Diff: communicate.h

Revision:

13:57d8e360e9aa

Parent:

11:565fca1ead5b

Child:

14:943e663694c3

--- a/communicate.h	Mon Nov 02 09:04:20 2015 +0000
+++ b/communicate.h	Tue Nov 03 00:45:17 2015 +0000
@@ -29,276 +29,31 @@
 #define MBED_TX p28
 #define MBED_RX p27
 Serial MbedSerial(MBED_TX,MBED_RX);
-
-inline void initializeMbedSerial(){
-    MbedSerial.format(8,Serial::Even);
-}
-
-#ifdef IM920
-/***IM920 Communication.***/
-char rcvBUFF_IM920[40], rcvBUFF_SBDBT[40];
-int rcvCOUNT_IM920 = 0, rcvCOUNT_SBDBT = 0;
-int rcvFLAG = 0;
-int sendFLAG = 0;
-int deadCOUNT = 0;
-int deadflag = 0;
-int oldDATA;
-unsigned int cm, a2, b, X=5, Y=5;
-unsigned int sendDATA = 0;
-unsigned long outDATA[4];
-
-Serial IM920_USART(p9, p10);
-Serial SBDBT_USART(p28, p27);
-DigitalIn BUSY(p8);
-
-Ticker DTimer;
-
-void DEVICE_TX(int DATA, int DEVICE = 0) {
-    char sDATA[2];
-    if (DATA <= 15)
-        sprintf(sDATA, "0%X", DATA);
-    else
-        sprintf(sDATA, "%X", DATA);
-        
-    if (DEVICE == 1) {
-        IM920_USART.printf("TXDA %s\r\n", sDATA);
-    }
-    else if (DEVICE == 2) {
-        SBDBT_USART.printf("00000000000%s\r\n", sDATA);
-    }
-    else {
-        IM920_USART.printf("TXDA %s\r\n", sDATA);
-        SBDBT_USART.printf("00000000000%s\r\n", sDATA);
-    }
-}
+unsigned int a2, b, X, Y;
 
-int cvsendDATA(int Buzzer, int LED) {
-/*
-    if (Buzzer > 1)
-        Buzzer = 1;
-    else if (Buzzer < 0)
-        Buzzer = 0;
-    if (LED < 0)
-        LED = 0;
-    else if (LED >= 16)
-        LED = 15;
-*/
-    Buzzer = 0;
-    LED = 0;
-    return (Buzzer << 6) | (LED << 2);
-}
-
-void cvrecvDATA(char *buffDATA, unsigned long *outputDATA) {
-   char s1[2], s2[2], s3[2], s4[2];
-   strncpy(s1, buffDATA+11, 2);
-   strncpy(s2, buffDATA+14, 2);
-   strncpy(s3, buffDATA+17, 2);
-   strncpy(s4, buffDATA+20, 2);
-   outputDATA[0] = strtoul(s1, (char **) NULL, 16);
-   outputDATA[1] = strtoul(s2, (char **) NULL, 16);
-   outputDATA[2] = strtoul(s3, (char **) NULL, 16);
-   outputDATA[3] = strtoul(s4, (char **) NULL, 16);
-}
-
-void cvrecvDATAsbdbt(char *buffDATA, unsigned long *outputDATA) {
-   char s1[2], s2[2];
-   strncpy(s1, buffDATA+5, 2);
-   strncpy(s2, buffDATA+7, 2);
-   outputDATA[0] = strtoul(s1, (char **) NULL, 16);
-   outputDATA[1] = strtoul(s2, (char **) NULL, 16);
-}
-
-void readDATA(unsigned long* outDATA) {
-    cm = (outDATA[0] & 128) >> 7;
-    a2 = (outDATA[0] & 64) >> 6;
-    X = (outDATA[0] & 56) >> 3;
-    Y = outDATA[0] & 7;
-    b = outDATA[1];
-}
-
-void SBDBT_RX() {
-    char rcvDATA;
-    rcvDATA = SBDBT_USART.getc();
-    rcvBUFF_SBDBT[rcvCOUNT_SBDBT] = rcvDATA;
-    rcvCOUNT_SBDBT++;
-    if (rcvDATA == 0x0A) {
-        rcvCOUNT_SBDBT = 0;
-        rcvFLAG = 2;
+void getMbed(){
+    unsigned int info = MbedSerial.getc();
+    if (info & 128){  //B1~B4,B5~B11
+        for(int s=1,i=1;i<=7;i++){
+            if(info & s){
+                b = i;
+                break;
+            }
+            if(i==7) b = 0;
+            s <<= 1;
+        }
     }
-    else if (rcvCOUNT_SBDBT >= 40) {
-        rcvCOUNT_SBDBT = 0;
-        memset(rcvBUFF_SBDBT, '\0', 40);
-    }
-}
-
-void IM920_RX() {
-    char rcvDATA;
-    rcvDATA = IM920_USART.getc();
-    rcvBUFF_IM920[rcvCOUNT_IM920] = rcvDATA;
-    rcvCOUNT_IM920++;
-    if (rcvDATA == 0x0A) {
-        rcvCOUNT_IM920 = 0;
-        rcvFLAG = 1;
-    }
-    else if (rcvCOUNT_IM920 >= 40) {
-        rcvCOUNT_IM920 = 0;
-        memset(rcvBUFF_IM920, '\0', 40);
+    else{             //A2,X,Y
+        Y = info & 7;
+        info >>= 3;
+        X = info & 7;
+        info >>= 3;
+        a2 = info & 1;
     }
 }
 
