Diff: main.cpp

Revision:

109:4ee7ffc8f175

Parent:

108:2fd41d299a8c

Child:

110:a6d1d3525014

diff -r 2fd41d299a8c -r 4ee7ffc8f175 main.cpp
--- a/main.cpp	Tue Apr 05 11:19:38 2022 +0000
+++ b/main.cpp	Tue Apr 05 13:34:51 2022 +0000
@@ -9,6 +9,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <SPISlave.h>
+#include "protocol.h"
 
 
 // Blinking rate in milliseconds
@@ -28,9 +29,6 @@
 PwmOut propulsion(PWM_PROP);
 PwmOut direction(PWM_DIR);
 
-DigitalOut led(LED1);
-
-
 //Déclarations Liaisons
 static BufferedSerial serial_port(USBTX, USBRX,115200);
 SPISlave device(SPI3_MOSI, SPI3_MISO, SPI3_SCLK, SPI3_CS); // mosi, miso, sclk, ssel
@@ -38,18 +36,38 @@
 int main()
 {
     uint32_t pulsewidth_direction = 1100;
+    uint32_t pulsewidth_propulsion = 1500;
+    
     char texte[32];
+    
     sprintf(texte,"Test\n\r");
     serial_port.write(texte,strlen(texte));
+    
     propulsion.period_us(20000);
-    propulsion.pulsewidth_us(1500);
+    propulsion.pulsewidth_us(pulsewidth_propulsion);
+    
     thread_sleep_for(2000);
+    
     direction.period_us(20000);
     direction.pulsewidth_us(pulsewidth_direction);
-    led = 1;
+    
     device.format(8);
     
     while (true) {
+        if (device.receive())
+        {
+            decodeMessage((char)device.read());
+        }
+        if (isDataAvailable())
+        {
+            uint32_t pwms[2];
+            getVerifiedPWMValues(pwms);
+            pulsewidth_propulsion = pwms[0];
+            pulsewidth_direction = pwms[1];
+            propulsion.pulsewidth_us(pulsewidth_propulsion);
+            direction.pulsewidth_us(pulsewidth_direction);
+        }
+        
         /*
         
         propulsion.pulsewidth_us(1450);
@@ -71,19 +89,6 @@
         thread_sleep_for(BLINKING_RATE_MS);
         */
         
-        if (device.receive()) {
-            led = !led;
-            int v = device.read();   // Read byte from master
-            if (v == 'a')
-            {
-                //device.reply('o');
-                led = 1;
-            }
-            else if (v == 'e')
-            {
-                //device.reply('n');
-                led = 0;
-            }
-        }
+        
     }
 }