Fumiya Fujisawa / Mbed 2 deprecated Chronograph_Main_ver2

ロボカップ2013のジャパンオープンメインプログラム

Dependencies:   PID TextLCD mbed

usart.cpp@0:fb4c529248d7, 2014-04-27 (annotated)

Committer:
ryuna
Date:
Sun Apr 27 02:37:13 2014 +0000
Revision:
0:fb4c529248d7
update_4/27

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryuna 0:fb4c529248d7 1 #include "mbed.h"
ryuna 0:fb4c529248d7 2 #include "common.h"
ryuna 0:fb4c529248d7 3
ryuna 0:fb4c529248d7 4 #define KEYCODE 0xAA
ryuna 0:fb4c529248d7 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]^tx_data[9])
ryuna 0:fb4c529248d7 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]^rx_data[9])
ryuna 0:fb4c529248d7 7 #define DATA_NUM 11
ryuna 0:fb4c529248d7 8 #define CHECK (DATA_NUM - 1)
ryuna 0:fb4c529248d7 9
ryuna 0:fb4c529248d7 10
ryuna 0:fb4c529248d7 11 extern Serial sensor;
ryuna 0:fb4c529248d7 12 extern Serial xbee;
ryuna 0:fb4c529248d7 13 extern Serial pc;
ryuna 0:fb4c529248d7 14
ryuna 0:fb4c529248d7 15 extern uint8_t ping[4];
ryuna 0:fb4c529248d7 16 extern uint8_t ir_min;
ryuna 0:fb4c529248d7 17 extern uint8_t ir_num;
ryuna 0:fb4c529248d7 18 extern uint8_t ir_main;
ryuna 0:fb4c529248d7 19 extern unsigned int compass;
ryuna 0:fb4c529248d7 20
ryuna 0:fb4c529248d7 21 int count;
ryuna 0:fb4c529248d7 22
ryuna 0:fb4c529248d7 23 void xbee_tx(){
ryuna 0:fb4c529248d7 24 xbee.putc(1);
ryuna 0:fb4c529248d7 25
ryuna 0:fb4c529248d7 26 }
ryuna 0:fb4c529248d7 27
ryuna 0:fb4c529248d7 28 void xbee_rx(){
ryuna 0:fb4c529248d7 29 if(xbee.readable()){
ryuna 0:fb4c529248d7 30 count = xbee.getc();
ryuna 0:fb4c529248d7 31 } else {
ryuna 0:fb4c529248d7 32 count = 0;
ryuna 0:fb4c529248d7 33 }
ryuna 0:fb4c529248d7 34 //pc.printf("%d\n", count);
ryuna 0:fb4c529248d7 35
ryuna 0:fb4c529248d7 36 }
ryuna 0:fb4c529248d7 37
ryuna 0:fb4c529248d7 38
ryuna 0:fb4c529248d7 39 void micon_rx(){
ryuna 0:fb4c529248d7 40
ryuna 0:fb4c529248d7 41 static uint8_t rx;
ryuna 0:fb4c529248d7 42 static int rx_data[DATA_NUM];
ryuna 0:fb4c529248d7 43
ryuna 0:fb4c529248d7 44 rx_data[rx] = sensor.getc();
ryuna 0:fb4c529248d7 45
ryuna 0:fb4c529248d7 46 if(rx_data[0] == KEYCODE){
ryuna 0:fb4c529248d7 47 rx++;
ryuna 0:fb4c529248d7 48 }
ryuna 0:fb4c529248d7 49
ryuna 0:fb4c529248d7 50 if(rx >= DATA_NUM){
ryuna 0:fb4c529248d7 51 if(rx_data[CHECK] == RX_CHECKCODE){
ryuna 0:fb4c529248d7 52 ir_min = rx_data[1];
ryuna 0:fb4c529248d7 53 ir_num = rx_data[2];
ryuna 0:fb4c529248d7 54 ping[FRONT] = rx_data[3];
ryuna 0:fb4c529248d7 55 ping[LEFT] = rx_data[4];
ryuna 0:fb4c529248d7 56 ping[BACK] = rx_data[5];
ryuna 0:fb4c529248d7 57 ping[RIGHT] = rx_data[6];
ryuna 0:fb4c529248d7 58 compass = rx_data[7] + rx_data[8];
ryuna 0:fb4c529248d7 59 ir_main = rx_data[9];
ryuna 0:fb4c529248d7 60 //pc.printf("compass: %d\n",compass);
ryuna 0:fb4c529248d7 61 //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping[0],ping[1],ping[2],ping[3]);
ryuna 0:fb4c529248d7 62 //pc.printf("ir_min:%d\tir_num:%d\tir_main:%d\n",ir_min,ir_num,ir_main);
ryuna 0:fb4c529248d7 63
ryuna 0:fb4c529248d7 64 }
ryuna 0:fb4c529248d7 65 rx = 0;
ryuna 0:fb4c529248d7 66 }
ryuna 0:fb4c529248d7 67
ryuna 0:fb4c529248d7 68 //pc.printf("%d\n", rx_data[rx]);
ryuna 0:fb4c529248d7 69 }
ryuna 0:fb4c529248d7 70 /*
ryuna 0:fb4c529248d7 71 void micon_tx(){
ryuna 0:fb4c529248d7 72
ryuna 0:fb4c529248d7 73 static uint8_t tx;
ryuna 0:fb4c529248d7 74 static uint8_t tx_data[DATA_NUM];
ryuna 0:fb4c529248d7 75
ryuna 0:fb4c529248d7 76 if(tx >= DATA_NUM){
ryuna 0:fb4c529248d7 77 tx_data[0] = KEYCODE;
ryuna 0:fb4c529248d7 78 tx_data[1] = KEYCODE;
ryuna 0:fb4c529248d7 79 tx_data[2] = KEYCODE;
ryuna 0:fb4c529248d7 80 tx_data[3] = KEYCODE;
ryuna 0:fb4c529248d7 81 tx_data[4] = KEYCODE;
ryuna 0:fb4c529248d7 82 tx_data[5] = KEYCODE;
ryuna 0:fb4c529248d7 83 tx_data[6] = KEYCODE;
ryuna 0:fb4c529248d7 84 tx_data[7] = KEYCODE;
ryuna 0:fb4c529248d7 85 tx_data[8] = KEYCODE;
ryuna 0:fb4c529248d7 86 tx_data[9] = KEYCODE;
ryuna 0:fb4c529248d7 87 tx_data[10] = KEYCODE;
ryuna 0:fb4c529248d7 88 tx_data[11] = TX_CHECKCODE;
ryuna 0:fb4c529248d7 89
ryuna 0:fb4c529248d7 90 tx = 0;
ryuna 0:fb4c529248d7 91 }
ryuna 0:fb4c529248d7 92
ryuna 0:fb4c529248d7 93 sensor.putc(tx_data[tx]);
ryuna 0:fb4c529248d7 94 tx++;
ryuna 0:fb4c529248d7 95 }
ryuna 0:fb4c529248d7 96 */