Diff: main.cpp

Revision:

12:406f75196a12

Parent:

10:0b7f23df690a

Child:

13:0c732e06d675

--- a/main.cpp	Wed Aug 26 14:26:27 2020 +0530
+++ b/main.cpp	Sun Dec 06 11:05:19 2020 +0000
@@ -1,185 +1,167 @@
 #include <global.h>
- 
+
 //RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
- Serial pc(UART2_TX, UART2_RX);
-volatile bool serialArrived = false;
-int n=0;
-char a;
-bool send_flag = false;
- 
+Serial RS2(UART2_TX, UART2_RX);
+Serial RS1(UART1_TX, UART1_RX);
+
 Timer timer;
 typedef uint8_t byte;
- 
-DigitalOut select(DE_TXD_2);
+
+DigitalOut Select1(DE_TXD_1);
+DigitalOut Select2(DE_TXD_2);
+
+
 
-byte regvalue[1] ;
- byte data[6];
- 
- byte data_t[9] = {0x02,0x05,0x01,0x49,0x01,0x03,0xf2,0xde};//your data
- 
+bool sendFlag = false;
+bool sendFlag1 = false;
+int cmd[13] = {0xA5,0x40,0x90,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7D};
+char inChar[52];
+int index = 0;
+char c = '1';
 const unsigned char CRC7_POLY = 0x91;
- 
+
 unsigned char getCRC(unsigned char message[], unsigned char length)
 {
-  unsigned char i, j, crc = 0;
- 
-  for (i = 0; i < length; i++)
-  {
-    crc ^= message[i];
-    for (j = 0; j < 8; j++)
-    {
-      if (crc & 1)
-        crc ^= CRC7_POLY;
-      crc >>= 1;
+    unsigned char i, j, crc = 0;
+
+    for (i = 0; i < length; i++) {
+        crc ^= message[i];
+        for (j = 0; j < 8; j++) {
+            if (crc & 1)
+                crc ^= CRC7_POLY;
+            crc >>= 1;
+        }
     }
-  }
-  return crc;
+    return crc;
+
 }
+
+void UART2_callback()
+{
+    c =  RS2.getc();
+    if(c == '4') {
+        sendFlag = true;
+    } else {
+        Select2 = 1;
+        wait_ms(100);
+        Select2 = 0;
+    }
+
+}
+
 int main()
 {
-//# if DEMO1_CODE
-//    
-//    JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
-//    E18_D80NK infared1 (IR1_PB12_OUT);
-//    E18_D80NK infared2 (IR2_PB13_OUT);
-//    
-//    OneWire oneWire(D8);        // substitute D8 with the actual pin name connected to the 1-wire bus
-//    int sensorsFound = 0;
-//
-//    
-//    select =0;
-//    
-//    sensor1.setRanges(10, 200);
-//    
-//    memset(data,0,sizeof(data));
-//    int distance;
-//    regvalue[0] = 1;
-//    byte in;
-//    
-//    while(true) {      
-//        
-//           //memset(regvalue,0,sizeof(regvalue));
-//           //wait_ms(100);
-//           //RS485.recvMsg(regvalue,sizeof(regvalue),500);
-//    
-//        //printf("Done\n");
-//       if (RS485.readable() > 0)
-//      {
-//
-//         in = RS485.getc();
-//        
-//        }
-//        
-//        if(in == '\4')
-//        {
-//            
-//            timer.reset();
-//            timer.start();
-//            sensor1.startMeasurement();
-//            
-//            distance = sensor1.getDistance_mm();
-//            data[0] = (distance >> 24) ;
-//            data[1] =(distance >> 16) ; 
-//            data[2] = (distance >> 8) ;
-//            data[3] = distance  ;
-//            data[4] = infared1.checkObstacle();
-//            data[5] = infared2.checkObstacle();
-//            select = 1;
-//            RS485.sendMsg(data,sizeof(data));
-//             wait_ms(20);
-//             select = 0 ;
-//            timer.stop();
-//            send_flag = false;
-//            wait_ms(20);
-//            in = '\1';
-//            
-//            
-//        }
-// 
-//    }
-//#endif
+    RS2.baud (115200);
+    Select1 = 0;
+    Select2 = 0;
+    RS2.attach(&UART2_callback);
+    //RS1.attach(&UART1_callback);
+
+#if DEMO_CODE
+    int US1_data = 0,US2_data = 0, US3_data = 0;
+
+    int Lift_IR1 = 0,Lift_IR2 = 0;
+
+    bool IR1_data = 0,IR2_data = 0;
+
+    float temp_one_value = -1, temp_two_value = -1, Enc_left_data = 0, Enc_right_data = 0, time = 0;
+    
+    Timer timer1;
+    timer1.start();
 
