Michael Ling / UI_old

Code to process UI input messages and verify them with checksum.

UserInterface.cpp@0:6b5a3a0138ad, 2015-02-04 (annotated)

Committer:
mzling
Date:
Wed Feb 04 23:53:56 2015 +0000
Revision:
0:6b5a3a0138ad
Child:
1:7795fb7ee3f3
UserInterface code--correct checksum behavior and reformatted

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mzling 0:6b5a3a0138ad 1 #include "mbed.h"
mzling 0:6b5a3a0138ad 2 #include "MODSERIAL.h"
mzling 0:6b5a3a0138ad 3 #include "initDatabed.h"
mzling 0:6b5a3a0138ad 4 #include "UserInterface.h"
mzling 0:6b5a3a0138ad 5
mzling 0:6b5a3a0138ad 6 // UI button variables
mzling 0:6b5a3a0138ad 7 //int buttonA = 1; // state of remote button
mzling 0:6b5a3a0138ad 8 //int buttonA_prev = 1;
mzling 0:6b5a3a0138ad 9
mzling 0:6b5a3a0138ad 10 // push hold vars
mzling 0:6b5a3a0138ad 11 //float tHold = .6; // hold time for sit/stand
mzling 0:6b5a3a0138ad 12 //float tIdle = 2; // time out to confirm sit or stance (s)
mzling 0:6b5a3a0138ad 13 //int SSconfirm = 0; // sit/stand variable for confirmation process
mzling 0:6b5a3a0138ad 14 //float tRelease = .3; // time since last transmission to determine button release
mzling 0:6b5a3a0138ad 15
mzling 0:6b5a3a0138ad 16
mzling 0:6b5a3a0138ad 17 // various timers
mzling 0:6b5a3a0138ad 18 //Timer time_StateChange;
mzling 0:6b5a3a0138ad 19 //Timer time_pressA;
mzling 0:6b5a3a0138ad 20 //Timer time_pressB;
mzling 0:6b5a3a0138ad 21
mzling 0:6b5a3a0138ad 22 //int buttonB = 1; // state of remote button
mzling 0:6b5a3a0138ad 23 //int buttonB_prev = 1;
mzling 0:6b5a3a0138ad 24 //char __xbeeBuffer[250];
mzling 0:6b5a3a0138ad 25 //int _dataCnt=0;
mzling 0:6b5a3a0138ad 26 int UI = 0;
mzling 0:6b5a3a0138ad 27
mzling 0:6b5a3a0138ad 28 //float _time_sinceA, _time_sinceB; //time since the button was first pressed
mzling 0:6b5a3a0138ad 29
mzling 0:6b5a3a0138ad 30 UserInterface::UserInterface(void): _buttonA(1), _buttonA_prev(1), _tHold(.6), _tIdle(2), _SSconfirm(0), _tRelease(.3), _buttonB(1), _buttonB_prev(1), _dataCnt(0) {
mzling 0:6b5a3a0138ad 31 }
mzling 0:6b5a3a0138ad 32
mzling 0:6b5a3a0138ad 33 void UserInterface::readBuffer()
mzling 0:6b5a3a0138ad 34 {
mzling 0:6b5a3a0138ad 35 while (xbeeUI.readable() && _dataCnt<250) {
mzling 0:6b5a3a0138ad 36 _xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 37 _dataCnt++;
mzling 0:6b5a3a0138ad 38 }
mzling 0:6b5a3a0138ad 39 }
mzling 0:6b5a3a0138ad 40
mzling 0:6b5a3a0138ad 41 /**
mzling 0:6b5a3a0138ad 42 * This function returns an array of information about the received characters. count[0] is # of data bytes, count[1] is expected length of the message, given the data length bytes and presence
mzling 0:6b5a3a0138ad 43 * of escape characters. count[2] is position of the first data byte.
