Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

main.cpp@4:039a7d1ce3e9, 2015-01-24 (annotated)

Committer:
YosukeK
Date:
Sat Jan 24 17:41:21 2015 +0000
Revision:
4:039a7d1ce3e9
Parent:
3:9ac9fdf1856e
Child:
5:4c87a8401f7c
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
YosukeK 0:a9b204e27472 1 #include <mbed.h>
YosukeK 0:a9b204e27472 2 #include <PwmServo.h>
YosukeK 1:5f6dd444850a 3 #include <ExtendedServo.h>
YosukeK 3:9ac9fdf1856e 4 #include <DelayServo.h>
YosukeK 3:9ac9fdf1856e 5 //#include <RobotArm.h>
YosukeK 0:a9b204e27472 6 #include <def_resources.h>
YosukeK 0:a9b204e27472 7 #include <Serial.h>
YosukeK 4:039a7d1ce3e9 8 #include "Roomba.h"
YosukeK 4:039a7d1ce3e9 9 #include "EventArg.h"
YosukeK 4:039a7d1ce3e9 10
YosukeK 0:a9b204e27472 11
YosukeK 0:a9b204e27472 12 /*
YosukeK 0:a9b204e27472 13
YosukeK 0:a9b204e27472 14 Controller firmware for CaitSithDanger
YosukeK 0:a9b204e27472 15
YosukeK 0:a9b204e27472 16 Kyoto-Densou-An 2014
YosukeK 0:a9b204e27472 17
YosukeK 0:a9b204e27472 18 Author : yishii
YosukeK 0:a9b204e27472 19 */
YosukeK 0:a9b204e27472 20
YosukeK 0:a9b204e27472 21 #define DEBUG
YosukeK 0:a9b204e27472 22 #define BUFFER_SIZE 11
YosukeK 3:9ac9fdf1856e 23 //#define COMMAND_TOTAL 3
YosukeK 2:91135f19ac12 24
YosukeK 0:a9b204e27472 25
YosukeK 0:a9b204e27472 26 char receive[BUFFER_SIZE];
YosukeK 0:a9b204e27472 27 //char* p_receive;
YosukeK 3:9ac9fdf1856e 28 //int recvPnt = 0;
YosukeK 0:a9b204e27472 29
YosukeK 2:91135f19ac12 30 int oyatsuCnt = 0;
YosukeK 2:91135f19ac12 31
YosukeK 4:039a7d1ce3e9 32 EventArg e;
YosukeK 4:039a7d1ce3e9 33
YosukeK 3:9ac9fdf1856e 34 int serial_gets(char *buffer, int size);
YosukeK 0:a9b204e27472 35
YosukeK 4:039a7d1ce3e9 36 void initialize();
YosukeK 4:039a7d1ce3e9 37
YosukeK 4:039a7d1ce3e9 38 //void moveServo()
YosukeK 4:039a7d1ce3e9 39 //{
YosukeK 4:039a7d1ce3e9 40 // shakeHead.moveServo();
YosukeK 4:039a7d1ce3e9 41 // nodHead.moveServo();
YosukeK 4:039a7d1ce3e9 42 // leftArm.moveServo();
YosukeK 4:039a7d1ce3e9 43 // leftShoulder.moveServo();
YosukeK 4:039a7d1ce3e9 44 // rightArm.moveServo();
YosukeK 4:039a7d1ce3e9 45 // rightShoulder.moveServo();
YosukeK 4:039a7d1ce3e9 46 //}
YosukeK 4:039a7d1ce3e9 47
YosukeK 4:039a7d1ce3e9 48 Ticker mTick;
YosukeK 4:039a7d1ce3e9 49
YosukeK 4:039a7d1ce3e9 50 Roomba nyandaBase(SERIAL_TX, SERIAL_RX, PA_14);
YosukeK 0:a9b204e27472 51
YosukeK 0:a9b204e27472 52 int main() {
YosukeK 4:039a7d1ce3e9 53 pc.baud(115200);
YosukeK 4:039a7d1ce3e9 54 initialize();
YosukeK 4:039a7d1ce3e9 55 debugled = 1;
YosukeK 4:039a7d1ce3e9 56 //mTick.attach_us(&moveServo, 10000);
YosukeK 3:9ac9fdf1856e 57
YosukeK 4:039a7d1ce3e9 58
