File content as of revision 0:62ac378df546:

#include "mbed.h"
#include "uart1.h"

extern Serial device;
extern BusOut mbedleds; 
extern int direction;
extern int Distance;
extern int IR_found;
extern uint16_t ultrasonicVal[4];
extern int xbee;

int data[4];

void dev_rx()
{   
    static uint8_t count2;
    static uint8_t RecData[RECEIVE_DATA_NUM];
    
    RecData[count2] = device.getc();
    
    //mbedleds = 2;
    
    if(RecData[KEY2] == KEYCODE2){
        count2++;
    }else{
        count2 = 0;
    }
    if(count2 >= RECEIVE_DATA_NUM){
        if(RecData[CHECK2] == CHECKCODE2){
            mbedleds = 1;
            data[0] = RecData[DATA1];
            data[1] = RecData[DATA2];
            data[2] = RecData[DATA3];
            data[3] = RecData[DATA4];
            if(data[0] == 25){
                mbedleds = 15;
            }
        }
        count2 = 0;
    }  
}

void dev_tx()
{
    
    static uint8_t count;
    static uint8_t SendData0[SEND_DATA_NUM];
    
    //mbedleds = 1;
    xbee = IR_found; 
    
    if(count >= SEND_DATA_NUM){
        SendData0[KEY]      = KEYCODE;
        SendData0[DIRECTIONN] = direction;
        SendData0[DISTANCE] = Distance;
        SendData0[SONIC1_1] = ultrasonicVal[0];
        SendData0[SONIC1_2] = (ultrasonicVal[0] >> 8);
        SendData0[SONIC2_1] = ultrasonicVal[1];
        SendData0[SONIC2_2] = (ultrasonicVal[1] >> 8);
        SendData0[SONIC3_1] = ultrasonicVal[2];
        SendData0[SONIC3_2] = (ultrasonicVal[2] >> 8);
        SendData0[SONIC4_1] = ultrasonicVal[3];
        SendData0[SONIC4_2] = (ultrasonicVal[3] >> 8);
        SendData0[XBEE]     = xbee;
        SendData0[CHECK]    = CHECKCODE;
        
        count = 0;
        
    }
    device.putc(SendData0[count]);
    
    count++;
}