Diff: Communication/coprocserial.cpp

Revision:

20:70d651156779

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/coprocserial.cpp	Tue Apr 09 15:33:36 2013 +0000
@@ -0,0 +1,71 @@
+#include "Kalman.h"
+#include "mbed.h"
+#include "globals.h"
+
+Serial coprocserial(NC, P_SERIAL_RX);
+
+//DigitalOut OLED1(LED1);
+DigitalOut OLED2(LED2);
+
+// bytes packing
+typedef union {
+
+    struct _data{
+        unsigned char sync[3];
+        unsigned char ID;
+        float value;
+        float variance;
+    } data;
+    
+    unsigned char type_char[12];
+} bytepack_t;
+
+bytepack_t incbuff;
+
+volatile int buffprintflag = 0;
+void printbuff(){
+    while(!buffprintflag);
+    buffprintflag = 0;
+    for(int i = 0; i < 9; i++){
+        printf("%x ", incbuff.type_char[i]);
+    }
+    printf("\r\n");
+}
+
+void procserial(){
+
+    //Fetch the byte in a "clear interrupt" sense
+    unsigned char c = LPC_UART1->RBR;
+    
+    //OLED1 = !OLED1;
+    
+    static int ctr = 0;
+    
+
+    if (ctr < 3){
+        if (c == 0xFF)
+            ctr++;
+        else
+            ctr = 0;
+    } else {
+        incbuff.type_char[ctr] = c;
+        if (++ctr == 12){
+            ctr = 0;
+            
+            OLED2 = !OLED2;
+            buffprintflag = 1;
+            
+            //runupdate
+            Kalman::runupdate((Kalman::measurement_t)incbuff.data.ID, incbuff.data.value, incbuff.data.variance);
+        }
+    }
+    
+}
+
+void InitSerial(){
+    
+    coprocserial.baud(115200);
+
+    printf("attachserial\r\n");
+    coprocserial.attach(procserial);
+}
\ No newline at end of file