Diff: Communication/Controller/Controller.cpp

Revision:

0:669ef71cba68

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/Controller/Controller.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,100 @@
+#include "Controller.h"
+
+#include "Mu/Mu.h"
+#include "../../../LED/LED.h"
+
+using namespace MU;
+
+namespace CONTROLLER {
+    Ticker MuTimer;
+
+    void UartUpdate();
+    void LostCheck();
+
+    namespace {
+        ControllerData ctrData;
+        ControllerData keepCtrData;
+        const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
+        const char check[] = "DR=";
+        volatile char packet[24];
+
+        bool controllerLost = false;
+
+        uint8_t timerCount = 0;
+    }
+
+    void Controller::Initialize() {
+        MuUart.attach(UartUpdate, Serial::RxIrq);
+        MuTimer.attach(LostCheck, 0.025);
+        DataReset();
+    }
+
+    ControllerData* Controller::GetData() {
+        __disable_irq();
+        for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
+        __enable_irq();
+        return &keepCtrData;
+    }
+
+    void Controller::DataReset() {
+        // __disable_irq();
+        for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
+        // __enable_irq();
+    }
+
+    bool Controller::CheckControllerLost() {
+        return controllerLost;
+    }
+
+    void UartUpdate() {
+        static bool phase = false;
+        static uint8_t count = 0;
+        static uint8_t ledCount = 0;
+
+        char data = MuUart.getc();
+
+        if(phase) {
+            packet[count] = data;
+            if(count < 2) {
+                if(data != check[count]) {
+                    phase = false;
+                    // controllerLost = true;
+                    LED_MU = LED_OFF;
+                }
+            }
+            else if(count == 9) {
+                if(data != '\r') {
+                    phase = false;
+                    count = 0;
+                } else {
+                    ctrData.buf[0] = packet[5];
+                    ctrData.buf[1] = packet[6];
+                    ctrData.buf[2] = packet[7];
+                    ctrData.buf[3] = packet[8];
+                    phase = false;
+                    timerCount = 0;
+                    controllerLost = false;
+                    LED_MU = LED_ON;
+                }
+            }
+            count++;
+        }
+        else {
+            if(data == '*') {
+                count = 0;
+                phase = true;
+            }
+        }
+    }
+
+    void LostCheck() {
+        timerCount++;
+        if(timerCount == 2) LED_MU = LED_OFF;
+        if(timerCount >= 20) {
+            controllerLost = true;
+            Controller::DataReset();
+            timerCount = 0;
+            LED_MU = LED_OFF;
+        }
+    }
+}