File content as of revision 4:614e752487cc:

#include "mbed.h"

//重要受信データのマスク
#define LEAD_PACKET_MASK        0b10000000
#define PACKET_ADDRESS_MASK     0b00011111
#define PACKET_MODE_MASK        0b01100000
#define PACKET_DATA_MASK        0b01111111

//モータードライバの動作モード
#define ORDER_FOLLOWING_MODE    1
#define ENCODER_FOLLOWING_MODE  2
#define SINGLE_ORDER_MODE       3 //単命令を受信した後は必ずsendback

//単命令動作の種類
#define S_ORDER_FREQUENCY           0
#define S_ORDER_SEND_POWER          1
#define S_ORDER_LINEAR_AUTOCHANGE   2
#define S_ORDER_CERTAIN             3
#define S_ORDER_SEND_ENCODER        4

#define F_MD 15000 //PWMキャリア周波数設定

/*
 * High_A High_B
 *   ┃     ┃
 *   ┃     ┃
 *   ┣━━━┫
 *   ┃     ┃
 *   ┃     ┃
 *  Low_A  Low_B
 */
 
Serial comPort(dp16, dp15);
DigitalOut driverEnable(dp17);
DigitalOut LED(LED1);
DigitalOut check_reciveData(LED2);
BusIn switch5(dp26, dp25, dp18, dp6, dp4);
//dp5 = ハイサイドPWM1, dp27 = ハイサイドPWM2 （オープンドレイン）
//dp1 = ローサイドPWM1, dp2 = ローサイドPWM2
PwmOut Low_A(dp1);
PwmOut Low_B(dp2);
DigitalOut High_A(dp5);
DigitalOut High_B(dp27);

Timer timer;

AnalogIn ain(dp9);
//PortIn encoder(Port0, 0b111);


//グローバル変数
uint8_t lastRXdata[3] = {0};
uint8_t address = 0;
uint8_t mode = 0;
uint8_t nowOrderAddress = 0;
uint8_t dataNumber = 0;
uint8_t sendPowerFlag = 0;
uint8_t orderType = 0;
uint8_t Ldir = 1;
int FP_MD;

void orderFollowManager(uint8_t reciveData, uint8_t dataNumber){
    switch (dataNumber) {
        case 2:
            break;
        case 3:
            //comPort.printf("%d %d\n", lastRXdata[1], lastRXdata[2]);
             if (lastRXdata[1]) {
                High_A = 0;
                Low_B.write(0);
                if (Ldir == 0) wait_us(1000000 / F_MD);
                High_B = lastRXdata[2] == 0 ? 0 : 1;
                Low_A.write(1 / 127.0 * lastRXdata[2]);
                Ldir = 1;
            } else {
                High_B = 0;
                Low_A.write(0);
                if (Ldir == 1) wait_us(1000000 / F_MD);
                High_A = 1;
                Low_B.write(1 - (1 / 127.0 * lastRXdata[2]));
                Ldir = 0;
            }
            break;
        case 4:
            break;
    }
}

void encoderFollowManager(uint8_t reciveData, uint8_t dataNumber){
    
}

void S_orderFollowManager(uint8_t reciveData, uint8_t dataNumber){
    
}

void com_rx() {
    LED = !LED;
    static uint8_t reciveData;
    reciveData = comPort.getc();
    //comPort.printf("%d  %f\n", reciveData, timer.read());
    //timer.reset();
    
    if (reciveData & LEAD_PACKET_MASK) {
        nowOrderAddress = reciveData & PACKET_ADDRESS_MASK;
        //comPort.printf("%d %d\n", nowOrderAddress, address);
        dataNumber = 0;
    }
    
    //comPort.printf("%d\n", reciveData & PACKET_DATA_MASK);
    
    if (nowOrderAddress == address) {
        dataNumber++;
        lastRXdata[0] = lastRXdata[1];
        lastRXdata[1] = lastRXdata[2];
        lastRXdata[2] = reciveData & PACKET_DATA_MASK;
        
        if (dataNumber == 1) {
            mode = (reciveData & PACKET_MODE_MASK) >> 5;
        } else {
            switch (mode) {
                case ORDER_FOLLOWING_MODE:
                    orderFollowManager(reciveData, dataNumber);
                    break;
                case ENCODER_FOLLOWING_MODE:
                    encoderFollowManager(reciveData, dataNumber);
                    break;
                case SINGLE_ORDER_MODE:
                    S_orderFollowManager(reciveData, dataNumber);
                    break;
            }
        }    
    }
}

int main() {
    //comPort.set_flow_control(Serial::RTS, dp17);

    FP_MD = 1000000 / F_MD; //PWM一周期の周期（マイクロ秒）
    
    High_A = 0;
    High_B = 0;
    Low_A.period_us(FP_MD);
    Low_A.write(0);
    Low_B.period_us(FP_MD);
    Low_B.write(0);
    
    switch5.mode(PullUp);
    address = ~switch5 & 0b00011111;
    comPort.printf("%d", address);
    //初期設定完了
    
    LED = 0;
    check_reciveData = 0;
    //High_B = 1;
    driverEnable = 1;
    
    timer.start();
    
    comPort.baud(115200);
    comPort.format(8, Serial::None, 1);
    comPort.attach(&com_rx, Serial::RxIrq);
    while (1) {
        //comPort.printf("%d\n", address);
        //Low_A.write((ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
        //pc.printf("%f\n", (ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
        //comPort.printf("%d\n", address);
        //comPort.printf("%d\n", address);
    }
}