-void deadCheck() {
-    if (rcvFLAG == 0 && deadCOUNT >= 5) {
-        deadflag = 1;
-        deadCOUNT = 0;
-    }
-    else if (rcvFLAG == 0 && deadCOUNT >= 2) {
-        deadCOUNT++;
-        DEVICE_TX(sendDATA);
-    }
-    else if (rcvFLAG == 0) {
-        deadCOUNT++;
-    }
-    sendDATA = cvsendDATA(0, 0);
-}
-
-inline void initializeIM920(){
-    IM920_USART.baud(9600);
-    IM920_USART.format(8, Serial::None, 1);
-    IM920_USART.attach(IM920_RX, Serial::RxIrq);
-    SBDBT_USART.baud(9600);
-    SBDBT_USART.format(8, Serial::None, 1);
-    SBDBT_USART.attach(SBDBT_RX, Serial::RxIrq);
-    DTimer.attach(deadCheck, 0.3);
-    sendDATA = cvsendDATA(0, 0);
-}
-
-inline void readIM920(){
-    if (rcvFLAG == 1) {
-        if (strlen(rcvBUFF_IM920) > 8) {
-            cvrecvDATA(rcvBUFF_IM920, outDATA);
-            readDATA(outDATA);
-            deadCOUNT = 0;
-            deadflag = 0;
-            DEVICE_TX(sendDATA, 1);
-        }
-        memset(rcvBUFF_IM920, '\0', 40);
-        rcvFLAG = 0;
-    }
-    else if (rcvFLAG == 2) {
-        if (strlen(rcvBUFF_SBDBT) > 4) {
-            cvrecvDATAsbdbt(rcvBUFF_SBDBT, outDATA);
-            readDATA(outDATA);
-            deadCOUNT = 0;
-            deadflag = 0;
-            DEVICE_TX(sendDATA, 2);
-        }
-        memset(rcvBUFF_SBDBT, '\0', 40);
-        rcvFLAG = 0;
-    }
-}
-#else
-/***Get state ps3con.***/
-#define SBDBT_TX p28
-#define SBDBT_RX p27
-Serial SBDBT(SBDBT_TX, SBDBT_RX);
-#define ps3_start 0x80
-short toggle            = 0;
-short edge_circle       = 0;
-short edge_triangle     = 0;
-short edge_square       = 0;
-short edge_r1           = 0;
-short edge_l1           = 0;
-short edge_r2           = 0;
-short edge_l2           = 0;
-short edge_l_up         = 0;
-short edge_l_down       = 0;
-short edge_r_up         = 0;
-short edge_r_down       = 0;
-short edge_right        = 0;
-short edge_left         = 0;
-short edge_up           = 0;
-short edge_down         = 0;
-short edge_cross        = 0;
-short square            = 0;
-short triangle          = 0;
-short circle            = 0;
-short cross             = 0;
-short up                = 0;
-short down              = 0;
-short right             = 0;
-short left              = 0;
-short l1                = 0;
-short l2                = 0;
-short r1                = 0;
-short r2                = 0;
-signed int analog_lx    = 0;
-signed int analog_ly    = 0;
-signed int analog_rx    = 0;
-signed int analog_ry    = 0;
-int count               = 0;
-int sample              = 0;
-int ps3_data[7];
-inline void data_clear();
-inline void data_check();
-inline void SBDBT_interrupt();
-inline void initializeSBDBT();
-
-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=64-(signed int)ps3_data[2];
-    analog_ly=64-(signed int)ps3_data[3];
-    analog_rx=64-(signed int)ps3_data[4];
-    analog_ry=64-(signed int)ps3_data[5];
-    if(!circle) edge_circle=1;
-    if(!triangle) edge_triangle=1;
-    if(!r1) edge_r1=1;
-    if(!l1) edge_l1=1;
-    if(!r2) edge_r2=1;
-    if(!l2) edge_l2=1;
-    if(!right) edge_right=1;
-    if(!left) edge_left=1; 
-    if(!up) edge_up=1;
-    if(!square) edge_square=1;
-    if(!down) edge_down=1;
-    if(!cross) edge_cross=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()
-{
-    wait(0.1);
-    while(analog_ly==-64)
-    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);
-}
-#endif
+inline void initializeMbedSerial(){
+    MbedSerial.baud(9600);
+    MbedSerial.format(8,Serial::Even);
+    MbedSerial.attach(getMbed,Serial::RxIrq);
+}
\ No newline at end of file