Руслан Бредун / Mbed 2 deprecated STM32-MC_node

test

Dependencies:   mbed Watchdog stm32-sensor-base2

main.cpp@19:7935ca386e13, 2021-11-05 (annotated)

Committer:
ruslanbredun
Date:
Fri Nov 05 14:39:08 2021 +0000
Revision:
19:7935ca386e13
Parent:
18:025d9a617769 
LastFirmWare05/11/21;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 0:d383e2dee0f7 1 #include <global.h>
ruslanbredun 12:406f75196a12 2
ruslanbredun 12:406f75196a12 3 Serial RS2(UART2_TX, UART2_RX);
ruslanbredun 19:7935ca386e13 4 Serial RS1(UART1_TX, UART1_RX);
ruslanbredun 19:7935ca386e13 5
ruslanbredun 19:7935ca386e13 6 DigitalOut Select1(DE_TXD_1);
ruslanbredun 19:7935ca386e13 7 DigitalOut Select2(DE_TXD_2);
ruslanbredun 19:7935ca386e13 8
ruslanbredun 19:7935ca386e13 9 AS5045 Enc_left(SP1_NSS1);
ruslanbredun 19:7935ca386e13 10 AS5045 Enc_right(SP1_NSS2);
ruslanbredun 19:7935ca386e13 11
ruslanbredun 19:7935ca386e13 12 E18_D80NK IR_sensor_left (PB_13);
ruslanbredun 19:7935ca386e13 13 E18_D80NK IR_sensor_right (PB_12);
ruslanbredun 19:7935ca386e13 14
ruslanbredun 19:7935ca386e13 15 DigitalIn Lift1 (PB_0);
ruslanbredun 19:7935ca386e13 16 DigitalIn Lift2 (PB_1);
ruslanbredun 19:7935ca386e13 17
ruslanbredun 19:7935ca386e13 18 JSN_SR04 US_sensor_left (PB_14, PA_9);
ruslanbredun 19:7935ca386e13 19 JSN_SR04 US_sensor_middle (PB_15, PA_9);
ruslanbredun 19:7935ca386e13 20 JSN_SR04 US_sensor_right (PA_8, PA_9);
ruslanbredun 19:7935ca386e13 21
ruslanbredun 19:7935ca386e13 22 OneWire oneWire(PA_11); // substitute D8 with the actual pin name connected to the 1-wire bus
ruslanbredun 12:406f75196a12 23
nestedslk 4:f6e22dd39313 24 Timer timer;
ruslanbredun 14:b3530522908e 25 Watchdog watchDog;
ruslanbredun 14:b3530522908e 26
ommpy 6:a760ce6defbe 27 typedef uint8_t byte;
ruslanbredun 12:406f75196a12 28
ruslanbredun 12:406f75196a12 29
ruslanbredun 19:7935ca386e13 30 char c = '1';
ruslanbredun 19:7935ca386e13 31 int Enc_left_data = 0, Enc_right_data = 0, sensorsFound = 0, US1_data = 0,US2_data = 0, US3_data = 0, Lift_IR1 = 0,Lift_IR2 = 0;
ruslanbredun 19:7935ca386e13 32 bool IR1_data = 0,IR2_data = 0, sendFlag = false;
ruslanbredun 19:7935ca386e13 33 float temp_one_value = -1, temp_two_value = -1;
ruslanbredun 18:025d9a617769 34
ruslanbredun 12:406f75196a12 35
ruslanbredun 18:025d9a617769 36 void Encoders()
ruslanbredun 18:025d9a617769 37 {
ruslanbredun 18:025d9a617769 38 Enc_left_data = Enc_left.getPosition();
ruslanbredun 18:025d9a617769 39 wait_ms(3);
ruslanbredun 18:025d9a617769 40 Enc_right_data = Enc_right.getPosition();
ruslanbredun 18:025d9a617769 41 wait_ms(3);
ruslanbredun 12:406f75196a12 42
ruslanbredun 18:025d9a617769 43 Select1 = 1;
ruslanbredun 18:025d9a617769 44 RS1.printf ("%d_%d\r\n", Enc_right_data, Enc_left_data);
ruslanbredun 18:025d9a617769 45 wait_ms(3);
ruslanbredun 18:025d9a617769 46 Select1 = 0;
ruslanbredun 18:025d9a617769 47 }
ruslanbredun 19:7935ca386e13 48
ruslanbredun 12:406f75196a12 49 void UART2_callback()
ruslanbredun 12:406f75196a12 50 {
ruslanbredun 12:406f75196a12 51 c = RS2.getc();
ruslanbredun 14:b3530522908e 52 if(c == '5') {
ruslanbredun 12:406f75196a12 53 sendFlag = true;
ruslanbredun 12:406f75196a12 54 } else {
ruslanbredun 12:406f75196a12 55 Select2 = 1;
ruslanbredun 13:0c732e06d675 56 wait_ms(90);
ruslanbredun 12:406f75196a12 57 Select2 = 0;
ruslanbredun 12:406f75196a12 58 }
ruslanbredun 12:406f75196a12 59 }
nestedslk 4:f6e22dd39313 60 int main()
nestedslk 4:f6e22dd39313 61 {
ruslanbredun 19:7935ca386e13 62 RS1.baud (115200);
ruslanbredun 12:406f75196a12 63 RS2.baud (115200);
ruslanbredun 19:7935ca386e13 64 RS2.attach(&UART2_callback);
ruslanbredun 19:7935ca386e13 65
ruslanbredun 12:406f75196a12 66 Select1 = 0;
ruslanbredun 19:7935ca386e13 67 Select2 = 0;
