
+        cmd_surge    =  data5;
+        cmd_yaw      =  data6;
+        
+        /*
+        pc.printf("%d,",cmd_roll);
+        pc.printf("%d,",cmd_pitch);
+        pc.printf("%d,",cmd_heave);
+        pc.printf("%d,",cmd_sway);
+        pc.printf("%d,",cmd_surge);
+        pc.printf("%d,",cmd_yaw);
+        pc.printf("\n");
+        */
+    }
+
+}
+
+bool data_error_check() // ,아스키코드 44 숫자 아스키코드 0x30, 0x39
+{
+    bool error=false;
+    
+    
+    if(!((command[0] == 'S') && (command[1] == 't') && (command[2] == 'a') && (command[3] == 'r') && (command[4] == 't')))
+      error=true;
+      
+      
+    for(int i=5; i<41;i++)
+    {
+      if( command[i]>0x39 || command[i]<0x30 )
+      {
+          if((command[i]=='\n'))
+            break;
+            
+          if(!(command[i]==0x2C))
+          error=true;
+      }
+    }
+    
+    for(int i=41;i<100;i++)
+    {
+        if(!(command[i]==0))
+        error=true;
+    }
+      
+    for(int i=0;i<17;i++)
+    {
+        if(command[i]==0)
+        error=true;
+    }
+    
+    
+    return error;
+}
+
+
+// Set arrangement function
+void Set_Arrangement()
+{
+    bool set_error = false;
+    bool set_point = false;
+    double square_root = 0.1;
+    double error_temp = set_num;
+    
+    if((command[0] == 'S') && (command[1] == 'E') && (command[2] == 'T'))
+    {
+        for(int i = 3; i < 100; i++)
+        {            
+            // Error check
+            if(command[i] != '.' && command[i] < '0')
+            {
+                set_error = true;
+                break;
+            }
+            else if(command[i] != '.' && command[i] > '9')
+            {
+                set_error = true;
+                break;
+            }
+            
+            
+            if(command[i] == '\n')
+            {
+                break;
+            }
+            else if(command[i] == '.' && set_point == false)
+            {
+                set_point = true;
+            }
+            else if(set_point == false)
+            {
+                set_num = (set_num * 10) + (command[i] - 0x30);
+            }
+            else if(set_point == true)
+            {
+                set_num = set_num + ((command[i] - 0x30) * square_root);
+                square_root = square_root * 0.1;
+            }
+        }
+        
+        if(set_error == true)
+        {
+            set_num = error_temp;
+        }
+    }
+}     
+    
+
+bool tx_done=false;
+void READ_and_SAVE()
+{
+    
+    cs = 1;
+    char c;
+    tx_done=false;
+  for(int i=0; i<64; i++)
+  { 
+        wait_us(20);
+        c = spi1.write(255);
+        
+    if(c==255)
+    {
+        break;
+    }
+    else
+    {
+        //pc.printf("%d\r\n",c);
+        char_save_arr(c);
+    }
+  }   
+  cs = 0;
+  
+}
+
+
+void char_save_arr(char c)
+{
+    rx_buffer[rx_index]=c;
+    rx_index++;
+    if(rx_index>99)
+    rx_index=99;
+    if(c=='\n')
+    {
+        data_recive++;
+        for(int i =0; i<100;i++)
+        command[i]=rx_buffer[i];
+
+        Rx_Buffer_Clear();
+
+        rx_index=0;
+    }
+}
+
+
+
+
+// Interrupt functions
+/*
+void Rx_Interrupt()
+{
+    if(pc.readable())
+    {       
+        char c = pc.getc();
+        rx_buffer[rx_index] = c;
+        if(rx_buffer[rx_index] == '\n')
+        {
+            rx_flag = true;
+        }
+        rx_index++;
+        if(rx_index > 99)
+        {
+            rx_index = 99;
+        }
+    }
+    return;
+}
+*/
+// Basic serial communication functions
+
+void Serial_Init()
+{    
+    pc.format(8, Serial::None, 1);
+    pc.baud(2000000);
+    
+    //pc2.format(8, Serial::None, 1);
+    //pc2.baud(115200);
+    //pc.attach(&Rx_Interrupt, Serial::RxIrq);
+}
+
+
+void Rx_Buffer_Clear()
+{
+        for(int i = 0; i < 100; i++)
+        {
+            rx_buffer[i] = 0x00;
+        }
+}
+
+
+/*
+  if(com_error==false)
+            {
+                cmd_roll     =  data1;
+                cmd_pitch    =  data2;
+                cmd_heave    =  data3;
+                cmd_sway     =  data4;
+                cmd_surge    =  data5;
+                cmd_yaw      =  data6;
+            }
+            */
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