mzling 0:6b5a3a0138ad 44 * @param idx char array containing received data, beginning with the start byte 0x7e
mzling 0:6b5a3a0138ad 45 * @param count array that will contain the returned values
mzling 0:6b5a3a0138ad 46 * @author Michael Ling
mzling 0:6b5a3a0138ad 47 * @date 2/2/2015
mzling 0:6b5a3a0138ad 48 */
mzling 0:6b5a3a0138ad 49 void UserInterface::find_length(char *idx, int *count)
mzling 0:6b5a3a0138ad 50 {
mzling 0:6b5a3a0138ad 51 int pos = 0;
mzling 0:6b5a3a0138ad 52 short length;
mzling 0:6b5a3a0138ad 53 //This segment reads the length bytes (bytes 2-3 of the message)
mzling 0:6b5a3a0138ad 54 if (*(idx+1) == 0x7d) {
mzling 0:6b5a3a0138ad 55 length = (*(idx+2) ^ 0x20) << 8;
mzling 0:6b5a3a0138ad 56 pos = 3;
mzling 0:6b5a3a0138ad 57 } else {
mzling 0:6b5a3a0138ad 58 length = *(idx+1) << 8;
mzling 0:6b5a3a0138ad 59 pos = 2;
mzling 0:6b5a3a0138ad 60 }
mzling 0:6b5a3a0138ad 61 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 62 length = length | (*(idx+pos+1)^0x20);
mzling 0:6b5a3a0138ad 63 pos += 2;
mzling 0:6b5a3a0138ad 64 } else {
mzling 0:6b5a3a0138ad 65 length = length | *(idx+pos);
mzling 0:6b5a3a0138ad 66 pos += 1;
mzling 0:6b5a3a0138ad 67 }
mzling 0:6b5a3a0138ad 68 count[0] = (int)length;
mzling 0:6b5a3a0138ad 69 //Length incremented by 1--we treat the checksum as a data byte, since it can also be escaped
mzling 0:6b5a3a0138ad 70 length += 1;
mzling 0:6b5a3a0138ad 71 //Checks for escape characters--for every escape char found, the data section gets 1 byte longer
mzling 0:6b5a3a0138ad 72 for (short i = 0; i < length; i += 1) {
mzling 0:6b5a3a0138ad 73 if (*(idx+i) == 0x7d) {
mzling 0:6b5a3a0138ad 74 length += 1;
mzling 0:6b5a3a0138ad 75 }
mzling 0:6b5a3a0138ad 76 }
mzling 0:6b5a3a0138ad 77 count[1] = (int) length + 3;
mzling 0:6b5a3a0138ad 78 count[2] = pos;
mzling 0:6b5a3a0138ad 79 }
mzling 0:6b5a3a0138ad 80
mzling 0:6b5a3a0138ad 81 /**
mzling 0:6b5a3a0138ad 82 * This function returns true if calculated checksum matches the checksum at the end of the message.
mzling 0:6b5a3a0138ad 83 * @param idx char array containing received data, starting with start byte 0x7e
mzling 0:6b5a3a0138ad 84 * @param length number of data bytes in the message
mzling 0:6b5a3a0138ad 85 * @author Michael Ling
mzling 0:6b5a3a0138ad 86 * @date 2/2/2015
mzling 0:6b5a3a0138ad 87 */
mzling 0:6b5a3a0138ad 88 bool UserInterface::checksum_check(char *idx, int length)
mzling 0:6b5a3a0138ad 89 {
mzling 0:6b5a3a0138ad 90 int pos = 0;
mzling 0:6b5a3a0138ad 91 int sum = 0;
mzling 0:6b5a3a0138ad 92 for(int i = 0; i < length; i++) {
mzling 0:6b5a3a0138ad 93 //In case of an escape character, the true value of the byte is the following byte XOR with 0x20
