go-roboB / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

scrp_slave.cpp@14:7ea663f79c81, 2022-03-05 (annotated)

Committer:
darkumatar
Date:
Sat Mar 05 05:00:50 2022 +0000
Revision:
14:7ea663f79c81
Parent:
12:7f0b6e7b9626 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 0:ca84ed7518f5 1 #include "scrp_slave.hpp"
TanakaRobo 0:ca84ed7518f5 2
TanakaRobo 0:ca84ed7518f5 3 #define STX 0x41
TanakaRobo 0:ca84ed7518f5 4 #define DMY 0xff
TanakaRobo 0:ca84ed7518f5 5
TanakaRobo 11:eaf2e3166d20 6 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr,bool interrupt)
TanakaRobo 11:eaf2e3166d20 7 :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){
TanakaRobo 0:ca84ed7518f5 8 mode_ = 0;
TanakaRobo 7:4ad54efe2fdd 9 init();
TanakaRobo 0:ca84ed7518f5 10 }
TanakaRobo 0:ca84ed7518f5 11
TanakaRobo 11:eaf2e3166d20 12 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr,bool interrupt)
TanakaRobo 11:eaf2e3166d20 13 :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){
TanakaRobo 0:ca84ed7518f5 14 mode_ = 1;
TanakaRobo 2:141358d84ff4 15 rede_ = new DigitalOut(REDE1,0);
TanakaRobo 7:4ad54efe2fdd 16 init();
TanakaRobo 0:ca84ed7518f5 17 }
TanakaRobo 0:ca84ed7518f5 18
TanakaRobo 11:eaf2e3166d20 19 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt)
TanakaRobo 11:eaf2e3166d20 20 :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){
TanakaRobo 0:ca84ed7518f5 21 mode_ = 2;
TanakaRobo 7:4ad54efe2fdd 22 serial_[1] = &port2;
TanakaRobo 11:eaf2e3166d20 23 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 24 serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
TanakaRobo 11:eaf2e3166d20 25 }
TanakaRobo 7:4ad54efe2fdd 26 init();
TanakaRobo 0:ca84ed7518f5 27 }
TanakaRobo 0:ca84ed7518f5 28
TanakaRobo 11:eaf2e3166d20 29 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt)
TanakaRobo 11:eaf2e3166d20 30 :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){
TanakaRobo 0:ca84ed7518f5 31 mode_ = 3;
TanakaRobo 2:141358d84ff4 32 rede_ = new DigitalOut(REDE1,0);
TanakaRobo 7:4ad54efe2fdd 33 serial_[1] = &port2;
TanakaRobo 11:eaf2e3166d20 34 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 35 serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq);
TanakaRobo 11:eaf2e3166d20 36 }
TanakaRobo 7:4ad54efe2fdd 37 init();
TanakaRobo 0:ca84ed7518f5 38 }
TanakaRobo 0:ca84ed7518f5 39
TanakaRobo 7:4ad54efe2fdd 40 void ScrpSlave::init(){
TanakaRobo 2:141358d84ff4 41 for(int i = 0;i<2;i++){
TanakaRobo 2:141358d84ff4 42 wait_data_[i] = false;
TanakaRobo 2:141358d84ff4 43 stx_flag_[i] = false;
TanakaRobo 2:141358d84ff4 44 id_ok_[i] = false;
TanakaRobo 12:7f0b6e7b9626 45 get_response_[i] = false;
TanakaRobo 5:a7894e6982ea 46 }
TanakaRobo 5:a7894e6982ea 47 for(int i = 1;i<256;++i){
TanakaRobo 5:a7894e6982ea 48 procs_[i] = NULL;
TanakaRobo 2:141358d84ff4 49 }
