Added 2017-2018 mars rover repository.

OSU Robotics Club/Mars Rover 2017-2018/software/firmware/rdf/rdf.ino

@@ -0,0 +1,88 @@
+////////// Includes //////////
+#include <ModbusRtu.h>
+
+////////// Hardware / Data Enumerations //////////
+enum HARDWARE {
+  COMMS_RS485_EN = 3,
+  COMMS_RS485_RX = 9,
+  COMMS_RS485_TX = 10,
+
+  // COMMS_RS485_EN = 2,
+  // COMMS_RS485_RX = 0,
+  // COMMS_RS485_TX = 1,
+
+  RDF_INPUT = A7,
+
+  LED_BLUE_EXTRA = 13
+};
+
+enum MODBUS_REGISTERS {
+  RAW_DATA = 0
+};
+
+
+////////// Global Variables //////////
+///// Modbus
+const uint8_t node_id = 1;
+const uint8_t modbus_serial_port_number = 2;
+
+uint16_t modbus_data[] = {0};
+uint8_t num_modbus_registers = 0;
+
+int8_t poll_state = 0;
+bool communication_good = false;
+uint8_t message_count = 0;
+
+////////// Class Instantiations //////////
+Modbus slave(node_id, modbus_serial_port_number, HARDWARE::COMMS_RS485_EN);
+
+void setup() {
+  // Debugging
+ //  Serial.begin(9600);
+ // while (!Serial);
+
+  // Raw pin setup
+  setup_hardware();
+
+  // Setup modbus serial communication
+  num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
+  slave.begin(115200); // baud-rate at 19200
+  slave.setTimeOut(100);
+
+}
+
+void loop() {
+  // Do normal polling
+  poll_modbus();
+  set_leds();
+
+}
+
+
+void setup_hardware() {
+  // Setup pins as inputs / outputs
+  pinMode(HARDWARE::RDF_INPUT, INPUT);
+  pinMode(HARDWARE::LED_BLUE_EXTRA, OUTPUT);
+
+  analogReadResolution(13);
+
+}
+
+void poll_modbus() {
+  poll_state = slave.poll(modbus_data, num_modbus_registers);
+  communication_good = !slave.getTimeOutState();
+
+  modbus_data[MODBUS_REGISTERS::RAW_DATA] = analogRead(HARDWARE::RDF_INPUT);
+}
+
+void set_leds() {
+  if (poll_state > 4) {
+    message_count++;
+    if (message_count > 2) {
+      digitalWrite(HARDWARE::LED_BLUE_EXTRA, !digitalRead(HARDWARE::LED_BLUE_EXTRA));
+      message_count = 0;
+    }
+  } else if (!communication_good) {
+    digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
+  }
+}