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Dependencies:   mbed

usart.cpp@1:a47cb7834afe, 2014-06-16 (annotated)

Committer:
ryuna
Date:
Mon Jun 16 08:13:29 2014 +0000
Revision:
1:a47cb7834afe
Parent:
0:ae8fbdc800ba 
ver.2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:ae8fbdc800ba 1 #include "mbed.h"
ryuna 1:a47cb7834afe 2 //include "common.h"
ryuna 0:ae8fbdc800ba 3
ryuna 0:ae8fbdc800ba 4 #define KEYCODE 0xAA
ryuna 0:ae8fbdc800ba 5 #define TX_CHECKCODE (tx_data[1]^tx_data[2]^tx_data[3]^tx_data[4]^tx_data[5]^tx_data[6]^tx_data[7]^tx_data[8]^tx_data[9])
ryuna 0:ae8fbdc800ba 6 #define RX_CHECKCODE (rx_data[1]^rx_data[2]^rx_data[3]^rx_data[4]^rx_data[5]^rx_data[6]^rx_data[7]^rx_data[8]^rx_data[9])
ryuna 0:ae8fbdc800ba 7 #define DATA_NUM 11
ryuna 0:ae8fbdc800ba 8 #define CHECK (DATA_NUM - 1)
ryuna 0:ae8fbdc800ba 9
ryuna 1:a47cb7834afe 10 enum {LEFT, BACK, RIGHT,FRONT};
ryuna 0:ae8fbdc800ba 11 extern Serial sensor;
ryuna 1:a47cb7834afe 12 extern Serial xbee;
ryuna 0:ae8fbdc800ba 13 extern Serial pc;
ryuna 0:ae8fbdc800ba 14
ryuna 0:ae8fbdc800ba 15 extern uint8_t ping[4];
ryuna 1:a47cb7834afe 16 extern uint8_t ir_min;
ryuna 1:a47cb7834afe 17 extern uint8_t ir_num;
ryuna 0:ae8fbdc800ba 18 extern uint8_t ir_main;
ryuna 1:a47cb7834afe 19 extern unsigned int compass;
ryuna 1:a47cb7834afe 20
ryuna 1:a47cb7834afe 21 int count;
ryuna 1:a47cb7834afe 22
ryuna 1:a47cb7834afe 23 void xbee_tx(){
ryuna 1:a47cb7834afe 24 xbee.putc(1);
ryuna 1:a47cb7834afe 25
ryuna 1:a47cb7834afe 26 }
ryuna 1:a47cb7834afe 27
ryuna 1:a47cb7834afe 28 void xbee_rx(){
ryuna 1:a47cb7834afe 29 if(xbee.readable()){
ryuna 1:a47cb7834afe 30 count = xbee.getc();
ryuna 1:a47cb7834afe 31 } else {
ryuna 1:a47cb7834afe 32 count = 0;
ryuna 1:a47cb7834afe 33 }
ryuna 1:a47cb7834afe 34 //pc.printf("%d\n", count);
ryuna 1:a47cb7834afe 35
ryuna 1:a47cb7834afe 36 }
ryuna 1:a47cb7834afe 37
ryuna 1:a47cb7834afe 38
ryuna 0:ae8fbdc800ba 39 void micon_rx(){
ryuna 0:ae8fbdc800ba 40
ryuna 0:ae8fbdc800ba 41 static uint8_t rx;
ryuna 0:ae8fbdc800ba 42 static int rx_data[DATA_NUM];
ryuna 0:ae8fbdc800ba 43
ryuna 0:ae8fbdc800ba 44 rx_data[rx] = sensor.getc();
ryuna 0:ae8fbdc800ba 45
ryuna 0:ae8fbdc800ba 46 if(rx_data[0] == KEYCODE){
ryuna 0:ae8fbdc800ba 47 rx++;
ryuna 0:ae8fbdc800ba 48 }
ryuna 0:ae8fbdc800ba 49
ryuna 0:ae8fbdc800ba 50 if(rx >= DATA_NUM){
ryuna 0:ae8fbdc800ba 51 if(rx_data[CHECK] == RX_CHECKCODE){
ryuna 1:a47cb7834afe 52 ir_min = rx_data[1];
ryuna 1:a47cb7834afe 53 ir_num = rx_data[2];
ryuna 1:a47cb7834afe 54 ping[FRONT] = rx_data[3];
ryuna 1:a47cb7834afe 55 ping[LEFT] = rx_data[4];
ryuna 1:a47cb7834afe 56 ping[BACK] = rx_data[5];
ryuna 1:a47cb7834afe 57 ping[RIGHT] = rx_data[6];
ryuna 1:a47cb7834afe 58 compass = rx_data[7] + rx_data[8];
ryuna 1:a47cb7834afe 59 ir_main = rx_data[9];
ryuna 1:a47cb7834afe 60 //pc.printf("compass: %d\n",compass);
ryuna 1:a47cb7834afe 61 //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping[0],ping[1],ping[2],ping[3]);
ryuna 1:a47cb7834afe 62 //pc.printf("ir_min:%d\tir_num:%d\tir_main:%d\n",ir_min,ir_num,ir_main);
ryuna 1:a47cb7834afe 63
ryuna 0:ae8fbdc800ba 64 }
ryuna 0:ae8fbdc800ba 65 rx = 0;
ryuna 0:ae8fbdc800ba 66 }
ryuna 0:ae8fbdc800ba 67
ryuna 0:ae8fbdc800ba 68 //pc.printf("%d\n", rx_data[rx]);
ryuna 0:ae8fbdc800ba 69 }
ryuna 0:ae8fbdc800ba 70 /*
ryuna 0:ae8fbdc800ba 71 void micon_tx(){
ryuna 0:ae8fbdc800ba 72
ryuna 0:ae8fbdc800ba 73 static uint8_t tx;
ryuna 0:ae8fbdc800ba 74 static uint8_t tx_data[DATA_NUM];
ryuna 0:ae8fbdc800ba 75
ryuna 0:ae8fbdc800ba 76 if(tx >= DATA_NUM){
ryuna 0:ae8fbdc800ba 77 tx_data[0] = KEYCODE;
ryuna 0:ae8fbdc800ba 78 tx_data[1] = KEYCODE;
ryuna 0:ae8fbdc800ba 79 tx_data[2] = KEYCODE;
ryuna 0:ae8fbdc800ba 80 tx_data[3] = KEYCODE;
ryuna 0:ae8fbdc800ba 81 tx_data[4] = KEYCODE;
ryuna 0:ae8fbdc800ba 82 tx_data[5] = KEYCODE;
ryuna 0:ae8fbdc800ba 83 tx_data[6] = KEYCODE;
ryuna 0:ae8fbdc800ba 84 tx_data[7] = KEYCODE;
ryuna 0:ae8fbdc800ba 85 tx_data[8] = KEYCODE;
ryuna 0:ae8fbdc800ba 86 tx_data[9] = KEYCODE;
ryuna 0:ae8fbdc800ba 87 tx_data[10] = KEYCODE;
ryuna 0:ae8fbdc800ba 88 tx_data[11] = TX_CHECKCODE;
ryuna 0:ae8fbdc800ba 89
ryuna 0:ae8fbdc800ba 90 tx = 0;
ryuna 0:ae8fbdc800ba 91 }
ryuna 0:ae8fbdc800ba 92
ryuna 0:ae8fbdc800ba 93 sensor.putc(tx_data[tx]);
ryuna 0:ae8fbdc800ba 94 tx++;
ryuna 0:ae8fbdc800ba 95 }
ryuna 0:ae8fbdc800ba 96 */