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:
- 2019-05-18
- Revision:
- 4:ffc2a55269f9
- Parent:
- 3:2f00371553c1
- Child:
- 5:553c02009ad0
File content as of revision 4:ffc2a55269f9:
#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(); float getRadian(); 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