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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

communicate.h@13:87794ce49b50, 2015-09-16 (annotated)

Committer:
DeguNaoto
Date:
Wed Sep 16 00:47:46 2015 +0000
Revision:
13:87794ce49b50
Parent:
8:1638e8c8ca93
Child:
14:a99f81878336
??? class ??

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