Controller.cpp

00001 #include "Controller.h"
00002 
00003 #include "Mu/Mu.h"
00004 #include "../../../LED/LED.h"
00005 
00006 using namespace MU;
00007 
00008 namespace CONTROLLER {
00009     Ticker MuTimer;
00010 
00011     void UartUpdate();
00012     void LostCheck();
00013 
00014     namespace {
00015         ControllerData ctrData;
00016         ControllerData keepCtrData;
00017         const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
00018         const char check[] = "DR=";
00019         volatile char packet[24];
00020 
00021         bool controllerLost = false;
00022 
00023         uint8_t timerCount = 0;
00024     }
00025 
00026     void Controller::Initialize() {
00027         MuUart.attach(UartUpdate, Serial::RxIrq);
00028         MuTimer.attach(LostCheck, 0.025);
00029         DataReset();
00030     }
00031 
00032     ControllerData* Controller::GetData() {
00033         __disable_irq();
00034         for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
00035         __enable_irq();
00036         return &keepCtrData;
00037     }
00038 
00039     void Controller::DataReset() {
00040         // __disable_irq();
00041         for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
00042         // __enable_irq();
00043     }
00044 
00045     bool Controller::CheckControllerLost() {
00046         return controllerLost;
00047     }
00048 
00049     void UartUpdate() {
00050         static bool phase = false;
00051         static uint8_t count = 0;
00052         static uint8_t ledCount = 0;
00053 
00054         char data = MuUart.getc();
00055 
00056         if(phase) {
00057             packet[count] = data;
00058             if(count < 2) {
00059                 if(data != check[count]) {
00060                     phase = false;
00061                     // controllerLost = true;
00062                     LED_MU = LED_OFF;
00063                 }
00064             }
00065             else if(count == 9) {
00066                 if(data != '\r') {
00067                     phase = false;
00068                     count = 0;
00069                 } else {
00070                     ctrData.buf[0] = packet[5];
00071                     ctrData.buf[1] = packet[6];
00072                     ctrData.buf[2] = packet[7];
00073                     ctrData.buf[3] = packet[8];
00074                     phase = false;
00075                     timerCount = 0;
00076                     controllerLost = false;
00077                     LED_MU = LED_ON;
00078                 }
00079             }
00080             count++;
00081         }
00082         else {
00083             if(data == '*') {
00084                 count = 0;
00085                 phase = true;
00086             }
00087         }
00088     }
00089 
00090     void LostCheck() {
00091         timerCount++;
00092         if(timerCount == 2) LED_MU = LED_OFF;
00093         if(timerCount >= 20) {
00094             controllerLost = true;
00095             Controller::DataReset();
00096             timerCount = 0;
00097             LED_MU = LED_OFF;
00098         }
00099     }
00100 }