Revision 3:7de2c50339bd, committed 2014-02-24

Comitter:

ryuna

Date:

Mon Feb 24 07:05:48 2014 +0000

Parent:

2:f7da3aa0520a

Child:

4:1d54610dba80

Commit message:

program version.2

Changed in this revision

--- a/main.cpp	Mon Feb 24 05:23:18 2014 +0000
+++ b/main.cpp	Mon Feb 24 07:05:48 2014 +0000
@@ -22,6 +22,7 @@
 Serial sensor(p13,p14);
 Serial pc(USBTX,USBRX);
 HMC6352 compass(p9, p10);
+
 Timer time_ping;
 Timer time_ir; 
 
@@ -35,7 +36,8 @@
 volatile unsigned int value_ir_min = 0;
 volatile unsigned int ir_min_num = 0;
 volatile unsigned int value_line[ALL_LINE] = {0};
-volatile unsigned int value_compass = 0;
+volatile unsigned int value_compass0 = 0;
+volatile unsigned int value_compass[2] = {0};
 
 
 /*unsigned int*/void moving_ave(enum sensors kind,int num, unsigned int data){
@@ -169,7 +171,7 @@
 }
 int main() {
     //enum sensors kinds;
-    uint8_t compassdef = 0;
+    int compassdef = 0;
     int num[ALL_KIND] = {0};
     //送信開始
     sensor.putc(1);
@@ -179,10 +181,16 @@
     compassdef = (compass.sample() / 10);
     
     while(1) {
-        value_compass = ((compass.sample() / 10) + 540 - compassdef) % 360;
+        value_compass0 = ((compass.sample() / 10) + 540 - compassdef) % 360;
+        if(value_compass0 >=255 ){
+            value_compass[0] = 255;
+            value_compass[1] = value_compass0 - 255 ;
+        }else{
+            value_compass[0] = value_compass0;
+            value_compass[1] = 0;
+        }
         moving_ave(Ping,num[Ping],ping_function(num[Ping]));
-        
-        pc.printf("value_compass=%d\n",value_compass);
+        pc.printf("compass0=%d compass[0]= %d  compass[1]= %d\n",value_compass0,value_compass[0],value_compass[1]);
         //ir_min_fun();
         //num[Ping]++;
         //num[Ir]++;

--- a/usart.cpp	Mon Feb 24 05:23:18 2014 +0000
+++ b/usart.cpp	Mon Feb 24 07:05:48 2014 +0000
@@ -3,7 +3,7 @@
 #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 DATA_NUM 14
 #define CHECK (DATA_NUM - 1)
 #define ALL_IR 10
 #define ALL_PING 4
@@ -18,7 +18,7 @@
 extern unsigned int value_ir_min;
 extern unsigned int ir_min_num;
 extern unsigned int value_line[ALL_LINE];
-extern unsigned int value_compass;
+extern unsigned int value_compass[2];
 void micon_rx(){
     
     static uint8_t rx;
@@ -56,8 +56,9 @@
         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_data[11] = value_compass[0];
+        tx_data[12] = value_compass[1];
+        tx_data[13] = TX_CHECKCODE;
         
         tx = 0;
     }