mzling 0:6b5a3a0138ad 94 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 95 sum += (*(idx+pos+1) ^ 0x20);
mzling 0:6b5a3a0138ad 96 pos += 2;
mzling 0:6b5a3a0138ad 97 } else {
mzling 0:6b5a3a0138ad 98 sum += *(idx+pos);
mzling 0:6b5a3a0138ad 99 pos += 1;
mzling 0:6b5a3a0138ad 100 }
mzling 0:6b5a3a0138ad 101 }
mzling 0:6b5a3a0138ad 102 //XBEE checksum: sum all data bytes, truncate the sum to the rightmost 8 bytes, and subtract that from 0xff
mzling 0:6b5a3a0138ad 103 sum = sum & 0x0ff;
mzling 0:6b5a3a0138ad 104 char calcsum = (char)(0xff - sum);
mzling 0:6b5a3a0138ad 105 char checksum;
mzling 0:6b5a3a0138ad 106 if (*(idx+pos) == 0x7d) {
mzling 0:6b5a3a0138ad 107 checksum = *(idx+pos)^0x20;
mzling 0:6b5a3a0138ad 108 } else {
mzling 0:6b5a3a0138ad 109 checksum = *(idx+pos);
mzling 0:6b5a3a0138ad 110 }
mzling 0:6b5a3a0138ad 111 if (checksum != calcsum) {
mzling 0:6b5a3a0138ad 112 return false;
mzling 0:6b5a3a0138ad 113 }
mzling 0:6b5a3a0138ad 114 return true;
mzling 0:6b5a3a0138ad 115 }
mzling 0:6b5a3a0138ad 116
mzling 0:6b5a3a0138ad 117 void UserInterface::checkUI_XBee()
mzling 0:6b5a3a0138ad 118 {
mzling 0:6b5a3a0138ad 119 int sum = 0;
mzling 0:6b5a3a0138ad 120 _buttonA_prev = _buttonA;
mzling 0:6b5a3a0138ad 121 _buttonB_prev = _buttonB;
mzling 0:6b5a3a0138ad 122 char * idx = strchr(_xbeeBuffer,0x7e);
mzling 0:6b5a3a0138ad 123 if (idx != NULL) {
mzling 0:6b5a3a0138ad 124 int size[3];
mzling 0:6b5a3a0138ad 125 find_length(idx, size);
mzling 0:6b5a3a0138ad 126 pc.printf("Size: %d, Datacount: %d\r\n", size[1], _dataCnt);
mzling 0:6b5a3a0138ad 127 if(_dataCnt >= size[1]) {
mzling 0:6b5a3a0138ad 128
mzling 0:6b5a3a0138ad 129 _buttonA = (_xbeeBuffer[idx-_xbeeBuffer+21]>>1) & 1; // on DIO1
mzling 0:6b5a3a0138ad 130 _buttonB = (_xbeeBuffer[idx-_xbeeBuffer+21]>>2) & 1; // on DIO2
mzling 0:6b5a3a0138ad 131
mzling 0:6b5a3a0138ad 132 if (checksum_check(idx+size[2], size[0])) {
mzling 0:6b5a3a0138ad 133 pc.printf("Checksums match\r\n");
mzling 0:6b5a3a0138ad 134 } else {
mzling 0:6b5a3a0138ad 135 pc.printf("Checksums don't match\r\n");
mzling 0:6b5a3a0138ad 136 }
mzling 0:6b5a3a0138ad 137 _dataCnt = 0;
mzling 0:6b5a3a0138ad 138 }
mzling 0:6b5a3a0138ad 139 if(sum == 0x79c) {
mzling 0:6b5a3a0138ad 140 if (_buttonA == 0 && _buttonA_prev == 1) {//buton was just pressed
mzling 0:6b5a3a0138ad 141 _time_pressA.reset();
mzling 0:6b5a3a0138ad 142 _time_pressA.start();
mzling 0:6b5a3a0138ad 143 _time_sinceA = 0;
mzling 0:6b5a3a0138ad 144 }
mzling 0:6b5a3a0138ad 145
mzling 0:6b5a3a0138ad 146 else if(_buttonA == 0) {
mzling 0:6b5a3a0138ad 147 _time_sinceA = _time_pressA; //button is still pressed
mzling 0:6b5a3a0138ad 148 }
mzling 0:6b5a3a0138ad 149
