Diff: communication_1.cpp

Revision:

3:33d025a403d5

Parent:

2:b4d1f5424448

Child:

4:8933ad3f9bc2

--- a/communication_1.cpp	Sun Jun 26 21:14:44 2016 +0000
+++ b/communication_1.cpp	Sat Jul 02 18:01:40 2016 +0000
@@ -2,148 +2,205 @@
 #include "mbed.h"
 
 #define READ_DEBUG 1
+#define TRIGGER_DEBUG 0
 
 communication_1::communication_1(PinName tx, PinName rx, int baud_rate) 
-: _SerialHalfDuplex(tx,rx) {
-        
-   _SerialHalfDuplex.baud(baud_rate);
-}
+  : _SerialHalfDuplex(tx,rx) {
+
+    _SerialHalfDuplex.baud(baud_rate);
+  }
 
 int communication_1::read(int ID, int start, int bytes, char* data) {
 
-    char PacketLength = 0x4;
-    char TxBuf[16];
-    char sum = 0;
-    char Status[16];
+  char PacketLength = 0x4;
+  char TxBuf[16];
+  char sum = 0;
+  char Status[16];
 
-    Status[4] = 0xFE; // return code
+  Status[4] = 0xFE; // return code
+
+  TxBuf[0] = 0xff;
+  TxBuf[1] = 0xff;
 
-    TxBuf[0] = 0xff;
-    TxBuf[1] = 0xff;
+  // ID
+  TxBuf[2] = ID;
+  sum += TxBuf[2];
 
-    // ID
-    TxBuf[2] = ID;
-    sum += TxBuf[2];
+  // Packet Length
+  TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+  sum += TxBuf[3];            // Accululate the packet sum
 
-    // Packet Length
-    TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
-    sum += TxBuf[3];            // Accululate the packet sum
+  // Instruction - Read
+  TxBuf[4] = 0x2;
+  sum += TxBuf[4];
 
-    // Instruction - Read
-    TxBuf[4] = 0x2;
-    sum += TxBuf[4];
+  // Start Address
+  TxBuf[5] = start;
+  sum += TxBuf[5];
+
+  // Bytes to read
+  TxBuf[6] = bytes;
+  sum += TxBuf[6];
+
+  // Checksum
+  TxBuf[7] = 0xFF - sum;
 
-    // Start Address
-    TxBuf[5] = start;
-    sum += TxBuf[5];
-  
-    // Bytes to read
-    TxBuf[6] = bytes;
-    sum += TxBuf[6];
-   
-    // Checksum
-    TxBuf[7] = 0xFF - sum;
+  // Transmit the packet in one burst with no pausing
+  for (int i = 0; i<8 ; i++) {
+    // printf("Inizio scrittura numero %d\n",i);
+    _SerialHalfDuplex.putc(TxBuf[i]);
+    //printf("Fine scrittura numero %d\n",i);
+  }
 
-    // Transmit the packet in one burst with no pausing
-    for (int i = 0; i<8 ; i++) {
-       // printf("Inizio scrittura numero %d\n",i);
-        _SerialHalfDuplex.putc(TxBuf[i]);
-         //printf("Fine scrittura numero %d\n",i);
+  // Wait for the bytes to be transmitted
+  wait (0.00002);
+
+  // Skip if the read was to the broadcast address
+  if (ID != 0xFE) {
+    // Receive the Status packet 6+ number of bytes read
+    for (int i=0; i<(6+bytes) ; i++) {
+      Status[i] = _SerialHalfDuplex.getc();
     }
 
-    // Wait for the bytes to be transmitted
-    wait (0.00002);
-
-    // Skip if the read was to the broadcast address
-    if (ID != 0xFE) {
-        // Receive the Status packet 6+ number of bytes read
-        for (int i=0; i<(6+bytes) ; i++) {
-            Status[i] = _SerialHalfDuplex.getc();
-        }
+    // Copy the data from Status into data for return
+    for (int i=0; i < Status[3]-2 ; i++) {
+      data[i] = Status[5+i];
+    }
 
-        // Copy the data from Status into data for return
-        for (int i=0; i < Status[3]-2 ; i++) {
-            data[i] = Status[5+i];
-            }
-            
-        if (READ_DEBUG) {
-                printf("\nStatus Packet\n");
-                printf("  Header : 0x%x\n",Status[0]);
-                printf("  Header : 0x%x\n",Status[1]);
-                printf("  ID : 0x%x\n",Status[2]);
-                printf("  Length : 0x%x\n",Status[3]);
-                printf("  Error Code : 0x%x\n",Status[4]);
-    
-                for (int i=0; i < Status[3]-2 ; i++) {
-                    printf("  Data : 0x%x\n",Status[5+i]);
-                }    
-                printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
-            }            
-    } // if (ID!=0xFE)
-    
-    return(Status[4]);
+    if (READ_DEBUG) {
+      printf("\nStatus Packet\n");
+      printf("  Header : 0x%x\n",Status[0]);
+      printf("  Header : 0x%x\n",Status[1]);
+      printf("  ID : 0x%x\n",Status[2]);
+      printf("  Length : 0x%x\n",Status[3]);
+      printf("  Error Code : 0x%x\n",Status[4]);
+
+      for (int i=0; i < Status[3]-2 ; i++) {
+        printf("  Data : 0x%x\n",Status[5+i]);
+      }    
+      printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+    }            
+  } // if (ID!=0xFE)
+
+  return(Status[4]);
 }
 
 
 int communication_1::write(int ID, int start, int bytes, char* data, int flag) {
-// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+  // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+  char TxBuf[16];
+  char sum = 0;
+  char Status[6];
+
+  TxBuf[0] = 0xff;
+  TxBuf[1] = 0xff;
+
+  // ID
+  TxBuf[2] = ID;
+  sum += TxBuf[2];
 
