Revision 3:12e1f116ea42, committed 2014-09-12

Comitter:

9uS7

Date:

Fri Sep 12 05:11:39 2014 +0000

Parent:

2:c610e1a7fbcd

Child:

4:aaaadb45cbd9

Commit message:

hey

Changed in this revision

--- a/bluetooth.cpp	Thu Sep 11 15:09:05 2014 +0000
+++ b/bluetooth.cpp	Fri Sep 12 05:11:39 2014 +0000
@@ -2,7 +2,12 @@
 #include "bluetooth.h"
 #include "control.h"
 
+//master
 Serial bt(p13, p14);  // tx, rx
+//slave
+//Serial bt(p28, p27);
+
+DigitalOut l1(LED1);
 
 void btSetup(int role)
 {
@@ -16,18 +21,131 @@
     }
     else{
     //if this device is the slave
-        ;           //nothing to do
+        bt.attach( slaveRecieve, Serial::RxIrq );
+    }
 }
-/*
-void btLoop(int role)
+
+void sync(char option, char* b_data, float* f_data)
 {
-    if( role==BT_MASATER ){
-    //if this device is the master
-        
+    char pac[PACK_SIZE];
+    Cvt temp;
+    
+    //making pac
+    pac[0] = option;
+    if( option==SYNC_MOTOR ){
+        //PACK:     [option/function/pwm*4]
+        //function
+        pac[1]=b_data[0];
+        //pwm
+        temp.fl = f_data[0];
+        for( int i=0 ; i<4 ; i++ ){
+            pac[2+i] = temp.byte[i];    
+        }
+    }
+    else if( option==SYNC_FM ){
+        //PACK:     [option/request]
+        pac[1]=b_data[0];   //request
     }
     else{
-    //if this device is the slave
-        
+        ;
+    }
+    
+    //send pac
+    for( int i=0 ; i<PACK_SIZE ; i++ ){
+        pc.putc( pac[i] );
     }
 }
-*/
\ No newline at end of file
+
+void slaveRecieve(void)
+{
+    static int i;
+    char buf[PACK_SIZE];
+    char pac[PACK_SIZE];
+    float val[PACK_SIZE/4+1];
+    Cvt temp;
+    
+    wait(1/1000.0);
+    
+    l1=1;
+    wait(0.2);
+    l1=2;
+    
+    for( int i=0 ; i<PACK_SIZE ; i++ ){
+        buf[i]=bt.getc();
+    }  
+ 
+    if( buf[0]==SYNC_MOTOR ){
+        //PACK:     [option/function/pwm*4]
+        //pwm
+        for( int i=0 ; i<4 ; i++ ){
+            temp.byte[i]=buf[1+i];
+        }
+        motor( buf[1], temp.fl );
+    }
+    else if( buf[0]==SYNC_FM ){
+        //PACK:     [option/request]
+        ;       //not yet
+    }
+    else if( buf[0]==SYNC_SENSOR ){        
+        getSensor( &(val[0]), &(val[1]) );
+        //PACK:     [option/ir*4/fsr*4];
+        //option
+        pac[0] = SYNC_SENSOR;
+        //ir
+        temp.fl = val[0];
+        temp.fl = ++i%2;
+        for( int i=0 ; i<4 ; i++ ){
+            pac[1+i] = temp.byte[i];    
+        }
+        //fsr
+        temp.fl = val[1];
+        for( int i=0 ; i<4 ; i++ ){
+            pac[5+i] = temp.byte[i];    
+        }
+        
+        //send pac
+        for( int i=0 ; i<PACK_SIZE ; i++ ){
+            bt.putc( pac[i] );
+        }
+    }
+    else if( buf[0]==SYNC_FM ){
+        ;       //not yet
+        
+        //send pac
+        for( int i=0 ; i<PACK_SIZE ; i++ ){
+            bt.putc( pac[i] );
+        }
+    }
+}
+
+void receiveSensor(float* _ir, float* _fsr)
+{
+    char buf[PACK_SIZE];
+    Cvt temp;
+    
+    wait(1/1000.0);
+    
+    //Read
+    for( int i=0 ; i<PACK_SIZE ; i++ ){
+        buf[i]=bt.getc();
+    }
+    
+    //PACK:     [option/ir*4/fsr*4];
+    //option
+    if( buf[0]!=SYNC_SENSOR ){
+        return;
+    }
+    
+    //ir
+    for( int i=0 ; i<4 ; i++ ){
+        temp.byte[i]=buf[1+i];    
+    }
+    *_ir = temp.fl;
+    
+    //fsr
+    for( int i=0 ; i<4 ; i++ ){
+        temp.byte[i] = buf[5+i];    
+    }
+    *_fsr = temp.fl;
+        
+}
\ No newline at end of file

