File content as of revision 0:e6d14fec4954:

#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++;
}