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

Committer:
highfieldsnj
Date:
2018-12-19
Revision:
3:2f00371553c1
Parent:
1:b6f5a4994a84
Child:
4:ffc2a55269f9

File content as of revision 3:2f00371553c1:

#ifndef R1370_H
#define R1370_H

#include "mbed.h"
#include <vector>

#define R1370_BUFFER_SIZE 15
#define R1370_HEADER0 0xAA
#define R1370_HEADER1 0x00

class R1370 : public RawSerial
{
public :
    R1370(PinName tx, PinName rx);

    float getAngle();
    float getRate();
    int16_t getAcc(char l);
    int16_t getAcc(int i);
    int16_t getAccX();
    int16_t getAccY();
    int16_t getAccZ();
    
    unsigned char upbit();
    unsigned char downbit();
    
    
private :
    void receiveByte();
    void checkData();
    void assembleLoop();
    void assemble();
    
    uint8_t index;
    int16_t angle;
    int16_t rate;
    int16_t acc[3];
    uint8_t reserved;
    uint8_t buffer[R1370_BUFFER_SIZE];
    uint8_t data[R1370_BUFFER_SIZE-3];
    uint8_t bufferPoint;
    uint8_t receivedBytes;
    
    unsigned char upbit_, downbit_;
};

#endif