Daniel Knox / Mbed 2 deprecated frdm_serial_peopleAndComputing

Interface layer for the mbed boards ready for the JAVA library

Dependencies:   C12832 LM75B MMA7660 mbed FXOS8700Q

Fork of frdm_serial by Michael Berry

main.cpp@7:238c6fd5c209, 2016-02-16 (annotated)

Committer:
Condo2k4
Date:
Tue Feb 16 23:07:10 2016 +0000
Revision:
7:238c6fd5c209
Parent:
6:adf2837c1e7f
Child:
8:d70e3e3690fd
Fixed get_heading

Who changed what in which revision?

UserRevisionLine numberNew contents of line
azazeal88 1:38f32fc3db2c 1 #include "mbed.h"
co657_mjrb6 0:6891aea05ef2 2 #include "C12832.h"
co657_mjrb6 0:6891aea05ef2 3 #include "LM75B.h"
azazeal88 1:38f32fc3db2c 4 #include "MMA7660.h"
Condo2k4 4:39e949908fc5 5 #include "FXOS8700Q.h"
Condo2k4 4:39e949908fc5 6 #include "comms.h"
Condo2k4 5:d9f8c2f63323 7 #include "main.h"
azazeal88 1:38f32fc3db2c 8
azazeal88 1:38f32fc3db2c 9 //OUTPUTS
azazeal88 1:38f32fc3db2c 10
Condo2k4 4:39e949908fc5 11 DigitalOut lr(PTB22), lg(PTE26), lb(PTB21), xr(D5), xg(D9), xb(PTC12);
azazeal88 1:38f32fc3db2c 12 C12832 lcd(D11, D13, D12, D7, D10);
Condo2k4 5:d9f8c2f63323 13 PwmOut spkr(D6);
co657_mjrb6 0:6891aea05ef2 14
azazeal88 1:38f32fc3db2c 15 //INPUTS
azazeal88 1:38f32fc3db2c 16
azazeal88 1:38f32fc3db2c 17 LM75B temp(D14, D15);
Condo2k4 4:39e949908fc5 18 MMA7660 sAcc(D14, D15);
Condo2k4 4:39e949908fc5 19
Condo2k4 4:39e949908fc5 20 FXOS8700Q_acc bAcc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
Condo2k4 4:39e949908fc5 21 FXOS8700Q_mag bMag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
azazeal88 1:38f32fc3db2c 22
Condo2k4 3:990f8380da21 23 InterruptIn sw2_int(SW2), sw3_int(SW3), up_int(A2), down_int(A3), left_int(A4), right_int(A5), fire_int(D4);
Condo2k4 3:990f8380da21 24 DigitalIn sw2(SW2), sw3(SW3), up(A2), down(A3), left(A4), right(A5), fire(D4);
azazeal88 1:38f32fc3db2c 25
azazeal88 1:38f32fc3db2c 26 AnalogIn pot1(A0), pot2(A1);
co657_mjrb6 0:6891aea05ef2 27
Condo2k4 3:990f8380da21 28 //INTERRUPT FLAGS
co657_mjrb6 0:6891aea05ef2 29
azazeal88 1:38f32fc3db2c 30 uint16_t flags;
azazeal88 1:38f32fc3db2c 31 #define SW2_DOWN 0x0001
azazeal88 1:38f32fc3db2c 32 #define SW2_UP 0x0002
azazeal88 1:38f32fc3db2c 33 #define SW3_UP 0x0004
azazeal88 1:38f32fc3db2c 34 #define SW3_DOWN 0x0008
azazeal88 1:38f32fc3db2c 35 #define UP_UP 0x0010
azazeal88 1:38f32fc3db2c 36 #define UP_DOWN 0x0020
azazeal88 1:38f32fc3db2c 37 #define DOWN_UP 0x0040
