Diff: servo.cpp

Revision:

1:cde16b5e604d

Child:

2:7d574b1ab3cd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.cpp	Mon Apr 30 11:23:06 2018 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "rtos.h"
+
+DigitalOut l1(LED1);
+DigitalOut l2(LED2);
+DigitalOut l3(LED3);
+DigitalOut l4(LED4);
+RawSerial motor(PC_4,PC_5);
+unsigned char tx_buffer[3];
+unsigned char tx_buffer_ptr = 0;
+unsigned char tx_buffer_full = false;
+unsigned char rx_buffer[6];
+unsigned char rx_buffer_ptr = 0;
+unsigned char rx_buffer_full = false;
+signed short int motorcp[] = {8500,8500};
+unsigned short int Position;
+int MotorID;
+void Tx_interrupt();
+void Rx_interrupt();
+
+void motor_update(unsigned char Id, unsigned short int Position)
+{
+    unsigned char id,lo,hi;
+    id=0x80|Id;
+    hi=(Position>>7)&0x007F;
+    lo=Position&0x007F;
+    NVIC_DisableIRQ(USART3_IRQn);
+    tx_buffer[0] = id;
+    tx_buffer[1] = hi;
+    tx_buffer[2] = lo;
+    NVIC_EnableIRQ(USART3_IRQn);
+}
+void SERVO_init() 
+{
+    for(MotorID=0;MotorID<=1;MotorID++)
+    {
+        motor_update(MotorID,motorcp[MotorID]);
+        wait_us(900);
+    }
+}
+void SERVO_task() 
+{
+    motor.format(8,Serial::Even,1);
+    motor.baud(115200);
+    rx_buffer_ptr = 0;
+    rx_buffer_full = false;
+    motor.attach(&Rx_interrupt, Serial::RxIrq);
+    motor.attach(&Tx_interrupt, Serial::TxIrq);
+    NVIC_EnableIRQ(USART3_IRQn);
+    while(1)
+    {
+        motorcp[0]=7500;
+        motorcp[1]=7500;
+        Thread::wait(1000);
+        motorcp[0]=8500;
+        motorcp[1]=8500;
+        Thread::wait(1000);
+    }
+}
+
+void Tx_interrupt() 
+{
+    while(motor.writeable())
+    {    
+        motor.putc(tx_buffer[tx_buffer_ptr]);
+        tx_buffer_ptr++;
+        if(tx_buffer_ptr==3)
+              tx_buffer_ptr = 0;
+    }
+    return;
+}
+void Rx_interrupt()
+{
+    while(motor.readable())
+    {
+        rx_buffer[rx_buffer_ptr] = motor.getc();
+        rx_buffer_ptr++;
+        if(rx_buffer_ptr==6)
+        {
+            rx_buffer_full = true;
+            rx_buffer_ptr=0;
+        }
+    }
+} 
+ 
\ No newline at end of file