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Dependencies: HMC6352 PID mbed
uart1.cpp
- Committer:
- akudohune
- Date:
- 2013-04-19
- Revision:
- 0:8215f0743d86
File content as of revision 0:8215f0743d86:
#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++; }