azazeal88 1:38f32fc3db2c 38 #define DOWN_DOWN 0x0080
azazeal88 1:38f32fc3db2c 39 #define LEFT_UP 0x0100
azazeal88 1:38f32fc3db2c 40 #define LEFT_DOWN 0x0200
azazeal88 1:38f32fc3db2c 41 #define RIGHT_UP 0x0400
azazeal88 1:38f32fc3db2c 42 #define RIGHT_DOWN 0x0800
azazeal88 1:38f32fc3db2c 43 #define FIRE_UP 0x1000
azazeal88 1:38f32fc3db2c 44 #define FIRE_DOWN 0x2000
co657_mjrb6 0:6891aea05ef2 45
azazeal88 1:38f32fc3db2c 46 //COMMS
co657_mjrb6 0:6891aea05ef2 47
Condo2k4 4:39e949908fc5 48 DataSerial pc(USBTX, USBRX);
co657_mjrb6 0:6891aea05ef2 49
Condo2k4 2:2dcdbb85cae0 50 //INTERRUPT HANDLERS
Condo2k4 2:2dcdbb85cae0 51
azazeal88 1:38f32fc3db2c 52 void sw2Down(){ flags |= SW2_DOWN; }
azazeal88 1:38f32fc3db2c 53 void sw2Up() { flags |= SW2_UP; }
azazeal88 1:38f32fc3db2c 54
azazeal88 1:38f32fc3db2c 55 void sw3Down(){ flags |= SW3_DOWN; }
azazeal88 1:38f32fc3db2c 56 void sw3Up() { flags |= SW3_UP; }
azazeal88 1:38f32fc3db2c 57
azazeal88 1:38f32fc3db2c 58 void upDown(){ flags |= UP_DOWN; }
azazeal88 1:38f32fc3db2c 59 void upUp() { flags |= UP_UP; }
azazeal88 1:38f32fc3db2c 60
azazeal88 1:38f32fc3db2c 61 void downDown(){ flags |= DOWN_DOWN; }
azazeal88 1:38f32fc3db2c 62 void downUp() { flags |= DOWN_UP; }
azazeal88 1:38f32fc3db2c 63
azazeal88 1:38f32fc3db2c 64 void leftDown(){ flags |= LEFT_DOWN; }
azazeal88 1:38f32fc3db2c 65 void leftUp() { flags |= LEFT_UP; }
azazeal88 1:38f32fc3db2c 66
azazeal88 1:38f32fc3db2c 67 void rightDown(){ flags |= RIGHT_DOWN; }
azazeal88 1:38f32fc3db2c 68 void rightUp() { flags |= RIGHT_UP; }
azazeal88 1:38f32fc3db2c 69
azazeal88 1:38f32fc3db2c 70 void fireDown(){ flags |= FIRE_DOWN; }
azazeal88 1:38f32fc3db2c 71 void fireUp() { flags |= FIRE_UP; }
azazeal88 1:38f32fc3db2c 72
Condo2k4 6:adf2837c1e7f 73 //PRETTY WAITING LEDS
Condo2k4 4:39e949908fc5 74
Condo2k4 4:39e949908fc5 75 Ticker waitTicker;
Condo2k4 4:39e949908fc5 76 int ctr;
Condo2k4 4:39e949908fc5 77
Condo2k4 4:39e949908fc5 78 void waitTick() {
Condo2k4 4:39e949908fc5 79 switch(ctr) {
Condo2k4 4:39e949908fc5 80 case 0:
Condo2k4 4:39e949908fc5 81 xr=xg=0; xb=1; break;
Condo2k4 4:39e949908fc5 82 case 1:
Condo2k4 4:39e949908fc5 83 xr=0; xg=xb=1; break;
Condo2k4 4:39e949908fc5 84 case 2:
Condo2k4 4:39e949908fc5 85 xr=xb=0; xg=1; break;
Condo2k4 4:39e949908fc5 86 case 3:
Condo2k4 4:39e949908fc5 87 xb=0; xr=xg=1; break;
Condo2k4 4:39e949908fc5 88 case 4:
Condo2k4 4:39e949908fc5 89 xg=xb=0; xr=1; break;
Condo2k4 4:39e949908fc5 90 case 5:
