ryo seki
/
ver2_0_5
final
Embed:
(wiki syntax)
Show/hide line numbers
uart1.cpp
00001 00002 #include "mbed.h" 00003 #include "uart1.h" 00004 #include "HMC6352.h" 00005 00006 //extern Serial pc; 00007 extern Serial device2; 00008 extern HMC6352 compass; 00009 extern BusOut mbedleds; 00010 extern DigitalOut led1; 00011 extern DigitalOut led2; 00012 extern DigitalOut led3; 00013 extern DigitalOut led4; 00014 00015 extern uint8_t state; 00016 extern uint8_t hold_flag; 00017 00018 int diff; 00019 uint16_t ultrasonicVal[4]; 00020 uint8_t direction; 00021 uint8_t Distance; 00022 uint8_t IR_found; 00023 uint8_t xbee; 00024 00025 void dev_rx() 00026 { 00027 static uint8_t count = 0; 00028 static uint8_t RecData[RECEIVE_DATA_NUM]; 00029 static uint8_t last_data; 00030 00031 RecData[count] = device2.getc(); 00032 00033 if(RecData[KEY] == KEYCODE){ 00034 count++; 00035 }else{ 00036 count = 0; 00037 } 00038 if(count >= RECEIVE_DATA_NUM){ 00039 if(RecData[CHECK] == CHECKCODE){ 00040 //mbedleds = 15; 00041 00042 if((RecData[DIRECTION] <= 15) || (RecData[DIRECTION] == 200)){ 00043 direction = RecData[DIRECTION]; 00044 } 00045 if(RecData[DISTANCE] <= 180){ 00046 Distance = RecData[DISTANCE]; 00047 } 00048 00049 ultrasonicVal[0] = (int)((RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0); 00050 if(ultrasonicVal[0] == 6553)ultrasonicVal[0] = 0xFFFF; 00051 ultrasonicVal[1] = (int)((RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0); 00052 if(ultrasonicVal[1] == 6553)ultrasonicVal[1] = 0xFFFF; 00053 ultrasonicVal[2] = (int)((RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0); 00054 if(ultrasonicVal[2] == 6553)ultrasonicVal[2] = 0xFFFF; 00055 ultrasonicVal[3] = (int)((RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0); 00056 if(ultrasonicVal[3] == 6553)ultrasonicVal[3] = 0xFFFF; 00057 00058 if((RecData[IR_FOUND] == 0) || (RecData[IR_FOUND] == 1)){ 00059 IR_found = RecData[IR_FOUND]; 00060 } 00061 xbee = RecData[XBEE]; 00062 00063 00064 //pc.printf("%f\t%f\t%f\t%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]); 00065 //pc.printf("%d\n",xbee); 00066 //pc.printf("%d\n",IR_found); 00067 00068 diff = last_data - Distance; 00069 last_data = Distance; 00070 } 00071 count = 0; 00072 } 00073 } 00074 00075 void dev_tx() 00076 { 00077 static uint8_t count2 = 0; 00078 static uint8_t SendData[SEND_DATA_NUM]; 00079 00080 if(count2 >= SEND_DATA_NUM){ 00081 SendData[KEY2] = KEYCODE2; 00082 SendData[DATA1] = ((int)(compass.sample())) >> 8 ; 00083 SendData[DATA2] = (int)(compass.sample()); 00084 SendData[DATA3] = state; 00085 SendData[DATA4] = 1; 00086 SendData[CHECK2] = CHECKCODE2; 00087 00088 count2 = 0; 00089 00090 } 00091 device2.putc(SendData[count2]); 00092 00093 count2++; 00094 }
Generated on Sat Jul 16 2022 09:03:35 by 1.7.2