受け取りのコントローラのプログラム
Dependencies: TextLCD mbed MultiSerial Pswitch_Lib
main.cpp
- Committer:
- lilac0112_1
- Date:
- 2014-09-26
- Revision:
- 7:8c15316bdba6
- Parent:
- 6:08b5c5bdace9
- Child:
- 8:b43fbaf46e0e
- Child:
- 9:39d3392a9587
File content as of revision 7:8c15316bdba6:
#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 KEYCODE 0xAA #define INTERVAL .5 //12 enum HAND{RIGHT=0, LEFT}; enum FINGER{INDEX=0, MIDDLE}; 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; 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 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); int main() { SetUp(); TAX.attach(GiveAndTake, 0.1); Toggle.mode(PullUp); while(1){ if(RXdata[0]==LINKCODE) break; } Xbee.stop_read(); //connect_check(); 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"); wait(3); SW = Toggle; Xbee.start_write(); Xbee.write_data(EXdata, KEYCODE); while(1) { YLED=!Toggle; 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){ 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]); EXdata[1] = LinkBit(0, 0, 0, 0, !SideKey[INDEX][LEFT], !SideKey[MIDDLE][LEFT], !SideKey[INDEX][RIGHT], !SideKey[MIDDLE][RIGHT]); }else{ EXdata[0] = EXdata[1] = 0x00; } } } void SetUp(void){ CrossKey[NORTH][RIGHT].mode(PullUp); CrossKey[EAST][RIGHT].mode(PullUp); CrossKey[WEST][RIGHT].mode(PullUp); CrossKey[SOUTH][RIGHT].mode(PullUp); CrossKey[NORTH][LEFT].mode(PullUp); CrossKey[EAST][LEFT].mode(PullUp); CrossKey[WEST][LEFT].mode(PullUp); CrossKey[SOUTH][LEFT].mode(PullUp); SideKey[INDEX][RIGHT].mode(PullUp); SideKey[MIDDLE][RIGHT].mode(PullUp); SideKey[INDEX][LEFT].mode(PullUp); SideKey[MIDDLE][LEFT].mode(PullUp); flick.attach(illumination, INTERVAL); flick.detach(); } void connect_check(void){ while(1){ YLED = !Toggle; LED = 12; Xbee.start_write(); TXdata[0]=LINKCODE; Xbee.write_data(TXdata,KEYCODE); //wait_ms(100); Xbee.stop_write(); LED = 3; Xbee.start_read(); Xbee.read_data(RXdata,KEYCODE); //wait_ms(100); Xbee.stop_read(); 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; } void illumination(void){//literally count++; LED = count; }