Diff: demokit.cpp

Revision:

0:1165b4e29af3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/demokit.cpp	Mon Aug 01 09:53:08 2011 +0000
@@ -0,0 +1,183 @@
+
+#include "mbed.h"
+#include "AndroidAccessory.h"
+
+
+//device setup
+
+PwmOut led1(LED1);
+PwmOut led2(LED2);
+PwmOut led3(LED3);
+PwmOut led4(LED4);
+
+
+
+DigitalOut ind(p21);
+
+
+
+#define OUTL 100
+#define INBL 100
+
+
+
+
+class AdkTerm :public AndroidAccessory {
+public:
+    AdkTerm():AndroidAccessory(INBL,OUTL,
+                                       "ARM",
+                                       "mbed",
+                                       "mbed Terminal",
+                                       "0.1",
+                                       "http://www.mbed.org",
+                                       "0000000012345678"),pc(USBTX,USBRX),Right(p19),Left(p20) {};
+    virtual int callbackRead(u8 *buff, int len);
+    virtual void setupDevice();
+    virtual void resetDevice();
+    virtual int callbackWrite();
+
+private:
+    void serialIRQ();
+    void onTick();
+    void AttachTick();
+    char buffer[OUTL];
+    int bcount;
+    Serial pc;
+    AnalogIn Right;
+    AnalogIn Left;
+    Ticker tick;
+    float right,left,rl,ll;
+    int tl,tr;
+    Timeout n;
+    bool settick;
+};
+
+
+
+void AdkTerm::setupDevice() {
+    pc.baud(112500);
+    pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
+    settick = false;
+    pc.attach(this, &AdkTerm::serialIRQ, Serial::RxIrq);
+    for (int i = 0; i<OUTL; i++) {
+        buffer[i] = 0;
+    }
+    bcount = 0;
+    //n.attach(this,&AdkTerm::AttachTick,5);
+    //tick.attach(this,&AdkTerm::onTick,0.1);
+
+
+}
+
+void AdkTerm::AttachTick() {
+    if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
+    settick = true;
+}
+
+void AdkTerm::onTick() {
+    right = 1-Right;
+    left = 1-Left;
+    bool update = false;
+    int templ, tempr;
+
+
+
+    templ = int(left * 10000);
+    tempr = int(right * 10000);
+
+
+
+    if (abs(templ-tl)>170) {
+        update = true;
+    }
+    if (abs(tempr-tr)>170) {
+        update = true;
+    }
+    if (update) {
+        u8* wbuf = _writebuff;
+        
+        wbuf[0] = 'P';
+        wbuf[1] =  templ&0xFF;
+        wbuf[2] = (templ>>8) & 0xFF;
+        wbuf[3] =  tempr&0xFF;
+        wbuf[4] = (tempr>>8) & 0xFF;
+        wbuf[5] = 0;
+        
+        this->write(wbuf,5);
+
+        
+    }
+}
+
+void AdkTerm::resetDevice() {
+    pc.printf("adkTerm reset\n\r");
+    for (int i = 0; i<OUTL; i++) {
+        buffer[i] = 0;
+    }
+    bcount = 0;
+}
+
+int AdkTerm::callbackRead(u8 *buf, int len) {
+    pc.printf("%i  %s\n\r\n\n\n",len,buf);
+    for (int i = 0; i<INBL; i++) {
+        buf[i] = 0;
+    }
+   
+    AttachTick();
+
+    return 0;
+}
+
+int AdkTerm::callbackWrite() {
+
+    ind = false;
+    return 0;
+}
+
+
+void AdkTerm::serialIRQ() {
+    buffer[bcount] = pc.getc();
+
+    pc.putc(buffer[bcount]);
+
+    if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
+        u8* wbuf = _writebuff;
+        for (int i = 0; i<OUTL; i++) {
+            wbuf[i] = buffer[i];
+            buffer[i] = 0;
+        }
+        pc.printf("Sending: %s\n\r",wbuf);
+        ind = true;
+        this->write(wbuf,bcount);
+        bcount = 0;
+    } else {
+        if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
+            bcount++;
+            if (bcount == OUTL) {
+                bcount = 0;
+            }
+        } else {
+            bcount--;
+        }
+    }
+
+}
+
+
+
+AdkTerm AdkTerm;
+
+
+
+int main() {
+
+
+
+    AdkTerm.setupDevice();
+    printf("Android Development Kit: start\r\n");
+    USBInit();
+    while (1) {
+        USBLoop();
+    }
+
+}