Revision 1:b8d65b5745d1, committed 2017-05-05

Comitter:

Robsonik16

Date:

Fri May 05 20:01:41 2017 +0000

Parent:

0:e69a0b7f4b41

Commit message:

a

Changed in this revision

diff -r e69a0b7f4b41 -r b8d65b5745d1 command_decoder.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/command_decoder.cpp	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,87 @@
+#include "string.h"
+#include "command_decoder.h"
+
+struct Keyword asKeywordList[MAX_KEYWORD_NR]=
+	{
+		{CALLIB, "callib"},
+		{GOTO, "goto"},
+		{STEP, "step"},
+		{ID, "id"}
+	};
+struct Token asToken[MAX_TOKEN_NR];
+
+unsigned char ucTokenNr;
+	
+unsigned char ucFindTokensInString(char *pcString){
+	
+	enum LedState { TOKEN, DELIMITER};
+	enum LedState eState = DELIMITER;
+	
+	unsigned char ucLicznikTokenu = 0;
+	unsigned char ucLicznikZnaku = 0;
+	char cAktualnyZnak;
+	
+	for(ucLicznikZnaku=0; pcString[ucLicznikZnaku] != NULL; ucLicznikZnaku++){
+		cAktualnyZnak = pcString[ucLicznikZnaku];
+		switch(eState){
+			case DELIMITER: 	
+				if(cAktualnyZnak == DELIMITER_CHAR){
+					eState = DELIMITER;
+				}else if(ucLicznikTokenu < MAX_TOKEN_NR){
+					eState = TOKEN;
+					asToken[ucLicznikTokenu].uValue.pcString = pcString + ucLicznikZnaku; 
+					ucLicznikTokenu++;
+				}else{
+					return(ucLicznikTokenu);
+				}
+				break;
+			case TOKEN: 
+				if(cAktualnyZnak!= DELIMITER_CHAR){
+					eState = TOKEN;
+				}else{
+					eState = DELIMITER;
+				}
+				break;
+		}	
+	}
+	return(ucLicznikTokenu);
+}
+
+enum Result eStringToKeyword(char pcStr[], enum KeywordCode *peKeywordCode){
+	
+	unsigned char ucKeywordIndex;
+	
+	for(ucKeywordIndex=0; ucKeywordIndex < MAX_KEYWORD_NR; ucKeywordIndex++){
+		if(eCompareString(pcStr, asKeywordList[ucKeywordIndex].cString) == EQUAL){
+			*peKeywordCode = asKeywordList[ucKeywordIndex].eCode;
+			return(OK);
+		}
+	}
+	return(ERROR);
+}
+
+void DecodeTokens(void){
+	
+	unsigned int uiNumber;
+	unsigned char ucTokenIndex;
+	enum KeywordCode eKeyword;
+	
+	for(ucTokenIndex=0; ucTokenIndex < ucTokenNr; ucTokenIndex++){
+		if((eStringToKeyword (asToken[ucTokenIndex].uValue.pcString, &eKeyword))== OK){
+			asToken[ucTokenIndex].eType = KEYWORD;
+			asToken[ucTokenIndex].uValue.eKeyword=eKeyword;
+		}else if((eHexStringToUInt(asToken[ucTokenIndex].uValue.pcString,&uiNumber))== OK){
+			asToken[ucTokenIndex].eType = NUMBER;
+			asToken[ucTokenIndex].uValue.uiNumber = uiNumber;		
+		}else{
+			asToken[ucTokenIndex].eType = STRING;
+		}
+	}
+}
+
+void DecodeMsg(char *pcString){
+
+	ucTokenNr = ucFindTokensInString (pcString);
+	ReplaceCharactersInString(pcString,' ',NULL);
+	DecodeTokens();
+}

