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Dependencies:   mbed TrapezoidControl QEI

Communication/Controller/Mu/Mu.cpp

Committer:
7ka884
Date:
2018-09-10
Revision:
1:b1219d8ca117
Parent:
0:669ef71cba68

File content as of revision 1:b1219d8ca117:

#include "Mu.h"
#include "mbed.h"

namespace MU {
	Serial MuUart(MU_TX, MU_RX);

    namespace {
		char Group[][4]		= {"01", "02", "03", "04"};
		char Channel[][4]	= {"08", "14", "1F", "2E"};
		char DI[][4]		= {"10", "20", "40", "80"};
		char EI[][4]		= {"01", "02", "04", "08"};
    }

	void Mu::SendCommand(char *command, char *value, uint8_t valueLength) {
        MuUart.putc('@');
        MuUart.putc(command[0]);
        MuUart.putc(command[1]);
        while(valueLength--) {
            MuUart.putc(*value);
            value++;
        }
        MuUart.putc('\r');
        MuUart.putc('\n');
    }

    void Mu::Initialize(uint8_t select) {
        MuUart.baud(19200);

		Mu::SendCommand("GI",Group[select],2);
		Mu::SendCommand("CH",Channel[select],2);
		Mu::SendCommand("DI",DI[select],2);
		Mu::SendCommand("EI",EI[select],2);
    }
}