-# if DEMO_CODE
-
-    int US1_data = 0,US2_data = 0, US3_data = 0;
-       
-   int Lift_IR1 = 0,Lift_IR2 = 0;
-   
-   bool IR1_data = 0,IR2_data = 0;
-
-   float temp_one_value = -1 , temp_two_value = -1 ;
-   
-   
-   
-   OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
+    OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
     int sensorsFound = 0;
-   
-   AnalogIn Lift1 (PB_0);
-   AnalogIn Lift2 (PB_1);    
-   JSN_SR04 US_sensor_left (PB_14, PA_9);
-   JSN_SR04 US_sensor_middle (PB_15, PA_9);
-   JSN_SR04 US_sensor_right (PA_8, PA_9);        
-       
-   US_sensor_left.setRanges (20, 300);
-   US_sensor_middle.setRanges (20, 300);
-   US_sensor_right.setRanges (20, 300);
-   
-   E18_D80NK IR_sensor_left (PB_13);
-   E18_D80NK IR_sensor_right (PB_12);
-   
-   for (sensorsFound = 0; sensorsFound < MAX_SENSOSRS; sensorsFound++) {
+
+    DigitalIn  Lift1 (PB_0);
+    DigitalIn  Lift2 (PB_1);
+
+    AS5045 Enc_left(SP1_NSS1);
+    AS5045 Enc_right(SP1_NSS2);
+
+    JSN_SR04 US_sensor_left (PB_14, PA_9);
+    JSN_SR04 US_sensor_middle (PB_15, PA_9);
+    JSN_SR04 US_sensor_right (PA_8, PA_9);
+
+    US_sensor_left.setRanges (20, 300);
+    US_sensor_middle.setRanges (20, 300);
+    US_sensor_right.setRanges (20, 300);
+
+    E18_D80NK IR_sensor_left (PB_13);
+    E18_D80NK IR_sensor_right (PB_12);
+
+    for (sensorsFound = 0; sensorsFound < MAX_SENSOSRS; sensorsFound++) {
         ds1820[sensorsFound] = new DS1820(&oneWire);
         if (!ds1820[sensorsFound]->begin()) {
             delete ds1820[sensorsFound];
             break;
         }
     }
-    
-   pc.baud (115200);
-   select = 1;
-       
-   while (true) {
-   
-       for (int i = 0; i < sensorsFound; i++)
-       {
+
+    while (true) {
+       timer1.reset();
+
+        for (int i = 0; i < sensorsFound; i++) {
             ds1820[i]->startConversion();
-            wait_ms(100);
+            wait_ms(1);
             //temp_one_value = ds1820[i]->read();
             //temp_two_value = i;
         }
-    
-       US_sensor_left.startMeasurement ();
-       US1_data = US_sensor_left.getDistance_cm ();
-       
-       US_sensor_middle.startMeasurement ();
-       US2_data = US_sensor_middle.getDistance_cm ();
-       
-       US_sensor_right.startMeasurement ();
-       US3_data = US_sensor_right.getDistance_cm ();
-       
-       IR1_data = IR_sensor_left.checkObstacle ();
-       IR2_data = IR_sensor_right.checkObstacle ();  
-       
-       Lift_IR1 = Lift1.read () <= 0.53? 1: 0;        
-       Lift_IR2 = Lift2.read () <= 0.53? 1: 0;
-     
-       
-        if (ds1820[0]->isPresent() ){
-                //pc.printf("temp[%d] = %3.1f%cC\r\n", 0, ds1820[0]->read(), 176); // read temperature
-                temp_one_value = ds1820[0]->read();
-        }
-        if (ds1820[1]->isPresent() ){
-                //pc.printf("temp[%d] = %3.1f%cC\r\n", 1, ds1820[1]->read(), 176); // read temperature
-                temp_two_value = ds1820[1]->read();
-        }
-        
-       pc.printf ("%d_%d_%d_%d_%d_%d_%d_%3.1f_%3.1f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2,temp_one_value,temp_two_value); // (int) ((Vcc -24 ) * 5 + 50));
-       
-       wait_ms (100);
-   }
-   
+
+        US_sensor_left.startMeasurement ();
+        US1_data = US_sensor_left.getDistance_cm ();
+        wait_ms(15);
+        US_sensor_middle.startMeasurement ();
+        US2_data = US_sensor_middle.getDistance_cm ();
+        wait_ms(15);
+        US_sensor_right.startMeasurement ();
+        US3_data = US_sensor_right.getDistance_cm ();
+        wait_ms(15);
+        IR1_data = IR_sensor_left.checkObstacle ();
+        IR2_data = IR_sensor_right.checkObstacle ();
 
 
+        Enc_left_data = Enc_left.getAngle();
+        Enc_right_data = Enc_right.getAngle();
+
+        Lift_IR1 = Lift1.read();
+        Lift_IR2 = Lift2.read();
+        
+        time = timer1.read();
+
+        if (ds1820[0]->isPresent() ) {
+            //pc.printf("temp[%d] = %3.1f%cC\r\n", 0, ds1820[0]->read(), 176); // read temperature
+            temp_one_value = ds1820[0]->read();
+        }
+        if (ds1820[1]->isPresent() ) {
+            //pc.printf("temp[%d] = %3.1f%cC\r\n", 1, ds1820[1]->read(), 176); // read temperature
+            temp_two_value = ds1820[1]->read();
+        }
+        //if(sendFlag) {
+            Select2 = 1;
+            RS2.printf ("%d_%d_%d_%d_%d_%d_%d_%3.1f_%3.1f_%3.1f_%3.1f_%f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2, temp_one_value, temp_two_value, Enc_right_data, Enc_left_data, time);  //,(int)((Vcc -24 ) * 5 + 50));
+            wait_ms(5);
+            sendFlag = false;
+            Select2 = 0;
+       // }
+    }
 #endif
- 
+
+#if TEST_REQUEST
+
+    while (true) {
+        // if(RS1.readable()) {
+//            Select1 = 1;
+//            RS1.putc(RS1.getc());
+//            wait_ms (1000);
+//            Select1 = 0;
+//        }else{
+        Select1 = 1;
+        RS1.printf ("nothing \n");
+        wait_ms (5);
+        Select1 = 0;
+        wait_ms (1000);
+        //}
+    }
+
+#endif
 }
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