usart.cpp

00001 #include "mbed.h"
00002 
00003 
00004 #define KEYCODE 0xAA
00005 #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])
00006 #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])
00007 #define DATA_NUM 11
00008 #define CHECK (DATA_NUM - 1)
00009 
00010 
00011 extern Serial Mbed;
00012 extern Serial pc;
00013 
00014 extern uint8_t PingData[4];
00015 extern uint8_t IrData[3];
00016 extern uint8_t IrNum;
00017 extern int Compass;
00018 
00019 
00020 
00021 void micon_rx(){
00022     
00023     static uint8_t rx;
00024     static int rx_data[DATA_NUM];
00025     
00026     rx_data[rx] = Mbed.getc();
00027     
00028     if(rx_data[0] == KEYCODE){
00029         rx++;
00030     }
00031     
00032     if(rx >= DATA_NUM){
00033         if(rx_data[CHECK] == RX_CHECKCODE){
00034             IrData[0] = rx_data[1];
00035             IrData[1] = rx_data[2];
00036             IrData[2] = rx_data[3];
00037             PingData[0] = rx_data[4];
00038             PingData[1] = rx_data[5];
00039             PingData[2] = rx_data[6];
00040             PingData[3] = rx_data[7];
00041             Compass = rx_data[8] | rx_data[9]<<8;
00042             
00043             if((IrData[0] == 255)||(IrData[1] == 255)||(IrData[2] == 255)){
00044                 IrNum = 12;
00045                 
00046             }else{
00047                 IrNum = IrData[0]/12;
00048             } 
00049             //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]);
00050             //pc.printf("compass: %d\n",compass);
00051             //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping[0],ping[1],ping[2],ping[3]);
00052             //pc.printf("ir_min:%d\tir_num:%d\tir_main:%d\n",ir_min,ir_num,ir_main);
00053             
00054         } 
00055      rx = 0;   
00056     }
00057     
00058     //pc.printf("%d\n", rx_data[rx]);
00059 }
00060 /*
00061 void micon_tx(){
00062     
00063     static uint8_t tx;
00064     static uint8_t tx_data[DATA_NUM];
00065     
00066     if(tx >= DATA_NUM){
00067         tx_data[0] = KEYCODE;
00068         tx_data[1] = KEYCODE;
00069         tx_data[2] = KEYCODE;
00070         tx_data[3] = KEYCODE;
00071         tx_data[4] = KEYCODE;
00072         tx_data[5] = KEYCODE;
00073         tx_data[6] = KEYCODE;
00074         tx_data[7] = KEYCODE;
00075         tx_data[8] = KEYCODE;
00076         tx_data[9] = KEYCODE;
00077         tx_data[10] = KEYCODE;
00078         tx_data[11] = TX_CHECKCODE;
00079         
00080         tx = 0;
00081     }
00082     
00083     sensor.putc(tx_data[tx]);
00084     tx++;
00085 }
00086 */