version 3 通信方式,マイコン等に変更あり
Dependencies: AQM0802A PID Servo mbed
usart.cpp
- Committer:
- ryuna
- Date:
- 2015-03-13
- Revision:
- 5:09afcbe0c18f
- Parent:
- 4:2857f273a7f4
File content as of revision 5:09afcbe0c18f:
#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 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]<<8; 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++; } */