File content as of revision 7:2f218add711e:

#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);
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]; 

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;
}
 
 
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() )
    
        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);
    
    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());
        
        timer.stop();
        wait_ms(20);

    }
    


#endif

}