Condo2k4 5:d9f8c2f63323 91 lr=xg=lb=0; xr=lg=xb=1;
Condo2k4 5:d9f8c2f63323 92 ctr=0; return;
Condo2k4 4:39e949908fc5 93 }
Condo2k4 5:d9f8c2f63323 94 lr=!xr; lg=!xg; lb=!xb;
Condo2k4 4:39e949908fc5 95 ctr++;
Condo2k4 4:39e949908fc5 96 }
Condo2k4 4:39e949908fc5 97
Condo2k4 2:2dcdbb85cae0 98 /*
Condo2k4 2:2dcdbb85cae0 99 Return the state of a requested pin
Condo2k4 2:2dcdbb85cae0 100 */
Condo2k4 5:d9f8c2f63323 101 void read_digital() {
azazeal88 1:38f32fc3db2c 102 bool val;
Condo2k4 5:d9f8c2f63323 103 switch(pc.readChar()) {
Condo2k4 6:adf2837c1e7f 104 case '2': val=!sw2; break;
Condo2k4 6:adf2837c1e7f 105 case '3': val=!sw3; break;
azazeal88 1:38f32fc3db2c 106 case 'u': val=up; break;
azazeal88 1:38f32fc3db2c 107 case 'd': val=down; break;
azazeal88 1:38f32fc3db2c 108 case 'l': val=left; break;
azazeal88 1:38f32fc3db2c 109 case 'r': val=right; break;
azazeal88 1:38f32fc3db2c 110 case 'f': val=fire; break;
azazeal88 1:38f32fc3db2c 111 default: return;
co657_mjrb6 0:6891aea05ef2 112 }
Condo2k4 6:adf2837c1e7f 113 pc.sendBool(val);
co657_mjrb6 0:6891aea05ef2 114 }
co657_mjrb6 0:6891aea05ef2 115
Condo2k4 2:2dcdbb85cae0 116 /*
Condo2k4 2:2dcdbb85cae0 117 Return the state of a requested potentiometer
Condo2k4 2:2dcdbb85cae0 118 */
Condo2k4 5:d9f8c2f63323 119 void read_pot() {
azazeal88 1:38f32fc3db2c 120 float val;
Condo2k4 5:d9f8c2f63323 121 switch(pc.readChar()) {
azazeal88 1:38f32fc3db2c 122 case '1': val=pot1; break;
azazeal88 1:38f32fc3db2c 123 case '2': val=pot2; break;
azazeal88 1:38f32fc3db2c 124 default: return;
azazeal88 1:38f32fc3db2c 125 }
Condo2k4 4:39e949908fc5 126 pc.sendFloat(val);
Condo2k4 3:990f8380da21 127 }
Condo2k4 5:d9f8c2f63323 128 void read_temp() { //read temp
Condo2k4 5:d9f8c2f63323 129 float t = temp.read();
Condo2k4 5:d9f8c2f63323 130 pc.sendFloat(t);
Condo2k4 5:d9f8c2f63323 131 }
Condo2k4 3:990f8380da21 132
Condo2k4 5:d9f8c2f63323 133 void read_shield_accel() {//read shield accel
Condo2k4 5:d9f8c2f63323 134 float x, y, z;
Condo2k4 5:d9f8c2f63323 135 x = sAcc.x();
Condo2k4 5:d9f8c2f63323 136 y = sAcc.y();
Condo2k4 5:d9f8c2f63323 137 z = sAcc.z();
Condo2k4 5:d9f8c2f63323 138 pc.sendFloat(x);
Condo2k4 5:d9f8c2f63323 139 pc.sendFloat(y);
Condo2k4 5:d9f8c2f63323 140 pc.sendFloat(z);
Condo2k4 5:d9f8c2f63323 141 }
Condo2k4 5:d9f8c2f63323 142
Condo2k4 5:d9f8c2f63323 143 void set_shield_led() { //shield led
Condo2k4 5:d9f8c2f63323 144 char raw = pc.readChar();
