![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
If you wont to knock me down, look this file...
Communication/XBee/XBee.cpp
- Committer:
- Ryosei
- Date:
- 2019-05-03
- Revision:
- 0:4df75b08b14a
File content as of revision 0:4df75b08b14a:
#include "XBee.h" #include <stdint.h> #include "mbed.h" namespace XBEE { Ticker xbee_timer; Serial xbee_uart(XBEE_TX, XBEE_RX); DigitalOut XBee_LED(LED1); void uartUpdate(void); void lostCheck(void); namespace { ControllerData ctrData; ControllerData keepCtrData; const uint8_t defaultData[4] = CTR_DEFAULT_DATA; const char check[] = "DT="; volatile char packet[24]; bool controllerLost = false; uint8_t timerCount = 0; } void Controller::Initialize(void) { xbee_timer.attach(lostCheck, 0.025); xbee_uart.baud(4800); xbee_uart.attach(uartUpdate, Serial::RxIrq); DataReset(); } ControllerData* Controller::GetData(void) { __disable_irq(); for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i]; __enable_irq(); return &keepCtrData; } void Controller::DataReset(void) { __disable_irq(); for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i]; __enable_irq(); } bool Controller::CheckControllerLost(void) { return controllerLost; } void uartUpdate(void) { static bool phase = false; static uint8_t count = 0; char data = xbee_uart.getc(); if(phase) { packet[count] = data; if(count < 2) { if(data != check[count]) { phase = false; controllerLost = true; XBee_LED = LED_OFF; } } else if(count == 8) { if(data != '\r') { phase = false; controllerLost = true; XBee_LED = LED_OFF; } else { ctrData.buf[0] = packet[4]; ctrData.buf[1] = packet[5]; ctrData.buf[2] = packet[6]; ctrData.buf[3] = packet[7]; phase = false; timerCount = 0; controllerLost = false; XBee_LED = LED_ON; } } count++; } else { if(data == '@') { count = 0; phase = true; } } } void lostCheck(void) { timerCount++; if(timerCount == 2) XBee_LED = LED_OFF; if(timerCount >= 20) { controllerLost = true; Controller::DataReset(); timerCount = 0; XBee_LED = LED_OFF; } } }