2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

communicate.h@13:57d8e360e9aa, 2015-11-03 (annotated)

Committer:
DeguNaoto
Date:
Tue Nov 03 00:45:17 2015 +0000
Revision:
13:57d8e360e9aa
Parent:
11:565fca1ead5b
Child:
14:943e663694c3
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:b613dc16f27d 1 /***RS485 Communication.***/
DeguNaoto 0:b613dc16f27d 2 #define RS485_TX p13
DeguNaoto 0:b613dc16f27d 3 #define RS485_RX p14
DeguNaoto 0:b613dc16f27d 4 Serial RS485(RS485_TX, RS485_RX);
DeguNaoto 11:565fca1ead5b 5 #define EnablePin p12
DeguNaoto 0:b613dc16f27d 6 DigitalOut Enable(EnablePin);
DeguNaoto 5:0e6dd1ff3ff2 7 #define myaddress 8
DeguNaoto 5:0e6dd1ff3ff2 8
DeguNaoto 0:b613dc16f27d 9 inline void initializeRS485(){
DeguNaoto 0:b613dc16f27d 10 RS485.format(8,Serial::Even);
DeguNaoto 0:b613dc16f27d 11 }
DeguNaoto 0:b613dc16f27d 12
DeguNaoto 0:b613dc16f27d 13 inline void sendData(int address, unsigned int data8) {
DeguNaoto 0:b613dc16f27d 14 unsigned int data;
DeguNaoto 0:b613dc16f27d 15 if (data8 <= 15) {
DeguNaoto 0:b613dc16f27d 16 data = 128 | (address << 4) | (data8 & 15);
DeguNaoto 0:b613dc16f27d 17 RS485.putc(data);
DeguNaoto 0:b613dc16f27d 18 }
DeguNaoto 0:b613dc16f27d 19 else if (data8 <= 255 && data8 >= 16) {
DeguNaoto 0:b613dc16f27d 20 data = (address << 4) | (data8 >> 4);
DeguNaoto 0:b613dc16f27d 21 RS485.putc(data);
DeguNaoto 0:b613dc16f27d 22 wait(0.000001);
DeguNaoto 0:b613dc16f27d 23 data = 128 | (address << 4) | (data8 & 15);
DeguNaoto 0:b613dc16f27d 24 RS485.putc(data);
DeguNaoto 0:b613dc16f27d 25 }
DeguNaoto 0:b613dc16f27d 26 }
DeguNaoto 0:b613dc16f27d 27
DeguNaoto 11:565fca1ead5b 28 /***mbed Serial***/
DeguNaoto 11:565fca1ead5b 29 #define MBED_TX p28
DeguNaoto 11:565fca1ead5b 30 #define MBED_RX p27
DeguNaoto 11:565fca1ead5b 31 Serial MbedSerial(MBED_TX,MBED_RX);
DeguNaoto 13:57d8e360e9aa 32 unsigned int a2, b, X, Y;
DeguNaoto 0:b613dc16f27d 33
DeguNaoto 13:57d8e360e9aa 34 void getMbed(){
DeguNaoto 13:57d8e360e9aa 35 unsigned int info = MbedSerial.getc();
DeguNaoto 13:57d8e360e9aa 36 if (info & 128){ //B1~B4,B5~B11
DeguNaoto 13:57d8e360e9aa 37 for(int s=1,i=1;i<=7;i++){
DeguNaoto 13:57d8e360e9aa 38 if(info & s){
DeguNaoto 13:57d8e360e9aa 39 b = i;
DeguNaoto 13:57d8e360e9aa 40 break;
DeguNaoto 13:57d8e360e9aa 41 }
DeguNaoto 13:57d8e360e9aa 42 if(i==7) b = 0;
DeguNaoto 13:57d8e360e9aa 43 s <<= 1;
DeguNaoto 13:57d8e360e9aa 44 }
DeguNaoto 0:b613dc16f27d 45 }
DeguNaoto 13:57d8e360e9aa 46 else{ //A2,X,Y
DeguNaoto 13:57d8e360e9aa 47 Y = info & 7;
DeguNaoto 13:57d8e360e9aa 48 info >>= 3;
DeguNaoto 13:57d8e360e9aa 49 X = info & 7;
DeguNaoto 13:57d8e360e9aa 50 info >>= 3;
DeguNaoto 13:57d8e360e9aa 51 a2 = info & 1;
DeguNaoto 0:b613dc16f27d 52 }
DeguNaoto 0:b613dc16f27d 53 }
DeguNaoto 0:b613dc16f27d 54
DeguNaoto 13:57d8e360e9aa 55 inline void initializeMbedSerial(){
DeguNaoto 13:57d8e360e9aa 56 MbedSerial.baud(9600);
DeguNaoto 13:57d8e360e9aa 57 MbedSerial.format(8,Serial::Even);
DeguNaoto 13:57d8e360e9aa 58 MbedSerial.attach(getMbed,Serial::RxIrq);
DeguNaoto 13:57d8e360e9aa 59 }