Condo2k4 5:d9f8c2f63323 145 char r = ((raw>>2)&1)^1;
Condo2k4 5:d9f8c2f63323 146 char g = ((raw>>1)&1)^1;
Condo2k4 5:d9f8c2f63323 147 char b = (raw&1)^1;
Condo2k4 5:d9f8c2f63323 148 xr = r; xg = g; xb = b;
Condo2k4 5:d9f8c2f63323 149 }
Condo2k4 5:d9f8c2f63323 150
Condo2k4 5:d9f8c2f63323 151 void get_orientation() { //read shield accel orientation
Condo2k4 5:d9f8c2f63323 152 MMA7660::Orientation o = sAcc.getOrientation();
Condo2k4 5:d9f8c2f63323 153 pc.sendChar((char)o);
Condo2k4 5:d9f8c2f63323 154 }
Condo2k4 5:d9f8c2f63323 155
Condo2k4 5:d9f8c2f63323 156 void get_side() { //read shield accel orientation
Condo2k4 5:d9f8c2f63323 157 MMA7660::Orientation o = sAcc.getSide();
Condo2k4 5:d9f8c2f63323 158 pc.sendChar((char)o);
Condo2k4 5:d9f8c2f63323 159 }
Condo2k4 5:d9f8c2f63323 160
Condo2k4 5:d9f8c2f63323 161 void get_heading() {
Condo2k4 4:39e949908fc5 162 MotionSensorDataUnits mag;
Condo2k4 4:39e949908fc5 163 bMag.getAxis(mag);
Condo2k4 7:238c6fd5c209 164 float heading = atan2(-(mag.x-20.0f),mag.y-5.0f)*180.0f/M_PI;
Condo2k4 7:238c6fd5c209 165 if(heading<0) heading+=360.0f;
Condo2k4 5:d9f8c2f63323 166 pc.sendFloat(heading);
Condo2k4 5:d9f8c2f63323 167 }
Condo2k4 5:d9f8c2f63323 168
Condo2k4 5:d9f8c2f63323 169 void set_board_led() { // board led
Condo2k4 5:d9f8c2f63323 170 char raw = pc.readChar();
Condo2k4 5:d9f8c2f63323 171 char r = ((raw>>2)&1)^1;
Condo2k4 5:d9f8c2f63323 172 char g = ((raw>>1)&1)^1;
Condo2k4 5:d9f8c2f63323 173 char b = (raw&1)^1;
Condo2k4 5:d9f8c2f63323 174 lr = r; lg = g; lb = b;
Condo2k4 5:d9f8c2f63323 175 }
Condo2k4 5:d9f8c2f63323 176
Condo2k4 5:d9f8c2f63323 177 void read_board_magno() { //read board magno
Condo2k4 5:d9f8c2f63323 178 MotionSensorDataUnits mag;
Condo2k4 5:d9f8c2f63323 179 bMag.getAxis(mag);
Condo2k4 5:d9f8c2f63323 180 pc.sendFloat(mag.x);
Condo2k4 5:d9f8c2f63323 181 pc.sendFloat(mag.y);
Condo2k4 5:d9f8c2f63323 182 pc.sendFloat(mag.z);
Condo2k4 5:d9f8c2f63323 183 }
Condo2k4 5:d9f8c2f63323 184
Condo2k4 5:d9f8c2f63323 185 void read_board_accel() { //read board accel
Condo2k4 5:d9f8c2f63323 186 float f;
Condo2k4 5:d9f8c2f63323 187 bAcc.getX(&f); pc.sendFloat(f);
Condo2k4 5:d9f8c2f63323 188 bAcc.getY(&f); pc.sendFloat(f);
Condo2k4 5:d9f8c2f63323 189 bAcc.getZ(&f); pc.sendFloat(f);
Condo2k4 5:d9f8c2f63323 190 }
Condo2k4 5:d9f8c2f63323 191
Condo2k4 5:d9f8c2f63323 192 void set_lcd_position() { //set lcd position
Condo2k4 5:d9f8c2f63323 193 unsigned char xy[2];
