UART Driver to receive asynchronous Serial Comms from a Raspberry Pi and parse the results.
SerialComms.cpp@8:2cbaea485ddb, 2016-03-04 (annotated)
- Committer:
- sk398
- Date:
- Fri Mar 04 06:48:37 2016 +0000
- Revision:
- 8:2cbaea485ddb
- Parent:
- 7:34c5934a01f0
- Child:
- 9:8e0a7d3f2f39
Error resolved
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sk398 | 6:74b5ac7719f4 | 1 | /* ##################################################################### |
sk398 | 6:74b5ac7719f4 | 2 | SerialComms.cpp |
sk398 | 6:74b5ac7719f4 | 3 | --------------- |
sk398 | 6:74b5ac7719f4 | 4 | |
sk398 | 6:74b5ac7719f4 | 5 | Surface Ship, Group 5 |
sk398 | 6:74b5ac7719f4 | 6 | --------------------- |
sk398 | 6:74b5ac7719f4 | 7 | |
sk398 | 6:74b5ac7719f4 | 8 | Written by: Steven Kay |
sk398 | 6:74b5ac7719f4 | 9 | |
sk398 | 6:74b5ac7719f4 | 10 | Date: February 2016 |
sk398 | 6:74b5ac7719f4 | 11 | |
sk398 | 6:74b5ac7719f4 | 12 | Function: This |
sk398 | 6:74b5ac7719f4 | 13 | |
sk398 | 6:74b5ac7719f4 | 14 | Version: 1.0 |
sk398 | 6:74b5ac7719f4 | 15 | |
sk398 | 6:74b5ac7719f4 | 16 | Version History |
sk398 | 6:74b5ac7719f4 | 17 | --------------- |
sk398 | 6:74b5ac7719f4 | 18 | |
sk398 | 6:74b5ac7719f4 | 19 | 1.1 rgdfgdfgdfggdfgdg |
sk398 | 6:74b5ac7719f4 | 20 | |
sk398 | 6:74b5ac7719f4 | 21 | 1.0 gdgddfdddgd |
sk398 | 6:74b5ac7719f4 | 22 | |
sk398 | 6:74b5ac7719f4 | 23 | ##################################################################### */ |
sk398 | 6:74b5ac7719f4 | 24 | |
sk398 | 0:8ac1280934b4 | 25 | #include "mbed.h" |
sk398 | 0:8ac1280934b4 | 26 | #include "SerialComms.h" |
sk398 | 0:8ac1280934b4 | 27 | |
sk398 | 1:bf3fb80028d8 | 28 | SerialComms::SerialComms(PinName tx,PinName rx) |
sk398 | 0:8ac1280934b4 | 29 | { |
sk398 | 3:b608ee5b9b5d | 30 | _HLC_Conn = new RawSerial(tx,rx); |
sk398 | 0:8ac1280934b4 | 31 | _HLC_Conn-> baud(SERIAL_BAUD_RATE); |
sk398 | 0:8ac1280934b4 | 32 | _HLC_Conn -> format(8,SerialBase::None,1); |
sk398 | 0:8ac1280934b4 | 33 | |
sk398 | 3:b608ee5b9b5d | 34 | _HLC_Conn -> attach(this,&SerialComms::incomingDataISR,RawSerial::RxIrq); |
sk398 | 0:8ac1280934b4 | 35 | |
sk398 | 2:cb74b330b285 | 36 | incomingDataUpdate = FALSE; |
sk398 | 0:8ac1280934b4 | 37 | } |
sk398 | 0:8ac1280934b4 | 38 | |
sk398 | 7:34c5934a01f0 | 39 | #define MOTORS_FORWARD 0x09 |
sk398 | 7:34c5934a01f0 | 40 | #define MOTORS_BACKWARD 0x06 |
sk398 | 7:34c5934a01f0 | 41 | #define MOTORS_LEFT 0x05 |
sk398 | 7:34c5934a01f0 | 42 | #define MOTORS_RIGHT 0x0A |
sk398 | 7:34c5934a01f0 | 43 | #define MOTORS_ARM 0x01 |
sk398 | 7:34c5934a01f0 | 44 | |
sk398 | 7:34c5934a01f0 | 45 | |
sk398 | 0:8ac1280934b4 | 46 | |
sk398 | 2:cb74b330b285 | 47 | void SerialComms::incomingDataISR() |
sk398 | 0:8ac1280934b4 | 48 | { |
sk398 | 6:74b5ac7719f4 | 49 | receiverBuffer = _HLC_Conn -> getc(); |
sk398 | 2:cb74b330b285 | 50 | incomingDataUpdate = TRUE; |
sk398 | 0:8ac1280934b4 | 51 | } |
sk398 | 0:8ac1280934b4 | 52 | |
sk398 | 6:74b5ac7719f4 | 53 | uint8_t SerialComms::getCommData() |
sk398 | 0:8ac1280934b4 | 54 | { |
sk398 | 6:74b5ac7719f4 | 55 | if(incomingDataUpdate == TRUE) |
sk398 | 0:8ac1280934b4 | 56 | { |
sk398 | 8:2cbaea485ddb | 57 | if( (receiverBuffer&0x0F)==MOTORS_FORWARD || |
sk398 | 8:2cbaea485ddb | 58 | (receiverBuffer&0x0F)==MOTORS_BACKWARD || |
sk398 | 8:2cbaea485ddb | 59 | (receiverBuffer&0x0F)==MOTORS_LEFT || |
sk398 | 8:2cbaea485ddb | 60 | (receiverBuffer&0x0F)==MOTORS_RIGHT || |
sk398 | 8:2cbaea485ddb | 61 | (receiverBuffer&0x0F)==MOTORS_ARM |
sk398 | 7:34c5934a01f0 | 62 | /* AND BALLAST REQUIREMENTS */) |
sk398 | 7:34c5934a01f0 | 63 | { |
sk398 | 7:34c5934a01f0 | 64 | incomingDataUpdate = FALSE; |
sk398 | 7:34c5934a01f0 | 65 | return receiverBuffer; |
sk398 | 7:34c5934a01f0 | 66 | } |
sk398 | 0:8ac1280934b4 | 67 | } |
sk398 | 0:8ac1280934b4 | 68 | else |
sk398 | 0:8ac1280934b4 | 69 | { |
sk398 | 6:74b5ac7719f4 | 70 | return 0xFF; |
sk398 | 0:8ac1280934b4 | 71 | } |
sk398 | 0:8ac1280934b4 | 72 | } |