Revision 0:edf190717f4f, committed 2020-05-24

Comitter:

wolve265

Date:

Sun May 24 18:45:14 2020 +0000

Commit message:

final

Changed in this revision

diff -r 000000000000 -r edf190717f4f BSP_DISCO_F429ZI.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP_DISCO_F429ZI.lib	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/BSP_DISCO_F429ZI/#53d9067a4feb

diff -r 000000000000 -r edf190717f4f Command.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Command.cpp	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,39 @@
+#include "Command.h"
+#include "mbed.h"
+#include <cstring>
+
+void Command::Decode(){
+    char *pcActualToken = strtok(cReceived, " ");
+    
+    if(0 == strcmp(pcActualToken, "id")){
+        eName = ID;
+        strcpy(cReply, "id DISCO-F429ZI");
+    }
+    else if(0 == strcmp(pcActualToken, "callib")){
+        eName = CALLIB;
+        strcpy(cReply, "ok");
+    }
+    else if(0 == strcmp(pcActualToken, "goto")){
+        eName = GOTO;
+        strcpy(cReply, "ok"); 
+        pcActualToken = strtok(NULL, " ");
+        HexStringToUInt(pcActualToken);
+    }
+    else if(0 == strcmp(pcActualToken, "step")){
+        eName = STEP;
+        strcpy(cReply, "ok");
+        pcActualToken = strtok(NULL, " ");
+        HexStringToUInt(pcActualToken);
+    }
+    else{
+        eName = IDLE;
+        strcpy(cReply, "unknowncommand");   
+    }
+}
+
+void Command::HexStringToUInt(char *pcHexString){
+    unsigned long ulReceivedNumber;
+    ulReceivedNumber = strtoul(pcHexString, NULL, 0);
+    uiReceivedNumber = (unsigned int)ulReceivedNumber;
+}
+

diff -r 000000000000 -r edf190717f4f Command.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Command.h	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,23 @@
+#ifndef COMMAND_H
+#define COMMAND_H
+
+enum CommandName{
+    CALLIB,
+    ID,
+    GOTO,
+    STEP,
+    IDLE
+};
+
+class Command{
+    private:
+        void HexStringToUInt(char *);
+    public:  
+        char cReceived[255];
+        char cReply[255];
+        unsigned int uiReceivedNumber;
+        void Decode();
+        enum CommandName eName;
+};
+
+#endif

diff -r 000000000000 -r edf190717f4f LCD_DISCO_F429ZI.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCD_DISCO_F429ZI.lib	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST/code/LCD_DISCO_F429ZI/#dc55a068bc1a