mzling 0:6b5a3a0138ad 150 if (_buttonB == 0 && _buttonB_prev == 1) {//button was just pressed
mzling 0:6b5a3a0138ad 151 _time_pressB.reset();
mzling 0:6b5a3a0138ad 152 _time_pressB.start();
mzling 0:6b5a3a0138ad 153 _time_sinceB = 0;
mzling 0:6b5a3a0138ad 154 } else if(_buttonB == 0) {
mzling 0:6b5a3a0138ad 155 _time_sinceB = _time_pressB; //button is still pressed
mzling 0:6b5a3a0138ad 156 }
mzling 0:6b5a3a0138ad 157 }
mzling 0:6b5a3a0138ad 158
mzling 0:6b5a3a0138ad 159 if((_time_pressA-_time_sinceA) >= _tRelease) { //button was released
mzling 0:6b5a3a0138ad 160 if(_time_pressA-_tRelease >= _tHold) { //if the button was held before released
mzling 0:6b5a3a0138ad 161 UI = 3; //UI command is a held A button
mzling 0:6b5a3a0138ad 162 } else {
mzling 0:6b5a3a0138ad 163 UI = 1; //UI command is a pressed A button
mzling 0:6b5a3a0138ad 164 }
mzling 0:6b5a3a0138ad 165 _buttonA = 1; //button A is released
mzling 0:6b5a3a0138ad 166 _time_pressA.stop(); //reset the button A timer
mzling 0:6b5a3a0138ad 167 _time_pressA.reset();
mzling 0:6b5a3a0138ad 168 }
mzling 0:6b5a3a0138ad 169 if(_time_pressB-_time_sinceB >= _tRelease) { //button was released
mzling 0:6b5a3a0138ad 170 if(_time_pressB-_tRelease >= _tHold) { //if the button was held before released
mzling 0:6b5a3a0138ad 171 UI = 4; //UI command is a held B button
mzling 0:6b5a3a0138ad 172 } else {
mzling 0:6b5a3a0138ad 173 UI = 2; //UI command is a pressed B button
mzling 0:6b5a3a0138ad 174 }
mzling 0:6b5a3a0138ad 175 _buttonB = 1; //button B is released
mzling 0:6b5a3a0138ad 176 _time_pressB.stop(); //reset the button B timer
mzling 0:6b5a3a0138ad 177 _time_pressB.reset();
mzling 0:6b5a3a0138ad 178 }
mzling 0:6b5a3a0138ad 179 }
mzling 0:6b5a3a0138ad 180 memset(_xbeeBuffer,0xFF,250);
mzling 0:6b5a3a0138ad 181 _dataCnt = 0;
mzling 0:6b5a3a0138ad 182 }
mzling 0:6b5a3a0138ad 183
mzling 0:6b5a3a0138ad 184 /*void checkUI_XBee()
mzling 0:6b5a3a0138ad 185 {
mzling 0:6b5a3a0138ad 186
mzling 0:6b5a3a0138ad 187 _buttonA_prev = _buttonA;
mzling 0:6b5a3a0138ad 188 buttonB_prev = buttonB;
mzling 0:6b5a3a0138ad 189 while (xbeeUI.readable() && _dataCnt<250) {
mzling 0:6b5a3a0138ad 190 __xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 191 _dataCnt++;
mzling 0:6b5a3a0138ad 192 if (__xbeeBuffer[_dataCnt]==0x7e) {
mzling 0:6b5a3a0138ad 193 for(int i=0; i<22; i++) {
mzling 0:6b5a3a0138ad 194 if(xbeeUI.readable() {
mzling 0:6b5a3a0138ad 195 __xbeeBuffer[_dataCnt] = xbeeUI.getc();
mzling 0:6b5a3a0138ad 196 _dataCnt++;
mzling 0:6b5a3a0138ad 197 }
mzling 0:6b5a3a0138ad 198 }
mzling 0:6b5a3a0138ad 199 }
mzling 0:6b5a3a0138ad 200 char * idx=strchr(__xbeeBuffer,0x7e);
mzling 0:6b5a3a0138ad 201 _buttonA = (_xbeeBuffer[idx-_xbeeBuffer+21]>>1) & 1; // on DIO1
