main.cpp

00001 #include "mbed.h"
00002 #include "sub.hpp"
00003 #include "FIR_LPF.hpp"
00004 #include "notch.hpp"
00005 
00006 int main(){
00007     common_setup();
00008     xbee.baud(38400);
00009     xbee.attach(&rx_fifoset, xbee.RxIrq);
00010     timer_setup.attach_us(&timer_interrupt, 5); // 5usec
00011     notch_1 = notch_2 = 1;
00012     coef_set(60);   // Ham notch filter set
00013     while(1){
00014         tx_fifo_check();
00015         if(timer_value[1] > 19){ // 0.1msec sampling
00016             timer_value[1] = 0;
00017             float data1 = (float)gain * (analog_value2.read() - 0.5f);  // A/D in (3)
00018             if (data1 < 0) data1 = -data1; // always detection ON
00019             if (fir_lpf != 0) data1 = FIR_calc1(data1);      // FIR calc (1) call
00020             if (notch_1 != 0) data1 = notch_filter1(data1);
00021             if(timer_value[2] > 2999){  // 15msec
00022                 timer_value[2] = 0;
00023                 if(max_count != 0) data1 = move_mean_calc1(data1);
00024                 tx_message((uint16_t)((data1 + 1.0f) * 2047)<<4);
00025             }
00026         }
00027         if(timer_value[3] > 19){ // 0.1msec sampling
00028             timer_value[3] = 0;
00029             float data2 = (float)gain * (analog_value3.read() - 0.5f);  // A/D in (4)
00030             if (data2 < 0) data2 = -data2; // always detection ON
00031             if (fir_lpf != 0) data2 = FIR_calc2(data2);      // FIR calc (1) call
00032             if (notch_2 != 0) data2 = notch_filter2(data2);
00033             if(timer_value[4] > 2999){  // 15msec
00034                 timer_value[4] = 0;
00035                 if(max_count != 0) data2 = move_mean_calc2(data2);
00036                 tx_message(0x400000 + ((uint16_t)((data2 + 1.0f) * 2047)<<4));
00037             }
00038         }
00039         if(timer_value[0] > 199999){ // 1000msec
00040             timer_value[0] = 0;
00041             myled = !myled;
00042         }
00043         if(rx_fifo_check() == 1){
00044             int sum = 0;
00045             for (int i=0; i<6; i++) sum += conv_hex(raw_data[i])<<(4*(5-i));
00046             tx_message(sum); // Echo Back 
00047             if(sum>>16 == 0x80){
00048                 switch((sum & 0xff00)>>8){
00049                     case 0x00:
00050                         fir_lpf = sum & 0x01;
00051                         break;
00052                     case 0x01:
00053                         gain = sum & 0x0f;
00054                         break;
00055                     case 0x02:
00056                         max_count = sum & 0x7f;
00057                         if (max_count>100) max_count = 100;
00058                         sum_clear();
00059                         break;
00060                     case 0x03:
00061                         notch_1 = sum & 0x01;
00062                         break;
00063                     case 0x04:
00064                         notch_2 = sum & 0x01;
00065                         break;
00066                     case 0x05:
00067                         coef_set(sum & 0x3f);
00068                         break;
00069                 }
00070             }
00071         }        
00072     }
00073 }