diff -r e69a0b7f4b41 -r b8d65b5745d1 command_decoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/command_decoder.h	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,33 @@
+
+enum KeywordCode {CALLIB,GOTO,STEP,ID};
+enum TokenType { KEYWORD, NUMBER, STRING};
+
+#define MAX_TOKEN_NR 2 
+#define MAX_KEYWORD_STRING_LTH 15 
+#define MAX_KEYWORD_NR 4
+
+union TokenValue 
+{
+	enum KeywordCode eKeyword;
+	unsigned int uiNumber;
+	char *pcString;
+};
+
+struct Token 
+{
+	enum TokenType eType; 
+	union TokenValue uValue;
+};
+
+struct Keyword
+{
+	enum KeywordCode eCode;
+	char cString[MAX_KEYWORD_STRING_LTH + 1]; 
+};
+
+
+extern struct Keyword asKeywordList[MAX_KEYWORD_NR];
+extern struct Token asToken[MAX_TOKEN_NR];
+extern unsigned char ucTokenNr;
+
+void DecodeMsg(char *pcString);

diff -r e69a0b7f4b41 -r b8d65b5745d1 led.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/led.cpp	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,61 @@
+#include "led.h"
+#include "mbed.h"
+
+DigitalOut led_0(PA_4);
+DigitalOut led_1(PA_5);
+DigitalOut led_2(PA_6);
+DigitalOut led_3(PA_7);
+
+enum Step{LEFT, RIGHT};
+
+void LedInt(void){
+    //IO1DIR=IO1DIR|(LED0_bm|LED1_bm|LED2_bm|LED3_bm);
+    //IO1SET= LED0_bm;
+}
+    
+void LedOn(unsigned char ucLedIndeks){
+    
+    
+    //IO1CLR = LED0_bm|LED1_bm|LED2_bm|LED3_bm;
+    led_0=0;
+    led_1=0;
+    led_2=0;
+    led_3=0;
+    switch (ucLedIndeks) {
+        case 0:
+            led_0=1;
+            break;
+        case 1:
+            led_1=1;
+            break;
+        case 2:
+            led_2=1;
+            break;
+        case 3:
+            led_3=1;
+            break;
+        default:
+            break;
+    }
+    
+    
+}
+void Led_Step(enum Step Direction){
+
+    static unsigned int uiDioda;
+
+    if (Direction == RIGHT ){
+        uiDioda++;
+    }else{
+        uiDioda--;
+    }
+    LedOn(uiDioda%4);
+}
+
+void Led_StepLeft(void){
+        Led_Step(LEFT);
+}
+
+void Led_StepRight(void){
+        Led_Step(RIGHT);
+}
\ No newline at end of file

diff -r e69a0b7f4b41 -r b8d65b5745d1 led.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/led.h	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,4 @@
+void LedInt(void);
+void Led_StepLeft(void);
+void Led_StepRight(void);
+void LedOn(unsigned char ucLedIndeks);

diff -r e69a0b7f4b41 -r b8d65b5745d1 led.lib
--- a/led.lib	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/users/Robsonik16/code/mbed5a/#f9da71c488d7

