Carter Sharer / Mbed 2 deprecated ESE519_Lab6_part3_skeleton

ESE519 Lab6 Part3

Dependencies:   MPU6050_Lab6_Part3 mbed

Fork of BroBot_v2 by Carter Sharer

communication.h@6:ae3e6aefe908, 2016-11-10 (annotated)

Committer:
csharer
Date:
Thu Nov 10 19:20:55 2016 +0000
Revision:
6:ae3e6aefe908
ese519 lab6 part 3;

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csharer 6:ae3e6aefe908 1 //communication.h
csharer 6:ae3e6aefe908 2 //Author: Carter Sharer
csharer 6:ae3e6aefe908 3 //Date: 11/2/2016
csharer 6:ae3e6aefe908 4
csharer 6:ae3e6aefe908 5 //Taken from Part 2 (FULL IMPLEMENTATION)
csharer 6:ae3e6aefe908 6 //If your implementation for part 2 was different then update thoes changes below
csharer 6:ae3e6aefe908 7
csharer 6:ae3e6aefe908 8 #include <string>
csharer 6:ae3e6aefe908 9 #define NONE 250
csharer 6:ae3e6aefe908 10
csharer 6:ae3e6aefe908 11 //============================
csharer 6:ae3e6aefe908 12 //== Pin Assignments ==
csharer 6:ae3e6aefe908 13 //============================
csharer 6:ae3e6aefe908 14 //Knobs
csharer 6:ae3e6aefe908 15 #define POT1 p17 //Knob1
csharer 6:ae3e6aefe908 16 #define POT2 p18 //Knob2
csharer 6:ae3e6aefe908 17 #define POT3 p16 //Knob3
csharer 6:ae3e6aefe908 18 #define POT4 p15 //Knob4
csharer 6:ae3e6aefe908 19 //JoyStick
csharer 6:ae3e6aefe908 20 #define POTV p19 //Vertial
csharer 6:ae3e6aefe908 21 #define POTH p20 //Horizontal
csharer 6:ae3e6aefe908 22 //MRF24J
csharer 6:ae3e6aefe908 23 #define SDI p11
csharer 6:ae3e6aefe908 24 #define SDO p12
csharer 6:ae3e6aefe908 25 #define SCK p13
csharer 6:ae3e6aefe908 26 #define CS p7
csharer 6:ae3e6aefe908 27 #define RESET p8
csharer 6:ae3e6aefe908 28 //Button
csharer 6:ae3e6aefe908 29 #define BUTTON1 p21
csharer 6:ae3e6aefe908 30
csharer 6:ae3e6aefe908 31 //MRF24J40
csharer 6:ae3e6aefe908 32 PinName mosi(SDI);
csharer 6:ae3e6aefe908 33 PinName miso(SDO);
csharer 6:ae3e6aefe908 34 PinName sck(SCK);
csharer 6:ae3e6aefe908 35 PinName cs(CS);
csharer 6:ae3e6aefe908 36 PinName reset(RESET);
csharer 6:ae3e6aefe908 37 // RF tranceiver
csharer 6:ae3e6aefe908 38 MRF24J40 mrf(mosi, miso, sck, cs, reset);
csharer 6:ae3e6aefe908 39
csharer 6:ae3e6aefe908 40 // Send / receive buffers.
csharer 6:ae3e6aefe908 41 // IMPORTANT: The MRF24J40 is intended as zigbee tranceiver; it tends
csharer 6:ae3e6aefe908 42 // to reject data that doesn't have the right header. So the first
csharer 6:ae3e6aefe908 43 // 8 bytes in txBuffer look like a valid header. The remaining 120
csharer 6:ae3e6aefe908 44 // bytes can be used for anything you like.
csharer 6:ae3e6aefe908 45 char txBuffer[128];
csharer 6:ae3e6aefe908 46 char rxBuffer[128];
csharer 6:ae3e6aefe908 47 int rxLen;
csharer 6:ae3e6aefe908 48
csharer 6:ae3e6aefe908 49
csharer 6:ae3e6aefe908 50 //***************** Do not change these methods (please) *****************//
csharer 6:ae3e6aefe908 51 /**
csharer 6:ae3e6aefe908 52 * Receive data from the MRF24J40.
