Diff: usart.cpp

Revision:

2:e84bb87eea71

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usart.cpp	Tue Mar 10 08:28:15 2015 +0000
@@ -0,0 +1,46 @@
+#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]^tx_data[10])
+#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]^tx_data[10])
+#define DATA_NUM 11
+#define CHECK (DATA_NUM - 1)
+
+
+extern Serial sensor;
+extern Serial pc;
+
+extern uint8_t ping[4];
+
+
+
+void micon_rx(){
+    
+    static uint8_t rx;
+    static int rx_data[DATA_NUM];
+    
+    rx_data[rx] = sensor.getc();
+    
+    if(rx_data[0] == KEYCODE){
+        rx++;
+    }
+    
+    if(rx >= DATA_NUM){
+        if(rx_data[CHECK] == RX_CHECKCODE){
+            ir_min = rx_data[1];
+            ir_num = rx_data[2];
+            ping[FRONT] = rx_data[3];
+            ping[LEFT] = rx_data[4];
+            ping[BACK] = rx_data[5];
+            ping[RIGHT] = rx_data[6];
+            compass = rx_data[7] + rx_data[8];
+            ir_main = rx_data[9];
+            //pc.printf("compass: %d\n",compass);
+ 
+        } 
+     rx = 0;   
+    }
+    
+    //pc.printf("%d\n", rx_data[rx]);
+}
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