program_SensorBlock //{Ping,Ir,Lines,compass} Sensor

Dependencies:   HMC6352 mbed

Fork of program_BlockPIL by Fumiya Fujisawa

Revision:
1:3ecb80796a7f
Child:
3:7de2c50339bd
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usart.cpp	Mon Feb 24 05:20:20 2014 +0000
@@ -0,0 +1,70 @@
+#include "mbed.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 13
+#define CHECK (DATA_NUM - 1)
+#define ALL_IR 10
+#define ALL_PING 4
+#define ALL_LINE 4
+
+
+
+extern Serial sensor;
+extern Serial pc;
+extern unsigned int value_ping[ALL_PING];
+extern unsigned int value_ir[ALL_IR];
+extern unsigned int value_ir_min;
+extern unsigned int ir_min_num;
+extern unsigned int value_line[ALL_LINE];
+extern unsigned int value_compass;
+void micon_rx(){
+    
+    static uint8_t rx;
+    static uint8_t 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){
+             pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]);
+        }  
+     rx = 0;   
+    }
+
+}
+
+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] = value_ir_min;
+        tx_data[2] = ir_min_num;
+        tx_data[3] = value_ping[0];
+        tx_data[4] = value_ping[1];
+        tx_data[5] = value_ping[2];
+        tx_data[6] = value_ping[3];
+        tx_data[7] = value_line[0];
+        tx_data[8] = value_line[1];
+        tx_data[9] = value_line[2];
+        tx_data[10] = value_line[3];
+        tx_data[11] = value_compass;
+        tx_data[12] = TX_CHECKCODE;
+        
+        tx = 0;
+    }
+    
+    
+    sensor.putc(tx_data[tx]);
+    //pc.printf("%d\n", tx_data[tx]);
+    tx++;
+    //wait(0.1);
+}
\ No newline at end of file