csharer 6:ae3e6aefe908 53 *
csharer 6:ae3e6aefe908 54 * @param data A pointer to a char array to hold the data
csharer 6:ae3e6aefe908 55 * @param maxLength The max amount of data to read.
csharer 6:ae3e6aefe908 56 */
csharer 6:ae3e6aefe908 57 int rf_receive(char *data, uint8_t maxLength)
csharer 6:ae3e6aefe908 58 {
csharer 6:ae3e6aefe908 59 uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
csharer 6:ae3e6aefe908 60 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
csharer 6:ae3e6aefe908 61
csharer 6:ae3e6aefe908 62 if(len > 10) {
csharer 6:ae3e6aefe908 63 //Remove the header and footer of the message
csharer 6:ae3e6aefe908 64 for(uint8_t i = 0; i < len-2; i++) {
csharer 6:ae3e6aefe908 65 if(i<8) {
csharer 6:ae3e6aefe908 66 //Make sure our header is valid first
csharer 6:ae3e6aefe908 67 if(data[i] != header[i]) {
csharer 6:ae3e6aefe908 68 //mrf.Reset();
csharer 6:ae3e6aefe908 69 return 0;
csharer 6:ae3e6aefe908 70 }
csharer 6:ae3e6aefe908 71 } else {
csharer 6:ae3e6aefe908 72 data[i-8] = data[i];
csharer 6:ae3e6aefe908 73 }
csharer 6:ae3e6aefe908 74 }
csharer 6:ae3e6aefe908 75 //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
csharer 6:ae3e6aefe908 76 }
csharer 6:ae3e6aefe908 77 return ((int)len)-10;
csharer 6:ae3e6aefe908 78 }
csharer 6:ae3e6aefe908 79
csharer 6:ae3e6aefe908 80 /**
csharer 6:ae3e6aefe908 81 * Send data to another MRF24J40.
csharer 6:ae3e6aefe908 82 *
csharer 6:ae3e6aefe908 83 * @param data The string to send
csharer 6:ae3e6aefe908 84 * @param maxLength The length of the data to send.
csharer 6:ae3e6aefe908 85 * If you are sending a null-terminated string you can pass strlen(data)+1
csharer 6:ae3e6aefe908 86 */
csharer 6:ae3e6aefe908 87 void rf_send(char *data, uint8_t len)
csharer 6:ae3e6aefe908 88 {
csharer 6:ae3e6aefe908 89 //We need to prepend the message with a valid ZigBee header
csharer 6:ae3e6aefe908 90 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
csharer 6:ae3e6aefe908 91 uint8_t *send_buf = (uint8_t *) malloc( sizeof(uint8_t) * (len+8) );
csharer 6:ae3e6aefe908 92
csharer 6:ae3e6aefe908 93 for(uint8_t i = 0; i < len+8; i++) {
csharer 6:ae3e6aefe908 94 //prepend the 8-byte header
csharer 6:ae3e6aefe908 95 send_buf[i] = (i<8) ? header[i] : data[i-8];
csharer 6:ae3e6aefe908 96 }
csharer 6:ae3e6aefe908 97 //pc.printf("Sent: %s\r\n", send_buf+8);
csharer 6:ae3e6aefe908 98
csharer 6:ae3e6aefe908 99 mrf.Send(send_buf, len+8);
csharer 6:ae3e6aefe908 100 free(send_buf);
csharer 6:ae3e6aefe908 101 }
csharer 6:ae3e6aefe908 102 //***************** You can start coding here *****************//
csharer 6:ae3e6aefe908 103