--- a/bluetooth.h	Thu Sep 11 15:09:05 2014 +0000
+++ b/bluetooth.h	Fri Sep 12 05:11:39 2014 +0000
@@ -6,14 +6,28 @@
 #define BT_MASTER 0
 #define BT_SLAVE -1
 
+#define SYNC_SENSOR 0x10
+#define SYNC_MIC 0x11
+#define SYNC_MOTOR 0x20
+#define SYNC_FM 0x21
+
+
+
+#define PACK_SIZE 20
+
 typedef union _cvt{
-    char byte[8];
-    int in[2];
-    float fl[2];
+    char byte[4];
+    int in;
+    float fl;
 } Cvt;
 
 void btSetup(int);          //setup(role) role:BT_MASTER or BT_SLAVE
 
+void sync(char, char*, float*);     //SYN(option,char_data,float_data); only for MASTER
+
+void slaveRecieve( void );
+void receiveSensor(float*, float*);
+
 //void btLoop(int);       //btLoop(role)  role:BT_MASTER or BT_SLAVE
 
 #endif
\ No newline at end of file

--- a/control.cpp	Thu Sep 11 15:09:05 2014 +0000
+++ b/control.cpp	Fri Sep 12 05:11:39 2014 +0000
@@ -14,6 +14,23 @@
     resetPos();    
 }
 
+void motor( char function , float power ){
+    switch(function){
+        case MOTOR_PULL :
+            pull( power );
+            break;
+        case MOTOR_LOOSE :
+            loose( power );
+            break;
+        case MOTOR_OPEN:
+            open();
+            break;
+        case MOTOR_BRAKE:
+            brake();
+            break;
+    }
+}
+
 void pull(float buf){
     Sig1 = 0;
     Sig2 = 1;
@@ -53,4 +70,10 @@
         }    
         if(pos_flag) break;
     }
+}
+
+
+void getSensor(float* _ir,float* _fsr){
+    *_ir = IR;
+    *_fsr = FSR;
 }
\ No newline at end of file

--- a/control.h	Thu Sep 11 15:09:05 2014 +0000
+++ b/control.h	Fri Sep 12 05:11:39 2014 +0000
@@ -8,6 +8,11 @@
 #define late_time 0.3
 #define zeroPWM 0.17
 
+#define MOTOR_PULL 0x30
+#define MOTOR_LOOSE 0x31
+#define MOTOR_OPEN 0x32
+#define MOTOR_BRAKE 0x33
+
 void motorSetup(void);
 
 void pull(float);   //pull motor(power)   power:0~1
@@ -15,6 +20,10 @@
 void brake(void);   //brake motor()
 void open(void);    //open motor()
 
+void motor( char, float );  //motor(function,power)   function:MOTOR_XX power:0~1
+
 void resetPos(void);
 
+void getSensor(float*,float*);  //getSensor(&ir,&fsr);
+
 #endif
\ No newline at end of file

--- a/main.cpp	Thu Sep 11 15:09:05 2014 +0000
+++ b/main.cpp	Fri Sep 12 05:11:39 2014 +0000
@@ -18,21 +18,21 @@
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
 
-//buf:for bluetooth
-Cvt buf;
-
-void btRead(void);
+void masterLoop(void);
 
 int main()
 {
     //FM_FREQUENCY is defined in fm.h
     unsigned int fm_frequency = DEVICE_ROLE==BT_MASTER ? FM_FREQUENCY1 : FM_FREQUENCY2;
     
-    fmSetup( fm_frequency );
+    //fmSetup( fm_frequency );
     btSetup(DEVICE_ROLE);
-    motorSetup();
+    //motorSetup();
     
     while(1){
+        if( DEVICE_ROLE==BT_MASTER ){
+            masterLoop();
+        }
         /*i2c.start();
         i2c.write(0x11);
         i2c.write(0x42);
@@ -43,4 +43,11 @@
     }
  }
 
-
+void masterLoop(){
+    float ir_m,fsr_m;   //sensor of master
+    float ir_s,fsr_s;   //sensor of slave
+    sync(SYNC_SENSOR,NULL,NULL);
+    receiveSensor( &ir_s, &fsr_s );
+    led1 = ( ir_s>0.5 ? 1 : 0 );
+    wait(0.5);
+}
\ No newline at end of file