Hajime Muraki / Mbed 2 deprecated chronograph

main

Dependencies:   TextLCD mbed PID

usart.cpp@3:440e774cc24b, 2014-03-12 (annotated)

Committer:
com3
Date:
Wed Mar 12 04:51:30 2014 +0000
Revision:
3:440e774cc24b
Parent:
1:fb4277ce4d93
Child:
4:536cd493a337
main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
com3 0:e6d14fec4954 1 #include "mbed.h"
com3 0:e6d14fec4954 2 #include "common.h"
com3 0:e6d14fec4954 3
com3 0:e6d14fec4954 4 #define KEYCODE 0xAA
com3 1:fb4277ce4d93 5 #define TX_CHECKCODE (tx_data[1]^tx_data[2]^tx_data[3]^tx_data[4]^tx_data[5]^tx_data[6]^tx_data[7]^tx_data[8])
com3 1:fb4277ce4d93 6 #define RX_CHECKCODE (rx_data[1]^rx_data[2]^rx_data[3]^rx_data[4]^rx_data[5]^rx_data[6]^rx_data[7]^rx_data[8])
com3 3:440e774cc24b 7 #define DATA_NUM 12
com3 0:e6d14fec4954 8 #define CHECK (DATA_NUM - 1)
com3 3:440e774cc24b 9 #define ALL_IR 12
com3 0:e6d14fec4954 10
com3 0:e6d14fec4954 11
com3 0:e6d14fec4954 12 extern Serial sensor;
com3 0:e6d14fec4954 13 extern Serial pc;
com3 0:e6d14fec4954 14
com3 3:440e774cc24b 15 extern uint8_t value_ir, ir_num, ir_dis, ball_on;
com3 0:e6d14fec4954 16 extern uint8_t ping[4];
com3 0:e6d14fec4954 17 extern uint8_t line[4];
com3 0:e6d14fec4954 18 extern uint8_t ir_max, ir_num;
com3 0:e6d14fec4954 19 extern int compass;
com3 0:e6d14fec4954 20
com3 0:e6d14fec4954 21 void micon_rx(){
com3 0:e6d14fec4954 22
com3 0:e6d14fec4954 23 static uint8_t rx;
com3 0:e6d14fec4954 24 static int rx_data[DATA_NUM];
com3 0:e6d14fec4954 25
com3 0:e6d14fec4954 26 rx_data[rx] = sensor.getc();
com3 0:e6d14fec4954 27
com3 0:e6d14fec4954 28 if(rx_data[0] == KEYCODE){
com3 0:e6d14fec4954 29 rx++;
com3 0:e6d14fec4954 30 }
com3 0:e6d14fec4954 31
com3 0:e6d14fec4954 32 if(rx >= DATA_NUM){
com3 0:e6d14fec4954 33 if(rx_data[CHECK] == RX_CHECKCODE){
com3 1:fb4277ce4d93 34 value_ir = rx_data[1];
com3 1:fb4277ce4d93 35 ir_num = rx_data[2];
com3 1:fb4277ce4d93 36 ping[FRONT] = rx_data[3];
com3 1:fb4277ce4d93 37 ping[LEFT] = rx_data[4];
com3 1:fb4277ce4d93 38 ping[BACK] = rx_data[5];
com3 1:fb4277ce4d93 39 ping[RIGHT] = rx_data[6];
com3 1:fb4277ce4d93 40 compass = rx_data[7] + rx_data[8];
com3 3:440e774cc24b 41 ir_dis = rx_data[9];
com3 3:440e774cc24b 42 ball_on = rx_data[10];
com3 1:fb4277ce4d93 43 /* line[FRONT] = rx_data[7];
com3 1:fb4277ce4d93 44 line[LEFT] = rx_data[8];
com3 1:fb4277ce4d93 45 line[BACK] = rx_data[9];
com3 1:fb4277ce4d93 46 line[RIGHT] = rx_data[10];
com3 1:fb4277ce4d93 47 */
com3 1:fb4277ce4d93 48 //pc.printf("%d %d\n", rx_data[1], rx_data[2]);
com3 1:fb4277ce4d93 49 //pc.printf("%d %d %d %d\n", rx_data[3], rx_data[4], rx_data[5], rx_data[6]);
com3 1:fb4277ce4d93 50 //pc.printf("%d %d %d %d\n", rx_data[7], rx_data[8], rx_data[9], rx_data[10]);
com3 1:fb4277ce4d93 51 //pc.printf("%d %d %d\n", rx_data[7], rx_data[8], compass);
com3 3:440e774cc24b 52 //pc.printf("%d\n", rx_data[9]);
com3 3:440e774cc24b 53 //pc.printf("%d\t%d\t%d\t%d\n", ping[FRONT], ping[LEFT], ping[BACK], ping[RIGHT]);
com3 3:440e774cc24b 54 //pc.printf("%d %d %d\n", ping[LEFT], ping[RIGHT], ping[LEFT] + ping[RIGHT]);
com3 3:440e774cc24b 55 //pc.printf("%d\t%d\t%d\t%d\n", ir_dis, ball_on, value_ir, ir_num);
com3 1:fb4277ce4d93 56 }
com3 0:e6d14fec4954 57 rx = 0;
com3 0:e6d14fec4954 58 }
com3 0:e6d14fec4954 59 //pc.printf("%d\n", rx_data[rx]);
com3 0:e6d14fec4954 60 }
com3 0:e6d14fec4954 61
com3 1:fb4277ce4d93 62 /*
com3 0:e6d14fec4954 63 void micon_tx(){
com3 0:e6d14fec4954 64
com3 0:e6d14fec4954 65 static uint8_t tx;
com3 0:e6d14fec4954 66 static uint8_t tx_data[DATA_NUM];
com3 0:e6d14fec4954 67
com3 0:e6d14fec4954 68 if(tx >= DATA_NUM){
com3 0:e6d14fec4954 69 tx_data[0] = KEYCODE;
com3 0:e6d14fec4954 70 tx_data[1] = KEYCODE;
com3 0:e6d14fec4954 71 tx_data[2] = KEYCODE;
com3 0:e6d14fec4954 72 tx_data[3] = KEYCODE;
com3 0:e6d14fec4954 73 tx_data[4] = KEYCODE;
com3 0:e6d14fec4954 74 tx_data[5] = KEYCODE;
com3 0:e6d14fec4954 75 tx_data[6] = KEYCODE;
com3 0:e6d14fec4954 76 tx_data[7] = KEYCODE;
com3 0:e6d14fec4954 77 tx_data[8] = KEYCODE;
com3 0:e6d14fec4954 78 tx_data[9] = KEYCODE;
com3 0:e6d14fec4954 79 tx_data[10] = KEYCODE;
com3 0:e6d14fec4954 80 tx_data[11] = TX_CHECKCODE;
com3 0:e6d14fec4954 81
com3 0:e6d14fec4954 82 tx = 0;
com3 0:e6d14fec4954 83 }
com3 0:e6d14fec4954 84
com3 0:e6d14fec4954 85 sensor.putc(tx_data[tx]);
com3 0:e6d14fec4954 86 tx++;
com3 1:fb4277ce4d93 87 }
com3 1:fb4277ce4d93 88 */