void read(void)
{
emptyReadData();
if(((UART001_GetFlagStatus(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG)) == UART001_SET))
{
IO004_TogglePin(IO004_Handle1);
statusRxFifoFilling = USIC_GetRxFIFOFillingLevel(UART001_0_USIC_CH);
howManyRead = UART001_ReadDataBytes(&UART001_Handle0, readData, statusRxFifoFilling);
if(strcmp(readData, "LSM9DS1") == 0)
{
chosenSensor = 1;
}
else if(strcmp(readData, "TEMP_SENSOR") == 0)
{
chosenSensor = 2;
}
UART001_ClearFlag(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG);
while(!USIC_ubIsRxFIFOempty(UART001_0_USIC_CH))
{
USIC_FlushRxFIFO(UART001_0_USIC_CH);
}
copyData();
stopAskingAboutSending();
}
}
void QEP_Compare_Event_Handler()
{
status_t Status;
uint8_t EvtStatus;
Status = POSQE001_GetPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_POSITION_COUNTER,POSQE001_CCU_UP_COMPARE_MATCH,&EvtStatus);
if(EvtStatus == (uint8_t) SET)
{
depth++;
IO004_TogglePin(LED1);
Status = POSQE001_ClearPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_POSITION_COUNTER,POSQE001_CCU_UP_COMPARE_MATCH);
osSemaphoreRelease(depth_semaphore_id);
}
Status = POSQE001_GetPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_POSITION_COUNTER,POSQE001_CCU_DOWN_COMPARE_MATCH,&EvtStatus);
if(EvtStatus == (uint8_t) SET)
{
depth--;
IO004_TogglePin(LED1);
Status = POSQE001_ClearPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_POSITION_COUNTER,POSQE001_CCU_DOWN_COMPARE_MATCH);
osSemaphoreRelease(depth_semaphore_id);
}
}
void QEP_Speed_Event_Handler()
{
status_t Status;
uint8_t EvtStatus;
Status = POSQE001_GetPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_VELOCITY_TIMER0,POSQE001_CCU_PERIOD_MATCH,&EvtStatus);
if(EvtStatus == (uint8_t) SET)
{
IO004_TogglePin(LED1);
POSQE001_GetVelocityRAW(&POSQE001_Handle0, &speed);
Status = POSQE001_ClearPendingEvent((POSQE001_HandleType*)&POSQE001_Handle0,POSQE001_VELOCITY_TIMER0,POSQE001_CCU_PERIOD_MATCH);
osSemaphoreRelease(speed_semaphore_id);
}
}
