Diff: main.cpp

Revision:

0:8917234c9dfc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jan 08 23:24:21 2015 +0000
@@ -0,0 +1,232 @@
+#include "mbed.h"
+#include "Timer.h"
+#include "rtos.h"
+
+unsigned char txFIFO[256];
+unsigned char tx_top, tx_end;
+
+// send message define
+// 1xyyy ~ 1xyyy : x-button numbeer yyy-button power
+// 2xyyy : x PI state number y timing
+// 3yxxx : y-1:X 2:Y 3:Z xxx-zyro sensor state
+
+Timer timer[9];
+
+RawSerial xbee(PA_2, PA_3);
+
+DigitalOut LED01(PB_13);
+DigitalOut LED02(PB_14);
+
+DigitalIn SW[9][2] = {{PB_1,PC_1}, {PB_2,PC_2}, {PB_3,PC_3},
+    {PB_4,PC_4}, {PB_5,PC_5}, {PB_6,PC_6},
+    {PB_7,PC_7}, {PB_8,PC_8}, {PB_9,PC_9}
+};
+
+DigitalIn PI01(PC_10);
+DigitalIn PI02(PC_12);
+
+AnalogIn analog_value0(PA_0);
+AnalogIn analog_value1(PA_1);
+AnalogIn analog_value2(PA_4);
+
+int check_time[2][9] = {{0,0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0,0}};
+int int_pi[2] = {0,0};
+
+int checkPI();// check PI state
+int checkBT(int checkbtn); // check for button time
+int send_pi(int (*pi_ara));
+void send_btn(int checkbtn);
+
+int checkPItime = 0;
+int sendPItime = 0;
+
+/////////////////////////xbee//////////////////////////
+void tx_fifo_check()
+{
+    if(xbee.writeable() == 1) {
+        if(tx_top != tx_end) {
+            xbee.putc(txFIFO[tx_end]);
+            ++tx_end &= 255;
+        }
+    }
+    return;
+}
+
+void tx_fifoset(unsigned char data)
+{
+    txFIFO[tx_top] = data;
+    ++tx_top &= 255;
+    return;
+}
+
+unsigned char hex_conv(unsigned char data)
+{
+    data &= 15;
+    if(data < 10) return(data+48);
+    else return(data+55);
+}
+
+void tx_message(int data)
+{
+    int i;
+    for (i=0; i<6; i++) {
+        tx_fifoset(hex_conv((data>>(4*(5-i))) & 15));
+    }
+    tx_fifoset(13);
+}
+/////////////////////////end xbee//////////////////////////
+
+void xbee_thread(void const *args) // xbee thread
+{
+    int j;
+    j = 0;
+    tx_top = tx_end = 0;
+    xbee.baud(19200);
+
+    while(1) {
+        tx_fifo_check();
+        if(++j > 100000) {
+            j = 0;
+
+            uint16_t zyrox = analog_value0.read_u16();
+            tx_message(31000+(zyrox>>8));
+            uint16_t zyroy = analog_value1.read_u16();
+            tx_message(32000+(zyroy>>8));
+            uint16_t zyroz = analog_value2.read_u16();
+            tx_message(33000+(zyroz>>8));
+        }
+
+        send_pi(int_pi);
+
+    }
+
+}
+int ii = 0;
+
+int main()
+{
+    Thread thread(xbee_thread);   // define xbee thread
+
+    while(1) {
+
+        if(++ii > 100000) {
+            ii = 0;
+
+            LED01 = !LED01;
+        }
+
+        check_time[0][0] = checkBT(0);
+        send_btn(0);
+
+        check_time[0][1] = checkBT(1);
+        send_btn(1);
+
+        check_time[0][2] = checkBT(2);
+        send_btn(2);
+
+        check_time[0][3] = checkBT(3);
+        send_btn(3);
+
+        check_time[0][4] = checkBT(4);
+        send_btn(4);
+
+        check_time[0][5] = checkBT(5);
+        send_btn(5);
+
+        check_time[0][6] = checkBT(6);
+        send_btn(6);
+
+        check_time[0][7] = checkBT(7);
+        send_btn(7);
+
+        check_time[0][8] = checkBT(8);
+        send_btn(8);
+
+        int_pi[0] = checkPI();
+
+    }
+}
+
+////////////////////////// define function //////////////////////
+
+//check for PIstate
+int checkPI()
+{
+    int checkpt = 0;
+    if(PI01 == 1 && PI02 == 1) {
+        checkpt = 1;
+    } else if(PI01 == 0 && PI02 == 1) {
+        checkpt = 2;
+    } else if(PI01 == 0 && PI02 == 0) {
+        checkpt = 3;
+    } else if(PI01 == 1 && PI02 == 0) {
+        checkpt = 4;
+    } else {
+        checkpt = 5; // for error check
+
+    }
+
+    return checkpt;
+}
+
+// check for button time
+int checkBT(int checkbtn)
+{
+    int i = 0;
+
+    if(SW[checkbtn][0] == 1 && SW[checkbtn][1] == 0 ) {
+        timer[checkbtn].start();
+        return i;
+    } else if(SW[checkbtn][0] == 1 && SW[checkbtn][1] == 1 ) {
+        i = 10002 + (checkbtn * 1000);
+        return i;
+    } else if(SW[checkbtn][0] == 0 && SW[checkbtn][1] == 0 ) {
+        i = 10000 + (checkbtn * 1000);
+
+        check_time[1][checkbtn] = 0;
+        return i;
+    } else if (SW[checkbtn][0] == 1 && SW[checkbtn][1] == 0 ) {
+        return 0;
+    }
+
+    else {
+        // i = 10003 + (checkbtn * 1);
+        return 0;
+    }
+}
+//send pi state
+int send_pi(int (*pi_aray))
+{
+    int i = 0;
+    if(pi_aray[0]!= pi_aray[1]) {
+
+        i = 20000 + pi_aray[0];
+        tx_message(i);
+        pi_aray[1] = pi_aray[0];
+        return 0;
+    }
+    return 0;
+}
+
+void send_btn(int checkbtn)
+{
+    int i = 10002 + (checkbtn * 1000);
+    int ii = 0;
+    if(check_time[0][checkbtn] == i && check_time[1][checkbtn] == 0) {
+        timer[checkbtn].stop();
+        ii = timer[checkbtn].read_ms();
+        if(ii > 800){
+        ii = ii - 800;
+        }
+        if(ii > 997) {
+            ii = 997;
+
+        }
+        ii = i+ii;
+        
+        tx_message(ii);
+        timer[checkbtn].reset();
+        check_time[1][checkbtn] = 1;
+
+    }
+}
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