uart1.cpp

00001 
00002 #include "mbed.h"
00003 #include "uart1.h"
00004 #include "HMC6352.h"
00005 
00006 extern Serial device2;
00007 extern HMC6352 compass;
00008 
00009 extern uint8_t state;
00010 
00011 float ultrasonicVal[4];
00012 uint8_t direction;
00013 uint8_t Distance;
00014 uint8_t IR_found;
00015 uint8_t xbee;
00016 
00017 void dev_rx()
00018 {
00019     static uint8_t count;
00020     static uint8_t RecData[RECEIVE_DATA_NUM];
00021     
00022     RecData[count] = device2.getc();
00023     
00024     if(RecData[KEY] == KEYCODE){
00025         count++;
00026     }else{
00027         count = 0;
00028     }
00029     if(count >= RECEIVE_DATA_NUM){
00030         if(RecData[CHECK] == CHECKCODE){
00031             //mbedleds = 1;
00032             direction = RecData[DIRECTION];
00033             Distance = RecData[DISTANCE];
00034             ultrasonicVal[0] = (RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0;
00035             ultrasonicVal[1] = (RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0;
00036             ultrasonicVal[2] = (RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0;
00037             ultrasonicVal[3] = (RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0;
00038             xbee = RecData[XBEE];
00039             IR_found = xbee;
00040         }
00041         count = 0;
00042     }  
00043 }
00044 
00045 void dev_tx()
00046 {
00047     static uint8_t count2;
00048     static uint8_t SendData[SEND_DATA_NUM];
00049     
00050     //mbedleds = 2;
00051     
00052     if(count2 >= SEND_DATA_NUM){
00053         SendData[KEY2]     = KEYCODE2;
00054         SendData[DATA1]    = ((int)(compass.sample())) >> 8 ;
00055         SendData[DATA2]    = (int)(compass.sample());
00056         SendData[DATA3]    = state;
00057         SendData[DATA4]    = 1;
00058         SendData[CHECK2]   = CHECKCODE2;
00059         
00060         count2 = 0;
00061         
00062     }
00063     device2.putc(SendData[count2]);
00064     
00065     count2++;
00066 }