TanakaRobo 12:7f0b6e7b9626 50 responseFunc_ = NULL;
TanakaRobo 11:eaf2e3166d20 51 all_receive_ = false;
TanakaRobo 7:4ad54efe2fdd 52 serial_[0] = &port1;
TanakaRobo 11:eaf2e3166d20 53 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 54 serial_[0]->attach(callback(this,&ScrpSlave::receive0),Serial::RxIrq);
TanakaRobo 11:eaf2e3166d20 55 }
TanakaRobo 11:eaf2e3166d20 56 if(address_ < 256){
TanakaRobo 11:eaf2e3166d20 57 my_id_ = address_;//引数addressが0～254の時その値をidとして使用
TanakaRobo 11:eaf2e3166d20 58 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
TanakaRobo 5:a7894e6982ea 59 return;
TanakaRobo 5:a7894e6982ea 60 }
TanakaRobo 5:a7894e6982ea 61 //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。
TanakaRobo 0:ca84ed7518f5 62 flash_ = new FlashIAP;
TanakaRobo 0:ca84ed7518f5 63 if(flash_->init()==0){
TanakaRobo 0:ca84ed7518f5 64 if(flash_->read(&my_id_,address_,1) != 0){
TanakaRobo 8:82727add54ce 65 send2(222,222,222);
TanakaRobo 0:ca84ed7518f5 66 my_id_ = 10;
TanakaRobo 0:ca84ed7518f5 67 }
TanakaRobo 0:ca84ed7518f5 68 }else{
TanakaRobo 8:82727add54ce 69 send2(111,111,111);
TanakaRobo 0:ca84ed7518f5 70 my_id_ = 10;
TanakaRobo 0:ca84ed7518f5 71 }
TanakaRobo 0:ca84ed7518f5 72 }
TanakaRobo 0:ca84ed7518f5 73
TanakaRobo 11:eaf2e3166d20 74 void ScrpSlave::receive(){
TanakaRobo 11:eaf2e3166d20 75 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 76 return;
TanakaRobo 11:eaf2e3166d20 77 }
TanakaRobo 11:eaf2e3166d20 78 while(port1.readable()){
TanakaRobo 11:eaf2e3166d20 79 check(0);
TanakaRobo 11:eaf2e3166d20 80 }
TanakaRobo 11:eaf2e3166d20 81 if(mode_ > 1){
TanakaRobo 11:eaf2e3166d20 82 while(port2.readable()){
TanakaRobo 11:eaf2e3166d20 83 check(1);
TanakaRobo 11:eaf2e3166d20 84 }
TanakaRobo 11:eaf2e3166d20 85 }
TanakaRobo 11:eaf2e3166d20 86 }
TanakaRobo 11:eaf2e3166d20 87
TanakaRobo 8:82727add54ce 88 void ScrpSlave::receive0(){
TanakaRobo 0:ca84ed7518f5 89 check(0);
TanakaRobo 0:ca84ed7518f5 90 }
TanakaRobo 0:ca84ed7518f5 91
TanakaRobo 8:82727add54ce 92 void ScrpSlave::receive1(){
TanakaRobo 0:ca84ed7518f5 93 check(1);
TanakaRobo 0:ca84ed7518f5 94 }
TanakaRobo 0:ca84ed7518f5 95
TanakaRobo 12:7f0b6e7b9626 96 void ScrpSlave::attachResponse(void (*func)(uint8_t id, uint8_t cmd, int16_t response)){
TanakaRobo 12:7f0b6e7b9626 97 responseFunc_ = func;
TanakaRobo 10:25af94dd1668 98 }
TanakaRobo 10:25af94dd1668 99
TanakaRobo 0:ca84ed7518f5 100 void ScrpSlave::addCMD(uint8_t cmd, bool (*proc)(int rx_data, int& tx_data)){
TanakaRobo 0:ca84ed7518f5 101 if(cmd == 0 || cmd == 254 || cmd == 253)return;
TanakaRobo 0:ca84ed7518f5 102 procs_[cmd] = proc;
TanakaRobo 0:ca84ed7518f5 103 }
TanakaRobo 0:ca84ed7518f5 104
TanakaRobo 0:ca84ed7518f5 105 void ScrpSlave::changeID(uint8_t id){
TanakaRobo 11:eaf2e3166d20 106 if(address_ < 256){
TanakaRobo 5:a7894e6982ea 107 return;
TanakaRobo 5:a7894e6982ea 108 }
