usart.cpp

00001 #include "mbed.h"
00002 #include "common.h"
00003 
00004 #define KEYCODE 0xAA
00005 #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])
00006 #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])
00007 #define DATA_NUM 11
00008 #define CHECK (DATA_NUM - 1)
00009 
00010 
00011 extern Serial sensor;
00012 extern Serial xbee;
00013 extern Serial pc;
00014 
00015 extern uint8_t ping[4];
00016 extern uint8_t ir_min;
00017 extern uint8_t ir_num;
00018 extern uint8_t ir_main;
00019 extern unsigned int compass;
00020 
00021 int count;
00022 
00023 void xbee_tx(){
00024     xbee.putc(1);
00025     
00026 }
00027  
00028 void xbee_rx(){
00029     if(xbee.readable()){
00030         count = xbee.getc();
00031     } else {
00032         count = 0;
00033     }
00034     //pc.printf("%d\n", count);
00035     
00036 }
00037 
00038 
00039 void micon_rx(){
00040     
00041     static uint8_t rx;
00042     static int rx_data[DATA_NUM];
00043     
00044     rx_data[rx] = sensor.getc();
00045     
00046     if(rx_data[0] == KEYCODE){
00047         rx++;
00048     }
00049     
00050     if(rx >= DATA_NUM){
00051         if(rx_data[CHECK] == RX_CHECKCODE){
00052             ir_min = rx_data[1];
00053             ir_num = rx_data[2];
00054             ping[FRONT] = rx_data[3];
00055             ping[LEFT] = rx_data[4];
00056             ping[BACK] = rx_data[5];
00057             ping[RIGHT] = rx_data[6];
00058             compass = rx_data[7] + rx_data[8];
00059             ir_main = rx_data[9];
00060             //pc.printf("compass: %d\n",compass);
00061             //pc.printf("ping0:%d\tping1:%d\tping2:%d\tping3:%d\n",ping[0],ping[1],ping[2],ping[3]);
00062             //pc.printf("ir_min:%d\tir_num:%d\tir_main:%d\n",ir_min,ir_num,ir_main);
00063             
00064         } 
00065      rx = 0;   
00066     }
00067     
00068     //pc.printf("%d\n", rx_data[rx]);
00069 }
00070 /*
00071 void micon_tx(){
00072     
00073     static uint8_t tx;
00074     static uint8_t tx_data[DATA_NUM];
00075     
00076     if(tx >= DATA_NUM){
00077         tx_data[0] = KEYCODE;
00078         tx_data[1] = KEYCODE;
00079         tx_data[2] = KEYCODE;
00080         tx_data[3] = KEYCODE;
00081         tx_data[4] = KEYCODE;
00082         tx_data[5] = KEYCODE;
00083         tx_data[6] = KEYCODE;
00084         tx_data[7] = KEYCODE;
00085         tx_data[8] = KEYCODE;
00086         tx_data[9] = KEYCODE;
00087         tx_data[10] = KEYCODE;
00088         tx_data[11] = TX_CHECKCODE;
00089         
00090         tx = 0;
00091     }
00092     
00093     sensor.putc(tx_data[tx]);
00094     tx++;
00095 }
00096 */