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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

communicate.h@14:a99f81878336, 2015-09-16 (annotated)

Committer:
DeguNaoto
Date:
Wed Sep 16 08:11:06 2015 +0000
Revision:
14:a99f81878336
Parent:
13:87794ce49b50 
??????????????????????? "MachineState"??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /***RS485 Communication.***/
DeguNaoto 4:51d87d2b698c 2
DeguNaoto 0:bd4719e15f7e 3 Serial RS485(RS485_TX, RS485_RX);
DeguNaoto 4:51d87d2b698c 4 inline void sendData(int address, int data5) {
DeguNaoto 4:51d87d2b698c 5 unsigned int data;
DeguNaoto 4:51d87d2b698c 6 if (data5 <= 31) {
DeguNaoto 4:51d87d2b698c 7 data = ((address << 5) | data5);
DeguNaoto 4:51d87d2b698c 8 RS485.putc(data);
DeguNaoto 4:51d87d2b698c 9 }
DeguNaoto 4:51d87d2b698c 10 }
DeguNaoto 0:bd4719e15f7e 11
DeguNaoto 0:bd4719e15f7e 12 /***Get state ps3con.***/
DeguNaoto 13:87794ce49b50 13 inline void SBDBT_interrupt();
DeguNaoto 13:87794ce49b50 14 inline void initializeSBDBT();
DeguNaoto 14:a99f81878336 15 inline void data_clear();
DeguNaoto 14:a99f81878336 16 inline void data_check();
DeguNaoto 0:bd4719e15f7e 17 Serial SBDBT(SBDBT_TX, SBDBT_RX);
DeguNaoto 0:bd4719e15f7e 18 #define ps3_start 0x80
DeguNaoto 14:a99f81878336 19 short toggle = 0;
DeguNaoto 14:a99f81878336 20 short edge_circle = 0;
DeguNaoto 14:a99f81878336 21 short edge_triangle = 0;
DeguNaoto 14:a99f81878336 22 short edge_r1 = 0;
DeguNaoto 14:a99f81878336 23 short edge_l1 = 0;
DeguNaoto 14:a99f81878336 24 short edge_l_up = 0;
DeguNaoto 14:a99f81878336 25 short edge_l_down = 0;
DeguNaoto 14:a99f81878336 26 short edge_r_up = 0;
DeguNaoto 14:a99f81878336 27 short edge_r_down = 0;
DeguNaoto 14:a99f81878336 28 short edge_right = 0;
DeguNaoto 14:a99f81878336 29 short edge_left = 0;
DeguNaoto 14:a99f81878336 30 short edge_up = 0;
DeguNaoto 14:a99f81878336 31 short square = 0;
DeguNaoto 14:a99f81878336 32 short triangle = 0;
DeguNaoto 14:a99f81878336 33 short circle = 0;
DeguNaoto 14:a99f81878336 34 short cross = 0;
DeguNaoto 14:a99f81878336 35 short up = 0;
DeguNaoto 14:a99f81878336 36 short down = 0;
DeguNaoto 14:a99f81878336 37 short right = 0;
DeguNaoto 14:a99f81878336 38 short left = 0;
DeguNaoto 14:a99f81878336 39 short l1 = 0;
DeguNaoto 14:a99f81878336 40 short l2 = 0;
DeguNaoto 14:a99f81878336 41 short r1 = 0;
DeguNaoto 14:a99f81878336 42 short r2 = 0;
DeguNaoto 8:1638e8c8ca93 43 signed int analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
DeguNaoto 0:bd4719e15f7e 44 int ps3_data[7];
DeguNaoto 0:bd4719e15f7e 45 int count=0;
DeguNaoto 0:bd4719e15f7e 46 int sample=0;
DeguNaoto 2:cf8ca6742db9 47 inline void data_clear()
DeguNaoto 2:cf8ca6742db9 48 {
DeguNaoto 2:cf8ca6742db9 49 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 50 }
DeguNaoto 2:cf8ca6742db9 51 inline void data_check()
DeguNaoto 2:cf8ca6742db9 52 {
DeguNaoto 0:bd4719e15f7e 53 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 54 analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