Condo2k4 5:d9f8c2f63323 194 pc.readData(xy,2);
Condo2k4 5:d9f8c2f63323 195 lcd.locate(xy[0],xy[1]);
Condo2k4 5:d9f8c2f63323 196 }
Condo2k4 5:d9f8c2f63323 197
Condo2k4 5:d9f8c2f63323 198 void print_text() { //print lcd text
Condo2k4 5:d9f8c2f63323 199 char buff[256];
Condo2k4 5:d9f8c2f63323 200 char len = pc.readString(buff);
Condo2k4 5:d9f8c2f63323 201 buff[len]=0;
Condo2k4 5:d9f8c2f63323 202 lcd.printf(buff);
Condo2k4 5:d9f8c2f63323 203 lcd.copy_to_lcd();
Condo2k4 6:adf2837c1e7f 204 pc.sendBool(true);
Condo2k4 5:d9f8c2f63323 205 }
Condo2k4 5:d9f8c2f63323 206
Condo2k4 5:d9f8c2f63323 207 void set_lcd_pixel() { //set lcd pixel
Condo2k4 5:d9f8c2f63323 208 char xyc[3];
Condo2k4 5:d9f8c2f63323 209 pc.readData(xyc, 3);
Condo2k4 5:d9f8c2f63323 210 lcd.pixel(xyc[0],xyc[1],xyc[2]);
Condo2k4 5:d9f8c2f63323 211 lcd.copy_to_lcd();
Condo2k4 5:d9f8c2f63323 212 }
Condo2k4 5:d9f8c2f63323 213
Condo2k4 5:d9f8c2f63323 214 void set_piezo() { // set piezo buzzer
Condo2k4 5:d9f8c2f63323 215 float vol = pc.readFloat();
Condo2k4 5:d9f8c2f63323 216 float period = 1.0f/pc.readFloat();
Condo2k4 5:d9f8c2f63323 217 spkr=vol*0.5f; //convert volume to duty cycle
Condo2k4 5:d9f8c2f63323 218 spkr.period(period);
Condo2k4 5:d9f8c2f63323 219 }
Condo2k4 5:d9f8c2f63323 220
Condo2k4 5:d9f8c2f63323 221 void clear_lcd() { //clear lcd
Condo2k4 5:d9f8c2f63323 222 lcd.cls();
Condo2k4 6:adf2837c1e7f 223 pc.sendBool(true);
Condo2k4 5:d9f8c2f63323 224 }
Condo2k4 5:d9f8c2f63323 225
Condo2k4 5:d9f8c2f63323 226 void cleanup() {
Condo2k4 5:d9f8c2f63323 227 lr = lg = lb = 1;
Condo2k4 5:d9f8c2f63323 228 xr = xg = xb = 1;
Condo2k4 5:d9f8c2f63323 229 lcd.cls();
Condo2k4 5:d9f8c2f63323 230
Condo2k4 5:d9f8c2f63323 231 pc.sendChar(RECONNECT);
Condo2k4 5:d9f8c2f63323 232 }
Condo2k4 5:d9f8c2f63323 233
Condo2k4 5:d9f8c2f63323 234 void reconnect() { //reconnection
Condo2k4 5:d9f8c2f63323 235 cleanup();
Condo2k4 3:990f8380da21 236 }
Condo2k4 3:990f8380da21 237
Condo2k4 3:990f8380da21 238 int main() {
azazeal88 1:38f32fc3db2c 239 //SETUP
Condo2k4 5:d9f8c2f63323 240 pc.baud(115200);
azazeal88 1:38f32fc3db2c 241
Condo2k4 3:990f8380da21 242 lr = lg = lb = 1;
Condo2k4 5:d9f8c2f63323 243 xr = xg = xb = 1;
Condo2k4 5:d9f8c2f63323 244
Condo2k4 5:d9f8c2f63323 245 bAcc.enable();
Condo2k4 5:d9f8c2f63323 246 bMag.enable();
co657_mjrb6 0:6891aea05ef2 247
co657_mjrb6 0:6891aea05ef2 248 sw2_int.mode (PullUp);
co657_mjrb6 0:6891aea05ef2 249 sw2_int.fall(&sw2Down);