TanakaRobo 0:ca84ed7518f5 109 flash_->erase(address_,flash_->get_sector_size(address_));
TanakaRobo 0:ca84ed7518f5 110 flash_->program(&id,address_,1);
TanakaRobo 0:ca84ed7518f5 111 }
TanakaRobo 0:ca84ed7518f5 112
TanakaRobo 11:eaf2e3166d20 113 bool ScrpSlave::send1(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){
TanakaRobo 11:eaf2e3166d20 114 return sending(0,id,cmd,tx_data,flag);
TanakaRobo 11:eaf2e3166d20 115 }
TanakaRobo 11:eaf2e3166d20 116
TanakaRobo 11:eaf2e3166d20 117 bool ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){
TanakaRobo 11:eaf2e3166d20 118 return sending((mode_ > 1),id,cmd,tx_data,flag);
TanakaRobo 0:ca84ed7518f5 119 }
TanakaRobo 0:ca84ed7518f5 120
TanakaRobo 11:eaf2e3166d20 121 bool ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data,bool flag){
TanakaRobo 11:eaf2e3166d20 122 if(!serial_[port]->writeable()){
TanakaRobo 11:eaf2e3166d20 123 return false;
TanakaRobo 11:eaf2e3166d20 124 }
TanakaRobo 11:eaf2e3166d20 125 if(flag){
TanakaRobo 11:eaf2e3166d20 126 wait_data_[port] = true;//データ返信待ち
TanakaRobo 12:7f0b6e7b9626 127 get_response_[port] = false;
TanakaRobo 11:eaf2e3166d20 128 }
TanakaRobo 0:ca84ed7518f5 129 uint8_t tx_dataL = tx_data;
TanakaRobo 0:ca84ed7518f5 130 uint8_t tx_dataH = tx_data >> 8;
TanakaRobo 0:ca84ed7518f5 131 uint8_t tx_sum = id + cmd + tx_dataL + tx_dataH;
TanakaRobo 0:ca84ed7518f5 132
TanakaRobo 11:eaf2e3166d20 133 const uint8_t data[8] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};
TanakaRobo 11:eaf2e3166d20 134 memcpy(send_data_[port],data,8);
TanakaRobo 11:eaf2e3166d20 135 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 136 prime(port);
TanakaRobo 11:eaf2e3166d20 137 }else{
TanakaRobo 11:eaf2e3166d20 138 sendNoInterrupt(port);
TanakaRobo 0:ca84ed7518f5 139 }
TanakaRobo 11:eaf2e3166d20 140 return true;
TanakaRobo 11:eaf2e3166d20 141 }
TanakaRobo 11:eaf2e3166d20 142
TanakaRobo 11:eaf2e3166d20 143 void ScrpSlave::sendNoInterrupt(uint8_t port){
TanakaRobo 0:ca84ed7518f5 144 if(mode_%2 == 1 && port == 0){
TanakaRobo 0:ca84ed7518f5 145 rede_->write(1);
TanakaRobo 0:ca84ed7518f5 146 }
TanakaRobo 2:141358d84ff4 147 for(int i = 0;i < 8;i++){
TanakaRobo 11:eaf2e3166d20 148 serial_[port]->putc(send_data_[port][i]);
TanakaRobo 2:141358d84ff4 149 while(!serial_[port]->writeable());
TanakaRobo 3:28c77df7c0b6 150 }
TanakaRobo 0:ca84ed7518f5 151 if(mode_%2 == 1 && port == 0){
TanakaRobo 0:ca84ed7518f5 152 rede_->write(0);
TanakaRobo 0:ca84ed7518f5 153 }
TanakaRobo 5:a7894e6982ea 154 }
TanakaRobo 5:a7894e6982ea 155
TanakaRobo 12:7f0b6e7b9626 156 bool ScrpSlave::getResponse(uint8_t port){
TanakaRobo 10:25af94dd1668 157 if(port > 1 || (port == 1 && mode_ < 2)){
TanakaRobo 10:25af94dd1668 158 return false;
TanakaRobo 10:25af94dd1668 159 }
TanakaRobo 12:7f0b6e7b9626 160 return get_response_[port];
