NagaokaRoboticsClub_mbedTeam / 2021BconTX

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Bcon.cpp@0:4e42396b06ed, 2021-10-16 (annotated)

Committer:
piroro4560
Date:
Sat Oct 16 12:39:09 2021 +0000
Revision:
0:4e42396b06ed
make

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piroro4560 0:4e42396b06ed 1 /**
piroro4560 0:4e42396b06ed 2 * @file Bcon.cpp
piroro4560 0:4e42396b06ed 3 * @brief Bcontroller送信用FEPライブラリ
piroro4560 0:4e42396b06ed 4 * @author 安澤瑠
piroro4560 0:4e42396b06ed 5 * @date 21/10/15
piroro4560 0:4e42396b06ed 6 */
piroro4560 0:4e42396b06ed 7 #include "Bcon.h"
piroro4560 0:4e42396b06ed 8
piroro4560 0:4e42396b06ed 9 Bcon::Bcon(PinName tx, PinName rx, uint8_t addr_, int baud) :
piroro4560 0:4e42396b06ed 10 RawSerial(tx, rx, baud)
piroro4560 0:4e42396b06ed 11 {
piroro4560 0:4e42396b06ed 12 addr = addr_;
piroro4560 0:4e42396b06ed 13 }
piroro4560 0:4e42396b06ed 14
piroro4560 0:4e42396b06ed 15 int8_t Bcon::SendData(uint8_t *data)
piroro4560 0:4e42396b06ed 16 {
piroro4560 0:4e42396b06ed 17 uint8_t sendindex; // index of 'data'
piroro4560 0:4e42396b06ed 18 printf("@TBN%03d%03d", addr, DATANUM); // send comand
piroro4560 0:4e42396b06ed 19 for (sendindex=0; sendindex<DATANUM; sendindex++) {
piroro4560 0:4e42396b06ed 20 putc(data[sendindex]); //
piroro4560 0:4e42396b06ed 21 }
piroro4560 0:4e42396b06ed 22 printf("\r\n"); // <cr><lf>
piroro4560 0:4e42396b06ed 23 return GetResponse(); // check response
piroro4560 0:4e42396b06ed 24 }
piroro4560 0:4e42396b06ed 25
piroro4560 0:4e42396b06ed 26 int8_t Bcon::GetResponse()
piroro4560 0:4e42396b06ed 27 {
piroro4560 0:4e42396b06ed 28 char res[256]; // array of storing response
piroro4560 0:4e42396b06ed 29 for (uint8_t resindex=0; resindex<256; resindex++) {
piroro4560 0:4e42396b06ed 30 res[resindex] = getc();
piroro4560 0:4e42396b06ed 31 if (!strncmp(res+resindex-1, "\r\n", 2)) {
piroro4560 0:4e42396b06ed 32 if (!strncmp(res+resindex-3, "P0", 2)) return 0;
piroro4560 0:4e42396b06ed 33 else if (!strncmp(res+resindex-3, "N0", 2)) return 2;
piroro4560 0:4e42396b06ed 34 else if (!strncmp(res+resindex-3, "N1", 2)) return 3;
piroro4560 0:4e42396b06ed 35 else if (!strncmp(res+resindex-3, "N3", 2)) return 4;
piroro4560 0:4e42396b06ed 36 }
piroro4560 0:4e42396b06ed 37 }
piroro4560 0:4e42396b06ed 38 return -1;
piroro4560 0:4e42396b06ed 39 }