Руслан Бредун / Mbed 2 deprecated STM32-MC_node

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Dependencies:   mbed Watchdog stm32-sensor-base2

main.cpp@7:2f218add711e, 2020-07-23 (annotated)

Committer:
ommpy
Date:
Thu Jul 23 11:34:08 2020 +0000
Revision:
7:2f218add711e
Parent:
6:a760ce6defbe
Child:
8:c3cffab85b0d
us and ir for demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 0:d383e2dee0f7 1 #include <global.h>
ommpy 0:d383e2dee0f7 2
ommpy 7:2f218add711e 3 //Serial pc(UART1_TX, UART1_RX);
ommpy 6:a760ce6defbe 4 RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
ommpy 6:a760ce6defbe 5
ommpy 7:2f218add711e 6 Serial pc(USBTX, USBRX);
nestedslk 4:f6e22dd39313 7 Timer timer;
ommpy 6:a760ce6defbe 8 typedef uint8_t byte;
ommpy 0:d383e2dee0f7 9
ommpy 6:a760ce6defbe 10 DigitalOut select(DE_TXD_2);
ommpy 6:a760ce6defbe 11 byte full_value[9];
ommpy 6:a760ce6defbe 12 byte base_data[4] = {0xAA,0x55,0x03,0x01};
ommpy 6:a760ce6defbe 13 byte data[9] = {0x01,0x04,0x00,0x48,0x00,0x02,0xf1,0xdd};//your data
ommpy 6:a760ce6defbe 14
ommpy 6:a760ce6defbe 15 char test_buffer[10];
ommpy 6:a760ce6defbe 16
ommpy 6:a760ce6defbe 17 const unsigned char CRC7_POLY = 0x91;
ommpy 6:a760ce6defbe 18
ommpy 6:a760ce6defbe 19 unsigned char getCRC(unsigned char message[], unsigned char length)
ommpy 6:a760ce6defbe 20 {
ommpy 6:a760ce6defbe 21 unsigned char i, j, crc = 0;
ommpy 6:a760ce6defbe 22
ommpy 6:a760ce6defbe 23 for (i = 0; i < length; i++)
ommpy 6:a760ce6defbe 24 {
ommpy 6:a760ce6defbe 25 crc ^= message[i];
ommpy 6:a760ce6defbe 26 for (j = 0; j < 8; j++)
ommpy 6:a760ce6defbe 27 {
ommpy 6:a760ce6defbe 28 if (crc & 1)
ommpy 6:a760ce6defbe 29 crc ^= CRC7_POLY;
ommpy 6:a760ce6defbe 30 crc >>= 1;
ommpy 6:a760ce6defbe 31 }
ommpy 6:a760ce6defbe 32 }
ommpy 6:a760ce6defbe 33 return crc;
ommpy 6:a760ce6defbe 34 }
ommpy 6:a760ce6defbe 35
ommpy 6:a760ce6defbe 36
nestedslk 4:f6e22dd39313 37 int main()
nestedslk 4:f6e22dd39313 38 {
nestedslk 4:f6e22dd39313 39 DigitalOut led(DEBUG_LED);
nestedslk 4:f6e22dd39313 40 DigitalOut led2(DE_TXD_1, 1); // activate transmitting rs485-1
ommpy 6:a760ce6defbe 41
ommpy 0:d383e2dee0f7 42
ommpy 0:d383e2dee0f7 43 #if TEST_ULTRASONIC
nestedslk 4:f6e22dd39313 44 int time_to_check_us = 1000;
ommpy 0:d383e2dee0f7 45 JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
nestedslk 4:f6e22dd39313 46 // JSN_SR04 sensor1(TIM1_CH2, TRIG_PB14_OUT); //no triger signal
nestedslk 4:f6e22dd39313 47 // JSN_SR04 sensor1(TIM1_CH2, TRIG_PB15_OUT);
nestedslk 4:f6e22dd39313 48 sensor1.setRanges(30, 200);
nestedslk 4:f6e22dd39313 49 // sensor2.setRanges(30, 200);
nestedslk 4:f6e22dd39313 50 // sensor3.setRanges(30, 200);
nestedslk 4:f6e22dd39313 51 // pc.printf("Min. range = %g cm\n\r",sensor1.getMinRange());
ommpy 0:d383e2dee0f7 52 while(true) {
nestedslk 4:f6e22dd39313 53 timer.reset();
nestedslk 4:f6e22dd39313 54 timer.start();
nestedslk 4:f6e22dd39313 55 sensor1.startMeasurement();
nestedslk 5:97117a837d2c 56 //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
nestedslk 5:97117a837d2c 57 //pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
nestedslk 4:f6e22dd39313 58 pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
ommpy 6:a760ce6defbe 59