YosukeK 4:039a7d1ce3e9 59 Roomba* cp = new Roomba(SERIAL_TX, SERIAL_RX, LED1);//Class pointor
YosukeK 4:039a7d1ce3e9 60 void (Roomba::*fp)(void) = &Roomba::serialReceiveCallback;
YosukeK 4:039a7d1ce3e9 61
YosukeK 4:039a7d1ce3e9 62 //<戻り値の型> (<クラス名>::*<変数名>(<引数リスト>);
YosukeK 4:039a7d1ce3e9 63
YosukeK 4:039a7d1ce3e9 64 //fp = cp->serialReceiveCallback();
YosukeK 4:039a7d1ce3e9 65
YosukeK 4:039a7d1ce3e9 66 //ticker.attach(&cp, cp->serialReceiveCallback, 0.1);
YosukeK 4:039a7d1ce3e9 67
YosukeK 4:039a7d1ce3e9 68
YosukeK 4:039a7d1ce3e9 69 //(cp->*fp)();//クラスポインタとメンバポインタ両方を使うメソッド呼び出し？なにに使うの？
YosukeK 4:039a7d1ce3e9 70
YosukeK 4:039a7d1ce3e9 71 //ticker.attach(&cp, (cp->*fp)(), 0.1);
YosukeK 4:039a7d1ce3e9 72 //Roomba* cp = new Roomba(SERIAL_TX, SERIAL_RX, LED1);//Class pointor
YosukeK 4:039a7d1ce3e9 73 //void (Roomba::*fp)(void) = &Roomba::serialReceiveCallback;
YosukeK 4:039a7d1ce3e9 74
YosukeK 4:039a7d1ce3e9 75 //<戻り値の型> (<クラス名>::*<変数名>(<引数リスト>);
YosukeK 4:039a7d1ce3e9 76
YosukeK 4:039a7d1ce3e9 77 //fp = cp->serialReceiveCallback();
YosukeK 4:039a7d1ce3e9 78
YosukeK 4:039a7d1ce3e9 79 //ticker.attach(&cp, cp->serialReceiveCallback, 0.1);
YosukeK 4:039a7d1ce3e9 80
YosukeK 4:039a7d1ce3e9 81
YosukeK 4:039a7d1ce3e9 82 //(cp->*fp)();//クラスポインタとメンバポインタ両方を使うメソッド呼び出し？なにに使うの？
YosukeK 4:039a7d1ce3e9 83
YosukeK 4:039a7d1ce3e9 84 //ticker.attach(&cp, (cp->*fp)(), 0.1);
YosukeK 4:039a7d1ce3e9 85
YosukeK 4:039a7d1ce3e9 86 //mTick.attach(Roomba, &nyandaBase.periodicCallback, 0.1);
YosukeK 4:039a7d1ce3e9 87
YosukeK 1:5f6dd444850a 88
YosukeK 0:a9b204e27472 89 while(1) {
YosukeK 0:a9b204e27472 90 char buffer[BUFFER_SIZE];
YosukeK 4:039a7d1ce3e9 91 // コマンド受信
YosukeK 0:a9b204e27472 92 int size = serial_gets(buffer, BUFFER_SIZE);
YosukeK 4:039a7d1ce3e9 93
YosukeK 0:a9b204e27472 94 if (size > 0) {
YosukeK 3:9ac9fdf1856e 95
YosukeK 4:039a7d1ce3e9 96 #ifdef DEBUG
YosukeK 4:039a7d1ce3e9 97 pc.printf("%s", buffer);
YosukeK 4:039a7d1ce3e9 98 #endif
YosukeK 3:9ac9fdf1856e 99 // コマンド判定
YosukeK 0:a9b204e27472 100 if (strncmp(buffer, "CT", 2) == 0) {
YosukeK 0:a9b204e27472 101
YosukeK 0:a9b204e27472 102 myled = !myled;
YosukeK 1:5f6dd444850a 103
YosukeK 1:5f6dd444850a 104 bool ret = false;
YosukeK 0:a9b204e27472 105
YosukeK 0:a9b204e27472 106 if (size == 2) {
YosukeK 1:5f6dd444850a 107 ret = true;
YosukeK 0:a9b204e27472 108 } else if (size >= 3) {
YosukeK 3:9ac9fdf1856e 109
YosukeK 4:039a7d1ce3e9 110
YosukeK 4:039a7d1ce3e9 111 switch (buffer[2]) {
YosukeK 3:9ac9fdf1856e 112 case 'Z':
YosukeK 3:9ac9fdf1856e 113
YosukeK 3:9ac9fdf1856e 114 initialize();
YosukeK 3:9ac9fdf1856e 115
YosukeK 3:9ac9fdf1856e 116 ret = true;
YosukeK 3:9ac9fdf1856e 117 break;
YosukeK 3:9ac9fdf1856e 118
