Revision 4:aaaadb45cbd9, committed 2014-09-12

Comitter:

9uS7

Date:

Fri Sep 12 08:08:21 2014 +0000

Parent:

3:12e1f116ea42

Child:

5:37733f175430

Commit message:

09/12/17

Changed in this revision

--- a/bluetooth.cpp	Fri Sep 12 05:11:39 2014 +0000
+++ b/bluetooth.cpp	Fri Sep 12 08:08:21 2014 +0000
@@ -7,7 +7,11 @@
 //slave
 //Serial bt(p28, p27);
 
+Serial pc(USBTX, USBRX);   // tx, rx
+
 DigitalOut l1(LED1);
+DigitalOut l2(LED2);
+DigitalOut l4(LED4);
 
 void btSetup(int role)
 {
@@ -27,7 +31,7 @@
 
 void sync(char option, char* b_data, float* f_data)
 {
-    char pac[PACK_SIZE];
+    char pac[PACK_SIZE]={};
     Cvt temp;
     
     //making pac
@@ -52,23 +56,23 @@
     
     //send pac
     for( int i=0 ; i<PACK_SIZE ; i++ ){
-        pc.putc( pac[i] );
+        bt.putc( pac[i] );
+        pc.printf("%02x ",pac[i]);
     }
+    pc.printf("\n");
 }
 
 void slaveRecieve(void)
 {
-    static int i;
-    char buf[PACK_SIZE];
-    char pac[PACK_SIZE];
-    float val[PACK_SIZE/4+1];
+    static int i=0;
+    char buf[PACK_SIZE]={};
+    char pac[PACK_SIZE]={};
+    float val[PACK_SIZE/4+1]={};
     Cvt temp;
     
     wait(1/1000.0);
     
-    l1=1;
-    wait(0.2);
-    l1=2;
+    l1=( l1 ? 0 : 1 );
     
     for( int i=0 ; i<PACK_SIZE ; i++ ){
         buf[i]=bt.getc();
@@ -106,7 +110,11 @@
         //send pac
         for( int i=0 ; i<PACK_SIZE ; i++ ){
             bt.putc( pac[i] );
+            pc.printf("%02x ",pac[i]);
         }
+        pc.printf("\n");
+        
+        l2 = l2 ? 0 : 1;
     }
     else if( buf[0]==SYNC_FM ){
         ;       //not yet
@@ -120,16 +128,34 @@
 
 void receiveSensor(float* _ir, float* _fsr)
 {
-    char buf[PACK_SIZE];
+    char buf[PACK_SIZE]={};
     Cvt temp;
     
-    wait(1/1000.0);
+    wait(0.05);
+    
+    l1= l1 ? 0 : 1;
     
+    for( int i=0 ; ; i++ ){
+        if( bt.readable() ){
+            pc.printf("readable\n");
+            break;
+        }
+        else if( i>5 ){
+            l4 = 0;
+            pc.printf("enable\n");
+            return;
+        }    
+    }
+    
+    l4 = 1;
+
     //Read
     for( int i=0 ; i<PACK_SIZE ; i++ ){
         buf[i]=bt.getc();
     }
     
+    return;
+    
     //PACK:     [option/ir*4/fsr*4];
     //option
     if( buf[0]!=SYNC_SENSOR ){

--- a/bluetooth.h	Fri Sep 12 05:11:39 2014 +0000
+++ b/bluetooth.h	Fri Sep 12 08:08:21 2014 +0000
@@ -11,9 +11,7 @@
 #define SYNC_MOTOR 0x20
 #define SYNC_FM 0x21
 
-
-
-#define PACK_SIZE 20
+#define PACK_SIZE 15
 
 typedef union _cvt{
     char byte[4];

--- a/main.cpp	Fri Sep 12 05:11:39 2014 +0000
+++ b/main.cpp	Fri Sep 12 08:08:21 2014 +0000
@@ -8,7 +8,7 @@
 //BT_MASTER or BT_SLAVE
 #define DEVICE_ROLE BT_MASTER
 
-Serial pc(USBTX, USBRX);   // tx, rx
+//Serial pc(USBTX, USBRX);   // tx, rx
  
 //debug
 DigitalOut led1(LED1);
@@ -48,6 +48,7 @@
     float ir_s,fsr_s;   //sensor of slave
     sync(SYNC_SENSOR,NULL,NULL);
     receiveSensor( &ir_s, &fsr_s );
-    led1 = ( ir_s>0.5 ? 1 : 0 );
-    wait(0.5);
+    led4 = ( ir_s>0.5 ? 1 : 0 );
+    led2 = ( led2 ? 0 : 1 );
+    wait(1);
 }
\ No newline at end of file