TanakaRobo 10:25af94dd1668 161 }
TanakaRobo 10:25af94dd1668 162
TanakaRobo 5:a7894e6982ea 163 bool ScrpSlave::isWaiting(uint8_t port){
TanakaRobo 5:a7894e6982ea 164 if(port > 1 || (port == 1 && mode_ < 2)){
TanakaRobo 5:a7894e6982ea 165 return false;
TanakaRobo 0:ca84ed7518f5 166 }
TanakaRobo 5:a7894e6982ea 167 return wait_data_[port];
TanakaRobo 5:a7894e6982ea 168 }
TanakaRobo 5:a7894e6982ea 169
TanakaRobo 5:a7894e6982ea 170 int16_t ScrpSlave::receiveData(uint8_t port){
TanakaRobo 5:a7894e6982ea 171 //ポート指定が正しいかどうか。
TanakaRobo 5:a7894e6982ea 172 if(port > 1 || (port == 1 && mode_ < 2)){
TanakaRobo 5:a7894e6982ea 173 return -1;
TanakaRobo 5:a7894e6982ea 174 }
TanakaRobo 5:a7894e6982ea 175 //データがあるか確認。
TanakaRobo 12:7f0b6e7b9626 176 if(get_response_[port]){
TanakaRobo 5:a7894e6982ea 177 return rx_data_[port];
TanakaRobo 5:a7894e6982ea 178 }else{
TanakaRobo 5:a7894e6982ea 179 return -1;
TanakaRobo 5:a7894e6982ea 180 }
TanakaRobo 0:ca84ed7518f5 181 }
TanakaRobo 0:ca84ed7518f5 182
TanakaRobo 11:eaf2e3166d20 183 uint8_t ScrpSlave::receiveCmd(){
TanakaRobo 11:eaf2e3166d20 184 return rx_cmd_;//受信したcmd番号を返す。
TanakaRobo 11:eaf2e3166d20 185 }
TanakaRobo 11:eaf2e3166d20 186
TanakaRobo 11:eaf2e3166d20 187 uint8_t ScrpSlave::receiveId(){
TanakaRobo 11:eaf2e3166d20 188 return rx_id_;//受信したidを返す。
TanakaRobo 11:eaf2e3166d20 189 }
TanakaRobo 11:eaf2e3166d20 190
TanakaRobo 11:eaf2e3166d20 191 uint8_t ScrpSlave::receivePort(){
TanakaRobo 11:eaf2e3166d20 192 return receive_port_;//直近で受信したポートを返す。
TanakaRobo 11:eaf2e3166d20 193 }
TanakaRobo 11:eaf2e3166d20 194
TanakaRobo 0:ca84ed7518f5 195 void ScrpSlave::check(int port){
TanakaRobo 2:141358d84ff4 196 if(id_ok_[port]){
TanakaRobo 2:141358d84ff4 197 tmp_data_[port][data_count_[port]] = serial_[port]->getc();
TanakaRobo 2:141358d84ff4 198 data_count_[port]++;
TanakaRobo 2:141358d84ff4 199 if(data_count_[port] > 4){
TanakaRobo 2:141358d84ff4 200 stx_flag_[port] = false;//通信フラグクリア
TanakaRobo 2:141358d84ff4 201 id_ok_[port] = false;
TanakaRobo 2:141358d84ff4 202
TanakaRobo 2:141358d84ff4 203 uint8_t sum = 0;
TanakaRobo 2:141358d84ff4 204 for(int i = 0;i<4;i++){
TanakaRobo 2:141358d84ff4 205 sum += tmp_data_[port][i];
TanakaRobo 2:141358d84ff4 206 }
TanakaRobo 11:eaf2e3166d20 207 if(sum != tmp_data_[port][4]){//check sum照合
TanakaRobo 2:141358d84ff4 208 return;
TanakaRobo 2:141358d84ff4 209 }
TanakaRobo 11:eaf2e3166d20 210 receive_port_ = port;//受信したポート番号を保存
TanakaRobo 11:eaf2e3166d20 211 uint8_t rx_id = tmp_data_[port][0];
TanakaRobo 11:eaf2e3166d20 212 uint8_t rx_cmd = tmp_data_[port][1];
TanakaRobo 2:141358d84ff4 213 rx_data_[port] = (int16_t)(tmp_data_[port][2] + ((int16_t)tmp_data_[port][3] << 8));
TanakaRobo 2:141358d84ff4 214 if(wait_data_[port]){//データ返信待ち時
TanakaRobo 2:141358d84ff4 215 wait_data_[port] = false;
