Diff: main.cpp

Revision:

0:369222671f3c

Child:

1:95d85c81bb11

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 28 17:31:55 2013 +0000
@@ -0,0 +1,140 @@
+#include"mbed.h"
+
+#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 512
+#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 1024
+#include "MODSERIAL.h"
+
+//Define 
+#define NUMBER_MAX_EPOS2_PER_SLAVE  15
+#define NUMBER_MSG_PER_PACKET       15
+#define NUMBER_BYTES_PER_MSG        7
+#define NUMBER_SLAVE_BOARDS         3
+#define EPOS2_OK                    0
+#define EPOS2_ERROR                 -1
+#define LOOP_PERIOD_TIME            20000 //20 ms
+
+//SPI RxTx FIFO bits
+#define TNF 0x02
+#define TFE 0x01
+#define RNE 0x04
+
+MODSERIAL ros(p28, p27, 1024, 512); // tx, rx
+Serial pc(USBTX, USBRX); //terminal for debug
+DigitalOut ledchain[] = {(LED1), (LED2), (LED3), (LED4)}; //used for debugging
+DigitalOut logicPin(p26); //to record with Logic analyser on an event, pin high.
+
+char* readBufferSerial; //[NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer of packets read by the master (written by the ros node on pc side)
+uint8_t writeBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer ready to be sent over SPI to different slaves
+uint8_t readBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer read by the master on SPI bus 
+
+Timer timer;
+uint64_t begin, end;
+uint8_t numberCmds[NUMBER_SLAVE_BOARDS];
+
+bool newCmd_detected = false;
+uint8_t nbArrows = 0;
+
+uint8_t i=0;
+uint8_t j=0;
+ 
+char rByte = 0x00;
+bool threeArrowsFound = false;
+
+// Called everytime a new character goes into
+// the RX buffer. Test that character for '/'
+// Note, rxGetLastChar() gets the last char that
+// we received but it does NOT remove it from
+// the RX buffer.
+void rxCallback(MODSERIAL_IRQ_INFO *q) 
+{
+    logicPin = 1;
+    
+    MODSERIAL *serial = q->serial;
+    
+    if ( serial->rxGetLastChar() == '/') 
+    {
+        //pc.printf("new1\n");
+        //newline_detected = true;
+        serial->move(readBufferSerial, NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG, '\n');
+        serial->rxBufferFlush();
+        //pc.printf("new\n");
+        //for(int n=0; n<1; n++)
+        //{
+        //pc.printf("new2\n\r");
+        //pc.printf("0x%02X\n", s[0]);
+            //pc.printf("0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", s[0], s[1], s[2], s[3], s[4], s[5], s[6]);
+        //}
+    }
+    /*
+    rByte = serial->rxGetLastChar();
+    
+    if(nbArrows < 3)
+    {
+        if(rByte == 0x3C) 
+        {   
+            nbArrows++;  
+        }
+        else 
+        {
+            nbArrows = 0; 
+        }
+        
+        if(nbArrows == 3) 
+        {
+            threeArrowsFound = true;
+        } 
+    }
+    else
+    {               
+        readBufferSerial[i][j] = rByte;
+        //pc.printf("i=%d j=%d\n", i,j);
+        
+        j++;
+        if(j >= NUMBER_BYTES_PER_MSG)
+        {
+            j = 0;
+            i++; //next cmd
+            
+            if(i >= NUMBER_MSG_PER_PACKET)
+            {
+                nbArrows = 0;
+                i = 0;
+                j = 0;
+                serial->rxBufferFlush();
+                //serial->txBufferFlush();
+                
+                for(int n=0; n<1; n++)
+                {
+                    pc.printf("0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", readBufferSerial[n][0], readBufferSerial[n][1], readBufferSerial[n][2], readBufferSerial[n][3], readBufferSerial[n][4], readBufferSerial[n][5], readBufferSerial[n][6]);
+                }
+            }   
+        }        
+    }
+    */
+    logicPin = 0;
+}
+ 
+int main() 
+{
+    ros.baud(460800); //460800 works //921600 don't
+    pc.baud(115200);
+    
+    i=0;
+    j=0;
+    
+    //init alloc
+    readBufferSerial = (char*)malloc(NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG*sizeof(char*));
+    
+    ros.attach(&rxCallback, MODSERIAL::RxIrq);
+    
+    pc.printf("*** Start Master Main ***\n\r");
+    
+    logicPin = 0;
+ 
+    // Wait here until we detect the \n going into the buffer.
+    while(!newCmd_detected);    
+    
+    // When we get here the RX buffer now contains a sentence.
+    // ...
+ 
+}
\ No newline at end of file