YosukeK 2:91135f19ac12 119 case 'N':
YosukeK 3:9ac9fdf1856e 120
YosukeK 2:91135f19ac12 121 ret = true;
YosukeK 2:91135f19ac12 122 if (buffer[3] == '0') {
YosukeK 2:91135f19ac12 123 nyandaLight = 0;
YosukeK 2:91135f19ac12 124 } else if (buffer[3] == '1') {
YosukeK 2:91135f19ac12 125 nyandaLight = 1;
YosukeK 2:91135f19ac12 126 } else {
YosukeK 2:91135f19ac12 127 ret = false;
YosukeK 2:91135f19ac12 128 }
YosukeK 2:91135f19ac12 129
YosukeK 2:91135f19ac12 130 break;
YosukeK 4:039a7d1ce3e9 131
YosukeK 4:039a7d1ce3e9 132 case 'M':
YosukeK 4:039a7d1ce3e9 133
YosukeK 4:039a7d1ce3e9 134 ret = true;
YosukeK 4:039a7d1ce3e9 135
YosukeK 4:039a7d1ce3e9 136 //CTM+500-500
YosukeK 4:039a7d1ce3e9 137
YosukeK 4:039a7d1ce3e9 138 char buff[4+1];
YosukeK 4:039a7d1ce3e9 139 int temp;
YosukeK 4:039a7d1ce3e9 140
YosukeK 4:039a7d1ce3e9 141 //printf("Param:%s\n", before);
YosukeK 4:039a7d1ce3e9 142 strncpy(buff, buffer + 3, 4);
YosukeK 4:039a7d1ce3e9 143 buff[4] = '\0';
YosukeK 4:039a7d1ce3e9 144 //printf("ASC:%s\n", buff);
YosukeK 4:039a7d1ce3e9 145 temp = atoi(buff);
YosukeK 4:039a7d1ce3e9 146 e.leftWheetVelocity = temp;
YosukeK 4:039a7d1ce3e9 147
YosukeK 4:039a7d1ce3e9 148 //printf("Param:%s\n", before);
YosukeK 4:039a7d1ce3e9 149 strncpy(buff, (char*)buffer[3+4], 4);
YosukeK 4:039a7d1ce3e9 150 buff[4] = '\0';
YosukeK 4:039a7d1ce3e9 151 //printf("ASC:%s\n", buff);
YosukeK 4:039a7d1ce3e9 152 temp = atoi(buff);
YosukeK 4:039a7d1ce3e9 153 e.rightWheelVelocity = temp;
YosukeK 4:039a7d1ce3e9 154
YosukeK 4:039a7d1ce3e9 155 break;
YosukeK 2:91135f19ac12 156
YosukeK 0:a9b204e27472 157 case 'O':
YosukeK 2:91135f19ac12 158
YosukeK 1:5f6dd444850a 159 ret = true;
YosukeK 2:91135f19ac12 160 if (buffer[3] == '0') {
YosukeK 2:91135f19ac12 161 oyatsuCnt = 0;
YosukeK 2:91135f19ac12 162 oyatsuFeeder.setAngle(0);
YosukeK 2:91135f19ac12 163 } else if (buffer[3] == '1') {
YosukeK 2:91135f19ac12 164 if (oyatsuCnt <= 3) {
YosukeK 2:91135f19ac12 165 oyatsuCnt++;
YosukeK 2:91135f19ac12 166 }
YosukeK 2:91135f19ac12 167
YosukeK 2:91135f19ac12 168 switch (oyatsuCnt) {
YosukeK 2:91135f19ac12 169 //case 0:
YosukeK 2:91135f19ac12 170 // oyatusFeeder.setAngle(0);
YosukeK 2:91135f19ac12 171 //break;
YosukeK 2:91135f19ac12 172 case 1:
YosukeK 2:91135f19ac12 173 oyatsuFeeder.setAngle(60);
YosukeK 2:91135f19ac12 174 break;
YosukeK 2:91135f19ac12 175
YosukeK 2:91135f19ac12 176 case 2:
YosukeK 2:91135f19ac12 177 oyatsuFeeder.setAngle(90);
YosukeK 2:91135f19ac12 178 break;
YosukeK 2:91135f19ac12 179
YosukeK 2:91135f19ac12 180 case 3:
YosukeK 2:91135f19ac12 181 oyatsuFeeder.setAngle(120);
YosukeK 2:91135f19ac12 182 break;
YosukeK 2:91135f19ac12 183
YosukeK 2:91135f19ac12 184 default:
