Diff: usart.cpp

Revision:

0:e6d14fec4954

Child:

1:fb4277ce4d93

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usart.cpp	Tue Feb 25 03:06:52 2014 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "common.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 14
+#define CHECK (DATA_NUM - 1)
+#define ALL_IR 10
+
+
+extern Serial sensor;
+extern Serial pc;
+
+extern uint8_t ping[4];
+extern uint8_t line[4];
+extern uint8_t ir_max, ir_num;
+extern int compass;
+
+void micon_rx(){
+    
+    static uint8_t rx;
+    static int 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){
+             compass = rx_data[11] + rx_data[12];
+             ping[FRONT] = rx_data[2];
+             ping[LEFT] = rx_data[3];
+             ping[BACK] = rx_data[4];
+             ping[RIGHT] = rx_data[5];
+             line[FRONT] = rx_data[6];
+             line[LEFT] = rx_data[7];
+             line[BACK] = rx_data[8];
+             line[RIGHT] = rx_data[9];
+             //pc.printf("%d %d %d %d %d\n", rx_data[1], rx_data[2], rx_data[3], rx_data[4], rx_data[5]);
+             pc.printf("%d %d %d\n", rx_data[11], rx_data[12], compass);
+        }  
+     rx = 0;   
+    }
+    //pc.printf("%d\n", rx_data[rx]);
+}
+
+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] = KEYCODE;
+        tx_data[2] = KEYCODE;
+        tx_data[3] = KEYCODE;
+        tx_data[4] = KEYCODE;
+        tx_data[5] = KEYCODE;
+        tx_data[6] = KEYCODE;
+        tx_data[7] = KEYCODE;
+        tx_data[8] = KEYCODE;
+        tx_data[9] = KEYCODE;
+        tx_data[10] = KEYCODE;
+        tx_data[11] = TX_CHECKCODE;
+        
+        tx = 0;
+    }
+    
+    sensor.putc(tx_data[tx]);
+    tx++;
+}
\ No newline at end of file