Revision 111:f11575e7c79b, committed 2022-04-07

Comitter:

voltxd

Date:

Thu Apr 07 12:30:01 2022 +0000

Parent:

110:a6d1d3525014

Child:

112:478ae92cb106

Commit message:

.;

Changed in this revision

--- a/main.cpp	Thu Apr 07 12:13:04 2022 +0000
+++ b/main.cpp	Thu Apr 07 12:30:01 2022 +0000
@@ -5,13 +5,8 @@
 
 #include "mbed.h"
 #include "platform/mbed_thread.h"
-#include <SPISlave.h>
 #include "protocol.h"
 
-
-// Blinking rate in milliseconds
-#define BLINKING_RATE_MS    2000
-
 //Define SPI
 #define SPI3_MOSI   D11
 #define SPI3_MISO   D12
@@ -22,67 +17,52 @@
 #define PWM_PROP    D10
 #define PWM_DIR     D9
 
-//Déclarations PWM
+//Declaration PWM outputs
 PwmOut propulsion(PWM_PROP);
 PwmOut direction(PWM_DIR);
 
-//Déclarations Liaisons
+//Declaration Links
 static BufferedSerial serial_port(USBTX, USBRX,115200);
 SPISlave device(SPI3_MOSI, SPI3_MISO, SPI3_SCLK, SPI3_CS); // mosi, miso, sclk, ssel
 
 int main()
 {
+    //Declaration PWM variables
     uint32_t pulsewidth_direction = 1100;
     uint32_t pulsewidth_propulsion = 1500;
     
-    char texte[32];
+    //Test Serial port
+    serial_port.write("Test\n\r",strlen("Test\n\r"));
     
-    sprintf(texte,"Test\n\r");
-    serial_port.write(texte,strlen(texte));
-    
+    //Init. propulsion PWM
     propulsion.period_us(20000);
     propulsion.pulsewidth_us(pulsewidth_propulsion);
     
     thread_sleep_for(2000);
     
+    //Init. Direction PWM
     direction.period_us(20000);
     direction.pulsewidth_us(pulsewidth_direction);
     
+    //Init. SPI Link
     device.format(8);
     
-    while (true) {
+    //Infinite loop
+    while(1) 
+    {
+        //If SPI received a char, decode it then reply bullshit.
         if(device.receive())
         {
-            //decodeMessage((char)device.read());
+            decodeMessage((char)device.read());
+            device.reply(0b10101010);
         }
+        
+        //If decoding has ended, get and changes PWM values.
         if(isDataAvailable())
         {
             getVerifiedPWMValues(&pulsewidth_propulsion, &pulsewidth_direction);
             propulsion.pulsewidth_us(pulsewidth_propulsion);
             direction.pulsewidth_us(pulsewidth_direction);
-        }
-        
-        /*
-        
-        propulsion.pulsewidth_us(1450);
-        thread_sleep_for(BLINKING_RATE_MS);
-        led = !led;
-        propulsion.pulsewidth_us(1400);
-        thread_sleep_for(BLINKING_RATE_MS);
-        led = !led;
-        propulsion.pulsewidth_us(1500);
-        thread_sleep_for(BLINKING_RATE_MS);
-        led = !led;
-        propulsion.pulsewidth_us(1550);
-        thread_sleep_for(BLINKING_RATE_MS);
-        led = !led;
-        propulsion.pulsewidth_us(1600);
-        thread_sleep_for(BLINKING_RATE_MS);
-        led = !led;
-        propulsion.pulsewidth_us(1800);
-        thread_sleep_for(BLINKING_RATE_MS);
-        */
-        
-        
+        }        
     }
 }

--- a/protocol.cpp	Thu Apr 07 12:13:04 2022 +0000
+++ b/protocol.cpp	Thu Apr 07 12:30:01 2022 +0000
@@ -2,6 +2,7 @@
 
 char newDataAvailable = 0;
 
+//Bytewise XOR
 char calculateChecksum(uint32_t propulsion, uint32_t direction)
 {
     char checksum = 0xff;
@@ -21,6 +22,7 @@
 uint32_t verifiedPropulsion = 1500;
 uint32_t verifiedDirection = 1150;
 
+//Decode the bytes received according to their order of reception.
 void decodeMessage(char c)
 {
     switch(receiveState)
@@ -61,7 +63,7 @@
             //Checksum
             if (c == calculateChecksum(receivedPropulsion, receivedDirection))
             {
-                //Le message recu est correct, on peut exploiter ses données
+                //The frame is correct, we can use the values retrieved.
                 verifiedPropulsion = receivedPropulsion;
                 verifiedDirection = receivedDirection;
                 newDataAvailable = 1;
@@ -75,6 +77,7 @@
     }
 }
 
+//Return the values decoded
 void getVerifiedPWMValues(uint32_t *pwmPropulsion, uint32_t *pwmDirection)
 {
     *pwmPropulsion = verifiedPropulsion;
@@ -82,6 +85,7 @@
     newDataAvailable = 0;
 }
 
+//Return a value telling if new informations are available.
 char isDataAvailable()
 {
     return newDataAvailable;