co657_mjrb6 0:6891aea05ef2 250 sw2_int.rise(&sw2Up);
co657_mjrb6 0:6891aea05ef2 251
co657_mjrb6 0:6891aea05ef2 252 sw3_int.mode (PullUp);
co657_mjrb6 0:6891aea05ef2 253 sw3_int.fall(&sw3Down);
co657_mjrb6 0:6891aea05ef2 254 sw3_int.rise(&sw3Up);
co657_mjrb6 0:6891aea05ef2 255
azazeal88 1:38f32fc3db2c 256 up_int.mode (PullUp);
Condo2k4 4:39e949908fc5 257 up_int.rise(&upDown);
Condo2k4 4:39e949908fc5 258 up_int.fall(&upUp);
azazeal88 1:38f32fc3db2c 259
azazeal88 1:38f32fc3db2c 260 down_int.mode (PullUp);
Condo2k4 4:39e949908fc5 261 down_int.rise(&downDown);
Condo2k4 4:39e949908fc5 262 down_int.fall(&downUp);
azazeal88 1:38f32fc3db2c 263
azazeal88 1:38f32fc3db2c 264 left_int.mode (PullUp);
Condo2k4 4:39e949908fc5 265 left_int.rise(&leftDown);
Condo2k4 4:39e949908fc5 266 left_int.fall(&leftUp);
azazeal88 1:38f32fc3db2c 267
azazeal88 1:38f32fc3db2c 268 right_int.mode (PullUp);
Condo2k4 4:39e949908fc5 269 right_int.rise(&rightDown);
Condo2k4 4:39e949908fc5 270 right_int.fall(&rightUp);
azazeal88 1:38f32fc3db2c 271
azazeal88 1:38f32fc3db2c 272 fire_int.mode (PullUp);
Condo2k4 4:39e949908fc5 273 fire_int.rise(&fireDown);
Condo2k4 4:39e949908fc5 274 fire_int.fall(&fireUp);
co657_mjrb6 0:6891aea05ef2 275
Condo2k4 3:990f8380da21 276 //Pretty wait
Condo2k4 3:990f8380da21 277 ctr=0;
Condo2k4 3:990f8380da21 278 lcd.locate(0,0);
Condo2k4 3:990f8380da21 279 lcd.printf("Awaiting connection...");
Condo2k4 4:39e949908fc5 280 waitTicker.attach(&waitTick,0.5);
Condo2k4 5:d9f8c2f63323 281 while((!pc.readable()) && (pc.readChar()!=RECONNECT)) sleep();
Condo2k4 3:990f8380da21 282 waitTicker.detach();
Condo2k4 3:990f8380da21 283 cleanup();
Condo2k4 3:990f8380da21 284
azazeal88 1:38f32fc3db2c 285 for(;;) {
Condo2k4 2:2dcdbb85cae0 286 //Check if any interrupts fired
azazeal88 1:38f32fc3db2c 287 if(flags&SW2_UP) {
Condo2k4 3:990f8380da21 288 flags&=!SW2_UP;
Condo2k4 4:39e949908fc5 289 pc.sendSpecialCommand('2','u');
azazeal88 1:38f32fc3db2c 290 }
azazeal88 1:38f32fc3db2c 291 if(flags&SW2_DOWN) {
Condo2k4 3:990f8380da21 292 flags&=!SW2_DOWN;
Condo2k4 4:39e949908fc5 293 pc.sendSpecialCommand('2','d');
azazeal88 1:38f32fc3db2c 294 }
azazeal88 1:38f32fc3db2c 295 if(flags&SW3_UP) {
Condo2k4 3:990f8380da21 296 flags&=!SW3_UP;
Condo2k4 4:39e949908fc5 297 pc.sendSpecialCommand('3','u');
azazeal88 1:38f32fc3db2c 298 }
azazeal88 1:38f32fc3db2c 299 if(flags&SW3_DOWN) {
