demokit.cpp

00001 
00002 #include "mbed.h"
00003 #include "AndroidAccessory.h"
00004 
00005 
00006 //device setup
00007 
00008 PwmOut led1(LED1);
00009 PwmOut led2(LED2);
00010 PwmOut led3(LED3);
00011 PwmOut led4(LED4);
00012 
00013 
00014 
00015 DigitalOut ind(p21);
00016 
00017 
00018 
00019 #define OUTL 100
00020 #define INBL 100
00021 
00022 
00023 
00024 
00025 class AdkTerm :public AndroidAccessory {
00026 public:
00027     AdkTerm():AndroidAccessory(INBL,OUTL,
00028                                        "ARM",
00029                                        "mbed",
00030                                        "mbed Terminal",
00031                                        "0.1",
00032                                        "http://www.mbed.org",
00033                                        "0000000012345678"),pc(USBTX,USBRX),Right(p19),Left(p20) {};
00034     virtual int callbackRead(u8 *buff, int len);
00035     virtual void setupDevice();
00036     virtual void resetDevice();
00037     virtual int callbackWrite();
00038 
00039 private:
00040     void serialIRQ();
00041     void onTick();
00042     void AttachTick();
00043     char buffer[OUTL];
00044     int bcount;
00045     Serial pc;
00046     AnalogIn Right;
00047     AnalogIn Left;
00048     Ticker tick;
00049     float right,left,rl,ll;
00050     int tl,tr;
00051     Timeout n;
00052     bool settick;
00053 };
00054 
00055 
00056 
00057 void AdkTerm::setupDevice() {
00058     pc.baud(112500);
00059     pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
00060     settick = false;
00061     pc.attach(this, &AdkTerm::serialIRQ, Serial::RxIrq);
00062     for (int i = 0; i<OUTL; i++) {
00063         buffer[i] = 0;
00064     }
00065     bcount = 0;
00066     //n.attach(this,&AdkTerm::AttachTick,5);
00067     //tick.attach(this,&AdkTerm::onTick,0.1);
00068 
00069 
00070 }
00071 
00072 void AdkTerm::AttachTick() {
00073     if(!settick)tick.attach(this,&AdkTerm::onTick,0.04);
00074     settick = true;
00075 }
00076 
00077 void AdkTerm::onTick() {
00078     right = 1-Right;
00079     left = 1-Left;
00080     bool update = false;
00081     int templ, tempr;
00082 
00083 
00084 
00085     templ = int(left * 10000);
00086     tempr = int(right * 10000);
00087 
00088 
00089 
00090     if (abs(templ-tl)>170) {
00091         update = true;
00092     }
00093     if (abs(tempr-tr)>170) {
00094         update = true;
00095     }
00096     if (update) {
00097         u8* wbuf = _writebuff;
00098         
00099         wbuf[0] = 'P';
00100         wbuf[1] =  templ&0xFF;
00101         wbuf[2] = (templ>>8) & 0xFF;
00102         wbuf[3] =  tempr&0xFF;
00103         wbuf[4] = (tempr>>8) & 0xFF;
00104         wbuf[5] = 0;
00105         
00106         this->write(wbuf,5);
00107 
00108         
00109     }
00110 }
00111 
00112 void AdkTerm::resetDevice() {
00113     pc.printf("adkTerm reset\n\r");
00114     for (int i = 0; i<OUTL; i++) {
00115         buffer[i] = 0;
00116     }
00117     bcount = 0;
00118 }
00119 
00120 int AdkTerm::callbackRead(u8 *buf, int len) {
00121     pc.printf("%i  %s\n\r\n\n\n",len,buf);
00122     for (int i = 0; i<INBL; i++) {
00123         buf[i] = 0;
00124     }
00125    
00126     AttachTick();
00127 
00128     return 0;
00129 }
00130 
00131 int AdkTerm::callbackWrite() {
00132 
00133     ind = false;
00134     return 0;
00135 }
00136 
00137 
00138 void AdkTerm::serialIRQ() {
00139     buffer[bcount] = pc.getc();
00140 
00141     pc.putc(buffer[bcount]);
00142 
00143     if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
00144         u8* wbuf = _writebuff;
00145         for (int i = 0; i<OUTL; i++) {
00146             wbuf[i] = buffer[i];
00147             buffer[i] = 0;
00148         }
00149         pc.printf("Sending: %s\n\r",wbuf);
00150         ind = true;
00151         this->write(wbuf,bcount);
00152         bcount = 0;
00153     } else {
00154         if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
00155             bcount++;
00156             if (bcount == OUTL) {
00157                 bcount = 0;
00158             }
00159         } else {
00160             bcount--;
00161         }
00162     }
00163 
00164 }
00165 
00166 
00167 
00168 AdkTerm AdkTerm;
00169 
00170 
00171 
00172 int main() {
00173 
00174 
00175 
00176     AdkTerm.setupDevice();
00177     printf("Android Development Kit: start\r\n");
00178     USBInit();
00179     while (1) {
00180         USBLoop();
00181     }
00182 
00183 }