File content as of revision 0:59256c750167:

#include "sbdbt.h"
#include "mbed.h"

Sbdbt::Sbdbt(PinName mbed_tx, PinName mbed_rx, PinName pin_pairing) : SBDBT(mbed_tx,mbed_rx), pairing(pin_pairing){
}

void Sbdbt::begin(long baudrate){
    init();
    SBDBT.baud(baudrate);
    SBDBT.attach(this, &Sbdbt::data_receive, Serial::RxIrq);
}

int Sbdbt::get_pairingState(){
    return pairing;
}

void Sbdbt::init(){
    open_data[0] = buffer[0] = data[0] = 128;
    open_data[1] = buffer[1] = data[1] = 0;
    open_data[2] = buffer[2] = data[2] = 0;
    open_data[3] = buffer[3] = data[3] = 64;
    open_data[4] = buffer[4] = data[4] = 64;
    open_data[5] = buffer[5] = data[5] = 64;
    open_data[6] = buffer[6] = data[6] = 64;
    open_data[7] = buffer[7] = data[7] = 0;
}

void Sbdbt::check(){
    if (bitTest(data[1],Shikaku)) {
        shikaku = 1;
    } else {
        shikaku = 0;
    }
    if (bitTest(data[1],L1)) {
        l1 = 1;
    } else {
        l1 = 0;
    }
    if (bitTest(data[1],L2)) {
        l2 = 1;
    } else {
        l2 = 0;
    }
    if (bitTest(data[1],R1)) {
        r1 = 1;
    } else {
        r1 = 0;
    }
    if (bitTest(data[1],R2)) {
        r2 = 1;
    } else {
        r2 = 0;
    }
    if ((data[2] & Start) == Start) {
        start = 1;
        up = 0;
        down = 0;
    } else {
        start = 0;
        if (bitTest(data[2],Up)) {
            up = 1;
        } else {
            up = 0;
        }
        if (bitTest(data[2],Down)) {
            down = 1;
        } else {
            down = 0;
        }
    }
    if ((data[2] & Select) == Select) {
        select = 1;
        right = 0;
        left = 0;
    } else {
        select = 0;
        if (bitTest(data[2],Right)) {
            right = 1;
        } else {
            right = 0;
        }
        if (bitTest(data[2],Left)) {
            left = 1;
        } else {
            left = 0;
        }
    }
    if (bitTest(data[2],Sankaku)) {
        sankaku = 1;
    } else {
        sankaku = 0;
    }
    if (bitTest(data[2],Batu)) {
        batu = 1;
    } else {
        batu = 0;
    }
    if (bitTest(data[2],Maru)) {
        maru = 1;
    } else {
        maru = 0;
    }

    Left_X  = data[3];
    Left_Y  = data[4];
    Right_X = data[5];
    Right_Y = data[6];

    if (Left_X <= EvenNeutral) {
        left_x = (float) EvenNeutral - Left_X;
    } else {
        left_x = (float) OddNeutral  - Left_X;
    }

    if (Left_Y <= EvenNeutral) {
        left_y = (float) EvenNeutral - Left_Y;
    } else {
        left_y = (float) OddNeutral  - Left_Y;
    }

    if (Right_X <= EvenNeutral) {
        right_x = (float) EvenNeutral - Right_X;
    } else {
        right_x = (float) OddNeutral  - Right_X;
    }

    if (Right_Y <= EvenNeutral) {
        right_y = (float) EvenNeutral - Right_Y;
    } else {
        right_y = (float) OddNeutral  - Right_Y;
    }

    left_x  = -left_x  / EvenNeutral;
    left_y  = left_y  / EvenNeutral;
    right_x = -right_x / EvenNeutral;
    right_y = right_y / EvenNeutral;

    if (fabs(left_x) < 0.24f) {
        left_x = 0;
    }
    if (fabs(left_y) < 0.24f) {
        left_y = 0;
    }
}

void Sbdbt::data_receive (){
    read = SBDBT.getc();
    if (read == start_byte) {
        data_start = 1;
        checksum = 0;
        byte = 1;
        buffer[0] = read;
    } else {
        if (data_start == 1) {
            buffer[byte] = read;
            byte++;
        }
        if (byte > input_byte) {
            int i;
            for (i = 1 ; i < input_byte; i++) {
                checksum = checksum + buffer[i];
            }
            if ((checksum & 0b01111111) == buffer[7]) {
                for (i = 0; i < data_byte; i++) {
                    data[i] = buffer[i];
                    open_data[i] = data[i];
                }
                check();
            }
            byte = 0;
            data_start = 0;
        }
    }
}