nestedslk 4:f6e22dd39313 60
nestedslk 4:f6e22dd39313 61 timer.stop();
ommpy 6:a760ce6defbe 62 wait_ms(2);
nestedslk 4:f6e22dd39313 63
nestedslk 4:f6e22dd39313 64 }
nestedslk 4:f6e22dd39313 65
ommpy 0:d383e2dee0f7 66 #endif
ommpy 0:d383e2dee0f7 67
ommpy 0:d383e2dee0f7 68 #if TEST_ENCODERS
nestedslk 4:f6e22dd39313 69 int min1_value = 2000;
nestedslk 4:f6e22dd39313 70 int max1_value = 0;
nestedslk 4:f6e22dd39313 71 AS5045 encoder_1(SP1_NSS1);
nestedslk 4:f6e22dd39313 72 AS5045 encoder_2(SP1_NSS2);
nestedslk 4:f6e22dd39313 73 while(1) {
nestedslk 4:f6e22dd39313 74 led = !led;
nestedslk 5:97117a837d2c 75 double encoder_1_Value = encoder_1.getPosition();
nestedslk 4:f6e22dd39313 76 wait_ms(30);
nestedslk 5:97117a837d2c 77 double encoder_2_Value = encoder_2.getPosition();
nestedslk 4:f6e22dd39313 78 wait_ms(30);
nestedslk 4:f6e22dd39313 79 //encoder_1_Value =
nestedslk 4:f6e22dd39313 80 //if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
nestedslk 5:97117a837d2c 81
nestedslk 5:97117a837d2c 82 pc.printf("Sensor Values = %f --- %f \n\r",encoder_1_Value, encoder_2_Value ); //
nestedslk 4:f6e22dd39313 83 //else
nestedslk 4:f6e22dd39313 84 //pc.printf("Invalid data read");
ommpy 0:d383e2dee0f7 85
nestedslk 4:f6e22dd39313 86 //wait_ms(50);
nestedslk 4:f6e22dd39313 87 }
nestedslk 4:f6e22dd39313 88
nestedslk 4:f6e22dd39313 89 #endif
ommpy 0:d383e2dee0f7 90
ommpy 0:d383e2dee0f7 91 # if TEST_IR
nestedslk 5:97117a837d2c 92 PwmIn a(PB_4);
nestedslk 4:f6e22dd39313 93 //E18_D80NK infared1 (IR1_PB12_OUT);
nestedslk 4:f6e22dd39313 94 // E18_D80NK infared2 (IR2_PB13_OUT);
nestedslk 5:97117a837d2c 95 while (true) {
nestedslk 5:97117a837d2c 96 // pc.printf ("Is there any obstacle: %d ---- %d ", infared1.checkObstacle(),infared2.checkObstacle() );
nestedslk 5:97117a837d2c 97
nestedslk 5:97117a837d2c 98 pc.printf ("\n\r");
nestedslk 5:97117a837d2c 99 }
ommpy 0:d383e2dee0f7 100
nestedslk 4:f6e22dd39313 101
ommpy 0:d383e2dee0f7 102 #endif
ommpy 0:d383e2dee0f7 103
ommpy 6:a760ce6defbe 104 # if DEMO_CODE
ommpy 6:a760ce6defbe 105
ommpy 6:a760ce6defbe 106 JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
ommpy 6:a760ce6defbe 107 E18_D80NK infared1 (IR1_PB12_OUT);
ommpy 6:a760ce6defbe 108 E18_D80NK infared2 (IR2_PB13_OUT);
ommpy 7:2f218add711e 109 pc.baud(115200);
ommpy 6:a760ce6defbe 110
ommpy 7:2f218add711e 111 sensor1.setRanges(10, 200);
ommpy 6:a760ce6defbe 112
ommpy 6:a760ce6defbe 113 while(true) {
ommpy 6:a760ce6defbe 114 timer.reset();
ommpy 6:a760ce6defbe 115 timer.start();
ommpy 6:a760ce6defbe 116 sensor1.startMeasurement();
ommpy 7:2f218add711e 117 //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
ommpy 7:2f218add711e 118 //pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
ommpy 7:2f218add711e 119 pc.printf("%5.1f_%d_%d \r\n", sensor1.getDistance_cm(),infared1.checkObstacle(),infared2.checkObstacle());
ommpy 6:a760ce6defbe 120
ommpy 6:a760ce6defbe 121 timer.stop();
ommpy 7:2f218add711e 122 wait_ms(20);
ommpy 6:a760ce6defbe 123
ommpy 6:a760ce6defbe 124 }
ommpy 7:2f218add711e 125
ommpy 6:a760ce6defbe 126
ommpy 6:a760ce6defbe 127
ommpy 6:a760ce6defbe 128 #endif
ommpy 6:a760ce6defbe 129
ommpy 0:d383e2dee0f7 130 }
ommpy 0:d383e2dee0f7 131