Diff: uart1.cpp

Revision:

0:8215f0743d86

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart1.cpp	Fri Apr 19 09:13:32 2013 +0000
@@ -0,0 +1,66 @@
+
+#include "mbed.h"
+#include "uart1.h"
+#include "HMC6352.h"
+
+extern Serial device2;
+extern HMC6352 compass;
+
+extern uint8_t state;
+
+float ultrasonicVal[4];
+uint8_t direction;
+uint8_t Distance;
+uint8_t IR_found;
+uint8_t xbee;
+
+void dev_rx()
+{
+    static uint8_t count;
+    static uint8_t RecData[RECEIVE_DATA_NUM];
+    
+    RecData[count] = device2.getc();
+    
+    if(RecData[KEY] == KEYCODE){
+        count++;
+    }else{
+        count = 0;
+    }
+    if(count >= RECEIVE_DATA_NUM){
+        if(RecData[CHECK] == CHECKCODE){
+            //mbedleds = 1;
+            direction = RecData[DIRECTION];
+            Distance = RecData[DISTANCE];
+            ultrasonicVal[0] = (RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0;
+            ultrasonicVal[1] = (RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0;
+            ultrasonicVal[2] = (RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0;
+            ultrasonicVal[3] = (RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0;
+            xbee = RecData[XBEE];
+            IR_found = xbee;
+        }
+        count = 0;
+    }  
+}
+
+void dev_tx()
+{
+    static uint8_t count2;
+    static uint8_t SendData[SEND_DATA_NUM];
+    
+    //mbedleds = 2;
+    
+    if(count2 >= SEND_DATA_NUM){
+        SendData[KEY2]     = KEYCODE2;
+        SendData[DATA1]    = ((int)(compass.sample())) >> 8 ;
+        SendData[DATA2]    = (int)(compass.sample());
+        SendData[DATA3]    = state;
+        SendData[DATA4]    = 1;
+        SendData[CHECK2]   = CHECKCODE2;
+        
+        count2 = 0;
+        
+    }
+    device2.putc(SendData[count2]);
+    
+    count2++;
+}
\ No newline at end of file