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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

communicate.h@23:5c56747bcc43, 2015-09-18 (annotated)

Committer:
DeguNaoto
Date:
Fri Sep 18 02:36:45 2015 +0000
Revision:
23:5c56747bcc43
Parent:
22:3996c3f41922
Child:
25:e591b9fa5796
manualModePs3()?????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /***RS485 Communication.***/
DeguNaoto 18:526124eef0d1 2 #define RS485_TX p13
DeguNaoto 18:526124eef0d1 3 #define RS485_RX p14
DeguNaoto 0:bd4719e15f7e 4 Serial RS485(RS485_TX, RS485_RX);
DeguNaoto 4:51d87d2b698c 5 inline void sendData(int address, int data5) {
DeguNaoto 4:51d87d2b698c 6 unsigned int data;
DeguNaoto 4:51d87d2b698c 7 if (data5 <= 31) {
DeguNaoto 4:51d87d2b698c 8 data = ((address << 5) | data5);
DeguNaoto 4:51d87d2b698c 9 RS485.putc(data);
DeguNaoto 4:51d87d2b698c 10 }
DeguNaoto 4:51d87d2b698c 11 }
DeguNaoto 0:bd4719e15f7e 12
DeguNaoto 0:bd4719e15f7e 13 /***Get state ps3con.***/
DeguNaoto 18:526124eef0d1 14 #define SBDBT_TX p28
DeguNaoto 18:526124eef0d1 15 #define SBDBT_RX p27
DeguNaoto 0:bd4719e15f7e 16 Serial SBDBT(SBDBT_TX, SBDBT_RX);
DeguNaoto 0:bd4719e15f7e 17 #define ps3_start 0x80
DeguNaoto 18:526124eef0d1 18 short toggle = 0;
DeguNaoto 18:526124eef0d1 19 short edge_circle = 0;
DeguNaoto 18:526124eef0d1 20 short edge_triangle = 0;
DeguNaoto 21:79b94cb922f0 21 short edge_square = 0;
DeguNaoto 18:526124eef0d1 22 short edge_r1 = 0;
DeguNaoto 18:526124eef0d1 23 short edge_l1 = 0;
DeguNaoto 18:526124eef0d1 24 short edge_l_up = 0;
DeguNaoto 18:526124eef0d1 25 short edge_l_down = 0;
DeguNaoto 18:526124eef0d1 26 short edge_r_up = 0;
DeguNaoto 18:526124eef0d1 27 short edge_r_down = 0;
DeguNaoto 18:526124eef0d1 28 short edge_right = 0;
DeguNaoto 18:526124eef0d1 29 short edge_left = 0;
DeguNaoto 18:526124eef0d1 30 short edge_up = 0;
DeguNaoto 18:526124eef0d1 31 short square = 0;
DeguNaoto 18:526124eef0d1 32 short triangle = 0;
DeguNaoto 18:526124eef0d1 33 short circle = 0;
DeguNaoto 18:526124eef0d1 34 short cross = 0;
DeguNaoto 18:526124eef0d1 35 short up = 0;
DeguNaoto 18:526124eef0d1 36 short down = 0;
DeguNaoto 18:526124eef0d1 37 short right = 0;
DeguNaoto 18:526124eef0d1 38 short left = 0;
DeguNaoto 18:526124eef0d1 39 short l1 = 0;
DeguNaoto 18:526124eef0d1 40 short l2 = 0;
DeguNaoto 18:526124eef0d1 41 short r1 = 0;
DeguNaoto 18:526124eef0d1 42 short r2 = 0;
DeguNaoto 18:526124eef0d1 43 signed int analog_lx = 0;
DeguNaoto 18:526124eef0d1 44 signed int analog_ly = 0;
DeguNaoto 18:526124eef0d1 45 signed int analog_rx = 0;
DeguNaoto 18:526124eef0d1 46 signed int analog_ry = 0;
DeguNaoto 18:526124eef0d1 47 int count = 0;
DeguNaoto 18:526124eef0d1 48 int sample = 0;
DeguNaoto 0:bd4719e15f7e 49 int ps3_data[7];
DeguNaoto 18:526124eef0d1 50 inline void data_clear();
DeguNaoto 18:526124eef0d1 51 inline void data_check();
DeguNaoto 18:526124eef0d1 52 inline void SBDBT_interrupt();
DeguNaoto 18:526124eef0d1 53 inline void initializeSBDBT();
DeguNaoto 18:526124eef0d1 54
DeguNaoto 2:cf8ca6742db9 55 inline void data_clear()
DeguNaoto 2:cf8ca6742db9 56 {
DeguNaoto 2:cf8ca6742db9 57 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 58 }