YosukeK 2:91135f19ac12 185 break;
YosukeK 2:91135f19ac12 186 }
YosukeK 2:91135f19ac12 187 } else {
YosukeK 2:91135f19ac12 188 ret = false;
YosukeK 2:91135f19ac12 189 }
YosukeK 2:91135f19ac12 190
YosukeK 0:a9b204e27472 191 break;
YosukeK 0:a9b204e27472 192 case 'H':
YosukeK 0:a9b204e27472 193
YosukeK 0:a9b204e27472 194 int servoAngle = -1;
YosukeK 0:a9b204e27472 195 servoAngle = atoi((buffer+4));
YosukeK 1:5f6dd444850a 196
YosukeK 1:5f6dd444850a 197 ret = true;
YosukeK 1:5f6dd444850a 198 if (buffer[3] == '1') {
YosukeK 1:5f6dd444850a 199 shakeHead.setAngle(servoAngle);
YosukeK 1:5f6dd444850a 200 } else if (buffer[3] == '2') {
YosukeK 1:5f6dd444850a 201 nodHead.setAngle(servoAngle);
YosukeK 1:5f6dd444850a 202 } else {
YosukeK 1:5f6dd444850a 203 ret = false;
YosukeK 1:5f6dd444850a 204 }
YosukeK 1:5f6dd444850a 205 break;
YosukeK 0:a9b204e27472 206
YosukeK 1:5f6dd444850a 207 case 'L':
YosukeK 1:5f6dd444850a 208 servoAngle = atoi((buffer+4));
YosukeK 1:5f6dd444850a 209
YosukeK 1:5f6dd444850a 210 ret = true;
YosukeK 1:5f6dd444850a 211 if (buffer[3] == '1') {
YosukeK 3:9ac9fdf1856e 212 leftShoulder.setAngle(servoAngle);
YosukeK 1:5f6dd444850a 213 } else if (buffer[3] == '2') {
YosukeK 3:9ac9fdf1856e 214 leftArm.setAngle(servoAngle);
YosukeK 1:5f6dd444850a 215 } else {
YosukeK 1:5f6dd444850a 216 ret = false;
YosukeK 0:a9b204e27472 217 }
YosukeK 1:5f6dd444850a 218 break;
YosukeK 1:5f6dd444850a 219
YosukeK 1:5f6dd444850a 220 case 'R':
YosukeK 1:5f6dd444850a 221 servoAngle = atoi((buffer+4));
YosukeK 0:a9b204e27472 222
YosukeK 1:5f6dd444850a 223 ret = true;
YosukeK 0:a9b204e27472 224 if (buffer[3] == '1') {
YosukeK 3:9ac9fdf1856e 225 rightShoulder.setAngle(servoAngle);
YosukeK 0:a9b204e27472 226 } else if (buffer[3] == '2') {
YosukeK 3:9ac9fdf1856e 227 rightArm.setAngle(servoAngle);
YosukeK 0:a9b204e27472 228 } else {
YosukeK 1:5f6dd444850a 229 ret = false;
YosukeK 0:a9b204e27472 230 }
YosukeK 1:5f6dd444850a 231 break;
YosukeK 1:5f6dd444850a 232
YosukeK 1:5f6dd444850a 233 default:
YosukeK 1:5f6dd444850a 234 ret = false;
YosukeK 0:a9b204e27472 235 break;
YosukeK 0:a9b204e27472 236 }
YosukeK 0:a9b204e27472 237 }
YosukeK 0:a9b204e27472 238
YosukeK 1:5f6dd444850a 239 if (ret) {
YosukeK 1:5f6dd444850a 240 pc.printf("\r\nOK\r\n");
YosukeK 1:5f6dd444850a 241 } else {
YosukeK 1:5f6dd444850a 242 pc.printf("\r\nNG\r\n");
YosukeK 1:5f6dd444850a 243 }
YosukeK 0:a9b204e27472 244 }
YosukeK 0:a9b204e27472 245 }
YosukeK 4:039a7d1ce3e9 246 //シリアル受信待ちをwihelで待っているので、定期送信は不可能
YosukeK 4:039a7d1ce3e9 247 // nyandaBase.periodicCallback(e);
YosukeK 4:039a7d1ce3e9 248 // debugled != debugled;
YosukeK 4:039a7d1ce3e9 249 // //そもそもTickerで書ける？引数付きのメソッドをattachできるのか
