Diff: main.cpp

Revision:

0:f3ac2d80d3d0

Child:

1:de511d3d8fd3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 13 06:07:06 2022 +0000
@@ -0,0 +1,157 @@
+#include "mbed.h"
+#include <string>
+
+using namespace std;
+
+Ticker timer;
+
+Serial controller_uart(PA_0,PA_1,19200);
+Serial ems_uart(PA_9,PB_7,19200);
+Serial usb_uart(USBTX,USBRX,9600);
+
+DigitalOut EMS(PA_10);
+
+DigitalIn ZONE(PC_5);
+DigitalIn PS1(PC_12);
+DigitalIn PS2(PA_5);
+DigitalIn TS1(PC_11);
+DigitalIn TS2(PC_10);
+DigitalIn TS3(PC_6);
+DigitalIn TS4(PC_8);
+
+volatile int cnt = 0;
+volatile int con_status = 0;
+volatile unsigned char tx_data[11] = { 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x00 };
+volatile unsigned char dualshock_data[10] = { 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80 };
+volatile unsigned char dualshock_data_number = 0;
+volatile unsigned char dualshock_cmd_getflag = 0;
+
+//遠隔非常停止受信処理
+void recieve_ems(){
+    uint8_t rxdata = ems_uart.getc();
+    
+    if(rxdata == 0xEE){
+        cnt = 50;
+    }
+}
+
+void time() {
+    if(dualshock_cmd_getflag & 0x02) {
+        dualshock_cmd_getflag = 0;
+        
+        tx_data[1] = 0x00;
+        tx_data[2] = 0x00;
+        tx_data[3] = 0x00;
+        tx_data[4] = 0x80;
+        tx_data[5] = 0x80;
+        tx_data[6] = 0x80;
+        tx_data[7] = 0x80;
+        
+        dualshock_data[1] = 0x00;
+        dualshock_data[2] = 0x00;
+        dualshock_data[3] = 0x00;
+        dualshock_data[4] = 0x80;
+        dualshock_data[5] = 0x80;
+        dualshock_data[6] = 0x80;
+        dualshock_data[7] = 0x80;
+        
+        con_status = 0;
+    }else
+        dualshock_cmd_getflag |= 0x02;
+}
+
+//JETSON送信処理
+void send_tx_data(){
+    usb_uart.putc('C');
+    for(int i = 1; i < 9; i++){
+        usb_uart.putc(tx_data[i]);
+    }
+    usb_uart.putc('E');
+}
+
+//コントローラー受信処理
+void read_controller_data() {
+    unsigned char rxdata;
+    
+    rxdata = controller_uart.getc();
+    
+    if (dualshock_data_number == 0 && rxdata == 'S')
+        dualshock_data_number++;
+    else if (dualshock_data_number >= 1 && dualshock_data_number <= 7) {
+        if (dualshock_data_number <= 3)
+            dualshock_data[dualshock_data_number] = ~rxdata;
+        else
+            dualshock_data[dualshock_data_number] = rxdata;
+        dualshock_data_number++;
+    }
+    else if (dualshock_data_number == 8 && rxdata == 'E') {
+        dualshock_cmd_getflag = 0x01;
+        for(int i = 0; i < 8; i++){
+            tx_data[i] = dualshock_data[i];
+        }
+        con_status = 1;
+        dualshock_data_number = 0;
+    }
+}
+
+//main
+int main(){
+    int c = 9;
+    
+    ZONE.mode(PullUp);
+    PS1.mode(PullUp);
+    PS2.mode(PullUp);
+    TS1.mode(PullUp);
+    TS2.mode(PullUp);
+    TS3.mode(PullUp);
+    TS4.mode(PullUp);
+    
+    timer.attach_us(&time, 100000);
+    
+    controller_uart.attach(&read_controller_data, Serial::RxIrq); //受信割り込み
+    ems_uart.attach(&recieve_ems, Serial::RxIrq);
+    
+    while(1){
+        if(cnt){
+            EMS = 0;
+            cnt--;
+        }else{
+            EMS = 1;
+        }
+        
+        if(con_status){
+            tx_data[8] |= 0x80;
+        }
+        if(!ZONE){
+            tx_data[8] |= 0x40;
+        }
+        if(!PS1){
+            tx_data[8] |= 0x20;
+        }
+        if(!PS2){
+            tx_data[8] |= 0x10;
+        }
+        if(!TS1){
+            tx_data[8] |= 0x08;
+        }
+        if(!TS2){
+            tx_data[8] |= 0x04;
+        }
+        if(!TS3){
+            tx_data[8] |= 0x02;
+        }
+        if(!TS4){
+            tx_data[8] |= 0x01;
+        }
+        
+        if(!cnt){
+            send_tx_data();
+            tx_data[8] = 0;
+            c = 9;
+        }else{
+            c--;
+        }
+        
+        wait_ms(10);
+    }
+}
\ No newline at end of file