Diff: sub.hpp

Revision:

0:14c6afea35c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sub.hpp	Tue Dec 09 00:51:38 2014 +0000
@@ -0,0 +1,73 @@
+unsigned char rxFIFO[256], txFIFO[256], raw_data[6];
+unsigned char rx_top, rx_end, tx_top, tx_end, phase;
+int timer_value[6];
+
+RawSerial xbee(PA_2, PA_3);
+Ticker timer_setup;
+AnalogIn analog_value0(A0);
+AnalogIn analog_value1(A1);
+AnalogIn analog_value2(A2);
+AnalogIn analog_value3(A3);
+DigitalOut myled(LED1);
+
+void common_setup(){
+    rx_top = rx_end = tx_top = tx_end = phase = 0; 
+}
+
+void timer_interrupt(){
+    int i;
+    for (i=0; i<6; i++) ++timer_value[i] &= 65535;
+}
+
+void tx_fifo_check(){
+    if(xbee.writeable() == 1){
+        if(tx_top != tx_end){
+            xbee.putc(txFIFO[tx_end]);
+            ++tx_end &= 255;
+        }
+    }
+}
+
+int rx_fifo_check(){
+    unsigned char data;
+    if(rx_top != rx_end){
+        data = rxFIFO[rx_end];
+        ++rx_end &= 255;
+        if (data < 33){
+            phase = 0;
+            return(1);
+        }
+        raw_data[phase] = data;
+        if(++phase > 5) phase = 0;
+        return(0);
+    }
+    return(0);
+}
+
+void rx_fifoset(void){
+    rxFIFO[rx_top] = xbee.getc();
+    ++rx_top &= 255;
+}
+
+void tx_fifoset(unsigned char data){
+    txFIFO[tx_top] = data;
+    ++tx_top &= 255;
+}
+
+unsigned char hex_conv(unsigned char data){
+    data &= 15;
+    if(data < 10) return(data+48);
+    else return(data+55);
+}
+
+unsigned char conv_hex(unsigned char data){
+    if((data > 47) && (data < 58)) return(data-48);
+    else if((data > 64) && (data < 71)) return(data-55);
+    return(0);
+}
+
+void tx_message(int data){
+    int i;
+    for (i=0; i<6; i++) tx_fifoset(hex_conv((data>>(4*(5-i))) & 15));
+    tx_fifoset(13);
+}