Krzysztof Cislo
/
mbed2_5
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Dependencies: LCD_DISCO_F429ZI mbed BSP_DISCO_F429ZI
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
--- /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
--- /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;
+}
+
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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
--- /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