Diff: usart.cpp

Revision:

1:fb4277ce4d93

Parent:

0:e6d14fec4954

Child:

3:440e774cc24b

--- a/usart.cpp	Tue Feb 25 03:06:52 2014 +0000
+++ b/usart.cpp	Fri Feb 28 10:50:11 2014 +0000
@@ -2,9 +2,9 @@
 #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 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])
+#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])
+#define DATA_NUM 10
 #define CHECK (DATA_NUM - 1)
 #define ALL_IR 10
 
@@ -12,6 +12,7 @@
 extern Serial sensor;
 extern Serial pc;
 
+extern uint8_t value_ir, ir_num;
 extern uint8_t ping[4];
 extern uint8_t line[4];
 extern uint8_t ir_max, ir_num;
@@ -30,23 +31,29 @@
     
     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);
-        }  
+            value_ir = rx_data[1];
+            ir_num = rx_data[2];
+            ping[FRONT] = rx_data[3];
+            ping[LEFT] = rx_data[4];
+            ping[BACK] = rx_data[5];
+            ping[RIGHT] = rx_data[6];
+            compass = rx_data[7] + rx_data[8];
+/*            line[FRONT] = rx_data[7];
+            line[LEFT] = rx_data[8];
+            line[BACK] = rx_data[9];
+            line[RIGHT] = rx_data[10];
+*/          
+            //pc.printf("%d %d\n", rx_data[1], rx_data[2]); 
+            //pc.printf("%d %d %d %d\n", rx_data[3], rx_data[4], rx_data[5], rx_data[6]);
+            //pc.printf("%d %d %d %d\n", rx_data[7], rx_data[8], rx_data[9], rx_data[10]);
+            //pc.printf("%d %d %d\n", rx_data[7], rx_data[8], compass);
+        }
      rx = 0;   
     }
     //pc.printf("%d\n", rx_data[rx]);
 }
 
+/*
 void micon_tx(){
     
     static uint8_t tx;
@@ -71,4 +78,5 @@
     
     sensor.putc(tx_data[tx]);
     tx++;
-}
\ No newline at end of file
+}
+*/
\ No newline at end of file