Init
Dependencies: Break Motor Communication Steering mbed Controller
SerialCommunication/MotorController.h@1:2538cbbea1f8, 2017-07-13 (annotated)
- Committer:
- skrickl
- Date:
- Thu Jul 13 13:45:55 2017 +0000
- Revision:
- 1:2538cbbea1f8
bla
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
skrickl | 1:2538cbbea1f8 | 1 | #include "mbed.h" |
skrickl | 1:2538cbbea1f8 | 2 | |
skrickl | 1:2538cbbea1f8 | 3 | #ifndef MOTOR_CONTROLLER_H |
skrickl | 1:2538cbbea1f8 | 4 | #define MOTOR_CONTROLLER_H |
skrickl | 1:2538cbbea1f8 | 5 | |
skrickl | 1:2538cbbea1f8 | 6 | #define BAUD_RATE 115200 |
skrickl | 1:2538cbbea1f8 | 7 | #define PIN_TX p9 |
skrickl | 1:2538cbbea1f8 | 8 | #define PIN_RX p10 |
skrickl | 1:2538cbbea1f8 | 9 | #define ENTER 0x0D |
skrickl | 1:2538cbbea1f8 | 10 | |
skrickl | 1:2538cbbea1f8 | 11 | Serial mc(PIN_TX, PIN_RX); // tx, rx |
skrickl | 1:2538cbbea1f8 | 12 | |
skrickl | 1:2538cbbea1f8 | 13 | void Rx_interruptMC(); |
skrickl | 1:2538cbbea1f8 | 14 | char temp_rx[80]; |
skrickl | 1:2538cbbea1f8 | 15 | |
skrickl | 1:2538cbbea1f8 | 16 | int initMotorController() |
skrickl | 1:2538cbbea1f8 | 17 | { |
skrickl | 1:2538cbbea1f8 | 18 | mc.baud(BAUD_RATE); |
skrickl | 1:2538cbbea1f8 | 19 | |
skrickl | 1:2538cbbea1f8 | 20 | // Setup a serial interrupt function to receive data |
skrickl | 1:2538cbbea1f8 | 21 | mc.attach(&Rx_interruptMC, Serial::RxIrq); |
skrickl | 1:2538cbbea1f8 | 22 | |
skrickl | 1:2538cbbea1f8 | 23 | return 0; |
skrickl | 1:2538cbbea1f8 | 24 | } |
skrickl | 1:2538cbbea1f8 | 25 | |
skrickl | 1:2538cbbea1f8 | 26 | void Rx_interruptMC() |
skrickl | 1:2538cbbea1f8 | 27 | { |
skrickl | 1:2538cbbea1f8 | 28 | //led2 = 1; |
skrickl | 1:2538cbbea1f8 | 29 | bool lineEnd = true; |
skrickl | 1:2538cbbea1f8 | 30 | char raw_rx[80]; |
skrickl | 1:2538cbbea1f8 | 31 | int i = 0; |
skrickl | 1:2538cbbea1f8 | 32 | |
skrickl | 1:2538cbbea1f8 | 33 | while (lineEnd) |
skrickl | 1:2538cbbea1f8 | 34 | { |
skrickl | 1:2538cbbea1f8 | 35 | raw_rx[i] = mc.getc(); |
skrickl | 1:2538cbbea1f8 | 36 | if ((int)raw_rx[i] == ENTER) |
skrickl | 1:2538cbbea1f8 | 37 | { |
skrickl | 1:2538cbbea1f8 | 38 | lineEnd = false; |
skrickl | 1:2538cbbea1f8 | 39 | } |
skrickl | 1:2538cbbea1f8 | 40 | i++; |
skrickl | 1:2538cbbea1f8 | 41 | led3 = lineEnd; |
skrickl | 1:2538cbbea1f8 | 42 | } |
skrickl | 1:2538cbbea1f8 | 43 | |
skrickl | 1:2538cbbea1f8 | 44 | //Here now the Values of the MC in the current Value |
skrickl | 1:2538cbbea1f8 | 45 | sprintf(temp_rx,raw_rx); |
skrickl | 1:2538cbbea1f8 | 46 | //led2 = 0; |
skrickl | 1:2538cbbea1f8 | 47 | } |
skrickl | 1:2538cbbea1f8 | 48 | void writeLine(char *line) |
skrickl | 1:2538cbbea1f8 | 49 | { |
skrickl | 1:2538cbbea1f8 | 50 | mc.printf("%s\r\n",line); |
skrickl | 1:2538cbbea1f8 | 51 | } |
skrickl | 1:2538cbbea1f8 | 52 | |
skrickl | 1:2538cbbea1f8 | 53 | void writeWord(char *word) |
skrickl | 1:2538cbbea1f8 | 54 | { |
skrickl | 1:2538cbbea1f8 | 55 | mc.printf("%s",word); |
skrickl | 1:2538cbbea1f8 | 56 | } |
skrickl | 1:2538cbbea1f8 | 57 | |
skrickl | 1:2538cbbea1f8 | 58 | void startStatusWriting() |
skrickl | 1:2538cbbea1f8 | 59 | { |
skrickl | 1:2538cbbea1f8 | 60 | writeLine("status_start"); |
skrickl | 1:2538cbbea1f8 | 61 | } |
skrickl | 1:2538cbbea1f8 | 62 | |
skrickl | 1:2538cbbea1f8 | 63 | void endStatusWriting() |
skrickl | 1:2538cbbea1f8 | 64 | { |
skrickl | 1:2538cbbea1f8 | 65 | writeLine("status_end"); |
skrickl | 1:2538cbbea1f8 | 66 | } |
skrickl | 1:2538cbbea1f8 | 67 | |
skrickl | 1:2538cbbea1f8 | 68 | |
skrickl | 1:2538cbbea1f8 | 69 | #endif |