diff -r e69a0b7f4b41 -r b8d65b5745d1 other/command_decoder.cpp
--- a/other/command_decoder.cpp	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,87 +0,0 @@
-#include "string.h"
-#include "command_decoder.h"
-
-struct Keyword asKeywordList[MAX_KEYWORD_NR]=
-	{
-		{CALLIB, "callib"},
-		{GOTO, "goto"},
-		{STEP, "step"},
-		{ID, "id"}
-	};
-struct Token asToken[MAX_TOKEN_NR];
-
-unsigned char ucTokenNr;
-	
-unsigned char ucFindTokensInString(char *pcString){
-	
-	enum LedState { TOKEN, DELIMITER};
-	enum LedState eState = DELIMITER;
-	
-	unsigned char ucLicznikTokenu = 0;
-	unsigned char ucLicznikZnaku = 0;
-	char cAktualnyZnak;
-	
-	for(ucLicznikZnaku=0; pcString[ucLicznikZnaku] != NULL; ucLicznikZnaku++){
-		cAktualnyZnak = pcString[ucLicznikZnaku];
-		switch(eState){
-			case DELIMITER: 	
-				if(cAktualnyZnak == DELIMITER_CHAR){
-					eState = DELIMITER;
-				}else if(ucLicznikTokenu < MAX_TOKEN_NR){
-					eState = TOKEN;
-					asToken[ucLicznikTokenu].uValue.pcString = pcString + ucLicznikZnaku; 
-					ucLicznikTokenu++;
-				}else{
-					return(ucLicznikTokenu);
-				}
-				break;
-			case TOKEN: 
-				if(cAktualnyZnak!= DELIMITER_CHAR){
-					eState = TOKEN;
-				}else{
-					eState = DELIMITER;
-				}
-				break;
-		}	
-	}
-	return(ucLicznikTokenu);
-}
-
-enum Result eStringToKeyword(char pcStr[], enum KeywordCode *peKeywordCode){
-	
-	unsigned char ucKeywordIndex;
-	
-	for(ucKeywordIndex=0; ucKeywordIndex < MAX_KEYWORD_NR; ucKeywordIndex++){
-		if(eCompareString(pcStr, asKeywordList[ucKeywordIndex].cString) == EQUAL){
-			*peKeywordCode = asKeywordList[ucKeywordIndex].eCode;
-			return(OK);
-		}
-	}
-	return(ERROR);
-}
-
-void DecodeTokens(void){
-	
-	unsigned int uiNumber;
-	unsigned char ucTokenIndex;
-	enum KeywordCode eKeyword;
-	
-	for(ucTokenIndex=0; ucTokenIndex < ucTokenNr; ucTokenIndex++){
-		if((eStringToKeyword (asToken[ucTokenIndex].uValue.pcString, &eKeyword))== OK){
-			asToken[ucTokenIndex].eType = KEYWORD;
-			asToken[ucTokenIndex].uValue.eKeyword=eKeyword;
-		}else if((eHexStringToUInt(asToken[ucTokenIndex].uValue.pcString,&uiNumber))== OK){
-			asToken[ucTokenIndex].eType = NUMBER;
-			asToken[ucTokenIndex].uValue.uiNumber = uiNumber;		
-		}else{
-			asToken[ucTokenIndex].eType = STRING;
-		}
-	}
-}
-
-void DecodeMsg(char *pcString){
-
-	ucTokenNr = ucFindTokensInString (pcString);
-	ReplaceCharactersInString(pcString,' ',NULL);
-	DecodeTokens();
-}

diff -r e69a0b7f4b41 -r b8d65b5745d1 other/command_decoder.h
--- a/other/command_decoder.h	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,33 +0,0 @@
-
-enum KeywordCode {CALLIB,GOTO,STEP,ID};
-enum TokenType { KEYWORD, NUMBER, STRING};
-
-#define MAX_TOKEN_NR 2 
-#define MAX_KEYWORD_STRING_LTH 15 
-#define MAX_KEYWORD_NR 4
-
-union TokenValue 
-{
-	enum KeywordCode eKeyword;
-	unsigned int uiNumber;
-	char *pcString;
-};
-
-struct Token 
-{
-	enum TokenType eType; 
-	union TokenValue uValue;
-};
-
-struct Keyword
-{
-	enum KeywordCode eCode;
-	char cString[MAX_KEYWORD_STRING_LTH + 1]; 
-};
-
-
-extern struct Keyword asKeywordList[MAX_KEYWORD_NR];
-extern struct Token asToken[MAX_TOKEN_NR];
-extern unsigned char ucTokenNr;
-
-void DecodeMsg(char *pcString);

