Revision 3:28c77df7c0b6, committed 2020-01-06

Comitter:

TanakaRobo

Date:

Mon Jan 06 11:06:26 2020 +0000

Parent:

2:141358d84ff4

Child:

4:39ef4d91dc34

Commit message:

send not available

Changed in this revision

--- a/gy521.cpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/gy521.cpp	Mon Jan 06 11:06:26 2020 +0000
@@ -68,7 +68,7 @@
     flag_ = false;
 }
 
-void GY521::updata(){
+void GY521::update(){
     if(flag_){
         return;
     }

--- a/gy521.hpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/gy521.hpp	Mon Jan 06 11:06:26 2020 +0000
@@ -8,6 +8,9 @@
  *example
  *L432KC : SDA = PB_7 , SCL = PB_6
  *F446RE : SDA = PB_3 , SCL = PB_10
+ *ループ内で毎回
+ *<obj>.update()
+ *を呼び出してください。
  */
 //I2C i2c(SDA,SCL);
 //GY521 gyro(i2c);
@@ -17,7 +20,7 @@
     GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
     double yaw;
     //double temp;
-    void updata();
+    void update();
     void reset(int user);
     void start(double start = 0){
         yaw = start;

--- a/rotary_inc.cpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/rotary_inc.cpp	Mon Jan 06 11:06:26 2020 +0000
@@ -1,28 +1,28 @@
 #include "rotary_inc.hpp"
 
-RotaryInc::RotaryInc(PinName pinA, PinName pinB,int mode):mode_(mode){
+RotaryInc::RotaryInc(PinName pin_a, PinName pin_b,int mode):mode_(mode){
     measur_ = false;
-    init(pinA,pinB);
+    init(pin_a,pin_b);
 }
 
-RotaryInc::RotaryInc(PinName pinA,PinName pinB,double circumference,int resolution,int mode)
+RotaryInc::RotaryInc(PinName pin_a,PinName pin_b,double circumference,int resolution,int mode)
     :mode_(mode),resolution_(resolution),circumference_(circumference){
     measur_ = true;
-    init(pinA,pinB);
+    init(pin_a,pin_b);
 }
 
 void RotaryInc::init(PinName pinA,PinName pinB){
     reset();
-    A_ = new InterruptIn(pinA,PullUp);
-    B_ = new InterruptIn(pinB,PullUp);
-    A_->rise(callback(this,&RotaryInc::riseA));
+    pin_a_ = new InterruptIn(pinA,PullUp);
+    pin_b_ = new InterruptIn(pinB,PullUp);
+    pin_a_->rise(callback(this,&RotaryInc::riseA));
         
     if(mode_ == 2){
-        A_->fall(callback(this,&RotaryInc::fallA));
+        pin_a_->fall(callback(this,&RotaryInc::fallA));
     }else if(mode_ == 4){
-        A_->fall(callback(this,&RotaryInc::fallA));
-        B_->rise(callback(this,&RotaryInc::riseB));
-        B_->fall(callback(this,&RotaryInc::fallB));
+        pin_a_->fall(callback(this,&RotaryInc::fallA));
+        pin_b_->rise(callback(this,&RotaryInc::riseB));
+        pin_b_->fall(callback(this,&RotaryInc::fallB));
     }else{
         mode_ = 1;
     }
@@ -76,28 +76,28 @@
 }
 
 void RotaryInc::riseA(){
-    B_->read() ? pulse_-- : pulse_++;
+    pin_b_->read() ? pulse_-- : pulse_++;
     if(measur_){
         calcu();
     }
 }
 
 void RotaryInc::fallA(){
-    B_->read() ? pulse_++ : pulse_--;
+    pin_b_->read() ? pulse_++ : pulse_--;
     if(measur_){
         calcu();
     }
 }
 
 void RotaryInc::riseB(){
-    A_->read() ? pulse_++ : pulse_--;
+    pin_a_->read() ? pulse_++ : pulse_--;
     if(measur_){
         calcu();
     }
 }
 
 void RotaryInc::fallB(){
-    A_->read() ? pulse_-- : pulse_++;
+    pin_a_->read() ? pulse_-- : pulse_++;
     if(measur_){
         calcu();
     }
@@ -132,8 +132,8 @@
 }
 
