File content as of revision 6:cd2671c141cc:

#include "XBee.h"

#include <stdint.h>
#include "mbed.h"

namespace XBEE
{
    Ticker xbee_timer;
    Serial xbee_uart(XBEE_TX, XBEE_RX);
    DigitalOut XBee_LED(LED1);

    void uartUpdate(void);
    void lostCheck(void);

    namespace
    {
        ControllerData ctrData;
        ControllerData keepCtrData;
        const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
		const char check[] = "DT=";
		volatile char packet[24];

        bool controllerLost = false;
        uint8_t timerCount = 0;
    }

    void Controller::Initialize(void) {
        xbee_timer.attach(lostCheck, 0.025);
        xbee_uart.baud(4800);
        xbee_uart.attach(uartUpdate, Serial::RxIrq);
        DataReset();
    }

    ControllerData* Controller::GetData(void) {
        __disable_irq();
        for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
        __enable_irq();
        return &keepCtrData;
    }

    void Controller::DataReset(void) {
        __disable_irq();
		for(uint8_t i = 0; i < CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
        __enable_irq();
    }

    bool Controller::CheckControllerLost(void) {
        return controllerLost;
    }

    void uartUpdate(void) {
        static bool phase = false;
        static uint8_t count = 0;

        char data = xbee_uart.getc();

		if(phase)
		{		
			packet[count] = data;
			if(count < 2)
			{
				if(data != check[count])
				{
					phase = false;
					controllerLost = true;
                    XBee_LED = LED_OFF;
				}
			}
			else if(count == 8)
			{
                if(data != '\r')
                {
                    phase = false;
                    controllerLost = true;
                    XBee_LED = LED_OFF;
                }
                else
                {
                    ctrData.buf[0] = packet[4];
                    ctrData.buf[1] = packet[5];
                    ctrData.buf[2] = packet[6];
                    ctrData.buf[3] = packet[7];
                    phase = false;
                    timerCount = 0;
                    controllerLost = false;
                    XBee_LED = LED_ON;
                }
			}
			count++;
		}
		else
		{
			if(data == '@')
			{
				count = 0;
				phase = true;
			}
		}
	}

    void lostCheck(void) {
        timerCount++;
        if(timerCount == 2) XBee_LED = LED_OFF;
        if(timerCount >= 20) {
            controllerLost = true;
            Controller::DataReset();
            timerCount = 0;
            XBee_LED = LED_OFF;
        }
    }
}