diff -r e69a0b7f4b41 -r b8d65b5745d1 other/string.cpp
--- a/other/string.cpp	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,99 +0,0 @@
-#include "string.h"
-
-void CopyString(char pcSource[], char pcDestination[]){
-	
-	unsigned char ucCharacterCounter;
-	
-	for (ucCharacterCounter=0;(pcSource[ucCharacterCounter]!=NULL);ucCharacterCounter++){
-		pcDestination[ucCharacterCounter]=pcSource[ucCharacterCounter];
-	}
-	pcDestination[ucCharacterCounter]=pcSource[ucCharacterCounter];
-}
-
-enum CompResult eCompareString(char pcStr1[], char pcStr2[]){
-	
-	unsigned char ucCharacterCounter;
-	
-	for(ucCharacterCounter=0;(pcStr1[ucCharacterCounter]!=NULL)&&(pcStr2[ucCharacterCounter]!=NULL);ucCharacterCounter++){
-		if(pcStr1[ucCharacterCounter]!=pcStr2[ucCharacterCounter]){
-			return NOTEQUAL;
-		}	
-	}
-	if(pcStr1[ucCharacterCounter]!=pcStr2[ucCharacterCounter]){
-		return NOTEQUAL;
-	}	
-	return EQUAL;
-}	
-
-void AppendString (char pcSourceStr[], char pcDestinationStr[]){
-	
-	unsigned char ucCharacterCounter;
-	
-	for (ucCharacterCounter=0;pcDestinationStr[ucCharacterCounter]!=NULL;ucCharacterCounter++){}
-	CopyString(pcSourceStr,pcDestinationStr+ucCharacterCounter);
-}
-
-void ReplaceCharactersInString(char pcString[], char cOldChar,char cNewChar){
-	
-	unsigned char ucCharacterCounter;
-	
-	for (ucCharacterCounter=0;pcString[ucCharacterCounter]!=NULL;ucCharacterCounter ++){
-		if(pcString[ucCharacterCounter]==cOldChar){
-			pcString[ucCharacterCounter]=cNewChar;
-		}
-	}	
-}
-
-void UIntToHexStr (unsigned int uiValue, char pcStr[]){
-       
-	unsigned char ucBierzacaTetrada;
-	unsigned char ucLicznikTetrad;
- 
-	pcStr[0] = '0';
-	pcStr[1] = 'x';
-	pcStr[6] = NULL;
- 
-	for(ucLicznikTetrad = 0; ucLicznikTetrad < 4; ucLicznikTetrad++){
-		ucBierzacaTetrada = (uiValue >> (ucLicznikTetrad*4)) & 0xF;
-		if(ucBierzacaTetrada < 10){
-			pcStr[5 - ucLicznikTetrad] = '0' + ucBierzacaTetrada;
-		}
-		else{
-			pcStr[5 - ucLicznikTetrad] = 'A' + ucBierzacaTetrada - 10;
-		}
-	}
-}
-
-enum Result eHexStringToUInt(char pcStr[],unsigned int *puiValue){
-	
-	char cZnakBiezacy;
-	unsigned char ucLicznikZnaku;
-	*puiValue=0;
-	
-	if((pcStr[0] != '0')||(pcStr[1] != 'x')||(pcStr[2] == NULL)){
-		return (ERROR);
-	}
-	for(ucLicznikZnaku=2; pcStr[ucLicznikZnaku]!=NULL; ucLicznikZnaku++){
-		cZnakBiezacy = pcStr[ucLicznikZnaku];
-		if (ucLicznikZnaku>=6){
-			return (ERROR);
-		}
-		*puiValue= *puiValue<<4;
-		if((cZnakBiezacy>='0')&&(cZnakBiezacy<='9')){
-			*puiValue= *puiValue + (cZnakBiezacy-'0');
-		}else if((cZnakBiezacy>='A')&&(cZnakBiezacy<='F')){
-			*puiValue= *puiValue + (cZnakBiezacy-'A'+10);		
-		}else{
-			return (ERROR);
-		}
-	}
-	return (OK);
-}
-
-void AppendUIntToString (unsigned int uiValue, char pcDestinationStr[]){
-
-	unsigned char ucLicznikZnakow;
-
-	for (ucLicznikZnakow=0; pcDestinationStr[ucLicznikZnakow]!=NULL; ucLicznikZnakow++){}
-	UIntToHexStr(uiValue, pcDestinationStr+ucLicznikZnakow);
-}

diff -r e69a0b7f4b41 -r b8d65b5745d1 other/string.h
--- a/other/string.h	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,14 +0,0 @@
-#define NULL 0
-#define TERMINATOR '\r'
-#define DELIMITER_CHAR 0x20
-
-enum CompResult { NOTEQUAL, EQUAL };
-enum Result { OK, ERROR };
-
-void CopyString(char pcSource[], char pcDestination[]);
-void AppendString (char pcSourceStr[], char pcDestinationStr[]);
-void AppendUIntToString (unsigned int uiValue, char pcDestinationStr[]);
-void ReplaceCharactersInString(char pcString[], char cOldChar,char cNewChar);
-void UIntToHexStr (unsigned int uiValue, char pcStr[]);
-enum CompResult eCompareString(char pcStr1[], char pcStr2[]);
-enum Result eHexStringToUInt(char pcStr[],unsigned int *puiValue);

