File content as of revision 16:83721dac1049:

#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 CompassData[2];
/*
void micon_rx(){
    
    static uint8_t rx;
    static uint8_t 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){
             pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]);
        }  
     rx = 0;   
    }

}
*/
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] = IrData[0];
        tx_data[2] = IrData[1];
        tx_data[3] = IrData[2];
        tx_data[4] = PingData[0];
        tx_data[5] = PingData[1];
        tx_data[6] = PingData[2];
        tx_data[7] = PingData[3];
        tx_data[8] = CompassData[0];
        tx_data[9] = CompassData[1];
        tx_data[10] = TX_CHECKCODE;
        
        tx = 0;
        
    //pc.printf("%d %d %d %d\n",PingData[0],PingData[1],PingData[2],PingData[3]);
    }
    
    
    Mbed.putc(tx_data[tx]);
    tx++;
    //wait(0.1);
}