YosukeK 4:039a7d1ce3e9 250 // //attach第2引数のインスタンスメソッドのポインタは引数付きとか書けるのか
YosukeK 4:039a7d1ce3e9 251 // wait_ms(100);
YosukeK 0:a9b204e27472 252 }
YosukeK 0:a9b204e27472 253 }
YosukeK 0:a9b204e27472 254
YosukeK 0:a9b204e27472 255
YosukeK 4:039a7d1ce3e9 256 void initialize() {
YosukeK 3:9ac9fdf1856e 257 nyandaLight = 0;
YosukeK 3:9ac9fdf1856e 258
YosukeK 3:9ac9fdf1856e 259 shakeHead.setAngle(0);
YosukeK 3:9ac9fdf1856e 260 nodHead.setAngle(0);
YosukeK 3:9ac9fdf1856e 261 leftArm.setAngle(0);
YosukeK 3:9ac9fdf1856e 262 leftShoulder.setAngle(0);
YosukeK 3:9ac9fdf1856e 263 rightArm.setAngle(0);
YosukeK 3:9ac9fdf1856e 264 rightShoulder.setAngle(0);
YosukeK 4:039a7d1ce3e9 265
YosukeK 3:9ac9fdf1856e 266 }
YosukeK 0:a9b204e27472 267
YosukeK 3:9ac9fdf1856e 268
YosukeK 3:9ac9fdf1856e 269 /*
YosukeK 3:9ac9fdf1856e 270 *
YosukeK 3:9ac9fdf1856e 271 */
YosukeK 3:9ac9fdf1856e 272 int serial_gets(char *buffer, int size) {
YosukeK 0:a9b204e27472 273 /*if (!pc.readable()) {
YosukeK 0:a9b204e27472 274 return 0;
YosukeK 0:a9b204e27472 275 }*/
YosukeK 0:a9b204e27472 276
YosukeK 0:a9b204e27472 277 int i = 0;
YosukeK 0:a9b204e27472 278 while (i < size - 1) {
YosukeK 0:a9b204e27472 279 if (pc.readable()) {
YosukeK 0:a9b204e27472 280 buffer[i] = pc.getc();
YosukeK 0:a9b204e27472 281 //pc.printf("%c", buffer[i]);
YosukeK 0:a9b204e27472 282
YosukeK 0:a9b204e27472 283 if (buffer[i] == '\r') {
YosukeK 0:a9b204e27472 284 --i;
YosukeK 0:a9b204e27472 285 }
YosukeK 0:a9b204e27472 286 if (buffer[i] == '\n') {
YosukeK 4:039a7d1ce3e9 287
YosukeK 0:a9b204e27472 288 break;
YosukeK 0:a9b204e27472 289 }
YosukeK 0:a9b204e27472 290 ++i;
YosukeK 0:a9b204e27472 291 }/* else {
YosukeK 0:a9b204e27472 292 wait_ms(1);
YosukeK 0:a9b204e27472 293 }*/
YosukeK 0:a9b204e27472 294 }
YosukeK 0:a9b204e27472 295 buffer[i] = '\0';
YosukeK 0:a9b204e27472 296 //pc.printf("%s", buffer);
YosukeK 0:a9b204e27472 297 return i;
YosukeK 0:a9b204e27472 298 }
YosukeK 4:039a7d1ce3e9 299
YosukeK 4:039a7d1ce3e9 300
YosukeK 4:039a7d1ce3e9 301
YosukeK 4:039a7d1ce3e9 302 ///*/*
YosukeK 4:039a7d1ce3e9 303 // *
YosukeK 4:039a7d1ce3e9 304 // */
YosukeK 4:039a7d1ce3e9 305 //int getMoveCommand(char opcode, char* before, char* converted)
YosukeK 4:039a7d1ce3e9 306 //{
YosukeK 4:039a7d1ce3e9 307 // char buff[10];
YosukeK 4:039a7d1ce3e9 308 // int temp;
YosukeK 4:039a7d1ce3e9 309 // int cont = 0;
YosukeK 4:039a7d1ce3e9 310 //
YosukeK 4:039a7d1ce3e9 311 // converted[cont] = opcode;
YosukeK 4:039a7d1ce3e9 312 // ++cont;
YosukeK 4:039a7d1ce3e9 313 // cont = cont + convertHexToAscString(before, 4, converted + cont);
YosukeK 4:039a7d1ce3e9 314 // cont = cont + convertHexToAscString(before + 4, 4, converted + cont);
