Diff: scrp_slave.cpp

Revision:

11:eaf2e3166d20

Parent:

10:25af94dd1668

Child:

12:7f0b6e7b9626

--- a/scrp_slave.cpp	Thu Feb 25 07:20:15 2021 +0000
+++ b/scrp_slave.cpp	Fri Feb 26 18:19:21 2021 +0000
@@ -3,33 +3,37 @@
 #define STX 0x41
 #define DMY 0xff
 
-ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr)
-    :port1(TX1,RX1,115200),port2(port1),address_(addr){
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr,bool interrupt)
+    :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){
     mode_ = 0;
     init();
 }
 
-ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr)
-    :port1(TX1,RX1,115200),port2(port1),address_(addr){
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr,bool interrupt)
+    :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){
     mode_ = 1;
     rede_ = new DigitalOut(REDE1,0);
     init();
 }
 
-ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr)
-    :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr){
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt)
+    :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){
     mode_ = 2;
     serial_[1] = &port2;
-    serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
+    if(interrupt_){
+        serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
+    }
     init();
 }
 
-ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr)
-    :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr){
+ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt)
+    :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){
     mode_ = 3;
     rede_ = new DigitalOut(REDE1,0);
     serial_[1] = &port2;
-    serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
+    if(interrupt_){
+        serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
+    }
     init();
 }
 
@@ -44,10 +48,14 @@
         procs_[i] = NULL;
     }
     responceFunc_ = NULL;
+    all_receive_ = false;
     serial_[0] = &port1;
-    serial_[0]->attach(callback(this,&ScrpSlave::receive0),Serial::RxIrq);
-    if(address_ < 255){
-        my_id_ = address_;
+    if(interrupt_){
+        serial_[0]->attach(callback(this,&ScrpSlave::receive0),Serial::RxIrq);
+    }
+    if(address_ < 256){
+        my_id_ = address_;//引数addressが0～254の時その値をidとして使用
+        all_receive_ = (address_ == 255);//引数addressが255の時すべてのidに応答する、全受信モードになる
         return;
     }
     //フラッシュメモリーのアクセスにエラーが出たら、アドレスは10に設定される。
@@ -63,6 +71,20 @@
     }
 }
 
+void ScrpSlave::receive(){
+    if(interrupt_){
+        return;
+    }
+    while(port1.readable()){
+        check(0);
+    }
+    if(mode_ > 1){
+        while(port2.readable()){
+            check(1);
+        }
+    }
+}
+
 void ScrpSlave::receive0(){
     check(0);
 }
@@ -81,43 +103,54 @@
 }
 
 void ScrpSlave::changeID(uint8_t id){
-    if(address_ < 255){
+    if(address_ < 256){
         return;
     }
     flash_->erase(address_,flash_->get_sector_size(address_));
     flash_->program(&id,address_,1);
 }
 
-bool ScrpSlave::send1(uint8_t id,uint8_t cmd,int16_t tx_data){
-    return sending(0,id,cmd,tx_data);
+bool ScrpSlave::send1(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){
+    return sending(0,id,cmd,tx_data,flag);
+}
+
+bool ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){
+    return sending((mode_ > 1),id,cmd,tx_data,flag);
 }
 
-bool ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
-    return sending((mode_ > 1),id,cmd,tx_data);
-}
-
-bool ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data){
+bool ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data,bool flag){
+    if(!serial_[port]->writeable()){
+        return false;
+    }
+    if(flag){
+        wait_data_[port] = true;//データ返信待ち
+        get_responce_[port] = false;
+    }
     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[8] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};  
-    if(!serial_[port]->writeable()){
-        return false;
+    const uint8_t data[8] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};
+    memcpy(send_data_[port],data,8);
+    if(interrupt_){
+        prime(port);
+    }else{
+        sendNoInterrupt(port);
     }
-    wait_data_[port] = true;//データ返信待ち
-    get_responce_[port] = false;
+    return true;
+}
+
+void ScrpSlave::sendNoInterrupt(uint8_t port){
     if(mode_%2 == 1 && port == 0){
         rede_->write(1);
     }
     for(int i = 0;i < 8;i++){
-        serial_[port]->putc(data[i]);
+        serial_[port]->putc(send_data_[port][i]);
         while(!serial_[port]->writeable());
     }
     if(mode_%2 == 1 && port == 0){
         rede_->write(0);
     }
-    return true;
 }
 
