Hajime Muraki / Mbed 2 deprecated chronograph

main

Dependencies:   TextLCD mbed PID

usart.cpp@5:6604ec9044a0, 2014-03-17 (annotated)

Committer:
com3
Date:
Mon Mar 17 06:37:37 2014 +0000
Revision:
5:6604ec9044a0
Parent:
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 4:536cd493a337 7 #define DATA_NUM 11
com3 0:e6d14fec4954 8 #define CHECK (DATA_NUM - 1)
com3 4:536cd493a337 9 #define ALL_IR 11
com3 0:e6d14fec4954 10
com3 0:e6d14fec4954 11
com3 4:536cd493a337 12 extern Serial xbee;
com3 0:e6d14fec4954 13 extern Serial sensor;
com3 0:e6d14fec4954 14 extern Serial pc;
com3 5:6604ec9044a0 15 extern DigitalOut myled[4];
com3 0:e6d14fec4954 16
com3 3:440e774cc24b 17 extern uint8_t value_ir, ir_num, ir_dis, ball_on;
com3 0:e6d14fec4954 18 extern uint8_t ping[4];
com3 0:e6d14fec4954 19 extern uint8_t line[4];
com3 0:e6d14fec4954 20 extern uint8_t ir_max, ir_num;
com3 0:e6d14fec4954 21 extern int compass;
com3 0:e6d14fec4954 22
com3 5:6604ec9044a0 23 int count = 0;
com3 4:536cd493a337 24 void xbee_tx(){
com3 5:6604ec9044a0 25 xbee.putc(1);
com3 4:536cd493a337 26 }
com3 4:536cd493a337 27
com3 4:536cd493a337 28 void xbee_rx(){
com3 5:6604ec9044a0 29 if(xbee.readable()){
com3 5:6604ec9044a0 30 count = xbee.getc();
com3 5:6604ec9044a0 31 } else {
com3 5:6604ec9044a0 32 count = 0;
com3 5:6604ec9044a0 33 }
com3 5:6604ec9044a0 34 //pc.printf("%d\n", count);
com3 4:536cd493a337 35 }
com3 4:536cd493a337 36
com3 0:e6d14fec4954 37 void micon_rx(){
com3 0:e6d14fec4954 38
com3 0:e6d14fec4954 39 static uint8_t rx;
com3 0:e6d14fec4954 40 static int rx_data[DATA_NUM];
com3 0:e6d14fec4954 41
com3 0:e6d14fec4954 42 rx_data[rx] = sensor.getc();
com3 0:e6d14fec4954 43
com3 0:e6d14fec4954 44 if(rx_data[0] == KEYCODE){
com3 0:e6d14fec4954 45 rx++;
com3 0:e6d14fec4954 46 }
com3 0:e6d14fec4954 47
com3 0:e6d14fec4954 48 if(rx >= DATA_NUM){
com3 0:e6d14fec4954 49 if(rx_data[CHECK] == RX_CHECKCODE){
com3 1:fb4277ce4d93 50 value_ir = rx_data[1];
com3 1:fb4277ce4d93 51 ir_num = rx_data[2];
com3 1:fb4277ce4d93 52 ping[FRONT] = rx_data[3];
com3 1:fb4277ce4d93 53 ping[LEFT] = rx_data[4];
com3 1:fb4277ce4d93 54 ping[BACK] = rx_data[5];
com3 1:fb4277ce4d93 55 ping[RIGHT] = rx_data[6];
com3 1:fb4277ce4d93 56 compass = rx_data[7] + rx_data[8];
com3 3:440e774cc24b 57 ir_dis = rx_data[9];
com3 4:536cd493a337 58 //ball_on = rx_data[10];
com3 1:fb4277ce4d93 59 /* line[FRONT] = rx_data[7];
com3 1:fb4277ce4d93 60 line[LEFT] = rx_data[8];
com3 1:fb4277ce4d93 61 line[BACK] = rx_data[9];
com3 1:fb4277ce4d93 62 line[RIGHT] = rx_data[10];
com3 1:fb4277ce4d93 63 */
com3 1:fb4277ce4d93 64 //pc.printf("%d %d\n", rx_data[1], rx_data[2]);
com3 1:fb4277ce4d93 65 //pc.printf("%d %d %d %d\n", rx_data[3], rx_data[4], rx_data[5], rx_data[6]);
com3 1:fb4277ce4d93 66 //pc.printf("%d %d %d %d\n", rx_data[7], rx_data[8], rx_data[9], rx_data[10]);
com3 1:fb4277ce4d93 67 //pc.printf("%d %d %d\n", rx_data[7], rx_data[8], compass);
com3 4:536cd493a337 68 //pc.printf("%d\n", rx_data[7]);
com3 3:440e774cc24b 69 //pc.printf("%d\t%d\t%d\t%d\n", ping[FRONT], ping[LEFT], ping[BACK], ping[RIGHT]);
com3 3:440e774cc24b 70 //pc.printf("%d %d %d\n", ping[LEFT], ping[RIGHT], ping[LEFT] + ping[RIGHT]);
com3 3:440e774cc24b 71 //pc.printf("%d\t%d\t%d\t%d\n", ir_dis, ball_on, value_ir, ir_num);
com3 1:fb4277ce4d93 72 }
com3 0:e6d14fec4954 73 rx = 0;
com3 0:e6d14fec4954 74 }
com3 0:e6d14fec4954 75 //pc.printf("%d\n", rx_data[rx]);
com3 0:e6d14fec4954 76 }
com3 0:e6d14fec4954 77
com3 1:fb4277ce4d93 78 /*
com3 0:e6d14fec4954 79 void micon_tx(){
com3 0:e6d14fec4954 80
com3 0:e6d14fec4954 81 static uint8_t tx;
com3 0:e6d14fec4954 82 static uint8_t tx_data[DATA_NUM];
com3 0:e6d14fec4954 83
com3 0:e6d14fec4954 84 if(tx >= DATA_NUM){
com3 0:e6d14fec4954 85 tx_data[0] = KEYCODE;
com3 0:e6d14fec4954 86 tx_data[1] = KEYCODE;
com3 0:e6d14fec4954 87 tx_data[2] = KEYCODE;
com3 0:e6d14fec4954 88 tx_data[3] = KEYCODE;
com3 0:e6d14fec4954 89 tx_data[4] = KEYCODE;
com3 0:e6d14fec4954 90 tx_data[5] = KEYCODE;
com3 0:e6d14fec4954 91 tx_data[6] = KEYCODE;
com3 0:e6d14fec4954 92 tx_data[7] = KEYCODE;
com3 0:e6d14fec4954 93 tx_data[8] = KEYCODE;
com3 0:e6d14fec4954 94 tx_data[9] = KEYCODE;
com3 0:e6d14fec4954 95 tx_data[10] = KEYCODE;
com3 0:e6d14fec4954 96 tx_data[11] = TX_CHECKCODE;
com3 0:e6d14fec4954 97
com3 0:e6d14fec4954 98 tx = 0;
com3 0:e6d14fec4954 99 }
com3 0:e6d14fec4954 100
com3 0:e6d14fec4954 101 sensor.putc(tx_data[tx]);
com3 0:e6d14fec4954 102 tx++;
com3 1:fb4277ce4d93 103 }
com3 1:fb4277ce4d93 104 */