diff -r 000000000000 -r edf190717f4f Led.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Led.cpp	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,81 @@
+#include "Led.h"
+
+Led::Led(){
+    lcd.Clear(LCD_COLOR_WHITE);
+    
+    ucLineXpos = 220;
+    ucLineYpos = 120;
+    DrawServo();
+    
+    ucCurrentIndex = 0;
+    for(unsigned char ucLedCounter = 0; ucLedCounter < 4; ucLedCounter++){
+        lcd.SetTextColor(LCD_COLOR_BLACK);
+        lcd.FillCircle(30+(60*ucLedCounter), 280, 23);
+        On(0);
+    }
+}
+
+void Led::DrawServo(){
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.FillCircle(120, 120, 100);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillCircle(120, 120, 20);
+    lcd.DrawLine(120, 120, ucLineXpos, ucLineYpos);      
+}
+
+void Led::StepRight(){
+    ucCurrentIndex = (ucCurrentIndex+1)%4;
+    On(ucCurrentIndex);
+    if(20 == ucLineXpos && ucLineYpos > 20){
+        ucLineYpos-=10;
+    }
+    else if(220 == ucLineXpos && ucLineYpos < 220){
+        ucLineYpos+=10;
+    }
+    else if(20 == ucLineYpos && ucLineXpos < 220){
+        ucLineXpos+=10;
+    }
+    else if(220 == ucLineYpos && ucLineXpos > 20){
+        ucLineXpos-=10;
+    }
+    else{}
+    DrawServo();
+    wait(0.05);
+}
+
+void Led::StepLeft(){
+    if(0 == ucCurrentIndex){
+        ucCurrentIndex = 3;   
+    }
+    else{
+        ucCurrentIndex = (ucCurrentIndex-1)%4;
+    }
+    On(ucCurrentIndex);
+    if(20 == ucLineXpos && ucLineYpos < 220){
+        ucLineYpos+=10;
+    }
+    else if(220 == ucLineXpos && ucLineYpos > 20){
+        ucLineYpos-=10;
+    }
+    else if(20 == ucLineYpos && ucLineXpos > 20){
+        ucLineXpos-=10;
+    }
+    else if(220 == ucLineYpos && ucLineXpos < 220){
+        ucLineXpos+=10;
+    }
+    else{}
+    DrawServo();
+    wait(0.05);
+}
+
+void Led::On(unsigned char ucIndex){
+    for(unsigned char ucLedCounter = 0; ucLedCounter < 4; ucLedCounter++){
+        if(ucIndex == ucLedCounter){
+            lcd.SetTextColor(LCD_COLOR_CYAN);   
+        }
+        else{
+            lcd.SetTextColor(LCD_COLOR_WHITE);
+        }
+        lcd.FillCircle(30+(60*ucLedCounter), 280, 20);
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f Led.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Led.h	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,20 @@
+#ifndef LED_H
+#define LED_H
+
+#include "LCD_DISCO_F429ZI.h"
+
+class Led{
+    private:
+        LCD_DISCO_F429ZI lcd;
+        void On(unsigned char);
+        void DrawServo();
+        unsigned char ucLineXpos;
+        unsigned char ucLineYpos;
+        unsigned char ucCurrentIndex;
+    public:
+        Led();
+        void StepRight();
+        void StepLeft();  
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f Servo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,52 @@
+#include "Servo.h"
+#include "mbed.h"
+
+InterruptIn user_button(USER_BUTTON);
+
+Servo::Servo(){
+    uiCurrentPosition = 0;   
+}
+
+void Servo::Callib(){
+    while(!user_button){
+        MyLed.StepRight();   
+    }
+    uiCurrentPosition = 0;
+}
+
+void Servo::GoTo(unsigned int uiDesiredPosition){
+    while(uiDesiredPosition != uiCurrentPosition){
+        if(uiDesiredPosition > uiCurrentPosition){
+            MyLed.StepRight();
+            uiCurrentPosition++;  
+        }
+        else if(uiDesiredPosition < uiCurrentPosition){
+            MyLed.StepLeft();
+            uiCurrentPosition--;  
+        }
+        else{}
+    }
+}
+
+void Servo::Step(unsigned int uiSteps){
+    for(unsigned int uiStepCounter; uiStepCounter < uiSteps; uiStepCounter++){
+        MyLed.StepRight();
+        uiCurrentPosition++;   
+    }
+}
+
+void Servo::Do(){
+    switch(MyCommand.eName){
+        case CALLIB:
+            Callib();
+        break;
+        case GOTO:
+            GoTo(MyCommand.uiReceivedNumber);
+        break;
+        case STEP:
+            Step(MyCommand.uiReceivedNumber);
+        break;
+        default:
+        break;   
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f Servo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,19 @@
+#ifndef SERVO_H
+#define SERVO_H
+
+#include "Command.h"
+#include "Led.h"
+
+class Servo{
+    private:
+        Led MyLed;
+        void Callib();
+        void GoTo(unsigned int);
+        void Step(unsigned int);
+        unsigned int uiCurrentPosition;
+    public:
+        Servo();
+        Command MyCommand;
+        void Do();  
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f Uart.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Uart.cpp	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,42 @@
+#include "Uart.h"
+#include "mbed.h"
+Serial uart(USBTX, USBRX); // tx, rx
+
+void Uart::print(char *pcString){
+    uart.printf(pcString);
+}
+
+bool Uart::puts(char *pTransmitWord, unsigned char ucWordSize){
+    if(NULL != pTransmitWord[ucWordSize]){
+        return 1;
+    }
+    else{
+        unsigned char ucCharacterCounter;
+        for(ucCharacterCounter = 0; ucCharacterCounter < ucWordSize; ucCharacterCounter++){
+            uart.putc(pTransmitWord[ucCharacterCounter]);
+        }
+        uart.putc(13);
+        return 0;
+    }
+}
+
+bool Uart::gets(char *pReceivedWord, unsigned char ucWordSize){
+    unsigned char ucCharacterCounter;
+    
+    for(ucCharacterCounter = 0; ucCharacterCounter <= ucWordSize; ucCharacterCounter++){
+        unsigned char ucCurrentChar = uart.getc();
+        if(ucCharacterCounter > ucWordSize){
+            return 1;
+        }
+        else{
+            if(13 == ucCurrentChar){
+                pReceivedWord[ucCharacterCounter] = NULL;
+                return 0;
+            }
+            else{
+                pReceivedWord[ucCharacterCounter] = ucCurrentChar;   
+            }
+        }
+    }
+    return 0;
+}
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f Uart.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Uart.h	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,13 @@
+#ifndef UART_H
+#define UART_H
+
+class Uart{
+    private:
+    
+    public:  
+        bool puts(char *, unsigned char);
+        bool gets(char *, unsigned char);
+        void print(char *);
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,20 @@
+#include "Uart.h"
+#include "Servo.h"
+#include <cstring>
+
+int main(){
+    Uart MyUart;
+    Servo MyServo;
+    
+    while(1){
+        unsigned char ucWordSize = 255;
+        MyUart.gets(MyServo.MyCommand.cReceived, ucWordSize);
+        
+        MyServo.MyCommand.Decode();
+        
+        ucWordSize = strlen(MyServo.MyCommand.cReply);
+        MyUart.puts(MyServo.MyCommand.cReply, ucWordSize);
+        
+        MyServo.Do();
+    }   
+}
\ No newline at end of file

diff -r 000000000000 -r edf190717f4f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun May 24 18:45:14 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file