Condo2k4 3:990f8380da21 300 flags&=!SW3_DOWN;
Condo2k4 4:39e949908fc5 301 pc.sendSpecialCommand('3','d');
azazeal88 1:38f32fc3db2c 302 }
azazeal88 1:38f32fc3db2c 303 if(flags&UP_UP) {
Condo2k4 3:990f8380da21 304 flags&=!UP_UP;
Condo2k4 4:39e949908fc5 305 pc.sendSpecialCommand('u','u');
azazeal88 1:38f32fc3db2c 306 }
azazeal88 1:38f32fc3db2c 307 if(flags&UP_DOWN) {
Condo2k4 3:990f8380da21 308 flags&=!UP_DOWN;
Condo2k4 4:39e949908fc5 309 pc.sendSpecialCommand('u','d');
co657_mjrb6 0:6891aea05ef2 310 }
azazeal88 1:38f32fc3db2c 311 if(flags&DOWN_UP) {
Condo2k4 3:990f8380da21 312 flags&=!DOWN_UP;
Condo2k4 4:39e949908fc5 313 pc.sendSpecialCommand('d','u');
azazeal88 1:38f32fc3db2c 314 }
azazeal88 1:38f32fc3db2c 315 if(flags&DOWN_DOWN) {
Condo2k4 3:990f8380da21 316 flags&=!DOWN_DOWN;
Condo2k4 4:39e949908fc5 317 pc.sendSpecialCommand('d','d');
azazeal88 1:38f32fc3db2c 318 }
azazeal88 1:38f32fc3db2c 319 if(flags&LEFT_UP) {
Condo2k4 3:990f8380da21 320 flags&=!LEFT_UP;
Condo2k4 4:39e949908fc5 321 pc.sendSpecialCommand('l','u');
azazeal88 1:38f32fc3db2c 322 }
azazeal88 1:38f32fc3db2c 323 if(flags&LEFT_DOWN) {
Condo2k4 3:990f8380da21 324 flags&=!LEFT_DOWN;
Condo2k4 4:39e949908fc5 325 pc.sendSpecialCommand('l','d');
co657_mjrb6 0:6891aea05ef2 326 }
azazeal88 1:38f32fc3db2c 327 if(flags&RIGHT_UP) {
Condo2k4 3:990f8380da21 328 flags&=!RIGHT_UP;
Condo2k4 4:39e949908fc5 329 pc.sendSpecialCommand('r','u');
azazeal88 1:38f32fc3db2c 330 }
azazeal88 1:38f32fc3db2c 331 if(flags&RIGHT_DOWN) {
Condo2k4 3:990f8380da21 332 flags&=!RIGHT_DOWN;
Condo2k4 4:39e949908fc5 333 pc.sendSpecialCommand('r','d');
azazeal88 1:38f32fc3db2c 334 }
azazeal88 1:38f32fc3db2c 335 if(flags&FIRE_UP) {
Condo2k4 3:990f8380da21 336 flags&=!FIRE_UP;
Condo2k4 4:39e949908fc5 337 pc.sendSpecialCommand('f','u');
azazeal88 1:38f32fc3db2c 338 }
azazeal88 1:38f32fc3db2c 339 if(flags&FIRE_DOWN) {
Condo2k4 3:990f8380da21 340 flags&=!FIRE_DOWN;
Condo2k4 4:39e949908fc5 341 pc.sendSpecialCommand('f','d');
co657_mjrb6 0:6891aea05ef2 342 }
azazeal88 1:38f32fc3db2c 343
azazeal88 1:38f32fc3db2c 344 //Check for host requests
co657_mjrb6 0:6891aea05ef2 345 if(pc.readable()) {
Condo2k4 5:d9f8c2f63323 346 unsigned char cmd = pc.readChar();
Condo2k4 5:d9f8c2f63323 347 if(cmd<COMMAND_LENGTH) {
Condo2k4 5:d9f8c2f63323 348 commandFunctions[cmd]();
co657_mjrb6 0:6891aea05ef2 349 }
co657_mjrb6 0:6891aea05ef2 350 }
co657_mjrb6 0:6891aea05ef2 351 }
Condo2k4 4:39e949908fc5 352 }