File content as of revision 2:e84bb87eea71:

#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]);
}