Revision 0:5d432267a99f, committed 2020-06-15

Comitter:

paweler

Date:

Mon Jun 15 14:47:01 2020 +0000

Commit message:

mbed cz2

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP_DISCO_F429ZI.lib	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST/code/BSP_DISCO_F429ZI/#53d9067a4feb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD_DISCO_F429ZI.lib	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/LCD_DISCO_F429ZI/#dc55a068bc1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/command_decoder.cpp	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,90 @@
+#include "command_decoder.h"
+#include <string.h>
+#include <algorithm>
+#include <stdio.h>
+
+#define NULL 0
+
+struct Keyword asKeywordList[MAX_KEYWORD_NR]=
+{
+    {ID, "id"},
+    {CLB, "callib"},
+    {GOTO, "goto"},
+    {STEP, "step"}
+};
+
+enum Result{OK, ERROR};
+
+unsigned char Decoder::ucFindTokensInString(char *pcString)
+{
+    unsigned char ucTokenPointer;
+    unsigned char ucTokenCounter = 0;
+    char cCurrentChar;
+    enum State {TOKEN, DELIMITER};
+    enum State eState = DELIMITER;
+
+    for(ucTokenPointer=0 ;; ucTokenPointer++) {
+        cCurrentChar = pcString[ucTokenPointer];
+        switch(eState) {
+            case DELIMITER:
+                if(cCurrentChar == NULL) {
+                    return ucTokenCounter;
+                } else if(cCurrentChar != ' ') {
+                    eState = TOKEN;
+                    asToken[ucTokenCounter].uValue.pcString = pcString + ucTokenPointer;
+                    ucTokenCounter++;
+                }
+                break;
+            case TOKEN:
+                if(cCurrentChar == NULL) {
+                    return ucTokenCounter;
+                } else if(ucTokenCounter == MAX_TOKEN_NR) {
+                    return ucTokenCounter;
+                } else if(cCurrentChar == ' ') {
+                    eState = DELIMITER;
+                }
+                break;
+        }
+    }
+}
+
+enum Result Decoder::eStringToKeyword(char pcStr[],enum KeywordCode *peKeywordCode)
+{
+    unsigned char ucKeywordIndex;
+
+    for(ucKeywordIndex=0 ; ucKeywordIndex < MAX_KEYWORD_NR ; ucKeywordIndex++) {
+        if(strcmp(pcStr, asKeywordList[ucKeywordIndex].cString) == 0) {
+            *peKeywordCode = asKeywordList[ucKeywordIndex].eCode;
+            return OK;
+        }
+    }
+    return ERROR;
+}
+
+void Decoder::DecodeTokens(void)
+{
+    unsigned char ucCurrentToken;
+    unsigned int uiHexValue;
+    enum KeywordCode Keyword;
+    struct Token* pasValue;
+
+    for(ucCurrentToken=0 ; ucCurrentToken < ucTokenNr ; ucCurrentToken++) {
+        pasValue = &asToken[ucCurrentToken];
+        if(eStringToKeyword(pasValue->uValue.pcString, &Keyword) == OK) {
+            pasValue->eType = KEYWORD;
+            pasValue->uValue.eKeyword = Keyword;
+        } else if(sscanf(pasValue->uValue.pcString, "%4x", &uiHexValue) == 1) {
+            pasValue->eType = NUMBER;
+            pasValue->uValue.uiNumber = uiHexValue;
+        } else {
+            pasValue->eType = STRING;
+        }
+    }
+}
+
+void Decoder::DecodeMsg(char *pcString)
+{
+    ucTokenNr=ucFindTokensInString(pcString);
+    std::replace(pcString, pcString + strlen(pcString), ' ', '\0');
+    DecodeTokens();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/command_decoder.h	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,46 @@
+#ifndef COMMAND_DECODER_H
+#define COMMAND_DECODER_H
+
+#define MAX_KEYWORD_STRING_LTH 10
+#define MAX_KEYWORD_NR 4
+#define MAX_TOKEN_NR 3
+
+enum KeywordCode {ID, CLB, GOTO, STEP};
+enum TokenType { KEYWORD, NUMBER, STRING};
+
+union TokenValue
+{
+    enum KeywordCode eKeyword; // jezeli KEYWORD
+    unsigned int uiNumber; // jezeli NUMBER
+    char *pcString; // jezeli STRING
+};
+
+struct Token
+{
+    enum TokenType eType; // KEYWORD, NUMBER, STRING
+    union TokenValue uValue; // enum, unsigned int, char*
+};
+
+struct Keyword
+{
+    enum KeywordCode eCode;
+    char cString[MAX_KEYWORD_STRING_LTH + 1];