DeguNaoto 0:bd4719e15f7e 55 if((ps3_data[0]==0x00)&&(ps3_data[1]==0x01)) up=1;
DeguNaoto 0:bd4719e15f7e 56 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x02)) down=1;
DeguNaoto 0:bd4719e15f7e 57 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x04)) right=1;
DeguNaoto 0:bd4719e15f7e 58 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x08)) left=1;
DeguNaoto 0:bd4719e15f7e 59 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x10)) triangle=1;
DeguNaoto 0:bd4719e15f7e 60 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x20)) cross=1;
DeguNaoto 0:bd4719e15f7e 61 else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x40)) circle=1;
DeguNaoto 0:bd4719e15f7e 62 else if((ps3_data[0]==0x01)&&(ps3_data[1]==0x00)) square=1;
DeguNaoto 0:bd4719e15f7e 63 else if((ps3_data[0]==0x02)&&(ps3_data[1]==0x00)) l1=1;
DeguNaoto 0:bd4719e15f7e 64 else if((ps3_data[0]==0x04)&&(ps3_data[1]==0x00)) l2=1;
DeguNaoto 0:bd4719e15f7e 65 else if((ps3_data[0]==0x08)&&(ps3_data[1]==0x00)) r1=1;
DeguNaoto 0:bd4719e15f7e 66 else if((ps3_data[0]==0x10)&&(ps3_data[1]==0x00)) r2=1;
DeguNaoto 8:1638e8c8ca93 67 analog_lx=64-(signed int)ps3_data[2];
DeguNaoto 8:1638e8c8ca93 68 analog_ly=64-(signed int)ps3_data[3];
DeguNaoto 8:1638e8c8ca93 69 analog_rx=64-(signed int)ps3_data[4];
DeguNaoto 8:1638e8c8ca93 70 analog_ry=64-(signed int)ps3_data[5];
DeguNaoto 4:51d87d2b698c 71 if(!circle) edge_circle=1;
DeguNaoto 4:51d87d2b698c 72 if(!triangle) edge_triangle=1;
DeguNaoto 4:51d87d2b698c 73 if(!r1) edge_r1=1;
DeguNaoto 4:51d87d2b698c 74 if(!l1) edge_l1=1;
DeguNaoto 4:51d87d2b698c 75 /*if(!(analog_ry<40)) edge_r_up=1;
DeguNaoto 4:51d87d2b698c 76 if(!(analog_ry>90)) edge_r_down=1;
DeguNaoto 4:51d87d2b698c 77 if(!(analog_ly<40)) edge_l_up=1;
DeguNaoto 4:51d87d2b698c 78 if(!(analog_ly>90)) edge_l_down=1;*/
DeguNaoto 4:51d87d2b698c 79 if(!edge_right) edge_right=1;
DeguNaoto 4:51d87d2b698c 80 if(!edge_left) edge_left=1;
DeguNaoto 4:51d87d2b698c 81 if(!edge_up) edge_up=1;
DeguNaoto 0:bd4719e15f7e 82 }
DeguNaoto 0:bd4719e15f7e 83 ///interrupt SBDBT RX.
DeguNaoto 2:cf8ca6742db9 84 inline void SBDBT_interrupt()
DeguNaoto 2:cf8ca6742db9 85 {
DeguNaoto 0:bd4719e15f7e 86 sample=SBDBT.getc();
DeguNaoto 0:bd4719e15f7e 87 if(count==7) data_clear();
DeguNaoto 0:bd4719e15f7e 88 if(sample==ps3_start) count=0;
DeguNaoto 2:cf8ca6742db9 89 else {
DeguNaoto 0:bd4719e15f7e 90 ps3_data[count]=sample;
DeguNaoto 0:bd4719e15f7e 91 count++;
DeguNaoto 0:bd4719e15f7e 92 }
DeguNaoto 0:bd4719e15f7e 93 if(count==6) data_check();
DeguNaoto 0:bd4719e15f7e 94 }
DeguNaoto 2:cf8ca6742db9 95 inline void initializeSBDBT()
DeguNaoto 2:cf8ca6742db9 96 {
DeguNaoto 2:cf8ca6742db9 97 for(int i=0; i<7; i++) ps3_data[i]=0;
DeguNaoto 0:bd4719e15f7e 98 SBDBT.baud(2400);
DeguNaoto 0:bd4719e15f7e 99 SBDBT.format(8, Serial::None, 1);
DeguNaoto 0:bd4719e15f7e 100 SBDBT.attach(SBDBT_interrupt, Serial::RxIrq);
DeguNaoto 0:bd4719e15f7e 101 }