csharer 6:ae3e6aefe908 104 //Returns true if c is a letter, false otherwise
csharer 6:ae3e6aefe908 105 bool isLetter(char c) {
csharer 6:ae3e6aefe908 106 if(('a'<=c & c<='z') | ('A'<=c & c<='Z'))
csharer 6:ae3e6aefe908 107 return true;
csharer 6:ae3e6aefe908 108 return false;
csharer 6:ae3e6aefe908 109 }
csharer 6:ae3e6aefe908 110
csharer 6:ae3e6aefe908 111 //Returns true if c is a number, false otherwise
csharer 6:ae3e6aefe908 112 bool isNumber(char c) {
csharer 6:ae3e6aefe908 113 if('0'<=c & c<='9')
csharer 6:ae3e6aefe908 114 return true;
csharer 6:ae3e6aefe908 115 return false;
csharer 6:ae3e6aefe908 116 }
csharer 6:ae3e6aefe908 117
csharer 6:ae3e6aefe908 118 //Pulls data out fo rxBuffer and updates global variables accordingly
csharer 6:ae3e6aefe908 119 void communication_protocal(int len)
csharer 6:ae3e6aefe908 120 {
csharer 6:ae3e6aefe908 121 bool found_name = false;
csharer 6:ae3e6aefe908 122 bool found_num = false;
csharer 6:ae3e6aefe908 123 bool complete_name = false;
csharer 6:ae3e6aefe908 124 bool complete_num = false;
csharer 6:ae3e6aefe908 125 uint8_t name_start = NONE; uint8_t name_end = NONE;
csharer 6:ae3e6aefe908 126 uint8_t num_start = NONE; uint8_t num_end = NONE;
csharer 6:ae3e6aefe908 127
csharer 6:ae3e6aefe908 128 //Loop through all charaters in rxBuffer
csharer 6:ae3e6aefe908 129 for(uint8_t i = 0; i <= rxLen; i++) {
csharer 6:ae3e6aefe908 130 char c = rxBuffer[i];
csharer 6:ae3e6aefe908 131 //pc.printf("Indexed char '%c'\r\n", c);
csharer 6:ae3e6aefe908 132
csharer 6:ae3e6aefe908 133 //Find the start of a name (Check if its a letter)
csharer 6:ae3e6aefe908 134 if(isLetter(c) & name_start==NONE) { //if a num
csharer 6:ae3e6aefe908 135 //If We havent found a name yet, this is start of a name
csharer 6:ae3e6aefe908 136 if(found_name == false) {
csharer 6:ae3e6aefe908 137 //pc.printf("found name start at: '%c'\r\n", c);
csharer 6:ae3e6aefe908 138 name_start = i;
csharer 6:ae3e6aefe908 139 found_name = true;
csharer 6:ae3e6aefe908 140 }
csharer 6:ae3e6aefe908 141 }
csharer 6:ae3e6aefe908 142 //Find 'end of name' charater: ' ', ':', '-'
csharer 6:ae3e6aefe908 143 else if(((c == ' ') | (c == ':') | (c == '-')) & found_name & !complete_name) {// found end name character
csharer 6:ae3e6aefe908 144 if(found_name) {
csharer 6:ae3e6aefe908 145 complete_name = true;
csharer 6:ae3e6aefe908 146 name_end = i;
csharer 6:ae3e6aefe908 147 //pc.printf("found end of name at: '%c'\r\n", txBuffer[name_end]);
csharer 6:ae3e6aefe908 148 }
csharer 6:ae3e6aefe908 149 }
csharer 6:ae3e6aefe908 150
csharer 6:ae3e6aefe908 151 //Find 'start of a number' charater, Check if its a number, or '-', or a '.'
