NagaokaRoboticsClub_mbedTeam / R1370

受信割り込みバージョン

Dependents:   a_team_R1370 ashimawari_sample_test 2022NHK_A_ashimawari 2022A_NHK_kikou

R1370.h@5:553c02009ad0, 2020-12-16 (annotated)

Committer:
highfieldsnj
Date:
Wed Dec 16 08:31:38 2020 +0000
Revision:
5:553c02009ad0
Parent:
4:ffc2a55269f9 
add functions reset

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:243364135087 1 #ifndef R1370_H
UCHITAKE 0:243364135087 2 #define R1370_H
UCHITAKE 0:243364135087 3
UCHITAKE 0:243364135087 4 #include "mbed.h"
UCHITAKE 0:243364135087 5 #include <vector>
UCHITAKE 0:243364135087 6
UCHITAKE 0:243364135087 7 #define R1370_BUFFER_SIZE 15
UCHITAKE 0:243364135087 8 #define R1370_HEADER0 0xAA
UCHITAKE 0:243364135087 9 #define R1370_HEADER1 0x00
UCHITAKE 0:243364135087 10
UCHITAKE 0:243364135087 11 class R1370 : public RawSerial
UCHITAKE 0:243364135087 12 {
UCHITAKE 0:243364135087 13 public :
UCHITAKE 0:243364135087 14 R1370(PinName tx, PinName rx);
UCHITAKE 0:243364135087 15
UCHITAKE 0:243364135087 16 float getAngle();
highfieldsnj 5:553c02009ad0 17 float getRelativeAngle();
UCHITAKE 0:243364135087 18 float getRate();
highfieldsnj 4:ffc2a55269f9 19 float getRadian();
highfieldsnj 5:553c02009ad0 20 float getRelativeRadian();
UCHITAKE 0:243364135087 21 int16_t getAcc(char l);
UCHITAKE 0:243364135087 22 int16_t getAcc(int i);
UCHITAKE 0:243364135087 23 int16_t getAccX();
UCHITAKE 0:243364135087 24 int16_t getAccY();
UCHITAKE 0:243364135087 25 int16_t getAccZ();
highfieldsnj 5:553c02009ad0 26 void reset();
UCHITAKE 0:243364135087 27
highfieldsnj 3:2f00371553c1 28 unsigned char upbit();
highfieldsnj 3:2f00371553c1 29 unsigned char downbit();
highfieldsnj 3:2f00371553c1 30
UCHITAKE 0:243364135087 31
UCHITAKE 0:243364135087 32 private :
UCHITAKE 0:243364135087 33 void receiveByte();
highfieldsnj 3:2f00371553c1 34 void checkData();
UCHITAKE 0:243364135087 35 void assembleLoop();
UCHITAKE 0:243364135087 36 void assemble();
UCHITAKE 0:243364135087 37
UCHITAKE 0:243364135087 38 uint8_t index;
UCHITAKE 0:243364135087 39 int16_t angle;
UCHITAKE 0:243364135087 40 int16_t rate;
UCHITAKE 0:243364135087 41 int16_t acc[3];
UCHITAKE 0:243364135087 42 uint8_t reserved;
highfieldsnj 3:2f00371553c1 43 uint8_t buffer[R1370_BUFFER_SIZE];
highfieldsnj 3:2f00371553c1 44 uint8_t data[R1370_BUFFER_SIZE-3];
highfieldsnj 3:2f00371553c1 45 uint8_t bufferPoint;
highfieldsnj 3:2f00371553c1 46 uint8_t receivedBytes;
highfieldsnj 5:553c02009ad0 47 int16_t zeroPoint;
highfieldsnj 5:553c02009ad0 48 float relativeAngle;
highfieldsnj 3:2f00371553c1 49
highfieldsnj 3:2f00371553c1 50 unsigned char upbit_, downbit_;
UCHITAKE 0:243364135087 51 };
UCHITAKE 0:243364135087 52
UCHITAKE 0:243364135087 53 #endif