Diff: src/usart.cpp

Revision:

2:50062ac8646d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/usart.cpp	Sat May 07 12:27:09 2016 +0000
@@ -0,0 +1,104 @@
+#include "usart.h"
+
+Serial usart(USBTX, USBRX);
+
+char positionTemp[7];
+char position[6];
+bool instructionReceived = false;
+
+//serial interupt service function
+//ͨÐÅЭÒé£bpositionTemp = {0xff, ID, angle, 0xEE}
+// angle·¶Î§£º[0,180]£¬¶ÔÓ¦[-90, 90]
+typedef enum
+{
+    CheckS,CheckW,Checka,Checkb,Checkc,Checkd,Checke,Checkf,CheckSum
+}STATE;
+
+void usart_ISR() {
+        //if (usart.readable()) 
+        {
+            char data = usart.getc();
+            //usart.printf("%d \n", data);
+            static STATE State = CheckS;
+            switch(State)
+            {
+               case CheckS:
+                    if(data==0XFF) {
+                        State=CheckW;
+                        //usart.printf("receive S\n");
+                        //instructionReceived = false;   
+                    }   
+                    else
+                        State=CheckS;
+                    break;
+               case CheckW:
+                    if(data==0XFE){
+                        State=Checka;
+                        //usart.printf("receive W\n");
+                        }
+                    else if(data==0XFF)
+                        State=CheckW;
+                    else 
+                        State=CheckS;
+                    break;
+                case Checka:
+                    positionTemp[0]=data;
+                    State=Checkb;
+                    //usart.printf("receive pos 0 \n");
+                    break;
+                case Checkb:
+                    positionTemp[1]=data;
+                    State=Checkc;
+                    //usart.printf("receive pos 1 \n");                    
+                    break;
+                case Checkc:
+                    positionTemp[2]=data;
+                    //usart.printf("receive pos 2 \n");
+                    State=Checkd;
+                    break;
+                case Checkd:
+                    positionTemp[3]=data;
+                     //usart.printf("receive pos 3 \n");
+                   State=Checke;
+                    break;
+                case Checke:
+                    positionTemp[4]=data;
+                    //usart.printf("receive pos 4 \n");
+                    State=Checkf;
+                    break;
+                case Checkf:
+                    positionTemp[5]=data;
+                    //usart.printf("receive pos 5 \n");
+                    State=CheckSum;
+                    break;
+                case CheckSum:
+                    positionTemp[6]=data;
+                    //usart.printf("receive sum \n");
+                   //if(positionTemp[6]==(char)(positionTemp[0]+positionTemp[1]+positionTemp[2]+positionTemp[3]+positionTemp[4]+positionTemp[5]))
+                        {
+                            position[0]    = positionTemp[0];
+                            position[1]    = positionTemp[1];
+                            position[2]    = positionTemp[2];
+                            position[3]    = positionTemp[3];
+                            position[4]    = positionTemp[4];
+                            position[5]    = positionTemp[5];
+                            instructionReceived = true;
+                        }
+                    State=CheckS;
+                    break;
+                default:
+                    State=CheckS;
+                    //instructionReceived = false;
+                    break;
+            }
+
+        }
+}
+
+
+void usart_init(int baud) {
+      usart.baud(baud);
+    usart.attach(&usart_ISR);                                                           // attach serial interupt service function
+    wait(1);
+    //usart.printf("this is a testing code \n");
+}