-    char TxBuf[16];
-    char sum = 0;
-    char Status[6];
+  // packet Length
+  TxBuf[3] = 3+bytes;
+  sum += TxBuf[3];
 
-    TxBuf[0] = 0xff;
-    TxBuf[1] = 0xff;
+  // Instruction
+  if (flag == 1) {
+    TxBuf[4]=0x04;
+    sum += TxBuf[4];
+  } else {
+    TxBuf[4]=0x03;
+    sum += TxBuf[4];
+  }
 
-    // ID
-    TxBuf[2] = ID;
-    sum += TxBuf[2];
+  // Start Address
+  TxBuf[5] = start;
+  sum += TxBuf[5];
 
-    // packet Length
-    TxBuf[3] = 3+bytes;
-    sum += TxBuf[3];
+  // data
+  for (int i=0; i<bytes ; i++) {
+    TxBuf[6+i] = data[i];
+    sum += TxBuf[6+i];
+  }
+
+  // checksum
+  TxBuf[6+bytes] = 0xFF - sum;
 
-    // Instruction
-    if (flag == 1) {
-        TxBuf[4]=0x04;
-        sum += TxBuf[4];
-    } else {
-        TxBuf[4]=0x03;
-        sum += TxBuf[4];
+  // Transmit the packet in one burst with no pausing
+  for (int i = 0; i < (7 + bytes) ; i++) {
+    _SerialHalfDuplex.putc(TxBuf[i]);
+  }
+
+  // Wait for data to transmit
+  wait (0.00002);
+
+  // make sure we have a valid return
+  Status[4]=0x00;
+
+  // we'll only get a reply if it was not broadcast
+  if (ID!=0xFE) {
+    // response is always 6 bytes
+    // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+    for (int i=0; i < 6 ; i++) {
+      Status[i] = _SerialHalfDuplex.getc();
     }
 
-    // Start Address
-    TxBuf[5] = start;
-    sum += TxBuf[5];
-    
-    // data
-    for (int i=0; i<bytes ; i++) {
-        TxBuf[6+i] = data[i];
-        sum += TxBuf[6+i];
-    }
+    return(Status[4]); // return error code
+
+  }
+}
+
+void communication_1::trigger(void) {
+
+  char TxBuf[16];
+  char sum = 0;
+
+  if (TRIGGER_DEBUG) {
+    printf("\nTriggered\n");
+  }
 
-    // checksum
-    TxBuf[6+bytes] = 0xFF - sum;
+  // Build the TxPacket first in RAM, then we'll send in one go
+  if (TRIGGER_DEBUG) {
+    printf("\nTrigger Packet\n  Header : 0xFF, 0xFF\n");
+  }
+
+  TxBuf[0] = 0xFF;
+  TxBuf[1] = 0xFF;
 
-    // Transmit the packet in one burst with no pausing
-    for (int i = 0; i < (7 + bytes) ; i++) {
-        _SerialHalfDuplex.putc(TxBuf[i]);
-    }
+  // ID - Broadcast
+  TxBuf[2] = 0xFE;
+  sum += TxBuf[2];
+
+  if (TRIGGER_DEBUG) {
+    printf("  ID : %d\n",TxBuf[2]);
+  }
 
-    // Wait for data to transmit
-    wait (0.00002);
+  // Length
+  TxBuf[3] = 0x02;
+  sum += TxBuf[3];
+  if (TRIGGER_DEBUG) {
+    printf("  Length %d\n",TxBuf[3]);
+  }
 
-    // make sure we have a valid return
-    Status[4]=0x00;
+  // Instruction - ACTION
+  TxBuf[4] = 0x04;
+  sum += TxBuf[4];
+  if (TRIGGER_DEBUG) {
+    printf("  Instruction 0x%X\n",TxBuf[5]);
+  }
 
-    // we'll only get a reply if it was not broadcast
-    if (ID!=0xFE) {
-        // response is always 6 bytes
-        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
-        for (int i=0; i < 6 ; i++) {
-            Status[i] = _SerialHalfDuplex.getc();
-        }
-        
- return(Status[4]); // return error code
+  // Checksum
+  TxBuf[5] = 0xFF - sum;
+  if (TRIGGER_DEBUG) {
+    printf("  Checksum 0x%X\n",TxBuf[5]);
+  }
 
-}}
\ No newline at end of file
+  // Transmit the packet in one burst with no pausing
+  for (int i = 0; i < 6 ; i++) {
+    _SerialHalfDuplex.putc(TxBuf[i]);
+  }
+
+  // This is a broadcast packet, so there will be no reply
+
+  return;
+}