 bool ScrpSlave::getResponce(uint8_t port){
@@ -147,6 +180,18 @@
     }
 }
 
+uint8_t ScrpSlave::receiveCmd(){
+    return rx_cmd_;//受信したcmd番号を返す。
+}
+
+uint8_t ScrpSlave::receiveId(){
+    return rx_id_;//受信したidを返す。
+}
+
+uint8_t ScrpSlave::receivePort(){
+    return receive_port_;//直近で受信したポートを返す。
+}
+
 void ScrpSlave::check(int port){
     if(id_ok_[port]){
         tmp_data_[port][data_count_[port]] = serial_[port]->getc();
@@ -159,21 +204,24 @@
             for(int i = 0;i<4;i++){
                 sum += tmp_data_[port][i];
             }
-            if(sum != tmp_data_[port][4]){
+            if(sum != tmp_data_[port][4]){//check sum照合
                 return;
             }
+            receive_port_ = port;//受信したポート番号を保存
+            uint8_t rx_id = tmp_data_[port][0];
+            uint8_t rx_cmd = tmp_data_[port][1];
             rx_data_[port] = (int16_t)(tmp_data_[port][2] + ((int16_t)tmp_data_[port][3] << 8));
             if(wait_data_[port]){//データ返信待ち時
                 wait_data_[port] = false;
                 get_responce_[port] = true;
                 if(responceFunc_ != NULL){
-                    responceFunc_(tmp_data_[port][0],tmp_data_[port][1],rx_data_[port]);
+                    responceFunc_(rx_id,rx_cmd,rx_data_[port]);
                 }
                 return;
             }else if(get_responce_[port]){
                 get_responce_[port] = false;
             }
-            uint8_t rx_cmd = tmp_data_[port][1];
+            rx_cmd_ = rx_cmd;//メンバ変数に保存
             bool broadcast = (tmp_data_[port][0] == 255);
             
             int tx_data = rx_data_[port];
@@ -184,13 +232,13 @@
                 changeID(new_id);
             }else if(rx_cmd == 253){//id確認
                 tx_data = my_id_;
-                rx_cmd = 250;
+                rx_cmd = 250 + all_receive_*5;
                 broadcast = false;
             }else if(procs_[rx_cmd] == NULL || !procs_[rx_cmd](rx_data_[port],tx_data)){
                 return;
             }
             if(broadcast){
-                return;
+                return;//全体送信の時はレスポンスを返さない。
             }
             uint8_t tx_dataL = tx_data;
             uint8_t tx_dataH = tx_data >> 8;
@@ -198,11 +246,15 @@
     
             const uint8_t data[8] = {DMY, STX, my_id_, rx_cmd, tx_dataL, tx_dataH, tx_sum, DMY};
             memcpy(send_data_[port],data,8);
-            prime(port);
+            if(interrupt_){
+                prime(port);
+            }else{
+                sendNoInterrupt(port);
+            }
         }
     }else if(stx_flag_[port]){
         uint8_t get_data = serial_[port]->getc();
-        if(get_data == my_id_ || get_data == 255){
+        if(get_data == my_id_ || get_data == 255 || (all_receive_ && !wait_data_[port])){
             id_ok_[port] = true;
             wait_data_[port] = false;
             tmp_data_[port][0] = get_data;
@@ -214,6 +266,7 @@
         }else{
             stx_flag_[port] = false;
         }
+        rx_id_ = get_data;//メンバ変数に保存
     }else if(serial_[port]->getc() == STX){
         stx_flag_[port] = true;
         data_count_[port] = 0;