ruslanbredun 18:025d9a617769 68
ruslanbredun 14:b3530522908e 69 timer.start();
ruslanbredun 12:406f75196a12 70
ruslanbredun 19:7935ca386e13 71 watchDog.Configure(5.0);
ruslanbredun 12:406f75196a12 72
ruslanbredun 12:406f75196a12 73 US_sensor_left.setRanges (20, 300);
ruslanbredun 12:406f75196a12 74 US_sensor_middle.setRanges (20, 300);
ruslanbredun 12:406f75196a12 75 US_sensor_right.setRanges (20, 300);
ruslanbredun 12:406f75196a12 76
ruslanbredun 12:406f75196a12 77 for (sensorsFound = 0; sensorsFound < MAX_SENSOSRS; sensorsFound++) {
ommpy 10:0b7f23df690a 78 ds1820[sensorsFound] = new DS1820(&oneWire);
ommpy 10:0b7f23df690a 79 if (!ds1820[sensorsFound]->begin()) {
ommpy 10:0b7f23df690a 80 delete ds1820[sensorsFound];
ommpy 10:0b7f23df690a 81 break;
ommpy 10:0b7f23df690a 82 }
ommpy 10:0b7f23df690a 83 }
ruslanbredun 12:406f75196a12 84
ruslanbredun 12:406f75196a12 85 while (true) {
ruslanbredun 14:b3530522908e 86 watchDog.Service();
ruslanbredun 19:7935ca386e13 87
ruslanbredun 18:025d9a617769 88 Encoders();
ruslanbredun 19:7935ca386e13 89
ruslanbredun 18:025d9a617769 90 for (int i = 0; i < sensorsFound; i++) {
ruslanbredun 18:025d9a617769 91 ds1820[i]->startConversion();
ruslanbredun 18:025d9a617769 92 wait_ms(1);
ruslanbredun 18:025d9a617769 93 }
ruslanbredun 19:7935ca386e13 94
ruslanbredun 18:025d9a617769 95 Encoders();
ruslanbredun 14:b3530522908e 96
ruslanbredun 18:025d9a617769 97 US_sensor_left.startMeasurement ();
ruslanbredun 18:025d9a617769 98 US1_data = US_sensor_left.getDistance_cm ();
ruslanbredun 18:025d9a617769 99 wait_ms(20);
ruslanbredun 19:7935ca386e13 100
ruslanbredun 18:025d9a617769 101 Encoders();
ruslanbredun 12:406f75196a12 102
ruslanbredun 18:025d9a617769 103 US_sensor_middle.startMeasurement ();
ruslanbredun 18:025d9a617769 104 US2_data = US_sensor_middle.getDistance_cm ();
ruslanbredun 18:025d9a617769 105 wait_ms(20);
ruslanbredun 19:7935ca386e13 106
ruslanbredun 18:025d9a617769 107 Encoders();
ruslanbredun 18:025d9a617769 108
ruslanbredun 18:025d9a617769 109 US_sensor_right.startMeasurement ();
ruslanbredun 18:025d9a617769 110 US3_data = US_sensor_right.getDistance_cm ();
ruslanbredun 18:025d9a617769 111 wait_ms(20);
ruslanbredun 19:7935ca386e13 112
ruslanbredun 18:025d9a617769 113 Encoders();
ruslanbredun 18:025d9a617769 114
ruslanbredun 18:025d9a617769 115 IR1_data = IR_sensor_left.checkObstacle ();
ruslanbredun 18:025d9a617769 116 IR2_data = IR_sensor_right.checkObstacle ();
ruslanbredun 18:025d9a617769 117
ruslanbredun 18:025d9a617769 118 Lift_IR1 = Lift1.read();
ruslanbredun 18:025d9a617769 119 Lift_IR2 = Lift2.read();
ruslanbredun 19:7935ca386e13 120
ruslanbredun 18:025d9a617769 121 Encoders();
ruslanbredun 14:b3530522908e 122
ruslanbredun 18:025d9a617769 123 if (ds1820[0]->isPresent() ) {
ruslanbredun 18:025d9a617769 124 temp_one_value = ds1820[0]->read();
ommpy 10:0b7f23df690a 125 }
ruslanbredun 18:025d9a617769 126 if (ds1820[1]->isPresent() ) {
ruslanbredun 18:025d9a617769 127 temp_two_value = ds1820[1]->read();
ruslanbredun 18:025d9a617769 128 }
ruslanbredun 14:b3530522908e 129
ruslanbredun 19:7935ca386e13 130 Encoders();
ruslanbredun 18:025d9a617769 131
ruslanbredun 14:b3530522908e 132 if(sendFlag) {
ruslanbredun 12:406f75196a12 133 Select2 = 1;
ruslanbredun 19:7935ca386e13 134 RS2.printf ("%d_%d_%d_%d_%d_%d_%d_%f_%f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2, temp_one_value, temp_two_value);
ruslanbredun 12:406f75196a12 135 wait_ms(5);
ruslanbredun 12:406f75196a12 136 sendFlag = false;
ruslanbredun 12:406f75196a12 137 Select2 = 0;
ruslanbredun 14:b3530522908e 138 }
ruslanbredun 19:7935ca386e13 139
ruslanbredun 18:025d9a617769 140 Encoders();
ruslanbredun 12:406f75196a12 141 }
ruslanbredun 9:859bcb293e46 142 }