TanakaRobo 12:7f0b6e7b9626 216 get_response_[port] = true;
TanakaRobo 12:7f0b6e7b9626 217 if(responseFunc_ != NULL){
TanakaRobo 12:7f0b6e7b9626 218 responseFunc_(rx_id,rx_cmd,rx_data_[port]);
TanakaRobo 10:25af94dd1668 219 }
TanakaRobo 2:141358d84ff4 220 return;
TanakaRobo 12:7f0b6e7b9626 221 }else if(get_response_[port]){
TanakaRobo 12:7f0b6e7b9626 222 get_response_[port] = false;
TanakaRobo 2:141358d84ff4 223 }
TanakaRobo 11:eaf2e3166d20 224 rx_cmd_ = rx_cmd;//メンバ変数に保存
TanakaRobo 2:141358d84ff4 225 bool broadcast = (tmp_data_[port][0] == 255);
TanakaRobo 2:141358d84ff4 226
TanakaRobo 2:141358d84ff4 227 int tx_data = rx_data_[port];
TanakaRobo 2:141358d84ff4 228 if(rx_cmd == 0){//通信テスト
TanakaRobo 2:141358d84ff4 229 }else if(rx_cmd == 254){//id変更
TanakaRobo 2:141358d84ff4 230 uint8_t new_id = rx_data_[port];
TanakaRobo 2:141358d84ff4 231 my_id_ = new_id;
TanakaRobo 2:141358d84ff4 232 changeID(new_id);
TanakaRobo 2:141358d84ff4 233 }else if(rx_cmd == 253){//id確認
TanakaRobo 2:141358d84ff4 234 tx_data = my_id_;
TanakaRobo 11:eaf2e3166d20 235 rx_cmd = 250 + all_receive_*5;
TanakaRobo 2:141358d84ff4 236 broadcast = false;
TanakaRobo 2:141358d84ff4 237 }else if(procs_[rx_cmd] == NULL || !procs_[rx_cmd](rx_data_[port],tx_data)){
TanakaRobo 2:141358d84ff4 238 return;
TanakaRobo 2:141358d84ff4 239 }
TanakaRobo 2:141358d84ff4 240 if(broadcast){
TanakaRobo 11:eaf2e3166d20 241 return;//全体送信の時はレスポンスを返さない。
TanakaRobo 2:141358d84ff4 242 }
TanakaRobo 2:141358d84ff4 243 uint8_t tx_dataL = tx_data;
TanakaRobo 2:141358d84ff4 244 uint8_t tx_dataH = tx_data >> 8;
TanakaRobo 2:141358d84ff4 245 uint8_t tx_sum = my_id_ + rx_cmd + tx_dataL + tx_dataH;
TanakaRobo 2:141358d84ff4 246
TanakaRobo 2:141358d84ff4 247 const uint8_t data[8] = {DMY, STX, my_id_, rx_cmd, tx_dataL, tx_dataH, tx_sum, DMY};
TanakaRobo 8:82727add54ce 248 memcpy(send_data_[port],data,8);
TanakaRobo 11:eaf2e3166d20 249 if(interrupt_){
TanakaRobo 11:eaf2e3166d20 250 prime(port);
TanakaRobo 11:eaf2e3166d20 251 }else{
TanakaRobo 11:eaf2e3166d20 252 sendNoInterrupt(port);
TanakaRobo 11:eaf2e3166d20 253 }
TanakaRobo 0:ca84ed7518f5 254 }
TanakaRobo 2:141358d84ff4 255 }else if(stx_flag_[port]){
TanakaRobo 2:141358d84ff4 256 uint8_t get_data = serial_[port]->getc();
TanakaRobo 11:eaf2e3166d20 257 if(get_data == my_id_ || get_data == 255 || (all_receive_ && !wait_data_[port])){
TanakaRobo 8:82727add54ce 258 id_ok_[port] = true;
TanakaRobo 8:82727add54ce 259 wait_data_[port] = false;
TanakaRobo 8:82727add54ce 260 tmp_data_[port][0] = get_data;
TanakaRobo 8:82727add54ce 261 data_count_[port]++;
TanakaRobo 8:82727add54ce 262 }else if(wait_data_[port]){
TanakaRobo 2:141358d84ff4 263 id_ok_[port] = true;
TanakaRobo 2:141358d84ff4 264 tmp_data_[port][0] = get_data;
TanakaRobo 2:141358d84ff4 265 data_count_[port]++;
TanakaRobo 2:141358d84ff4 266 }else{