csharer 6:ae3e6aefe908 152 else if( (isNumber(c) | (c=='-') | (c=='.')) & complete_name & num_start==NONE) {
csharer 6:ae3e6aefe908 153 if(found_num == false) {
csharer 6:ae3e6aefe908 154 //pc.printf("found num start at: '%c'\r\n",c);
csharer 6:ae3e6aefe908 155 num_start = i;
csharer 6:ae3e6aefe908 156 found_num = true;
csharer 6:ae3e6aefe908 157 }
csharer 6:ae3e6aefe908 158 }
csharer 6:ae3e6aefe908 159 //Found end of number character: ' ', ':', '-', or a letter
csharer 6:ae3e6aefe908 160 else if( (((c==' ')|(c==':')|(c=='-')) | isLetter(c)) & found_num & complete_name) {
csharer 6:ae3e6aefe908 161 if(found_num) {
csharer 6:ae3e6aefe908 162 complete_num = true;
csharer 6:ae3e6aefe908 163 num_end = i;
csharer 6:ae3e6aefe908 164 //pc.printf("found end of num at: '%c' \r\n", txBuffer[num_end]);
csharer 6:ae3e6aefe908 165 }
csharer 6:ae3e6aefe908 166 }
csharer 6:ae3e6aefe908 167
csharer 6:ae3e6aefe908 168 //If we have a complete name AND number value (ie. start and end of each != NONE)
csharer 6:ae3e6aefe908 169 if(found_name & found_num & complete_name & complete_num) {
csharer 6:ae3e6aefe908 170 //pc.printf("Found MATCH\r\n");
csharer 6:ae3e6aefe908 171 //Reset flags
csharer 6:ae3e6aefe908 172 found_name = false;
csharer 6:ae3e6aefe908 173 found_num = false;
csharer 6:ae3e6aefe908 174 complete_name = false;
csharer 6:ae3e6aefe908 175 complete_num = false;
csharer 6:ae3e6aefe908 176
csharer 6:ae3e6aefe908 177 //Set name
csharer 6:ae3e6aefe908 178 uint8_t nameLen = uint8_t((name_end-name_start) + 1);
csharer 6:ae3e6aefe908 179 char * name[nameLen];
csharer 6:ae3e6aefe908 180 *name = &rxBuffer[name_start];
csharer 6:ae3e6aefe908 181 rxBuffer[name_end] = '\0';
csharer 6:ae3e6aefe908 182
csharer 6:ae3e6aefe908 183 //Set num
csharer 6:ae3e6aefe908 184 uint8_t numLen = uint8_t((num_end-num_start) + 1);
csharer 6:ae3e6aefe908 185 char * num[numLen];
csharer 6:ae3e6aefe908 186 *num = &rxBuffer[num_start];
csharer 6:ae3e6aefe908 187 rxBuffer[num_end] = '\0';
csharer 6:ae3e6aefe908 188
csharer 6:ae3e6aefe908 189 //Set variables
csharer 6:ae3e6aefe908 190 if(strcmp(*name, "Jstick_h\0")==0)
csharer 6:ae3e6aefe908 191 jstick_h = (int8_t)atoi(*num);
csharer 6:ae3e6aefe908 192 else if(strcmp(*name, "Jstick_v\0")==0)
csharer 6:ae3e6aefe908 193 jstick_v = (int8_t)atoi(*num);
csharer 6:ae3e6aefe908 194 else if(strcmp(*name, "Knob1\0")==0)
csharer 6:ae3e6aefe908 195 knob1 = (uint8_t)atoi(*num);
csharer 6:ae3e6aefe908 196 else if(strcmp(*name, "Knob2\0")==0)
csharer 6:ae3e6aefe908 197 knob2 = (uint8_t)atoi(*num);
csharer 6:ae3e6aefe908 198 else if(strcmp(*name, "Knob3\0")==0)
csharer 6:ae3e6aefe908 199 knob3 = (uint8_t)atoi(*num);
csharer 6:ae3e6aefe908 200 else if(strcmp(*name, "Knob4\0")==0)
csharer 6:ae3e6aefe908 201 knob4 = (uint8_t)atoi(*num);
csharer 6:ae3e6aefe908 202 else if(strcmp(*name, "Button\0")==0)
csharer 6:ae3e6aefe908 203 button = (bool)atoi(*num);
csharer 6:ae3e6aefe908 204
csharer 6:ae3e6aefe908 205 //Reset flags
csharer 6:ae3e6aefe908 206 name_start = NONE;
csharer 6:ae3e6aefe908 207 name_end = NONE;
csharer 6:ae3e6aefe908 208 num_start = NONE;
csharer 6:ae3e6aefe908 209 num_end = NONE;
csharer 6:ae3e6aefe908 210 }
csharer 6:ae3e6aefe908 211 }
csharer 6:ae3e6aefe908 212 }