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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

communicate.h

Committer:
DeguNaoto
Date:
2015-08-31
Revision:
2:cf8ca6742db9
Parent:
0:bd4719e15f7e
Child:
3:5266af49834f
Child:
4:51d87d2b698c

File content as of revision 2:cf8ca6742db9:

/***RS485 Communication.***/
Serial RS485(RS485_TX, RS485_RX);

/***Get state ps3con.***/
Serial SBDBT(SBDBT_TX, SBDBT_RX);
#define ps3_start 0x80
short square=0,triangle=0,circle=0,cross=0,up=0,down=0,right=0,left=0,l1=0,l2=0,r1=0,r2=0;
int analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
int ps3_data[7];
int count=0;
int sample=0;
inline void data_clear()
{
    for(int i=0; i<7; i++) ps3_data[i]=0;
}
inline void data_check()
{
    square=0,triangle=0,circle=0,cross=0,up=0,down=0,right=0,left=0,l1=0,l2=0,r1=0,r2=0;
    analog_lx=0,analog_ly=0,analog_rx=0,analog_ry=0;
    if((ps3_data[0]==0x00)&&(ps3_data[1]==0x01)) up=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x02)) down=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x04)) right=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x08)) left=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x10)) triangle=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x20)) cross=1;
    else if((ps3_data[0]==0x00)&&(ps3_data[1]==0x40)) circle=1;
    else if((ps3_data[0]==0x01)&&(ps3_data[1]==0x00)) square=1;
    else if((ps3_data[0]==0x02)&&(ps3_data[1]==0x00)) l1=1;
    else if((ps3_data[0]==0x04)&&(ps3_data[1]==0x00)) l2=1;
    else if((ps3_data[0]==0x08)&&(ps3_data[1]==0x00)) r1=1;
    else if((ps3_data[0]==0x10)&&(ps3_data[1]==0x00)) r2=1;
    analog_lx=ps3_data[2];
    analog_ly=ps3_data[3];
    analog_rx=ps3_data[4];
    analog_ry=ps3_data[5];
    if(!circle) edge=1;
}
///interrupt SBDBT RX.
inline void SBDBT_interrupt()
{
    sample=SBDBT.getc();
    if(count==7) data_clear();
    if(sample==ps3_start) count=0;
    else {
        ps3_data[count]=sample;
        count++;
    }
    if(count==6) data_check();
}
inline void initializeSBDBT()
{
    for(int i=0; i<7; i++) ps3_data[i]=0;
    SBDBT.baud(2400);
    SBDBT.format(8, Serial::None, 1);
    SBDBT.attach(SBDBT_interrupt, Serial::RxIrq);
}