Diff: uart1.cpp

Revision:

0:e9b97faa3e37

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uart1.cpp	Mon Jun 17 00:12:40 2013 +0000
@@ -0,0 +1,108 @@
+
+#include "mbed.h"
+#include "uart1.h"
+#include "HMC6352.h"
+
+//extern Serial pc;
+extern Serial device2;
+extern HMC6352 compass;
+extern BusOut mbedleds;
+extern DigitalOut led1; 
+extern DigitalOut led2;
+extern DigitalOut led3;
+extern DigitalOut led4;
+
+extern uint8_t state;
+extern uint8_t hold_flag;
+
+int diff;
+uint16_t ultrasonicVal[4];
+uint8_t direction;
+uint8_t Distance;
+uint8_t IR_found;
+uint8_t xbee;
+int irDistance[6] = {0,3,5,99,33,11};
+
+void dev_rx()
+{
+    static uint8_t count = 0;
+    static uint8_t RecData[RECEIVE_DATA_NUM];
+    static uint8_t last_data;
+    
+    RecData[count] = device2.getc();
+    
+    if(RecData[KEY] == KEYCODE){
+        count++;
+    }else{
+        count = 0;
+    }
+    if(count >= RECEIVE_DATA_NUM){
+        if(RecData[CHECK] == CHECKCODE){
+            //mbedleds = 15;
+            
+            if((RecData[DIRECTION] <= 15) || (RecData[DIRECTION] == 200)){
+                direction = RecData[DIRECTION];
+            }
+            if(RecData[DISTANCE] <= 180){
+                Distance = RecData[DISTANCE];
+            }
+            
+            ultrasonicVal[0] = (int)((RecData[SONIC1_1] + (RecData[SONIC1_2] << 8)) / 10.0);
+            if(ultrasonicVal[0] == 6553)ultrasonicVal[0] = 0xFFFF;
+            ultrasonicVal[1] = (int)((RecData[SONIC2_1] + (RecData[SONIC2_2] << 8)) / 10.0);
+            if(ultrasonicVal[1] == 6553)ultrasonicVal[1] = 0xFFFF;
+            ultrasonicVal[2] = (int)((RecData[SONIC3_1] + (RecData[SONIC3_2] << 8)) / 10.0);
+            if(ultrasonicVal[2] == 6553)ultrasonicVal[2] = 0xFFFF;
+            ultrasonicVal[3] = (int)((RecData[SONIC4_1] + (RecData[SONIC4_2] << 8)) / 10.0);
+            if(ultrasonicVal[3] == 6553)ultrasonicVal[3] = 0xFFFF;
+            
+            if((RecData[IR_FOUND] == 0) || (RecData[IR_FOUND] == 1)){
+                IR_found = RecData[IR_FOUND];
+            }
+            xbee = RecData[XBEE];
+            xbee = 0;
+            
+            
+            //pc.printf("%f\t%f\t%f\t%f\n",ultrasonicVal[0],ultrasonicVal[1],ultrasonicVal[2],ultrasonicVal[3]);
+            //pc.printf("%d\n",xbee);
+            //pc.printf("%d\n",IR_found);
+            
+            diff = last_data - Distance;
+            last_data = Distance;
+        }
+        count = 0;
+    }  
+}
+
+void dev_tx()
+{
+    static uint8_t count2 = 0;
+    static uint8_t SendData[SEND_DATA_NUM];
+    
+    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[DISTANCE1]      = irDistance[0] >> 8;
+        SendData[DISTANCE1_2]    = irDistance[0];
+        SendData[DISTANCE2]      = irDistance[1] >> 8;
+        SendData[DISTANCE2_2]    = irDistance[1];
+        SendData[DISTANCE3]      = irDistance[2] >> 8;
+        SendData[DISTANCE3_2]    = irDistance[2];
+        SendData[DISTANCE4]      = irDistance[3] >> 8;
+        SendData[DISTANCE4_2]    = irDistance[3];
+        SendData[DISTANCE5]      = irDistance[4] >> 8;
+        SendData[DISTANCE5_2]    = irDistance[4];
+        SendData[DISTANCE6]      = irDistance[5] >> 8;
+        SendData[DISTANCE6_2]    = irDistance[5];
+        SendData[CHECK2]   = CHECKCODE2;
+        
+        count2 = 0;
+        
+    }
+    device2.putc(SendData[count2]);
+    
+    count2++;
+}
\ No newline at end of file