Diff: uart1.cpp

Revision:

1:ed00e9c4ba6e

Parent:

0:62ac378df546

--- a/uart1.cpp	Fri Apr 19 09:14:08 2013 +0000
+++ b/uart1.cpp	Tue Apr 30 09:06:57 2013 +0000
@@ -3,39 +3,43 @@
 #include "uart1.h"
 
 extern Serial device;
-extern BusOut mbedleds; 
+extern BusOut mbedleds;
+//extern Serial pc;
 extern int direction;
 extern int Distance;
 extern int IR_found;
+extern int AveDistance;
 extern uint16_t ultrasonicVal[4];
-extern int xbee;
 
-int data[4];
+uint8_t xbee;
+uint8_t data[4];
+
+extern uint8_t data2[5];
 
 void dev_rx()
 {   
-    static uint8_t count2;
+    static uint8_t count2 = 0;
     static uint8_t RecData[RECEIVE_DATA_NUM];
     
+    
+    
     RecData[count2] = device.getc();
     
-    //mbedleds = 2;
+    if(RecData[KEY2] == KEYCODE2){
     
-    if(RecData[KEY2] == KEYCODE2){
         count2++;
     }else{
         count2 = 0;
     }
     if(count2 >= RECEIVE_DATA_NUM){
         if(RecData[CHECK2] == CHECKCODE2){
-            mbedleds = 1;
+            //pc.printf("a");
+            //mbedleds = 15;
             data[0] = RecData[DATA1];
             data[1] = RecData[DATA2];
             data[2] = RecData[DATA3];
             data[3] = RecData[DATA4];
-            if(data[0] == 25){
-                mbedleds = 15;
-            }
+            //pc.printf("%d\n",data[2]);
         }
         count2 = 0;
     }  
@@ -43,17 +47,14 @@
 
 void dev_tx()
 {
-    
-    static uint8_t count;
+    static uint8_t count = 0;
     static uint8_t SendData0[SEND_DATA_NUM];
     
-    //mbedleds = 1;
-    xbee = IR_found; 
-    
     if(count >= SEND_DATA_NUM){
+        xbee = data2[0];
         SendData0[KEY]      = KEYCODE;
         SendData0[DIRECTIONN] = direction;
-        SendData0[DISTANCE] = Distance;
+        SendData0[DISTANCE] = AveDistance;
         SendData0[SONIC1_1] = ultrasonicVal[0];
         SendData0[SONIC1_2] = (ultrasonicVal[0] >> 8);
         SendData0[SONIC2_1] = ultrasonicVal[1];
@@ -62,11 +63,13 @@
         SendData0[SONIC3_2] = (ultrasonicVal[2] >> 8);
         SendData0[SONIC4_1] = ultrasonicVal[3];
         SendData0[SONIC4_2] = (ultrasonicVal[3] >> 8);
+        SendData0[IR_FOUND] = IR_found;
         SendData0[XBEE]     = xbee;
         SendData0[CHECK]    = CHECKCODE;
         
+        //pc.printf("%d\t%d\t%d\t%d\n",SendData0[DIRECTIONN],SendData0[DISTANCE],SendData0[IR_FOUND],SendData0[CHECK]);
+        
         count = 0;
-        
     }
     device.putc(SendData0[count]);