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@1:b6f5a4994a84, 2018-08-24 (annotated)

Committer:
UCHITAKE
Date:
Fri Aug 24 04:50:46 2018 +0000
Revision:
1:b6f5a4994a84
Parent:
0:243364135087
Child:
3:2f00371553c1
add doxygen comments

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 1:b6f5a4994a84 4 /**
UCHITAKE 1:b6f5a4994a84 5 * Includes
UCHITAKE 1:b6f5a4994a84 6 */
UCHITAKE 0:243364135087 7 #include "mbed.h"
UCHITAKE 0:243364135087 8 #include <vector>
UCHITAKE 0:243364135087 9
UCHITAKE 1:b6f5a4994a84 10 /**
UCHITAKE 1:b6f5a4994a84 11 * Defines
UCHITAKE 1:b6f5a4994a84 12 */
UCHITAKE 0:243364135087 13 #define R1370_BUFFER_SIZE 15
UCHITAKE 0:243364135087 14 #define R1370_HEADER0 0xAA
UCHITAKE 0:243364135087 15 #define R1370_HEADER1 0x00
UCHITAKE 0:243364135087 16
UCHITAKE 1:b6f5a4994a84 17 /**
UCHITAKE 1:b6f5a4994a84 18 * R1370 sensor module
UCHITAKE 1:b6f5a4994a84 19 * sample code is here https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/R1370sample/
UCHITAKE 1:b6f5a4994a84 20 */
UCHITAKE 0:243364135087 21 class R1370 : public RawSerial
UCHITAKE 0:243364135087 22 {
UCHITAKE 0:243364135087 23 public :
UCHITAKE 1:b6f5a4994a84 24 /**
UCHITAKE 1:b6f5a4994a84 25 * Constructor.
UCHITAKE 1:b6f5a4994a84 26 *
UCHITAKE 1:b6f5a4994a84 27 * set 2pins for UART
UCHITAKE 1:b6f5a4994a84 28 *
UCHITAKE 1:b6f5a4994a84 29 * @param tx - TXpin for UART
UCHITAKE 1:b6f5a4994a84 30 * @param rx - RXpin for UART
UCHITAKE 1:b6f5a4994a84 31 */
UCHITAKE 0:243364135087 32 R1370(PinName tx, PinName rx);
UCHITAKE 0:243364135087 33
UCHITAKE 1:b6f5a4994a84 34 //Getters.
UCHITAKE 0:243364135087 35 float getAngle();
UCHITAKE 0:243364135087 36 float getRate();
UCHITAKE 0:243364135087 37 int16_t getAcc(char l);
UCHITAKE 0:243364135087 38 int16_t getAcc(int i);
UCHITAKE 0:243364135087 39 int16_t getAccX();
UCHITAKE 0:243364135087 40 int16_t getAccY();
UCHITAKE 0:243364135087 41 int16_t getAccZ();
UCHITAKE 0:243364135087 42
UCHITAKE 0:243364135087 43
UCHITAKE 0:243364135087 44 private :
UCHITAKE 0:243364135087 45 void receiveByte();
UCHITAKE 0:243364135087 46 void assembleLoop();
UCHITAKE 0:243364135087 47 void assemble();
UCHITAKE 0:243364135087 48
UCHITAKE 0:243364135087 49 Thread thread;
UCHITAKE 0:243364135087 50 std::vector<unsigned char> buf;
UCHITAKE 0:243364135087 51
UCHITAKE 0:243364135087 52 uint8_t index;
UCHITAKE 0:243364135087 53 int16_t angle;
UCHITAKE 0:243364135087 54 int16_t rate;
UCHITAKE 0:243364135087 55 int16_t acc[3];
UCHITAKE 0:243364135087 56 uint8_t reserved;
UCHITAKE 0:243364135087 57 };
UCHITAKE 0:243364135087 58
UCHITAKE 0:243364135087 59 #endif