Diff: Protocol/receiver.cpp

Revision:

0:88faaa1afb83

Child:

8:a1067fcde341

diff -r 000000000000 -r 88faaa1afb83 Protocol/receiver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol/receiver.cpp	Mon Apr 11 05:20:40 2016 +0000
@@ -0,0 +1,63 @@
+/*
+Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
+
+This file is part of piranha-ptc.
+
+This is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#include "receiver.h"
+
+
+uint16_t read(Serial& serial)
+{
+	int i;
+	uint16_t value = 0;
+	char chr;
+	
+	for(i=0; i<2; i++)
+		while(true)
+			if(serial.readable())
+			{
+				chr = serial.getc();
+				value = value | chr << i*8;	
+				break;
+			}
+
+	return value;
+}
+
+float un_scale(uint16_t value, float min, float max)
+{
+	return ((float)value)/((1 << 16) - 1)*(max - min) + min;
+}
+
+float get_param(Serial& serial, float min, float max)
+{
+	uint16_t value;
+	
+	value = read(serial);
+
+	return un_scale(value, min, max);
+}
+
+void get_pid_params(Serial& serial, float* kp, float* ki, float* kd, float* n)
+{
+	*kp = get_pid_param(serial);
+	*ki = get_pid_param(serial);
+	*kd = get_pid_param(serial);
+	*n = get_pid_param(serial);
+}
+