jy z / Mbed 2 deprecated StewartPlatform

22

Dependencies:   mbed

Fork of StewartPlatform by Guojun Jiang

src/usart.cpp@2:50062ac8646d, 2016-05-07 (annotated)

Committer:
wheels
Date:
Sat May 07 12:27:09 2016 +0000
Revision:
2:50062ac8646d
stewart platform

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wheels 2:50062ac8646d 1 #include "usart.h"
wheels 2:50062ac8646d 2
wheels 2:50062ac8646d 3 Serial usart(USBTX, USBRX);
wheels 2:50062ac8646d 4
wheels 2:50062ac8646d 5 char positionTemp[7];
wheels 2:50062ac8646d 6 char position[6];
wheels 2:50062ac8646d 7 bool instructionReceived = false;
wheels 2:50062ac8646d 8
wheels 2:50062ac8646d 9 //serial interupt service function
wheels 2:50062ac8646d 10 //ͨÐÅЭÒé£bpositionTemp = {0xff, ID, angle, 0xEE}
wheels 2:50062ac8646d 11 // angle·¶Î§£º[0,180]£¬¶ÔÓ¦[-90, 90]
wheels 2:50062ac8646d 12 typedef enum
wheels 2:50062ac8646d 13 {
wheels 2:50062ac8646d 14 CheckS,CheckW,Checka,Checkb,Checkc,Checkd,Checke,Checkf,CheckSum
wheels 2:50062ac8646d 15 }STATE;
wheels 2:50062ac8646d 16
wheels 2:50062ac8646d 17 void usart_ISR() {
wheels 2:50062ac8646d 18 //if (usart.readable())
wheels 2:50062ac8646d 19 {
wheels 2:50062ac8646d 20 char data = usart.getc();
wheels 2:50062ac8646d 21 //usart.printf("%d \n", data);
wheels 2:50062ac8646d 22 static STATE State = CheckS;
wheels 2:50062ac8646d 23 switch(State)
wheels 2:50062ac8646d 24 {
wheels 2:50062ac8646d 25 case CheckS:
wheels 2:50062ac8646d 26 if(data==0XFF) {
wheels 2:50062ac8646d 27 State=CheckW;
wheels 2:50062ac8646d 28 //usart.printf("receive S\n");
wheels 2:50062ac8646d 29 //instructionReceived = false;
wheels 2:50062ac8646d 30 }
wheels 2:50062ac8646d 31 else
wheels 2:50062ac8646d 32 State=CheckS;
wheels 2:50062ac8646d 33 break;
wheels 2:50062ac8646d 34 case CheckW:
wheels 2:50062ac8646d 35 if(data==0XFE){
wheels 2:50062ac8646d 36 State=Checka;
wheels 2:50062ac8646d 37 //usart.printf("receive W\n");
wheels 2:50062ac8646d 38 }
wheels 2:50062ac8646d 39 else if(data==0XFF)
wheels 2:50062ac8646d 40 State=CheckW;
wheels 2:50062ac8646d 41 else
wheels 2:50062ac8646d 42 State=CheckS;
wheels 2:50062ac8646d 43 break;
wheels 2:50062ac8646d 44 case Checka:
wheels 2:50062ac8646d 45 positionTemp[0]=data;
wheels 2:50062ac8646d 46 State=Checkb;
wheels 2:50062ac8646d 47 //usart.printf("receive pos 0 \n");
wheels 2:50062ac8646d 48 break;
wheels 2:50062ac8646d 49 case Checkb:
wheels 2:50062ac8646d 50 positionTemp[1]=data;
wheels 2:50062ac8646d 51 State=Checkc;
wheels 2:50062ac8646d 52 //usart.printf("receive pos 1 \n");
wheels 2:50062ac8646d 53 break;
wheels 2:50062ac8646d 54 case Checkc:
wheels 2:50062ac8646d 55 positionTemp[2]=data;
wheels 2:50062ac8646d 56 //usart.printf("receive pos 2 \n");
wheels 2:50062ac8646d 57 State=Checkd;
wheels 2:50062ac8646d 58 break;
wheels 2:50062ac8646d 59 case Checkd:
wheels 2:50062ac8646d 60 positionTemp[3]=data;
wheels 2:50062ac8646d 61 //usart.printf("receive pos 3 \n");
wheels 2:50062ac8646d 62 State=Checke;
wheels 2:50062ac8646d 63 break;
wheels 2:50062ac8646d 64 case Checke:
wheels 2:50062ac8646d 65 positionTemp[4]=data;
wheels 2:50062ac8646d 66 //usart.printf("receive pos 4 \n");
wheels 2:50062ac8646d 67 State=Checkf;
wheels 2:50062ac8646d 68 break;
wheels 2:50062ac8646d 69 case Checkf:
wheels 2:50062ac8646d 70 positionTemp[5]=data;
wheels 2:50062ac8646d 71 //usart.printf("receive pos 5 \n");
wheels 2:50062ac8646d 72 State=CheckSum;
wheels 2:50062ac8646d 73 break;
wheels 2:50062ac8646d 74 case CheckSum:
wheels 2:50062ac8646d 75 positionTemp[6]=data;
wheels 2:50062ac8646d 76 //usart.printf("receive sum \n");
wheels 2:50062ac8646d 77 //if(positionTemp[6]==(char)(positionTemp[0]+positionTemp[1]+positionTemp[2]+positionTemp[3]+positionTemp[4]+positionTemp[5]))
wheels 2:50062ac8646d 78 {
wheels 2:50062ac8646d 79 position[0] = positionTemp[0];
wheels 2:50062ac8646d 80 position[1] = positionTemp[1];
wheels 2:50062ac8646d 81 position[2] = positionTemp[2];
wheels 2:50062ac8646d 82 position[3] = positionTemp[3];
wheels 2:50062ac8646d 83 position[4] = positionTemp[4];
wheels 2:50062ac8646d 84 position[5] = positionTemp[5];
wheels 2:50062ac8646d 85 instructionReceived = true;
wheels 2:50062ac8646d 86 }
wheels 2:50062ac8646d 87 State=CheckS;
wheels 2:50062ac8646d 88 break;
wheels 2:50062ac8646d 89 default:
wheels 2:50062ac8646d 90 State=CheckS;
wheels 2:50062ac8646d 91 //instructionReceived = false;
wheels 2:50062ac8646d 92 break;
wheels 2:50062ac8646d 93 }
wheels 2:50062ac8646d 94
wheels 2:50062ac8646d 95 }
wheels 2:50062ac8646d 96 }
wheels 2:50062ac8646d 97
wheels 2:50062ac8646d 98
wheels 2:50062ac8646d 99 void usart_init(int baud) {
wheels 2:50062ac8646d 100 usart.baud(baud);
wheels 2:50062ac8646d 101 usart.attach(&usart_ISR); // attach serial interupt service function
wheels 2:50062ac8646d 102 wait(1);
wheels 2:50062ac8646d 103 //usart.printf("this is a testing code \n");
wheels 2:50062ac8646d 104 }