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Dependencies:   mbed

usart.cpp@0:ae8fbdc800ba, 2014-06-16 (annotated)

Committer:
ryuna
Date:
Mon Jun 16 07:48:01 2014 +0000
Revision:
0:ae8fbdc800ba
Child:
1:a47cb7834afe
??????USART

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:ae8fbdc800ba 1 #include "mbed.h"
ryuna 0:ae8fbdc800ba 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 #define ALL_IR 11
ryuna 0:ae8fbdc800ba 10
ryuna 0:ae8fbdc800ba 11
ryuna 0:ae8fbdc800ba 12 extern Serial sensor;
ryuna 0:ae8fbdc800ba 13 extern Serial pc;
ryuna 0:ae8fbdc800ba 14
ryuna 0:ae8fbdc800ba 15 extern uint8_t ping[4];
ryuna 0:ae8fbdc800ba 16 //extern uint8_t line[4];
ryuna 0:ae8fbdc800ba 17 extern uint8_t ir_max, ir_num;
ryuna 0:ae8fbdc800ba 18 extern int compass;
ryuna 0:ae8fbdc800ba 19 extern uint8_t ir_central;
ryuna 0:ae8fbdc800ba 20 extern uint8_t ir_main;
ryuna 0:ae8fbdc800ba 21 void micon_rx(){
ryuna 0:ae8fbdc800ba 22
ryuna 0:ae8fbdc800ba 23 static uint8_t rx;
ryuna 0:ae8fbdc800ba 24 static int rx_data[DATA_NUM];
ryuna 0:ae8fbdc800ba 25
ryuna 0:ae8fbdc800ba 26 rx_data[rx] = sensor.getc();
ryuna 0:ae8fbdc800ba 27
ryuna 0:ae8fbdc800ba 28 if(rx_data[0] == KEYCODE){
ryuna 0:ae8fbdc800ba 29 rx++;
ryuna 0:ae8fbdc800ba 30 }
ryuna 0:ae8fbdc800ba 31
ryuna 0:ae8fbdc800ba 32 if(rx >= DATA_NUM){
ryuna 0:ae8fbdc800ba 33 if(rx_data[CHECK] == RX_CHECKCODE){
ryuna 0:ae8fbdc800ba 34 compass = rx_data[7] + rx_data[8];
ryuna 0:ae8fbdc800ba 35 ir_max = rx_data[1];
ryuna 0:ae8fbdc800ba 36 ir_num = rx_data[2];
ryuna 0:ae8fbdc800ba 37 ping[FRONT] = rx_data[3];
ryuna 0:ae8fbdc800ba 38 ping[LEFT] = rx_data[4];
ryuna 0:ae8fbdc800ba 39 ping[BACK] = rx_data[5];
ryuna 0:ae8fbdc800ba 40 ping[RIGHT] = rx_data[6];
ryuna 0:ae8fbdc800ba 41 ir_central = rx_data[9];
ryuna 0:ae8fbdc800ba 42 ir_main = ir_central;
ryuna 0:ae8fbdc800ba 43 //pc.printf("%d ,%d\n", ir_max,ir_num);
ryuna 0:ae8fbdc800ba 44 }
ryuna 0:ae8fbdc800ba 45 rx = 0;
ryuna 0:ae8fbdc800ba 46 }
ryuna 0:ae8fbdc800ba 47
ryuna 0:ae8fbdc800ba 48 //pc.printf("%d\n", rx_data[rx]);
ryuna 0:ae8fbdc800ba 49 }
ryuna 0:ae8fbdc800ba 50 /*
ryuna 0:ae8fbdc800ba 51 void micon_tx(){
ryuna 0:ae8fbdc800ba 52
ryuna 0:ae8fbdc800ba 53 static uint8_t tx;
ryuna 0:ae8fbdc800ba 54 static uint8_t tx_data[DATA_NUM];
ryuna 0:ae8fbdc800ba 55
ryuna 0:ae8fbdc800ba 56 if(tx >= DATA_NUM){
ryuna 0:ae8fbdc800ba 57 tx_data[0] = KEYCODE;
ryuna 0:ae8fbdc800ba 58 tx_data[1] = KEYCODE;
ryuna 0:ae8fbdc800ba 59 tx_data[2] = KEYCODE;
ryuna 0:ae8fbdc800ba 60 tx_data[3] = KEYCODE;
ryuna 0:ae8fbdc800ba 61 tx_data[4] = KEYCODE;
ryuna 0:ae8fbdc800ba 62 tx_data[5] = KEYCODE;
ryuna 0:ae8fbdc800ba 63 tx_data[6] = KEYCODE;
ryuna 0:ae8fbdc800ba 64 tx_data[7] = KEYCODE;
ryuna 0:ae8fbdc800ba 65 tx_data[8] = KEYCODE;
ryuna 0:ae8fbdc800ba 66 tx_data[9] = KEYCODE;
ryuna 0:ae8fbdc800ba 67 tx_data[10] = KEYCODE;
ryuna 0:ae8fbdc800ba 68 tx_data[11] = TX_CHECKCODE;
ryuna 0:ae8fbdc800ba 69
ryuna 0:ae8fbdc800ba 70 tx = 0;
ryuna 0:ae8fbdc800ba 71 }
ryuna 0:ae8fbdc800ba 72
ryuna 0:ae8fbdc800ba 73 sensor.putc(tx_data[tx]);
ryuna 0:ae8fbdc800ba 74 tx++;
ryuna 0:ae8fbdc800ba 75 }
ryuna 0:ae8fbdc800ba 76 */