File content as of revision 13:0c732e06d675:

#include <global.h>

//RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
Serial RS2(UART2_TX, UART2_RX);
Serial RS1(UART1_TX, UART1_RX);

Timer timer;
typedef uint8_t byte;

DigitalOut Select1(DE_TXD_1);
DigitalOut Select2(DE_TXD_2);



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;
        }
    }
    return crc;

}

void UART2_callback()
{
    c =  RS2.getc();
    if(c == '4') {
        sendFlag = true;
    } else {
        Select2 = 1;
        wait_ms(90);
        Select2 = 0;
    }

}

int main()
{
    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();

    OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
    int sensorsFound = 0;

    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;
        }
    }

    while (true) {
       timer1.reset();

        for (int i = 0; i < sensorsFound; i++) {
            ds1820[i]->startConversion();
            wait_ms(1);
            //temp_one_value = ds1820[i]->read();
            //temp_two_value = i;
        }

        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
}