Fumiya Fujisawa
/
program_BlockPIL
program_BlockPIL //{Ping,Ir,Lines} Sensor
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usart.cpp
00001 #include "mbed.h" 00002 00003 #define KEYCODE 0xAA 00004 #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]) 00005 #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]) 00006 #define DATA_NUM 13 00007 #define CHECK (DATA_NUM - 1) 00008 #define ALL_IR 10 00009 #define ALL_PING 4 00010 #define ALL_LINE 4 00011 00012 00013 00014 extern Serial sensor; 00015 extern Serial pc; 00016 extern unsigned int value_ping[ALL_PING]; 00017 extern unsigned int value_ir[ALL_IR]; 00018 extern unsigned int value_ir_min; 00019 extern unsigned int ir_min_num; 00020 extern unsigned int value_line[ALL_LINE]; 00021 extern unsigned int value_compass; 00022 void micon_rx(){ 00023 00024 static uint8_t rx; 00025 static uint8_t rx_data[DATA_NUM]; 00026 00027 rx_data[rx] = sensor.getc(); 00028 00029 if(rx_data[0] == KEYCODE){ 00030 rx++; 00031 } 00032 00033 if(rx >= DATA_NUM){ 00034 if(rx_data[CHECK] == RX_CHECKCODE){ 00035 pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]); 00036 } 00037 rx = 0; 00038 } 00039 00040 } 00041 00042 void micon_tx(){ 00043 00044 static uint8_t tx; 00045 static uint8_t tx_data[DATA_NUM]; 00046 00047 if(tx >= DATA_NUM){ 00048 tx_data[0] = KEYCODE; 00049 tx_data[1] = value_ir_min; 00050 tx_data[2] = ir_min_num; 00051 tx_data[3] = value_ping[0]; 00052 tx_data[4] = value_ping[1]; 00053 tx_data[5] = value_ping[2]; 00054 tx_data[6] = value_ping[3]; 00055 tx_data[7] = value_line[0]; 00056 tx_data[8] = value_line[1]; 00057 tx_data[9] = value_line[2]; 00058 tx_data[10] = value_line[3]; 00059 tx_data[11] = value_compass; 00060 tx_data[12] = TX_CHECKCODE; 00061 00062 tx = 0; 00063 } 00064 00065 00066 sensor.putc(tx_data[tx]); 00067 //pc.printf("%d\n", tx_data[tx]); 00068 tx++; 00069 //wait(0.1); 00070 }
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