Diff: main.cpp

Revision:

3:92c039aed84a

Parent:

2:f975d9cb584d

--- a/main.cpp	Tue Sep 18 02:20:23 2018 +0000
+++ b/main.cpp	Sat Sep 22 06:55:34 2018 +0000
@@ -1,36 +1,49 @@
 #include "mbed.h"
 //#include "Serial.h"
 
-RawSerial pc(PA_2,PA_3,57600);
-//RawSerial uart1(PB_6,PB_7,57600);
+RawSerial pc(PA_2,PA_3,115200);
+//RawSerial pc(PB_6,PB_7,115200);
 //Serial MySerial1(PA_2,PA_3);
 
 
- 
+ char g_landingcommand;
 
  
 void ISR_Serial_Rx()
 {
-    
-    
-    // シリアルの受信処理
-    
-    char data=pc.getc();
-    
-    
+       static char SFbuf[16];
+        static int bufcounter=0;
+        
+        
+            SFbuf[bufcounter] = pc.getc();    
+        
+        
+        
+        if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
+            
+        if(bufcounter==5 && SFbuf[4]=='F'){
+            g_landingcommand = SFbuf[1];
+            pc.printf("S");
+            pc.printf("%c",g_landingcommand);
+            pc.printf("A");
+            pc.printf("A");
+            pc.printf("F");
+            wait_ms(31);
+            bufcounter = 0;
+            memset(SFbuf, 0, strlen(SFbuf));
+         }
+            else if(bufcounter>=5 ){
+                //pc.printf("Communication Falsed.\r\n");
+                bufcounter = 0;
+                memset(SFbuf, 0, strlen(SFbuf));
+            } 
+           
+}
 
-    
-        // メイン処理
-       pc.printf("%c",data);
-       
-    
-    
-    
-}
  
 int main()
 {
- 
+     
     // シリアル通信受信の割り込みイベント登録
     pc.attach(ISR_Serial_Rx, Serial::RxIrq);