File content as of revision 2:be605799793f:

#include "mbed.h"
#include "MODSERIAL.h"
//#include "init.h"

#include <map>
#include <string>


class BluetoothComm
{
public:
    BluetoothComm(PinName pwm, PinName dirpin);
    void readDataFromSD();
    void readParamsFromSD();
    bool parity(short c);
    char* checkSum(char* b, int len);
    void sendError(char errCode);
    void setCharge(short level);
    void setValues(std::map<string, short> newValues);
    void writeParamsToSDCard();
    void writeDataToSDCard();
    void send(char* cmd);
    void sendValues(char* paramList);
    void sendReadOnlyValues();
    bool msgCheck(char* msg, int len);
    void processReadOnly(char* message, int len);
    void processRead(char* message, int len);
    void processWrite(char* message, int len);
    void process(char* message, int len);
    void attachment();
    int main();
private:
    MODSERIAL rn42; // serial object to read data coming in
    //Map containing values of Exo parameters
    std::map<std::string, short> paramMap;
    //Maps parameter indices to param names
    std::string indexMap[50];
    //Last received MSG
    char msg[50];
    //Value of Exo parameters, stored locally
    char localValues[50];
    char curMsg[50];
    //START/END bytes, parameter indices
    static const char START = 0xff;
    static const char END = 0xfe;
    static const char KPSTANCE_IND = 0x0;
    static const char KPSWING_IND = 0x1;
    static const char KPSTAND_IND = 0x2;
    static const char KPSIT_IND = 0x3;
    static const char KPUP_IND = 0x4;
    static const char KPDOWN_IND = 0x5;
    static const char KDSTANCE_IND = 0x6;
    static const char KDSWING_IND = 0x7;
    static const char KDSTAND_IND = 0x8;
    static const char KDSIT_IND = 0x9;
    static const char KDUP_IND = 0xa;
    static const char KDDOWN_IND = 0xb;
    static const char STAND_IND = 0xc;
    static const char SIT_IND = 0xd;
    static const char BENT_IND = 0xe;
    static const char FORWARD_IND = 0xf;
    static const char REAR_IND = 0x10;
    static const char IMU_IND = 0x11;
    static const char RETRACT_IND = 0x12;
    static const char EXTEND_IND = 0x13;
    static const char LOCK_IND = 0x14;
    static const char RATE_IND = 0x15;
    int numVars;
    //Last sent command
    char lastCmd[50];
    int failures;
    //Error codes
    static const char START_ERR = 1;
    static const char END_ERR = 2;
    static const char PARITY_ERR = 3;
    static const char CHECKSUM_ERR = 4;
    static const char VAR_ERR = 5;
    static const char DATA_ERR =  6;
    static const char RW_ERR = 7;
    //Readonly Parameters
    int numReadOnlyParams;
    short readOnlyParams[12];
    //Indices where an escape char. is needed
    int escapeNeeded[9];
    int escapesNeeded;
    //Indicates a readonly request
    static const char READONLY_IND = 0x1f;
    int len;
    int counter;
    bool inMsg;
    int data;
};