TanakaRobo 2:141358d84ff4 267 stx_flag_[port] = false;
TanakaRobo 2:141358d84ff4 268 }
TanakaRobo 11:eaf2e3166d20 269 rx_id_ = get_data;//メンバ変数に保存
TanakaRobo 2:141358d84ff4 270 }else if(serial_[port]->getc() == STX){
TanakaRobo 2:141358d84ff4 271 stx_flag_[port] = true;
TanakaRobo 2:141358d84ff4 272 data_count_[port] = 0;
TanakaRobo 4:39ef4d91dc34 273 id_ok_[port] = false;
TanakaRobo 4:39ef4d91dc34 274 //id_ok_[port] = wait_data_[port];//データ返信待ち時はidチェック無し
TanakaRobo 0:ca84ed7518f5 275 }
TanakaRobo 0:ca84ed7518f5 276 return;
TanakaRobo 0:ca84ed7518f5 277 }
TanakaRobo 0:ca84ed7518f5 278
TanakaRobo 10:25af94dd1668 279 void ScrpSlave::dataSend0(){
TanakaRobo 2:141358d84ff4 280 while(serial_[0]->writeable()){
TanakaRobo 2:141358d84ff4 281 if(data_count_[0] < 8){
TanakaRobo 2:141358d84ff4 282 serial_[0]->putc(send_data_[0][data_count_[0]++]);
TanakaRobo 2:141358d84ff4 283 }else{
TanakaRobo 2:141358d84ff4 284 serial_[0]->attach(NULL, Serial::TxIrq);
TanakaRobo 2:141358d84ff4 285 if(mode_%2 == 1){
TanakaRobo 2:141358d84ff4 286 rede_->write(0);
TanakaRobo 2:141358d84ff4 287 }
TanakaRobo 2:141358d84ff4 288 break;
TanakaRobo 2:141358d84ff4 289 }
TanakaRobo 2:141358d84ff4 290 }
TanakaRobo 2:141358d84ff4 291 }
TanakaRobo 2:141358d84ff4 292
TanakaRobo 10:25af94dd1668 293 void ScrpSlave::dataSend1(){
TanakaRobo 2:141358d84ff4 294 while(serial_[1]->writeable()){
TanakaRobo 2:141358d84ff4 295 if(data_count_[1] < 8){
TanakaRobo 2:141358d84ff4 296 serial_[1]->putc(send_data_[1][data_count_[1]++]);
TanakaRobo 2:141358d84ff4 297 }else{
TanakaRobo 2:141358d84ff4 298 serial_[1]->attach(NULL, Serial::TxIrq);
TanakaRobo 2:141358d84ff4 299 break;
TanakaRobo 2:141358d84ff4 300 }
TanakaRobo 2:141358d84ff4 301 }
TanakaRobo 2:141358d84ff4 302 }
TanakaRobo 2:141358d84ff4 303
TanakaRobo 2:141358d84ff4 304 void ScrpSlave::prime(int port){
TanakaRobo 2:141358d84ff4 305 serial_[port]->attach(NULL, Serial::TxIrq);
TanakaRobo 2:141358d84ff4 306 data_count_[port] = 0;
TanakaRobo 8:82727add54ce 307 if(port == 0){
TanakaRobo 2:141358d84ff4 308 if(mode_%2 == 1){
TanakaRobo 2:141358d84ff4 309 rede_->write(1);
TanakaRobo 2:141358d84ff4 310 }
TanakaRobo 10:25af94dd1668 311 dataSend0();
TanakaRobo 10:25af94dd1668 312 serial_[0]->attach(callback(this, &ScrpSlave::dataSend0), Serial::TxIrq);
TanakaRobo 2:141358d84ff4 313 }else{
TanakaRobo 10:25af94dd1668 314 dataSend1();
TanakaRobo 10:25af94dd1668 315 serial_[1]->attach(callback(this, &ScrpSlave::dataSend1), Serial::TxIrq);
TanakaRobo 2:141358d84ff4 316 }
TanakaRobo 2:141358d84ff4 317 }
TanakaRobo 2:141358d84ff4 318
TanakaRobo 0:ca84ed7518f5 319 ScrpSlave::~ScrpSlave(){
TanakaRobo 0:ca84ed7518f5 320 delete flash_;
TanakaRobo 0:ca84ed7518f5 321 if(mode_%2 == 1){
TanakaRobo 0:ca84ed7518f5 322 delete rede_;
TanakaRobo 0:ca84ed7518f5 323 }
TanakaRobo 0:ca84ed7518f5 324 }