+};
+
+class Decoder
+{
+    public:
+        void DecodeMsg(char *pcString);
+        
+        struct Token asToken[MAX_TOKEN_NR];
+        unsigned char ucTokenNr;
+    private:
+        unsigned char ucFindTokensInString(char *pcString);
+        enum Result eStringToKeyword(char pcStr[],enum KeywordCode *peKeywordCode);
+        void DecodeTokens(void);
+        
+        union TokenValue uTokenValue;
+        struct Keyword sKeyword;
+        
+};
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,43 @@
+#include "servo.h"
+#include "command_decoder.h"
+#include "uart.h"
+
+Servo MyServo(0.01);
+Decoder MyDecoder;
+
+int main()
+{
+    char cCommand[10];
+    while(1)
+    {
+        gets(cCommand, sizeof(cCommand));
+        MyDecoder.DecodeMsg(cCommand);
+        if((MyDecoder.ucTokenNr > 0)&&(MyDecoder.asToken[0].eType == KEYWORD)) {
+            switch(MyDecoder.asToken[0].uValue.eKeyword) {
+                case ID:
+                    puts("Device ID: 0x01\n", sizeof("Device ID: 0x01\n"));
+                    break;
+                case CLB:
+                    MyServo.Callib();
+                    puts("OK\n", sizeof("OK\n"));
+                    break;
+                case GOTO:
+                    if(MyDecoder.asToken[1].eType == NUMBER) {
+                        MyServo.GoTo(MyDecoder.asToken[1].uValue.uiNumber);
+                        puts("OK\n", sizeof("OK\n"));
+                    }
+                    break;
+                case STEP:
+                    if(MyDecoder.asToken[1].eType == NUMBER) {
+                        MyServo.Step(MyDecoder.asToken[1].uValue.uiNumber);
+                        puts("OK\n", sizeof("OK\n"));
+                    }
+                    break;
+                default:
+                    break;
+            }
+        } else {
+            puts("unknowncommand\n", sizeof("unknowncommand\n"));
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.cpp	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,68 @@
+#include "servo.h"
+
+enum DetectorState Servo::eReadDetector()
+{
+    if(MyGui.ucReadDetector()==1)
+    {
+        return ACTIVE;
+    }
+    else
+    {
+        return INACTIVE;
+    }
+}
+
+Servo::Servo(float fStepDelay)
+{   
+    fDelay = fStepDelay;
+    Callib();
+}
+
+void Servo::Callib(void)
+{
+    uiDesiredPosition = 0;
+    uiCurrentPosition = 0;
+    eState = CALLIB;
+    while(eState != IDLE)
+    {
+        if(eReadDetector() == INACTIVE) {
+            MyGui.GuiStepLeft();
+        } else {
+            eState = IDLE;
+        }
+        wait(fDelay);
+    }
+}
+
+void Servo::GoTo(unsigned int uiPosition)
+{
+    uiDesiredPosition = uiPosition;
+    eState = IN_PROGRESS;
+    while(eState != IDLE){
+        if(uiCurrentPosition > uiDesiredPosition) {
+            uiCurrentPosition--;
+            MyGui.GuiStepLeft();
+        } else if(uiCurrentPosition < uiDesiredPosition) {
+            uiCurrentPosition++;
+            MyGui.GuiStepRight();
+        } else if(uiCurrentPosition == uiDesiredPosition) {
+            eState = IDLE;
+        }
+        wait(fDelay);
+    }
+}
+
+void Servo::Step(unsigned int uiSteps)
+{
+    uiDesiredPosition = uiCurrentPosition + uiSteps;
+    eState = IN_PROGRESS;
+    while(eState != IDLE){
+        if(uiCurrentPosition < uiDesiredPosition) {
+            uiCurrentPosition++;
+            MyGui.GuiStepRight();
+        } else if(uiCurrentPosition == uiDesiredPosition) {
+            eState = IDLE;
+        }
+        wait(fDelay);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.h	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,29 @@
+#ifndef SERVO_H
+#define SERVO_H
+
+#include "servo_gui.h"
+
+enum DetectorState {ACTIVE,INACTIVE};
+enum ServoState {CALLIB, IDLE, IN_PROGRESS};
+
+//void DetectorInit(void);
+
+//void ServoInit(unsigned int uiServoFrequency);
+
+class Servo
+{
+    public:
+        Servo(float = 0.05);
+        enum DetectorState eReadDetector(void);
+        void Callib(void);
