Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Communication/coprocserial.cpp@20:70d651156779, 2013-04-09 (annotated)

Committer:
madcowswe
Date:
Tue Apr 09 15:33:36 2013 +0000
Revision:
20:70d651156779
Predict loop running, update loop not done.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 20:70d651156779 1 #include "Kalman.h"
madcowswe 20:70d651156779 2 #include "mbed.h"
madcowswe 20:70d651156779 3 #include "globals.h"
madcowswe 20:70d651156779 4
madcowswe 20:70d651156779 5 Serial coprocserial(NC, P_SERIAL_RX);
madcowswe 20:70d651156779 6
madcowswe 20:70d651156779 7 //DigitalOut OLED1(LED1);
madcowswe 20:70d651156779 8 DigitalOut OLED2(LED2);
madcowswe 20:70d651156779 9
madcowswe 20:70d651156779 10 // bytes packing
madcowswe 20:70d651156779 11 typedef union {
madcowswe 20:70d651156779 12
madcowswe 20:70d651156779 13 struct _data{
madcowswe 20:70d651156779 14 unsigned char sync[3];
madcowswe 20:70d651156779 15 unsigned char ID;
madcowswe 20:70d651156779 16 float value;
madcowswe 20:70d651156779 17 float variance;
madcowswe 20:70d651156779 18 } data;
madcowswe 20:70d651156779 19
madcowswe 20:70d651156779 20 unsigned char type_char[12];
madcowswe 20:70d651156779 21 } bytepack_t;
madcowswe 20:70d651156779 22
madcowswe 20:70d651156779 23 bytepack_t incbuff;
madcowswe 20:70d651156779 24
madcowswe 20:70d651156779 25 volatile int buffprintflag = 0;
madcowswe 20:70d651156779 26 void printbuff(){
madcowswe 20:70d651156779 27 while(!buffprintflag);
madcowswe 20:70d651156779 28 buffprintflag = 0;
madcowswe 20:70d651156779 29 for(int i = 0; i < 9; i++){
madcowswe 20:70d651156779 30 printf("%x ", incbuff.type_char[i]);
madcowswe 20:70d651156779 31 }
madcowswe 20:70d651156779 32 printf("\r\n");
madcowswe 20:70d651156779 33 }
madcowswe 20:70d651156779 34
madcowswe 20:70d651156779 35 void procserial(){
madcowswe 20:70d651156779 36
madcowswe 20:70d651156779 37 //Fetch the byte in a "clear interrupt" sense
madcowswe 20:70d651156779 38 unsigned char c = LPC_UART1->RBR;
madcowswe 20:70d651156779 39
madcowswe 20:70d651156779 40 //OLED1 = !OLED1;
madcowswe 20:70d651156779 41
madcowswe 20:70d651156779 42 static int ctr = 0;
madcowswe 20:70d651156779 43
madcowswe 20:70d651156779 44
madcowswe 20:70d651156779 45 if (ctr < 3){
madcowswe 20:70d651156779 46 if (c == 0xFF)
madcowswe 20:70d651156779 47 ctr++;
madcowswe 20:70d651156779 48 else
madcowswe 20:70d651156779 49 ctr = 0;
madcowswe 20:70d651156779 50 } else {
madcowswe 20:70d651156779 51 incbuff.type_char[ctr] = c;
madcowswe 20:70d651156779 52 if (++ctr == 12){
madcowswe 20:70d651156779 53 ctr = 0;
madcowswe 20:70d651156779 54
madcowswe 20:70d651156779 55 OLED2 = !OLED2;
madcowswe 20:70d651156779 56 buffprintflag = 1;
madcowswe 20:70d651156779 57
madcowswe 20:70d651156779 58 //runupdate
madcowswe 20:70d651156779 59 Kalman::runupdate((Kalman::measurement_t)incbuff.data.ID, incbuff.data.value, incbuff.data.variance);
madcowswe 20:70d651156779 60 }
madcowswe 20:70d651156779 61 }
madcowswe 20:70d651156779 62
madcowswe 20:70d651156779 63 }
madcowswe 20:70d651156779 64
madcowswe 20:70d651156779 65 void InitSerial(){
madcowswe 20:70d651156779 66
madcowswe 20:70d651156779 67 coprocserial.baud(115200);
madcowswe 20:70d651156779 68
madcowswe 20:70d651156779 69 printf("attachserial\r\n");
madcowswe 20:70d651156779 70 coprocserial.attach(procserial);
madcowswe 20:70d651156779 71 }