YosukeK 4:039a7d1ce3e9 315 // converted[cont] = '\0';
YosukeK 4:039a7d1ce3e9 316 //
YosukeK 4:039a7d1ce3e9 317 //#ifdef DEBUG
YosukeK 4:039a7d1ce3e9 318 // int i = 0;
YosukeK 4:039a7d1ce3e9 319 // for (i = 0; i < cont; i++) {
YosukeK 4:039a7d1ce3e9 320 // printf("%x\n", *(converted + i));
YosukeK 4:039a7d1ce3e9 321 // }
YosukeK 4:039a7d1ce3e9 322 //#endif
YosukeK 4:039a7d1ce3e9 323 //
YosukeK 4:039a7d1ce3e9 324 // return strlen(converted);
YosukeK 4:039a7d1ce3e9 325 //}*/
YosukeK 4:039a7d1ce3e9 326 //
YosukeK 4:039a7d1ce3e9 327 ////TBD:Create Utility Class. And move under method add static
YosukeK 4:039a7d1ce3e9 328 //int convertDecToAsc(char* target, int length, int* converted) {
YosukeK 4:039a7d1ce3e9 329 // char buff[length + 1];
YosukeK 4:039a7d1ce3e9 330 // int temp;
YosukeK 4:039a7d1ce3e9 331 //
YosukeK 4:039a7d1ce3e9 332 // //strncpy(buff, before, length);
YosukeK 4:039a7d1ce3e9 333 // buff[length] = '\0';
YosukeK 4:039a7d1ce3e9 334 // //printf("ASC:%s\n", buff);
YosukeK 4:039a7d1ce3e9 335 //
YosukeK 4:039a7d1ce3e9 336 // temp = atoi(buff);
YosukeK 4:039a7d1ce3e9 337 // //printf("DEC:%d\n", temp);
YosukeK 4:039a7d1ce3e9 338 //
YosukeK 4:039a7d1ce3e9 339 // //converted = temp;
YosukeK 4:039a7d1ce3e9 340 //
YosukeK 4:039a7d1ce3e9 341 // return 0;//strlen(converted);
YosukeK 4:039a7d1ce3e9 342 //}
YosukeK 4:039a7d1ce3e9 343
YosukeK 4:039a7d1ce3e9 344 //
YosukeK 4:039a7d1ce3e9 345 ///*
YosukeK 4:039a7d1ce3e9 346 // *
YosukeK 4:039a7d1ce3e9 347 // */
YosukeK 4:039a7d1ce3e9 348 //int convertHexToAscString(char* before, int length, char* converted)
YosukeK 4:039a7d1ce3e9 349 //{
YosukeK 4:039a7d1ce3e9 350 // char buff[length + 1];
YosukeK 4:039a7d1ce3e9 351 // int temp;
YosukeK 4:039a7d1ce3e9 352 //
YosukeK 4:039a7d1ce3e9 353 // printf("Param:%s\n", before);
YosukeK 4:039a7d1ce3e9 354 //
YosukeK 4:039a7d1ce3e9 355 // strncpy(buff, before, length);
YosukeK 4:039a7d1ce3e9 356 // buff[length] = '\0';
YosukeK 4:039a7d1ce3e9 357 // printf("ASC:%s\n", buff);
YosukeK 4:039a7d1ce3e9 358 //
YosukeK 4:039a7d1ce3e9 359 // temp = atoi(buff);
YosukeK 4:039a7d1ce3e9 360 // printf("DEC:%d\n", temp);
YosukeK 4:039a7d1ce3e9 361 //
YosukeK 4:039a7d1ce3e9 362 // converted[0] = ((temp & 0xFF00) >> 8);
YosukeK 4:039a7d1ce3e9 363 // converted[1] = (temp & 0xFF);
YosukeK 4:039a7d1ce3e9 364 // converted[2] = '\0';
YosukeK 4:039a7d1ce3e9 365 // printf("HEX(MSB):%x\n", converted[0]);
YosukeK 4:039a7d1ce3e9 366 // printf("HEX(LSB):%x\n", converted[1]);
YosukeK 4:039a7d1ce3e9 367 //
YosukeK 4:039a7d1ce3e9 368 // return strlen(converted);
YosukeK 4:039a7d1ce3e9 369 //}
YosukeK 4:039a7d1ce3e9 370 //