Create wheelControl_SPI.ino

arduino/Ecam/ecamlib.c

@@ -0,0 +1,41 @@
+#include "ecamlib.h"
+
+float bytesToFloat(unsigned char b0, unsigned char b1, unsigned char b2, unsigned char b3) {
+    union {
+        float f;
+        unsigned char b[4];
+    } number;
+
+    number.b[0] = b0;
+    number.b[1] = b1;
+    number.b[2] = b2;
+    number.b[3] = b3;
+
+    return number.f;
+}
+
+int bytesToInt(unsigned char b0, unsigned char b1) {
+    union {
+        int i;
+        unsigned char b[2];
+    } number;
+
+    number.b[0] = b0;
+    number.b[1] = b1;
+
+    return number.i;
+}
+
+long bytesToLong(unsigned char b0, unsigned char b1, unsigned char b2, unsigned char b3) {
+    union {
+        long l;
+        unsigned char b[4];
+    } number;
+
+    number.b[0] = b0;
+    number.b[1] = b1;
+    number.b[2] = b2;
+    number.b[3] = b3;
+
+    return number.l;
+}

arduino/Ecam/ecamlib.h

@@ -0,0 +1,46 @@
+#ifndef ecamlib_h
+#define ecamlib_h
+
+#if ARDUINO >= 100
+  #include "Arduino.h"
+#else
+  #include "WProgram.h"
+  #include "pins_arduino.h"
+  #include "WConstants.h"
+#endif
+
+/*
+    C++ performs name mangling, in order to be able to
+    call C functions from it we need to tell it to use 
+    the C convention for these functions.
+*/
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /*
+        bytesToFloat expects an array of four bytes and
+        converts them to a float value
+    */
+    float bytesToFloat(unsigned char b0, unsigned char b1, unsigned char b2, unsigned char b3);
+
+    /*
+        bytesToInt expects an array of two bytes and
+        converts them to a int value. Because on the
+        Arduino Uno ints are 16-bits.
+    */
+    int bytesToInt(unsigned char b0, unsigned char b1);
+
+    /*
+        bytesToLong expects an array of four bytes and
+        converts them to a long value. Because on the
+        Arduino Uno longs are 32-bits.
+    */
+    long bytesToLong(unsigned char b0, unsigned char b1, unsigned char b2, unsigned char b3);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif