Diff: LambdaController.h

Revision:

0:728c138f0486

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LambdaController.h	Sat Nov 12 03:55:50 2016 +0000
@@ -0,0 +1,45 @@
+#ifndef LAMBDA_CONTROLLER_H
+#define LAMBDA_CONTROLLER_H
+
+#include "mbed.h"
+
+class LambdaController {
+public:
+    LambdaController(PinName tx, PinName rx, PinName hzpin);
+
+    uint16_t get_all_switch(void);
+    bool get_switch(int num);
+
+    enum AxisId {
+        Stick0X, Stick0Y, Stick1X, Stick1Y
+    };
+    int get_raw_axis(AxisId id);
+    double get_axis(AxisId id);
+    void initialize_axis(void);
+    void initialize_axis(AxisId id);
+
+    enum ErrorFactor {
+        NoError, NoDataError, TimeoutError, InvalidDataError, SerialBusyError
+    };
+    ErrorFactor get_error();
+
+private:
+    Serial device;
+    DigitalIn hzjudge;
+
+    void data_receive_isr();
+    int buffer_head;
+    uint8_t received_data[11];
+    uint8_t received_buffer[11];
+    bool is_axis_initialized;
+    int axis_center[4];
+    static const double axis_threshold = 0.012;
+    
+    Timer error_timer;
+    int error_count;
+    ErrorFactor error_id;
+    static const int error_threshold = 5;
+    static const double timeout_time = 0.5;
+};
+
+#endif
\ No newline at end of file