void
handle_BIT(float val)
{
int bit;
float p, l;
static float sum;
static int cnt = 0;
static int idx = 0;
static int byte = 0;
if (cnt == 0)
{
sum = val;
cnt++;
return;
}
else
{
cnt++;
sum += val;
}
l = 2.0 * _lock;
p = (100.0 * (sum - l)) / l;
bit = -1;
if ((cnt == 2) && (p > 50))
{
if (_verbose > 1)
printf("BIT 0: %6.2f %6.2f, %6.2f (%d)\n", val, sum, p, idx);
cnt = 0;
bit = 0;
}
if (cnt == 4)
{
if (_verbose > 1)
printf("BIT 1: %6.2f %6.2f, %6.2f (%d)\n", val, sum, p, idx);
cnt = 0;
bit = 1;
}
if (bit < 0)
return;
byte >>= 1;
byte = (byte & 0x1ff) | (bit << 9);
idx++;
if (idx == 10)
{
idx = 0;
handle_byte((byte & 0xff) ^ 0x80);
if ((byte & 0x300) != 0x300)
printf("BYTE ERROR\n");
}
}
int main()
{
pid.minOutput = 0.0;
pid.maxOutput = 1.0;
pc.baud(115200);
aout.write(initial_setpoint);
while (true)
{
input = ain.read();
pid.update(input, millis());
aout.write(pid.output);
if (pc.readable())
{
handle_byte(pc.getc());
}
}
return 0;
}