+        void GoTo(unsigned int);
+        void Step(unsigned int);
+    private:
+        enum ServoState eState;
+        unsigned int uiCurrentPosition;
+        unsigned int uiDesiredPosition;
+        float fDelay;
+        ServoGui MyGui;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo_gui.cpp	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,74 @@
+#include "servo_gui.h"
+#define PI 3.1415
+
+ServoGui::ServoGui(void)
+{
+    lcd.Clear(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.FillCircle(120, 120, 98);
+    lcd.DrawCircle(30, 290, 20);
+    lcd.DrawCircle(90, 290, 20);
+    lcd.DrawCircle(150, 290, 20);
+    lcd.DrawCircle(210, 290, 20);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillCircle(120, 120, 20);
+    lcd.DrawLine(120, 120, 120+98, 120);
+}
+
+void ServoGui::LedOn(unsigned char ucLedIndex)
+{
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    for(unsigned char ucLedCounter = 0; ucLedCounter < 4; ucLedCounter++) {
+        lcd.FillCircle(30+ucLedCounter*60, 290, 19);
+    }
+    lcd.SetTextColor(LCD_COLOR_BLUE);
+    lcd.FillCircle(30+ucLedIndex*60, 290, 19);
+}
+
+void ServoGui::LedStep(enum StepDirection eDirection)
+{
+    if(eDirection == LEFT) {
+        ucLedCtr--;
+    } else if(eDirection == RIGHT) {
+        ucLedCtr++;
+    }
+    LedOn(ucLedCtr%4);
+}
+
+void ServoGui::MotorStep(enum StepDirection eDirection)
+{
+    if(eDirection == LEFT) {
+        uiStepCounter--;
+    } else if(eDirection == RIGHT) {
+        uiStepCounter++;
+    }
+    dAngle = uiStepCounter % 360;
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.FillCircle(120, 120, 98);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.DrawLine(120,120,120+98*cos(dAngle*PI/180), 120+98*sin(dAngle*PI/180));
+    lcd.FillCircle(120, 120, 20);
+}
+
+void ServoGui::GuiStepLeft(void)
+{
+    LedStep(LEFT);
+    MotorStep(LEFT);
+    //wait(0.04);
+}
+
+void ServoGui::GuiStepRight(void)
+{
+    LedStep(RIGHT);
+    MotorStep(RIGHT);
+    //wait(0.04);
+}
+
+unsigned char ServoGui::ucReadDetector(void)
+{
+    if(dAngle == 0) {
+        return 1;
+    } else {
+        return 0;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servo_gui.h	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,25 @@
+#ifndef SERVO_GUI_H
+#define SERVO_GUI_H
+
+#include "LCD_DISCO_F429ZI.h"
+
+enum StepDirection {RIGHT, LEFT};
+
+class ServoGui
+{
+    public:
+        ServoGui(void);
+        void GuiStepLeft(void);
+        void GuiStepRight(void);
+        unsigned char ucReadDetector(void);
+    private:
+        void LedOn(unsigned char);
+        void LedStep(enum StepDirection);
+        void MotorStep(enum StepDirection);
+        LCD_DISCO_F429ZI lcd;
+        unsigned char ucLedCtr;
+        unsigned int uiStepCounter;
+        double dAngle;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart.cpp	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,34 @@
+#include "uart.h"
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+
+int puts(char *cBuffer, unsigned char ucBufferSize)
+{
+    for(unsigned char ucCharCounter = 0; cBuffer[ucCharCounter] != NULL; ucCharCounter++)
+    {
+        if(ucCharCounter == ucBufferSize)
+        {
+            return 1;
+        }
+    }
+    for(unsigned char ucCharCounter = 0; cBuffer[ucCharCounter] != NULL; ucCharCounter++)
+    {
+        pc.putc(cBuffer[ucCharCounter]);
+    }
+    pc.putc(0x0D);    //CR
+    return 0;
+}
+
+int gets(char *cBuffer, unsigned char ucBufferSize)
+{
+    for(unsigned char ucCharCounter = 0; ucCharCounter < ucBufferSize; ucCharCounter++)
+    {
+        cBuffer[ucCharCounter] = pc.getc();
+        if(cBuffer[ucCharCounter]==0x0D){
+            cBuffer[ucCharCounter] = NULL;
+            return 0;
+        }
+    }
+    return 1;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart.h	Mon Jun 15 14:47:01 2020 +0000
@@ -0,0 +1,3 @@
+
+int puts(char *cBuffer, unsigned char ucBufferSize);
+int gets(char *cBuffer, unsigned char ucBufferSize);