Руслан Бредун / Mbed 2 deprecated stm32-sensor-base2

test

Dependencies:   mbed Watchdog

Dependents:   STM32-MC_node

main.cpp@8:c3cffab85b0d, 2020-07-28 (annotated)

Committer:
ommpy
Date:
Tue Jul 28 14:25:33 2020 +0000
Revision:
8:c3cffab85b0d
Parent:
7:2f218add711e
Child:
9:859bcb293e46
modbus byte array added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 0:d383e2dee0f7 1 #include <global.h>
ommpy 0:d383e2dee0f7 2
ommpy 6:a760ce6defbe 3 RS485 RS485(UART2_TX,UART2_RX,DE_TXD_2); // Tx, Rx , !RE and DE MAX485 pin
ommpy 6:a760ce6defbe 4
ommpy 8:c3cffab85b0d 5 volatile bool serialArrived = false;
ommpy 8:c3cffab85b0d 6 int n=0;
ommpy 8:c3cffab85b0d 7 char a;
ommpy 8:c3cffab85b0d 8 bool send_flag = false;
ommpy 8:c3cffab85b0d 9
nestedslk 4:f6e22dd39313 10 Timer timer;
ommpy 6:a760ce6defbe 11 typedef uint8_t byte;
ommpy 0:d383e2dee0f7 12
ommpy 8:c3cffab85b0d 13 DigitalOut select(DE_TXD_1);
ommpy 8:c3cffab85b0d 14 byte regvalue[1] ;
ommpy 8:c3cffab85b0d 15 byte data[6];
ommpy 6:a760ce6defbe 16 const unsigned char CRC7_POLY = 0x91;
ommpy 6:a760ce6defbe 17
ommpy 6:a760ce6defbe 18 unsigned char getCRC(unsigned char message[], unsigned char length)
ommpy 6:a760ce6defbe 19 {
ommpy 6:a760ce6defbe 20 unsigned char i, j, crc = 0;
ommpy 6:a760ce6defbe 21
ommpy 6:a760ce6defbe 22 for (i = 0; i < length; i++)
ommpy 6:a760ce6defbe 23 {
ommpy 6:a760ce6defbe 24 crc ^= message[i];
ommpy 6:a760ce6defbe 25 for (j = 0; j < 8; j++)
ommpy 6:a760ce6defbe 26 {
ommpy 6:a760ce6defbe 27 if (crc & 1)
ommpy 6:a760ce6defbe 28 crc ^= CRC7_POLY;
ommpy 6:a760ce6defbe 29 crc >>= 1;
ommpy 6:a760ce6defbe 30 }
ommpy 6:a760ce6defbe 31 }
ommpy 6:a760ce6defbe 32 return crc;
ommpy 6:a760ce6defbe 33 }
nestedslk 4:f6e22dd39313 34 int main()
nestedslk 4:f6e22dd39313 35 {
ommpy 8:c3cffab85b0d 36 # if DEMO_CODE
nestedslk 5:97117a837d2c 37
ommpy 6:a760ce6defbe 38 JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
ommpy 6:a760ce6defbe 39 E18_D80NK infared1 (IR1_PB12_OUT);
ommpy 6:a760ce6defbe 40 E18_D80NK infared2 (IR2_PB13_OUT);
ommpy 8:c3cffab85b0d 41
ommpy 8:c3cffab85b0d 42 select = 1;
ommpy 6:a760ce6defbe 43
ommpy 7:2f218add711e 44 sensor1.setRanges(10, 200);
ommpy 6:a760ce6defbe 45
ommpy 8:c3cffab85b0d 46 memset(data,0,sizeof(data));
ommpy 8:c3cffab85b0d 47 float distance;
ommpy 8:c3cffab85b0d 48
ommpy 8:c3cffab85b0d 49 while(true) {
ommpy 8:c3cffab85b0d 50 if(RS485.readable() >0){
ommpy 8:c3cffab85b0d 51 //memset(regvalue,0,sizeof(regvalue));
ommpy 8:c3cffab85b0d 52 //wait_ms(100);
ommpy 8:c3cffab85b0d 53 RS485.recvMsg(regvalue,sizeof(uint8_t),30);
ommpy 8:c3cffab85b0d 54 }
ommpy 8:c3cffab85b0d 55 //printf("Done\n");
ommpy 6:a760ce6defbe 56
ommpy 8:c3cffab85b0d 57 if((int)regvalue[1] == 4 )
ommpy 8:c3cffab85b0d 58 {
ommpy 8:c3cffab85b0d 59 select = 1;
ommpy 8:c3cffab85b0d 60 timer.reset();
ommpy 8:c3cffab85b0d 61 timer.start();
ommpy 8:c3cffab85b0d 62 sensor1.startMeasurement();
ommpy 8:c3cffab85b0d 63
ommpy 8:c3cffab85b0d 64 distance = sensor1.getDistance_cm();
ommpy 8:c3cffab85b0d 65 data[0] = (uint8_t)(distance >> 24) ;
ommpy 8:c3cffab85b0d 66 data[1] = (uint8_t)(distance >> 16) ;
ommpy 8:c3cffab85b0d 67 data[2] = (uint8_t)(distance >> 8) ;
ommpy 8:c3cffab85b0d 68 data[3] = (uint8_t)distance ;
ommpy 8:c3cffab85b0d 69 data[4] = (uint8_t)infared1.checkObstacle();
ommpy 8:c3cffab85b0d 70 data[5] = (uint8_t)infared2.checkObstacle();
ommpy 8:c3cffab85b0d 71 RS485.sendMsg(data,sizeof(data));
ommpy 8:c3cffab85b0d 72 timer.stop();
ommpy 8:c3cffab85b0d 73 send_flag = false;
ommpy 8:c3cffab85b0d 74 wait_ms(20);
ommpy 8:c3cffab85b0d 75
ommpy 8:c3cffab85b0d 76 select = 0 ;
ommpy 8:c3cffab85b0d 77 }
ommpy 6:a760ce6defbe 78
ommpy 6:a760ce6defbe 79 }
ommpy 7:2f218add711e 80
ommpy 6:a760ce6defbe 81
ommpy 6:a760ce6defbe 82
ommpy 6:a760ce6defbe 83 #endif
ommpy 6:a760ce6defbe 84
ommpy 0:d383e2dee0f7 85 }
ommpy 0:d383e2dee0f7 86