main
Dependencies: TextLCD mbed PID
Diff: usart.cpp
- Revision:
- 0:e6d14fec4954
- Child:
- 1:fb4277ce4d93
diff -r 000000000000 -r e6d14fec4954 usart.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/usart.cpp Tue Feb 25 03:06:52 2014 +0000 @@ -0,0 +1,74 @@ +#include "mbed.h" +#include "common.h" + +#define KEYCODE 0xAA +#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]^tx_data[9]^tx_data[10]) +#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]^rx_data[9]^rx_data[10]) +#define DATA_NUM 14 +#define CHECK (DATA_NUM - 1) +#define ALL_IR 10 + + +extern Serial sensor; +extern Serial pc; + +extern uint8_t ping[4]; +extern uint8_t line[4]; +extern uint8_t ir_max, ir_num; +extern int compass; + +void micon_rx(){ + + static uint8_t rx; + static int rx_data[DATA_NUM]; + + rx_data[rx] = sensor.getc(); + + if(rx_data[0] == KEYCODE){ + rx++; + } + + if(rx >= DATA_NUM){ + if(rx_data[CHECK] == RX_CHECKCODE){ + compass = rx_data[11] + rx_data[12]; + ping[FRONT] = rx_data[2]; + ping[LEFT] = rx_data[3]; + ping[BACK] = rx_data[4]; + ping[RIGHT] = rx_data[5]; + line[FRONT] = rx_data[6]; + line[LEFT] = rx_data[7]; + line[BACK] = rx_data[8]; + line[RIGHT] = rx_data[9]; + //pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]); + pc.printf("%d %d %d\n", rx_data[11], rx_data[12], compass); + } + rx = 0; + } + //pc.printf("%d\n", rx_data[rx]); +} + +void micon_tx(){ + + static uint8_t tx; + static uint8_t tx_data[DATA_NUM]; + + if(tx >= DATA_NUM){ + tx_data[0] = KEYCODE; + tx_data[1] = KEYCODE; + tx_data[2] = KEYCODE; + tx_data[3] = KEYCODE; + tx_data[4] = KEYCODE; + tx_data[5] = KEYCODE; + tx_data[6] = KEYCODE; + tx_data[7] = KEYCODE; + tx_data[8] = KEYCODE; + tx_data[9] = KEYCODE; + tx_data[10] = KEYCODE; + tx_data[11] = TX_CHECKCODE; + + tx = 0; + } + + sensor.putc(tx_data[tx]); + tx++; +} \ No newline at end of file