ds3_si.cpp

00001 #include "mbed.h"
00002 #include "ds3_si.h"
00003 
00004 ds3_si::ds3_si(PinName tx, PinName rx, int baudrate):serial(tx, rx)
00005 {
00006     in[0] = 128;
00007     in[1] = 0;
00008     in[2] = 0;
00009     in[3] = 64;
00010     in[4] = 64;
00011     in[5] = 64;
00012     in[6] = 64;
00013     in[7] = 0;
00014     
00015     serial.baud(baudrate);
00016     serial.attach(callback(this, &ds3_si::serialin), Serial::RxIrq);
00017 }
00018 
00019 void ds3_si::serialin()
00020 {__disable_irq();
00021     NVIC_ClearPendingIRQ(UART0_IRQn);
00022     NVIC_ClearPendingIRQ(UART1_IRQn);
00023     NVIC_ClearPendingIRQ(UART2_IRQn);
00024     NVIC_ClearPendingIRQ(UART3_IRQn);
00025     if(serial.readable())
00026     {
00027         while(serial.getc() != 128) {}
00028         for(short i = 1; i < 8; i++)
00029         {
00030             *(in + i) = serial.getc();
00031         }
00032     }
00033 __enable_irq();
00034 }
00035 
00036 bool ds3_si::buttonstate(short order)
00037 {
00038     return in[(order >> 7) + 1] & order;
00039 }
00040 
00041 int ds3_si::analogstate(short order)
00042 {
00043     return (order % 2) ? in[order] - 64 : 64 - in[order];
00044 }
00045 
00046 int ds3_si::getinputdata(short order)
00047 {
00048     return in[order];
00049 }
00050 
00051 double ds3_si::getangle(short order)
00052 {
00053     int x = analogstate(order * 2 + 1);
00054     int y = analogstate(order * 2 + 2);
00055     if(x || y)  return atan2(double(y), double(x));
00056     else        return NONE_angle;
00057 }