 RotaryInc::~RotaryInc(){
-    A_->disable_irq();
-    B_->disable_irq();
-    delete A_;
-    delete B_;
+    pin_a_->disable_irq();
+    pin_b_->disable_irq();
+    delete pin_a_;
+    delete pin_b_;
 }
\ No newline at end of file

--- a/rotary_inc.hpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/rotary_inc.hpp	Mon Jan 06 11:06:26 2020 +0000
@@ -14,15 +14,15 @@
 
 class RotaryInc{
 public:
-    RotaryInc(PinName userA, PinName userB,double circumference,int resolution,int mode = 0);//速度計測有効
-    RotaryInc(PinName userA, PinName userB,int mode = 0);//速度計測無効
+    RotaryInc(PinName user_a, PinName user_b,double circumference,int resolution,int mode = 0);//速度計測有効
+    RotaryInc(PinName user_a, PinName user_b,int mode = 0);//速度計測無効
     ~RotaryInc();
     long long get();
     double getSpeed();
     void reset(); 
     int diff();
 private:
-    InterruptIn *A_,*B_;
+    InterruptIn *pin_a_,*pin_b_;
     Timer timer_;
     long long pulse_;
     long long last_[20];

--- a/scrp_slave.cpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/scrp_slave.cpp	Mon Jan 06 11:06:26 2020 +0000
@@ -16,8 +16,7 @@
 
 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){
     mode_ = 2;
-    serial_[1] = new Serial(TX2,RX2);
-    serial_[1]->baud(115200);
+    serial_[1] = new Serial(TX2,RX2,115200);
     serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq);
     init(TX1,RX1);
 }
@@ -25,8 +24,7 @@
 ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){
     mode_ = 3;
     rede_ = new DigitalOut(REDE1,0);
-    serial_[1] = new Serial(TX2,RX2);
-    serial_[1]->baud(115200);
+    serial_[1] = new Serial(TX2,RX2,115200);
     serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq);
     init(TX1,RX1);
 }
@@ -38,8 +36,7 @@
         stx_flag_[i] = false;
         id_ok_[i] = false;
     }
-    serial_[0] = new Serial(TX,RX);
-    serial_[0]->baud(115200);
+    serial_[0] = new Serial(TX,RX,115200);
     serial_[0]->attach(callback(this,&ScrpSlave::port1),Serial::RxIrq);
     flash_ = new FlashIAP;
     if(flash_->init()==0){
@@ -104,7 +101,7 @@
     for(int i = 0;i < 8;i++){
         serial_[port]->putc(data[i]);
         while(!serial_[port]->writeable());
-    }  
+    }
     if(mode_%2 == 1 && port == 0){
         rede_->write(0);
     }

--- a/scrp_slave.hpp	Fri Jan 03 02:37:48 2020 +0000
+++ b/scrp_slave.hpp	Mon Jan 06 11:06:26 2020 +0000
@@ -12,8 +12,13 @@
  *example not usb port
  *L432KC : TX = PA_9 , RX = PA_10 , REDE = PA_12 , addr = 0x0803e000
  *F446RE : TX = PC_12 , RX = PD_2 , RDDE = PH_1 , addr = 0x0807ffff
+ *<obj>.addCMD(int cmd, bool (*proc)(int rx_data, int& tx_data))
+ *でcmdで指定したコマンドを受信したときに呼び出される
+ *bool型で引数が(int rx_data, int& tx_data)の関数を指定する。
  */
 //ScrpSlave slave(SERIAL_TX,SERIAL_RX);
+//ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807ffff);
+//ScrpSlave slave(PA_9 ,PA_10,PA_12,SERIAL_TX,SERIAL_RX,0x0803e000);
 
 inline int constrain(int x,int a,int b){
     return (x < a ? a : x > b ? b : x);