mzling 0:6b5a3a0138ad 202 buttonB = (_xbeeBuffer[idx-_xbeeBuffer+21]>>2) & 1; // on DIO2
mzling 0:6b5a3a0138ad 203 pc.printf("%x\r\n", *(idx+2));
mzling 0:6b5a3a0138ad 204 _dataCnt=0;
mzling 0:6b5a3a0138ad 205 if (buttonA == 0 && buttonA_prev==1) {//buton was just pressed
mzling 0:6b5a3a0138ad 206 time_pressA.reset();
mzling 0:6b5a3a0138ad 207 time_pressA.start();
mzling 0:6b5a3a0138ad 208 _time_sinceA=0;
mzling 0:6b5a3a0138ad 209 }
mzling 0:6b5a3a0138ad 210
mzling 0:6b5a3a0138ad 211 else if(buttonA==0) {
mzling 0:6b5a3a0138ad 212 _time_sinceA=time_pressA; //button is still pressed
mzling 0:6b5a3a0138ad 213 }
mzling 0:6b5a3a0138ad 214
mzling 0:6b5a3a0138ad 215 if (buttonB == 0 && buttonB_prev==1) {//button was just pressed
mzling 0:6b5a3a0138ad 216 time_pressB.reset();
mzling 0:6b5a3a0138ad 217 time_pressB.start();
mzling 0:6b5a3a0138ad 218 _time_sinceB=0;
mzling 0:6b5a3a0138ad 219 } else if(buttonB==0) {
mzling 0:6b5a3a0138ad 220 _time_sinceB=time_pressB; //button is still pressed
mzling 0:6b5a3a0138ad 221 }
mzling 0:6b5a3a0138ad 222 }
mzling 0:6b5a3a0138ad 223 if((time_pressA-_time_sinceA)>=tRelease) { //button was released
mzling 0:6b5a3a0138ad 224 if(time_pressA-tRelease>=tHold) { //if the button was held before released
mzling 0:6b5a3a0138ad 225 UI=3; //UI command is a held A button
mzling 0:6b5a3a0138ad 226 } else {
mzling 0:6b5a3a0138ad 227 UI=1; //UI command is a pressed A button
mzling 0:6b5a3a0138ad 228 }
mzling 0:6b5a3a0138ad 229 buttonA=1; //button A is released
mzling 0:6b5a3a0138ad 230 time_pressA.stop(); //reset the button A timer
mzling 0:6b5a3a0138ad 231 time_pressA.reset();
mzling 0:6b5a3a0138ad 232 }
mzling 0:6b5a3a0138ad 233 if(time_pressB-_time_sinceB>=tRelease) { //button was released
mzling 0:6b5a3a0138ad 234 if(time_pressB-tRelease>=tHold) { //if the button was held before released
mzling 0:6b5a3a0138ad 235 UI=4; //UI command is a held B button
mzling 0:6b5a3a0138ad 236 } else {
mzling 0:6b5a3a0138ad 237 UI=2; //UI command is a pressed B button
mzling 0:6b5a3a0138ad 238 }
mzling 0:6b5a3a0138ad 239 buttonB=1; //button B is released
mzling 0:6b5a3a0138ad 240 time_pressB.stop(); //reset the button B timer
mzling 0:6b5a3a0138ad 241 time_pressB.reset();
mzling 0:6b5a3a0138ad 242 }
mzling 0:6b5a3a0138ad 243
mzling 0:6b5a3a0138ad 244 _dataCnt=0;
mzling 0:6b5a3a0138ad 245 memset(__xbeeBuffer,0xF,250);
mzling 0:6b5a3a0138ad 246 }*/
mzling 0:6b5a3a0138ad 247
mzling 0:6b5a3a0138ad 248 void UserInterface::initializeUI()
mzling 0:6b5a3a0138ad 249 {
mzling 0:6b5a3a0138ad 250 xbeeUI.baud(115200);
mzling 0:6b5a3a0138ad 251 mainPower = 0;
mzling 0:6b5a3a0138ad 252
mzling 0:6b5a3a0138ad 253 }