diff -r e69a0b7f4b41 -r b8d65b5745d1 serwo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serwo.cpp	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,92 @@
+//#include <LPC21xx.H>
+#include "serwo.h"
+#include "led.h"
+#include "mbed.h"
+//#include "timer_interrupts.h"
+
+#define DETECTOR_bm (1<<10)
+DigitalIn det(PA_0);
+Ticker SerwoTim;
+
+
+
+
+enum ServoState {CALLIB, IDDLE, IN_PROGRESS};
+struct Servo
+{
+enum ServoState eState;
+unsigned int uiCurrentPosition;
+unsigned int uiDesiredPosition;
+};
+struct Servo sServo;
+
+enum State {ACTIVE, INACTIVE};
+void DetectorInit(void){
+
+	//IO0DIR=IO0DIR&(~DETECTOR_bm);
+}
+
+enum State eReadDetector (void){
+
+	//if((IO0PIN&DETECTOR_bm) == 0){
+		if(det){
+		return(INACTIVE);
+	}else{
+		return(ACTIVE);
+	}
+}
+
+void Servo_Callib(void){
+
+	sServo.eState = CALLIB;
+	while(eReadDetector()==INACTIVE);
+}
+
+void Servo_GoTo(unsigned int uiPosition){
+
+	sServo.eState = IN_PROGRESS;
+	sServo.uiDesiredPosition = uiPosition;
+}
+
+void SerwoAutomat(){
+
+	 switch(sServo.eState){
+		case IDDLE: 	
+			if(sServo.uiCurrentPosition != sServo.uiDesiredPosition){
+				sServo.eState = IN_PROGRESS;
+			}else{
+				sServo.eState = IDDLE;
+			}
+			break;
+		case IN_PROGRESS: 
+			if(sServo.uiCurrentPosition > sServo.uiDesiredPosition){
+				Led_StepLeft();
+				sServo.eState = IN_PROGRESS;
+				sServo.uiCurrentPosition--;
+			}else if(sServo.uiCurrentPosition < sServo.uiDesiredPosition){
+				sServo.eState = IN_PROGRESS;
+				Led_StepRight();
+				sServo.uiCurrentPosition++;
+			}else{
+				sServo.eState = IDDLE;
+			}
+			break;
+		case CALLIB: 
+			if(eReadDetector()==INACTIVE){
+				Led_StepRight();
+			}else{
+				sServo.eState = IDDLE;
+				sServo.uiCurrentPosition = 0;
+				sServo.uiDesiredPosition = 0;				
+			}	
+			break;
+	 }
+}
+void Servo_Init(unsigned int uiServoFrequency){
+
+	//Timer0Interrupts_Init(1000000/uiServoFrequency, &SerwoAutomat);
+	SerwoTim.attach(&SerwoAutomat,float(1/float(uiServoFrequency)));
+	LedInt();
+	DetectorInit();
+	Servo_Callib();
+}

diff -r e69a0b7f4b41 -r b8d65b5745d1 serwo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serwo.h	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,5 @@
+
+
+void Servo_Init(unsigned int uiServoFrequency);
+void Servo_Callib(void);
+void Servo_GoTo(unsigned int uiPosition);

diff -r e69a0b7f4b41 -r b8d65b5745d1 serwo.lib
--- a/serwo.lib	Fri May 05 19:54:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/users/Robsonik16/code/serwo/#a278d67d3ce8

