version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
Diff: usart.cpp
- Revision:
- 4:2857f273a7f4
- Child:
- 5:09afcbe0c18f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/usart.cpp Wed Mar 11 01:03:00 2015 +0000 @@ -0,0 +1,86 @@ +#include "mbed.h" + + +#define KEYCODE 0xAA +#define TX_CHECKCODE (tx_data[1]^tx_data[2]^tx_data[3]^tx_data[4]^tx_data[5]^tx_data[6]^tx_data[7]^tx_data[8]^tx_data[9]) +#define RX_CHECKCODE (rx_data[1]^rx_data[2]^rx_data[3]^rx_data[4]^rx_data[5]^rx_data[6]^rx_data[7]^rx_data[8]^rx_data[9]) +#define DATA_NUM 11 +#define CHECK (DATA_NUM - 1) + + +extern Serial Mbed; +extern Serial pc; + +extern uint8_t PingData[4]; +extern uint8_t IrData[3]; +extern uint8_t IrNum; +extern unsigned int Compass; + + + +void micon_rx(){ + + static uint8_t rx; + static int rx_data[DATA_NUM]; + + rx_data[rx] = Mbed.getc(); + + if(rx_data[0] == KEYCODE){ + rx++; + } + + if(rx >= DATA_NUM){ + if(rx_data[CHECK] == RX_CHECKCODE){ + IrData[0] = rx_data[1]; + IrData[1] = rx_data[2]; + IrData[2] = rx_data[3]; + PingData[0] = rx_data[4]; + PingData[1] = rx_data[5]; + PingData[2] = rx_data[6]; + PingData[3] = rx_data[7]; + Compass = rx_data[8] + rx_data[9]; + + if((IrData[0] == 255)||(IrData[1] == 255)||(IrData[2] == 255)){ + IrNum = 12; + + }else{ + IrNum = IrData[0]/12; + } + //pc.printf("%d\t %d\t %d\t %d\t %d\t %d\t\n",rx_data[3],rx_data[4],rx_data[5],rx_data[6],rx_data[7],rx_data[8]); + //pc.printf("compass: %d\n",compass); + //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping[0],ping[1],ping[2],ping[3]); + //pc.printf("ir_min:%d\tir_num:%d\tir_main:%d\n",ir_min,ir_num,ir_main); + + } + rx = 0; + } + + //pc.printf("%d\n", rx_data[rx]); +} +/* +void micon_tx(){ + + static uint8_t tx; + static uint8_t tx_data[DATA_NUM]; + + if(tx >= DATA_NUM){ + tx_data[0] = KEYCODE; + tx_data[1] = KEYCODE; + tx_data[2] = KEYCODE; + tx_data[3] = KEYCODE; + tx_data[4] = KEYCODE; + tx_data[5] = KEYCODE; + tx_data[6] = KEYCODE; + tx_data[7] = KEYCODE; + tx_data[8] = KEYCODE; + tx_data[9] = KEYCODE; + tx_data[10] = KEYCODE; + tx_data[11] = TX_CHECKCODE; + + tx = 0; + } + + sensor.putc(tx_data[tx]); + tx++; +} +*/ \ No newline at end of file