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Dependencies: mbed TrapezoidControl QEI
Communication/Controller/Controller.cpp
- Committer:
- t_yamamoto
- Date:
- 2018-09-08
- Revision:
- 0:669ef71cba68
File content as of revision 0:669ef71cba68:
#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; } } }