DeguNaoto 2:cf8ca6742db9 59 inline void data_check()
DeguNaoto 2:cf8ca6742db9 60 {
DeguNaoto 0:bd4719e15f7e 61 square=0,triangle=0,circle=0,cross=0,up=0,down=0,right=0,left=0,l1=0,l2=0,r1=0,r2=0;
DeguNaoto 0:bd4719e15f7e 62 analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
DeguNaoto 0:bd4719e15f7e 63 if((ps3_data[0]==0x00)&&(ps3_data[1]==0x01)) up=1;
DeguNaoto 0:bd4719e15f7e 64 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x02)) down=1;
DeguNaoto 0:bd4719e15f7e 65 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x04)) right=1;
DeguNaoto 0:bd4719e15f7e 66 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x08)) left=1;
DeguNaoto 0:bd4719e15f7e 67 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x10)) triangle=1;
DeguNaoto 0:bd4719e15f7e 68 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x20)) cross=1;
DeguNaoto 0:bd4719e15f7e 69 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x40)) circle=1;
DeguNaoto 0:bd4719e15f7e 70 else if((ps3_data[0]==0x01)&&(ps3_data[1]==0x00)) square=1;
DeguNaoto 0:bd4719e15f7e 71 else if((ps3_data[0]==0x02)&&(ps3_data[1]==0x00)) l1=1;
DeguNaoto 0:bd4719e15f7e 72 else if((ps3_data[0]==0x04)&&(ps3_data[1]==0x00)) l2=1;
DeguNaoto 0:bd4719e15f7e 73 else if((ps3_data[0]==0x08)&&(ps3_data[1]==0x00)) r1=1;
DeguNaoto 0:bd4719e15f7e 74 else if((ps3_data[0]==0x10)&&(ps3_data[1]==0x00)) r2=1;
DeguNaoto 8:1638e8c8ca93 75 analog_lx=64-(signed int)ps3_data[2];
DeguNaoto 8:1638e8c8ca93 76 analog_ly=64-(signed int)ps3_data[3];
DeguNaoto 8:1638e8c8ca93 77 analog_rx=64-(signed int)ps3_data[4];
DeguNaoto 8:1638e8c8ca93 78 analog_ry=64-(signed int)ps3_data[5];
DeguNaoto 4:51d87d2b698c 79 if(!circle) edge_circle=1;
DeguNaoto 4:51d87d2b698c 80 if(!triangle) edge_triangle=1;
DeguNaoto 4:51d87d2b698c 81 if(!r1) edge_r1=1;
DeguNaoto 4:51d87d2b698c 82 if(!l1) edge_l1=1;
DeguNaoto 4:51d87d2b698c 83 if(!edge_right) edge_right=1;
DeguNaoto 4:51d87d2b698c 84 if(!edge_left) edge_left=1;
DeguNaoto 4:51d87d2b698c 85 if(!edge_up) edge_up=1;
DeguNaoto 21:79b94cb922f0 86 if(!edge_square) edge_square=1;
DeguNaoto 0:bd4719e15f7e 87 }
DeguNaoto 0:bd4719e15f7e 88 ///interrupt SBDBT RX.
DeguNaoto 2:cf8ca6742db9 89 inline void SBDBT_interrupt()
DeguNaoto 2:cf8ca6742db9 90 {
DeguNaoto 0:bd4719e15f7e 91 sample=SBDBT.getc();
DeguNaoto 0:bd4719e15f7e 92 if(count==7) data_clear();
DeguNaoto 0:bd4719e15f7e 93 if(sample==ps3_start) count=0;
DeguNaoto 2:cf8ca6742db9 94 else {
DeguNaoto 0:bd4719e15f7e 95 ps3_data[count]=sample;
DeguNaoto 0:bd4719e15f7e 96 count++;
DeguNaoto 0:bd4719e15f7e 97 }
DeguNaoto 0:bd4719e15f7e 98 if(count==6) data_check();
DeguNaoto 0:bd4719e15f7e 99 }
DeguNaoto 2:cf8ca6742db9 100 inline void initializeSBDBT()
DeguNaoto 2:cf8ca6742db9 101 {
DeguNaoto 22:3996c3f41922 102 wait(0.1);
DeguNaoto 22:3996c3f41922 103 while(analog_ly==-64)
DeguNaoto 2:cf8ca6742db9 104 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 105 SBDBT.baud(2400);
DeguNaoto 0:bd4719e15f7e 106 SBDBT.format(8, Serial::None, 1);
DeguNaoto 0:bd4719e15f7e 107 SBDBT.attach(SBDBT_interrupt, Serial::RxIrq);
DeguNaoto 0:bd4719e15f7e 108 }