Diff: main.cpp

Revision:

8:c3cffab85b0d

Parent:

7:2f218add711e

Child:

9:859bcb293e46

--- a/main.cpp	Thu Jul 23 11:34:08 2020 +0000
+++ b/main.cpp	Tue Jul 28 14:25:33 2020 +0000
@@ -1,19 +1,18 @@
 #include <global.h>
 
-//Serial pc(UART1_TX, UART1_RX);
 RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
  
-Serial pc(USBTX, USBRX);
+volatile bool serialArrived = false;
+int n=0;
+char a;
+bool send_flag = false;
+
 Timer timer;
 typedef uint8_t byte;
 
-DigitalOut select(DE_TXD_2);
-byte full_value[9];
-byte base_data[4] = {0xAA,0x55,0x03,0x01};
-byte data[9] = {0x01,0x04,0x00,0x48,0x00,0x02,0xf1,0xdd};//your data
-
-char test_buffer[10]; 
-
+DigitalOut select(DE_TXD_1);
+byte regvalue[1] ;
+ byte data[6];
 const unsigned char CRC7_POLY = 0x91;
  
 unsigned char getCRC(unsigned char message[], unsigned char length)
@@ -32,94 +31,50 @@
   }
   return crc;
 }
- 
- 
 int main()
 {
-    DigitalOut led(DEBUG_LED);
-    DigitalOut led2(DE_TXD_1, 1); // activate transmitting rs485-1
-
-
-#if TEST_ULTRASONIC
-    int time_to_check_us = 1000;
-    JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
-//    JSN_SR04 sensor1(TIM1_CH2, TRIG_PB14_OUT); //no triger signal
-//    JSN_SR04 sensor1(TIM1_CH2, TRIG_PB15_OUT);
-    sensor1.setRanges(30, 200);
-//    sensor2.setRanges(30, 200);
-//    sensor3.setRanges(30, 200);
-//    pc.printf("Min. range = %g cm\n\r",sensor1.getMinRange());
-    while(true) {
-        timer.reset();
-        timer.start();
-        sensor1.startMeasurement();
-        //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
-        //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());
-        pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
-        
-
-        timer.stop();
-        wait_ms(2);
-
-    }
-
-#endif
-
-#if TEST_ENCODERS
-int min1_value = 2000;
-int max1_value = 0;
-    AS5045 encoder_1(SP1_NSS1);
-    AS5045 encoder_2(SP1_NSS2);
-    while(1) {
-        led = !led;
-        double encoder_1_Value = encoder_1.getPosition();
-        wait_ms(30);
-        double encoder_2_Value = encoder_2.getPosition();
-        wait_ms(30);
-        //encoder_1_Value =
-        //if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
+# if DEMO_CODE
     
-        pc.printf("Sensor Values = %f --- %f \n\r",encoder_1_Value, encoder_2_Value ); //
-        //else
-        //pc.printf("Invalid data read");
-
-        //wait_ms(50);
-    }
-
-#endif
-
-# if TEST_IR
-PwmIn a(PB_4);
-    //E18_D80NK infared1 (IR1_PB12_OUT);
-//    E18_D80NK infared2 (IR2_PB13_OUT);
-    while (true) {
-       // pc.printf ("Is there any obstacle: %d ---- %d ",  infared1.checkObstacle(),infared2.checkObstacle() );
-       
-        pc.printf ("\n\r");
-    }
-
-
-#endif
-
-# if DEMO_CODE
-
     JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
     E18_D80NK infared1 (IR1_PB12_OUT);
     E18_D80NK infared2 (IR2_PB13_OUT);
-    pc.baud(115200);
+    
+    select = 1;
     
     sensor1.setRanges(10, 200);
     
-    while(true) {
-        timer.reset();
-        timer.start();
-        sensor1.startMeasurement();
-        //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
-        //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());
-        pc.printf("%5.1f_%d_%d \r\n", sensor1.getDistance_cm(),infared1.checkObstacle(),infared2.checkObstacle());
+    memset(data,0,sizeof(data));
+    float distance;
+    
+    while(true) {      
+         if(RS485.readable() >0){
+           //memset(regvalue,0,sizeof(regvalue));
+           //wait_ms(100);
+           RS485.recvMsg(regvalue,sizeof(uint8_t),30);
+           }
+        //printf("Done\n");
         
-        timer.stop();
-        wait_ms(20);
+        if((int)regvalue[1] == 4 )
+        {
+            select = 1;
+            timer.reset();
+            timer.start();
+            sensor1.startMeasurement();
+            
+            distance = sensor1.getDistance_cm();
+            data[0] = (uint8_t)(distance >> 24) ;
+            data[1] = (uint8_t)(distance >> 16) ; 
+            data[2] = (uint8_t)(distance >> 8) ;
+            data[3] = (uint8_t)distance  ;
+            data[4] = (uint8_t)infared1.checkObstacle();
+            data[5] = (uint8_t)infared2.checkObstacle();
+            RS485.sendMsg(data,sizeof(data));
+            timer.stop();
+            send_flag = false;
+            wait_ms(20);
+            
+            select = 0 ;
+        }
 
     }