Diff: scrp_slave.cpp

Revision:

0:ca84ed7518f5

Child:

2:141358d84ff4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/scrp_slave.cpp	Thu Jan 02 09:30:06 2020 +0000
@@ -0,0 +1,219 @@
+#include "scrp_slave.hpp"
+
+#define STX 0x41
+#define DMY 0xff
+
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr):address_(addr){
+    mode_ = 0;
+    init(TX1,RX1);
+}
+
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr):address_(addr){
+    mode_ = 1;
+    rede_ = new DigitalOut(REDE1);
+    init(TX1,RX1);
+}
+
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){
+    mode_ = 2;
+    serial_[1] = new BufferedSerial(TX2,RX2);
+    serial_[1]->baud(115200);
+    serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq);
+    init(TX1,RX1);
+}
+
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){
+    mode_ = 3;
+    rede_ = new DigitalOut(REDE1);
+    serial_[1] = new BufferedSerial(TX2,RX2);
+    serial_[1]->baud(115200);
+    serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq);
+    init(TX1,RX1);
+}
+
+void ScrpSlave::init(PinName TX,PinName RX){
+    timeout_ = 10;
+    serial_[0] = new BufferedSerial(TX,RX);
+    serial_[0]->baud(115200);
+    serial_[0]->attach(callback(this,&ScrpSlave::port1),Serial::RxIrq);
+    flash_ = new FlashIAP;
+    if(flash_->init()==0){
+        if(flash_->read(&my_id_,address_,1) != 0){
+            send(222,222,222);
+            my_id_ = 10;
+        }
+    }else{
+        send(111,111,111);
+        my_id_ = 10;
+    }
+    for(int i = 1;i<255;++i){
+        procs_[i] = NULL;
+    }
+}
+
+void ScrpSlave::port1(){
+    check(0);
+}
+
+void ScrpSlave::port2(){
+    check(1);
+}
+
+void ScrpSlave::addCMD(uint8_t cmd, bool (*proc)(int rx_data, int& tx_data)){
+    if(cmd == 0 || cmd == 254 || cmd == 253)return;
+    procs_[cmd] = proc;
+}
+
+void ScrpSlave::setTimeout(int time){
+    timeout_ = time;
+}
+
+void ScrpSlave::changeID(uint8_t id){
+    flash_->erase(address_,flash_->get_sector_size(address_));
+    flash_->program(&id,address_,1);
+}
+
+int16_t ScrpSlave::send(uint8_t id,uint8_t cmd,int16_t tx_data){
+    return sending(0,id,cmd,tx_data);
+}
+
+int16_t ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
+    if(mode_ < 2)return -1;
+    return sending(1,id,cmd,tx_data);
+}
+
+int16_t ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data){
+    uint8_t tx_dataL = tx_data;
+    uint8_t tx_dataH = tx_data >> 8;
+    uint8_t tx_sum = id + cmd + tx_dataL + tx_dataH;
+
+    const uint8_t data[] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};
+    if(!serial_[port]->writeable()){
+        return -1;
+    }
+    if(mode_%2 == 1 && port == 0){
+        rede_->write(1);
+    }
+    serial_[port]->write(data,8);
+    wait_ms(1);//送信待ち
+    if(mode_%2 == 1 && port == 0){
+        rede_->write(0);
+    }
+            
+    int i = 0;
+    bool received = false;
+    bool stxflag = false;
+    uint8_t getdata;
+    uint8_t rx[5]={},sum = 0;
+    Timer out;
+    out.start();
+    while(out.read_ms() < timeout_ && !received){
+        while(serial_[port]->readable() > 0){
+            getdata = serial_[port]->getc();
+            if(!stxflag && getdata == STX){
+                stxflag = true;
+                continue;
+            }
+            if(stxflag){
+                rx[i] = getdata;
+                sum += rx[i++];
+            }
+            if(i > 4){/*
+                uint8_t sum = 0;
+                for(int j = 0;j<4;j++){
+                    sum += rx[j];
+                }*/
+                if(sum == rx[4]){
+                    received = true;
+                }
+                break;
+            }
+        }
+    }
+    out.stop();
+    if(!received){
+        return -1;
+    }
+    return (int16_t)(rx[2] + ((int16_t)rx[3] << 8));
+}
+
+void ScrpSlave::check(int port){
+    uint8_t rx_cmd;
+    int16_t rx_data;
+    bool received = false;
+    bool broadcast = false;
+    while(serial_[port]->readable() >= 6){
+        if(serial_[port]->getc() != STX)continue;
+        uint8_t rx_id = serial_[port]->getc();
+        uint8_t tmp_rx_cmd = serial_[port]->getc();
+        uint8_t tmp_rx_dataL = serial_[port]->getc();
+        uint8_t tmp_rx_dataH = serial_[port]->getc();
+        uint8_t rx_sum = serial_[port]->getc();
+        
+        uint8_t sum = rx_id + tmp_rx_cmd + tmp_rx_dataL + tmp_rx_dataH;
+        if(sum != rx_sum){
+            continue;
+        }
+        
+        if(rx_id == 255){
+            broadcast = true;
+        }else if(my_id_ == rx_id){
+            broadcast = false;
+        }else{
+            return;//break;
+        }
+        
+        rx_cmd = tmp_rx_cmd;
+        rx_data = tmp_rx_dataL + ((int16_t)tmp_rx_dataH << 8);
+        received = true;
+    }
+    if(!received){
+        return;
+    }
+    int tx_data = rx_data;
+    if(rx_cmd == 0){//通信テスト
+        tx_data = rx_data;
+    }else if(rx_cmd == 254){//id変更
+        uint8_t new_id = rx_data;
+        my_id_ = new_id;
+        changeID(new_id);
+    }else if(rx_cmd == 253){//id確認
+        tx_data = my_id_;
+        rx_cmd = 250;
+        broadcast = false;
+    }else if(procs_[rx_cmd] == NULL || !procs_[rx_cmd](rx_data,tx_data)){
+        return;
+    }
+    if(broadcast){
+        return;
+    }
+    
+    uint8_t tx_dataL = tx_data;
+    uint8_t tx_dataH = tx_data >> 8;
+    uint8_t tx_sum = my_id_ + rx_cmd + tx_dataL + tx_dataH;
+    
+    const uint8_t data[] = {DMY, STX, my_id_, rx_cmd, tx_dataL, tx_dataH, tx_sum, DMY};
+    if(!serial_[port]->writeable()){
+        return;
+    }
+    if(mode_%2 == 1 && port == 0){
+        rede_->write(1);
+    }
+    serial_[port]->write(data,8);
+    wait_ms(1);//1ms待つ多分これだけで送信しきれる。
+    if(mode_%2 == 1 && port == 0){
+        rede_->write(0);
+    }
+    return;
+}
+
+ScrpSlave::~ScrpSlave(){
+    delete serial_[0];
+    delete flash_;
+    if(mode_%2 == 1){
+        delete rede_;
+    }
+    if(mode_ >= 2){
+        delete serial_[1];
+    }
+}
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