diff -r e69a0b7f4b41 -r b8d65b5745d1 string.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/string.cpp	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,99 @@
+#include "string.h"
+
+void CopyString(char pcSource[], char pcDestination[]){
+	
+	unsigned char ucCharacterCounter;
+	
+	for (ucCharacterCounter=0;(pcSource[ucCharacterCounter]!=NULL);ucCharacterCounter++){
+		pcDestination[ucCharacterCounter]=pcSource[ucCharacterCounter];
+	}
+	pcDestination[ucCharacterCounter]=pcSource[ucCharacterCounter];
+}
+
+enum CompResult eCompareString(char pcStr1[], char pcStr2[]){
+	
+	unsigned char ucCharacterCounter;
+	
+	for(ucCharacterCounter=0;(pcStr1[ucCharacterCounter]!=NULL)&&(pcStr2[ucCharacterCounter]!=NULL);ucCharacterCounter++){
+		if(pcStr1[ucCharacterCounter]!=pcStr2[ucCharacterCounter]){
+			return NOTEQUAL;
+		}	
+	}
+	if(pcStr1[ucCharacterCounter]!=pcStr2[ucCharacterCounter]){
+		return NOTEQUAL;
+	}	
+	return EQUAL;
+}	
+
+void AppendString (char pcSourceStr[], char pcDestinationStr[]){
+	
+	unsigned char ucCharacterCounter;
+	
+	for (ucCharacterCounter=0;pcDestinationStr[ucCharacterCounter]!=NULL;ucCharacterCounter++){}
+	CopyString(pcSourceStr,pcDestinationStr+ucCharacterCounter);
+}
+
+void ReplaceCharactersInString(char pcString[], char cOldChar,char cNewChar){
+	
+	unsigned char ucCharacterCounter;
+	
+	for (ucCharacterCounter=0;pcString[ucCharacterCounter]!=NULL;ucCharacterCounter ++){
+		if(pcString[ucCharacterCounter]==cOldChar){
+			pcString[ucCharacterCounter]=cNewChar;
+		}
+	}	
+}
+
+void UIntToHexStr (unsigned int uiValue, char pcStr[]){
+       
+	unsigned char ucBierzacaTetrada;
+	unsigned char ucLicznikTetrad;
+ 
+	pcStr[0] = '0';
+	pcStr[1] = 'x';
+	pcStr[6] = NULL;
+ 
+	for(ucLicznikTetrad = 0; ucLicznikTetrad < 4; ucLicznikTetrad++){
+		ucBierzacaTetrada = (uiValue >> (ucLicznikTetrad*4)) & 0xF;
+		if(ucBierzacaTetrada < 10){
+			pcStr[5 - ucLicznikTetrad] = '0' + ucBierzacaTetrada;
+		}
+		else{
+			pcStr[5 - ucLicznikTetrad] = 'A' + ucBierzacaTetrada - 10;
+		}
+	}
+}
+
+enum Result eHexStringToUInt(char pcStr[],unsigned int *puiValue){
+	
+	char cZnakBiezacy;
+	unsigned char ucLicznikZnaku;
+	*puiValue=0;
+	
+	if((pcStr[0] != '0')||(pcStr[1] != 'x')||(pcStr[2] == NULL)){
+		return (ERROR);
+	}
+	for(ucLicznikZnaku=2; pcStr[ucLicznikZnaku]!=NULL; ucLicznikZnaku++){
+		cZnakBiezacy = pcStr[ucLicznikZnaku];
+		if (ucLicznikZnaku>=6){
+			return (ERROR);
+		}
+		*puiValue= *puiValue<<4;
+		if((cZnakBiezacy>='0')&&(cZnakBiezacy<='9')){
+			*puiValue= *puiValue + (cZnakBiezacy-'0');
+		}else if((cZnakBiezacy>='A')&&(cZnakBiezacy<='F')){
+			*puiValue= *puiValue + (cZnakBiezacy-'A'+10);		
+		}else{
+			return (ERROR);
+		}
+	}
+	return (OK);
+}
+
+void AppendUIntToString (unsigned int uiValue, char pcDestinationStr[]){
+
+	unsigned char ucLicznikZnakow;
+
+	for (ucLicznikZnakow=0; pcDestinationStr[ucLicznikZnakow]!=NULL; ucLicznikZnakow++){}
+	UIntToHexStr(uiValue, pcDestinationStr+ucLicznikZnakow);
+}

diff -r e69a0b7f4b41 -r b8d65b5745d1 string.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/string.h	Fri May 05 20:01:41 2017 +0000
@@ -0,0 +1,14 @@
+#define NULL 0
+#define TERMINATOR '\r'
+#define DELIMITER_CHAR 0x20
+
+enum CompResult { NOTEQUAL, EQUAL };
+enum Result { OK, ERROR };
+
+void CopyString(char pcSource[], char pcDestination[]);
+void AppendString (char pcSourceStr[], char pcDestinationStr[]);
+void AppendUIntToString (unsigned int uiValue, char pcDestinationStr[]);
+void ReplaceCharactersInString(char pcString[], char cOldChar,char cNewChar);
+void UIntToHexStr (unsigned int uiValue, char pcStr[]);
+enum CompResult eCompareString(char pcStr1[], char pcStr2[]);
+enum Result eHexStringToUInt(char pcStr[],unsigned int *puiValue);