Diff: main.cpp

Revision:

16:a387f2e275c8

Parent:

15:141de2b5646d

Child:

17:76636aaf80de

--- a/main.cpp	Sun Feb 07 18:55:50 2016 +0000
+++ b/main.cpp	Sun Feb 07 20:54:58 2016 +0000
@@ -39,19 +39,23 @@
     char identifier;
     uint8_t payload;
 } serial_output_t;
-serial_output_t modus_struct;
-Queue<serial_output_t, 2> serial_output_modus_queue;
+//serial_output_t modus_struct;
+//Queue<serial_output_t, 2> serial_output_modus_queue;
+uint8_t modus;
+Queue<uint8_t, 2> serial_output_modus_queue;
+
 
 void hearbeat_thread(void const *args);
 
 void serial_transmit_thread(void const *args) {
-    //serialMinnow.printf("Serial Thread erstellt");
+    serialMinnow.printf("Serial Thread erstellt");
     osEvent modus_event;
     while (true) {
-        //modus_event = serial_output_modus_queue.get();
+        modus_event = serial_output_modus_queue.get();
         if (modus_event.status == osEventMessage) {
-            serialMinnow.printf("in der if\r\n");
-            serialMinnow.printf("[%c]=%d\r", ((serial_output_t *)modus_event.value.p)->identifier, ((serial_output_t *)modus_event.value.p)->payload);
+            //serialMinnow.printf("in der if\r\n");
+            //serialMinnow.printf("[%c]=%d\r", ((serial_output_t *)modus_event.value.p)->identifier, ((serial_output_t *)modus_event.value.p)->payload);
+            serialMinnow.printf("[m]=%d\r", *(uint8_t *)modus_event.value.p);
         }
     }
 }
@@ -64,41 +68,38 @@
     char c, x = 22;
     float f;
     while (true) {
-        if (ptr != end) {
-            c = serialMinnow.getc();
-            *ptr++ = c;
-        } else {
-            ptr = (char*)receive_buffer;
-        }
-        serialLED = !serialLED;
+        while (serialMinnow.readable()) {
+            if (ptr != end) {
+                c = serialMinnow.getc();
+                *ptr++ = c;
+            } else {
+                ptr = (char*)receive_buffer;
+            }
+            serialLED = !serialLED;
+        
+            if (c == '\r') {
+                sscanf(receive_buffer, "[%c]=%f\r", &x, &f);
+                ptr = (char*)receive_buffer;
+            }
         
-        if (c == '\r') {
-            sscanf(receive_buffer, "[%c]=%f\r", &x, &f);
-            ptr = (char*)receive_buffer;
+            if (x == 'v') {
+                machine_direction_queue.put(&f);
+            
+                ledTwo = true;
+                // Buffer wieder auf Anfang setzen
+                ptr = (char*)receive_buffer;
+                x = 22;
+            } else if (x == 'g') {
+                f = -1*f;
+                quadrature_queue.put(&f);
+                ledThree = true;
+                // Buffer wieder auf Anfang setzen
+                ptr = (char*)receive_buffer;
+                x = 22;
+            }
         }
         
-        if (x == 'v') {
-            machine_direction_queue.put(&f);
-            
-            ledTwo = true;
-            // Buffer wieder auf Anfang setzen
-            ptr = (char*)receive_buffer;
-            x = 22;
-        } else if (x == 'g') {
-            f = -1*f;
-            quadrature_queue.put(&f);
-            ledThree = true;
-            // Buffer wieder auf Anfang setzen
-            ptr = (char*)receive_buffer;
-            x = 22;
-        }
-        //if(rc_valid != 0) {
-        //    serialMinnow.putc('a');//Aktiviert
-        //} else {
-        //    serialMinnow.putc('d');//Deaktiviert
-        //}
-        
-        //Thread::wait(100);
+        Thread::wait(10);
     }
 }
 
@@ -122,8 +123,10 @@
     
     quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
     machineDirectionController = new MachineDirectionController(&drivePWM, &machine_direction_queue, &imu_queue_velocity);
-
-    //Thread serialTransmitThread(serial_transmit_thread);
+    
+    
+    
+    Thread serialTransmitThread(serial_transmit_thread);
     Thread machineDirectionControl(serial_receive_thread);
     Thread hearbeatThread(hearbeat_thread);
     
@@ -151,9 +154,12 @@
     quadrature_control_timer.start(10);
 
     while(true) {
-        modus_struct.identifier = 'm';
-        modus_struct.payload = 1;
-        serial_output_modus_queue.put(&modus_struct);
+        //modus_struct.identifier = 'm';
+        //modus_struct.payload = 1;
+        //serial_output_modus_queue.put(&modus_struct);
+        
+        modus = 1;
+        serial_output_modus_queue.put(&modus);
         
         IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
         RadioDecoder_registerDataBuffer = supportSystem->getRadioDecoderRegisterDataBuffer();
@@ -235,4 +241,4 @@
         heartbeatLED = !heartbeatLED;
         Thread::wait(100);
     }
-}
+}
\ No newline at end of file