Diff: main.cpp

Revision:

0:418c739a67df

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 19 06:37:45 2014 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "sub.hpp"
+#include "notch.hpp"
+
+int main(){
+    common_setup();
+    int Lissajous = 50;
+    xbee.baud(38400);
+    xbee.attach(&rx_fifoset, xbee.RxIrq);
+    timer_setup.attach_us(&timer_interrupt, 5); // 5usec
+    while(1){
+        tx_fifo_check();
+        if(timer_value[1] > 19){ // 0.1msec sampling
+            timer_value[1] = 0;
+            data1 = (float)gain * (analog_value2.read() - 0.5f);  // A/D in (3)
+            if(data1 < 0) data1 = -data1; // always detection ON
+            if(notch_1 != 0) data1 = notch_filter1(data1);
+            data2 = (float)gain * (analog_value3.read() - 0.5f);  // A/D in (4)
+            if(data2 < 0) data2 = -data2; // always detection ON
+            if(notch_2 != 0) data2 = notch_filter2(data2);
+            data3 = (float)Lissajous / 10.0 * (data1 - data2) * sqrt( data1*data1 + data2*data2 );
+        }
+        if(timer_value[2] > 999){  // 5msec
+            timer_value[2] = 0;
+            if(max_count != 0) data3 = move_mean_calc2(data3);
+            tx_message(0x400000 + ((uint16_t)((data3 + 1.0f) * 2047)<<4));
+        }
+        if(timer_value[0] > 199999){ // 1000msec
+            timer_value[0] = 0;
+            myled = !myled;
+        }
+        if(rx_fifo_check() == 1){
+            int sum = 0;
+            for (int i=0; i<6; i++) sum += conv_hex(raw_data[i])<<(4*(5-i));
+            tx_message(sum); // Echo Back 
+            if(sum>>16 == 0x80){
+                switch((sum & 0xff00)>>8){
+                    case 0x00:
+//                        fir_lpf = sum & 0x01;
+                        Lissajous = sum & 0x7f;
+                        break;
+                    case 0x01:
+                        gain = sum & 0x0f;
+                        break;
+                    case 0x02:
+                        max_count = sum & 0x7f;
+                        if (max_count>100) max_count = 100;
+                        sum_clear();
+                        break;
+                    case 0x03:
+                        notch_1 = sum & 0x01;
+                        break;
+                    case 0x04:
+                        notch_2 = sum & 0x01;
+                        break;
+                    case 0x05:
+                        coef_set(sum & 0x3f);
+                        break;
+                    case 0x06:
+//                        emergence = sum & 0x01;
+                        break;
+                }
+            }
+        }        
+    }
+}