Diff: main.cpp

Revision:

8:b43fbaf46e0e

Parent:

7:8c15316bdba6

--- a/main.cpp	Fri Sep 26 08:20:41 2014 +0000
+++ b/main.cpp	Sat Oct 04 02:27:25 2014 +0000
@@ -1,17 +1,10 @@
 #include "mbed.h"
 #include "TextLCD.h"
 #include "MultiSerial.h"
- 
-/*
-strategy
-1 ソフトリセット
-2 最初の通信に割り込みを使わない
-3 MODSERIAL.hを使う
-4 __disable_irq();を使う
-*/
+
 #define DATA_NUM 2
 #define LINKCODE 0xCC
-#define LINK_INTERVAL 100
+#define PULSE 500
 #define KEYCODE 0xAA
 #define INTERVAL .5 //12
 
@@ -20,52 +13,42 @@
 enum COMPASS{NORTH=0, EAST, SOUTH, WEST};
 enum COLOR{YELLOW=0, RED, GREEN, BLUE};
 
-uint8_t TXdata[DATA_NUM]={0};
-uint8_t RXdata[DATA_NUM]={0};
-
-uint8_t INdata[DATA_NUM]={0};
-uint8_t EXdata[DATA_NUM]={0};
-
-volatile uint8_t count=0;
+uint8_t TXdata[DATA_NUM]={0}, RXdata[DATA_NUM]={0};
+uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
+uint8_t count=0;
 bool SW;
-bool GAT=1;
 
 void SetUp();
 void connect_check();
-void GiveAndTake();
 uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one);
 void illumination();
 
-Ticker TAX;
-
 Ticker flick;
 BusOut LED(LED1, LED2, LED3, LED4);
 
 DigitalOut YLED(p6);
+DigitalIn Toggle(p5);
 
 DigitalIn CrossKey[4][2]={{p8, p30}, {p11, p29}, {p15, p28}, {p16, p27}};//p7, p12=reserve
 DigitalIn SideKey[2][2]={{p17, p20}, {p18, p19}};
-DigitalIn Toggle(p5);
 
 MultiSerial Xbee(p9, p10);
-Serial pc(USBTX,USBRX);
-
+RawSerial pc(USBTX,USBRX);
 
 int main()
 {
-    
     SetUp();
     
-    TAX.attach(GiveAndTake, 0.1);
-    Toggle.mode(PullUp);
+    TXdata[0]=LINKCODE;
+    Xbee.start_write();
+    Xbee.write_data(TXdata,KEYCODE);
+        
+    Xbee.start_read();
+    Xbee.read_data(RXdata,KEYCODE);
     
-    while(1){
-        if(RXdata[0]==LINKCODE) break;
-    }
-    Xbee.stop_read();
+    connect_check();
     
-    //connect_check();
-    
+    //flick.attach(illumination, INTERVAL);
     TextLCD lcd(p26, p25, p24, p23, p22, p21, TextLCD::LCD16x2); // rs, e, d4-d7
     
     if(TXdata[0]==LINKCODE) lcd.cls(), lcd.printf("3SecondsLater,\n YouCanRun");
@@ -81,10 +64,19 @@
         
         YLED=!Toggle;
         
+        /*if(!Toggle){
+            flick.detach();
+            LED=0;
+        }else{
+            flick.attach(illumination, INTERVAL);
+        }*/
+        
+        if(E)
+        
         if(YLED&&SW) lcd.cls(), lcd.printf("Pause Mode\n"), SW=0;
         if((!YLED)&&(!SW)) lcd.cls(), lcd.printf("Run Mode\n"), SW=1;
         
-        if(Toggle){
+        /*if(Toggle){
             
             EXdata[0] = LinkBit(!CrossKey[YELLOW][LEFT], !CrossKey[RED][LEFT], !CrossKey[GREEN][LEFT], !CrossKey[BLUE][LEFT], 
                                 !CrossKey[YELLOW][RIGHT], !CrossKey[RED][RIGHT], !CrossKey[GREEN][RIGHT], !CrossKey[BLUE][RIGHT]);
@@ -97,7 +89,6 @@
     }
     
 }
-
 void SetUp(void){
     
     CrossKey[NORTH][RIGHT].mode(PullUp);
@@ -114,64 +105,26 @@
     SideKey[INDEX][LEFT].mode(PullUp);
     SideKey[MIDDLE][LEFT].mode(PullUp);
     
-    flick.attach(illumination, INTERVAL);
-    flick.detach();
+    Toggle.mode(PullUp);
 }
 void connect_check(void){
     
     while(1){
         
         YLED = !Toggle;
-        LED = 12;
         
         Xbee.start_write();
         TXdata[0]=LINKCODE;
         Xbee.write_data(TXdata,KEYCODE);
-        //wait_ms(100);
+        LED=15;
+        wait_ms(PULSE);
         Xbee.stop_write();
-        
-        LED = 3;
-        
-        Xbee.start_read();
-        
-        Xbee.read_data(RXdata,KEYCODE);
-        //wait_ms(100);
-        Xbee.stop_read();
+        LED=0;
+        wait_ms(PULSE);
         
         if(RXdata[0]==LINKCODE) break;
-        
-        NVIC_SystemReset();
     
-    }
-        
-}
-void GiveAndTake(){
-    
-    if(GAT){
-        YLED = !Toggle;
-        LED = 12;
-        
-        Xbee.stop_read();
-        
-        TXdata[0]=LINKCODE;
-        Xbee.start_write();
-        Xbee.write_data(TXdata,KEYCODE);
-    }
-    else{
-        YLED = !Toggle;
-        
-        Xbee.stop_write();
-        
-        Xbee.start_read();
-        LED = 3;
-        Xbee.read_data(RXdata,KEYCODE);
-    
-        wait_ms(100);
-
-        if(RXdata[0]==LINKCODE) TAX.detach();
-        NVIC_SystemReset();
-    }
-    GAT = !GAT;
+    }  
 }
 uint8_t LinkBit(bool eight, bool seven, bool six, bool five, bool fore, bool three, bool two, bool one){//0と1を集めて整数を作る
     return 0x80*eight + 0x40*seven + 0x20*six + 0x10*five + 0x08*fore + 0x04*three + 0x02*two + 0x01*one;