taiyou komazawa / Gamma

for_gamma

Dependents:   DataPool

GammaPool.h@3:8487ffc7b69c, 2017-08-22 (annotated)

Committer:
Komazawa_sun
Date:
Tue Aug 22 04:39:31 2017 +0000
Revision:
3:8487ffc7b69c
Parent:
2:dbb9a7fe426b 
year

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:519ec302e9b8 1 #ifndef GAMMAPOOL_H
Komazawa_sun 0:519ec302e9b8 2 #define GAMMAPOOL_H
Komazawa_sun 0:519ec302e9b8 3
Komazawa_sun 0:519ec302e9b8 4 #include "I2CTransporter.h"
Komazawa_sun 0:519ec302e9b8 5
Komazawa_sun 0:519ec302e9b8 6 class GammaPool{
Komazawa_sun 0:519ec302e9b8 7 public:
Komazawa_sun 0:519ec302e9b8 8 GammaPool();
Komazawa_sun 0:519ec302e9b8 9 void up_load();
Komazawa_sun 0:519ec302e9b8 10 void reset();
Komazawa_sun 0:519ec302e9b8 11
Komazawa_sun 0:519ec302e9b8 12 union i2c_jusinkun_data //from jushinkun_datas
Komazawa_sun 0:519ec302e9b8 13 {
Komazawa_sun 0:519ec302e9b8 14 char all_data[10];
Komazawa_sun 0:519ec302e9b8 15 struct
Komazawa_sun 0:519ec302e9b8 16 {
Komazawa_sun 0:519ec302e9b8 17 unsigned char start_byte:8;
Komazawa_sun 0:519ec302e9b8 18 signed int rx :8;
Komazawa_sun 0:519ec302e9b8 19 signed int ry :8;
Komazawa_sun 0:519ec302e9b8 20 signed int lx :8;
Komazawa_sun 0:519ec302e9b8 21 unsigned int r_sw1 :1;
Komazawa_sun 0:519ec302e9b8 22 unsigned int r_sw2 :1;
Komazawa_sun 0:519ec302e9b8 23 unsigned int r_sw3 :1;
Komazawa_sun 0:519ec302e9b8 24 unsigned int r_sw4 :1;
Komazawa_sun 0:519ec302e9b8 25 unsigned int r_s_sw1 :1;
Komazawa_sun 0:519ec302e9b8 26 unsigned int r_s_sw2 :1;
Komazawa_sun 0:519ec302e9b8 27 unsigned int l_sw1 :1;
Komazawa_sun 0:519ec302e9b8 28 unsigned int l_sw2 :1;
Komazawa_sun 0:519ec302e9b8 29 unsigned int l_sw3 :1;
Komazawa_sun 0:519ec302e9b8 30 unsigned int l_sw4 :1;
Komazawa_sun 0:519ec302e9b8 31 unsigned int l_s_sw1 :1;
Komazawa_sun 0:519ec302e9b8 32 unsigned int l_s_sw2 :1;
Komazawa_sun 0:519ec302e9b8 33 unsigned int mode1 :1;
Komazawa_sun 0:519ec302e9b8 34 unsigned int mode2 :1;
Komazawa_sun 0:519ec302e9b8 35 signed int r_srd :8;
Komazawa_sun 0:519ec302e9b8 36 signed int l_srd :8;
Komazawa_sun 0:519ec302e9b8 37 unsigned int no_data :2;
Komazawa_sun 0:519ec302e9b8 38 unsigned char checksum:8;
Komazawa_sun 0:519ec302e9b8 39 unsigned char stop_byte :8;
Komazawa_sun 0:519ec302e9b8 40 };
Komazawa_sun 0:519ec302e9b8 41 };
Komazawa_sun 0:519ec302e9b8 42
Komazawa_sun 0:519ec302e9b8 43 i2c_jusinkun_data ctrl;
Komazawa_sun 0:519ec302e9b8 44
Komazawa_sun 0:519ec302e9b8 45
Komazawa_sun 0:519ec302e9b8 46 union i2c_johanshin_data
Komazawa_sun 0:519ec302e9b8 47 {
Komazawa_sun 0:519ec302e9b8 48 char all_data[4];
Komazawa_sun 0:519ec302e9b8 49 struct
Komazawa_sun 0:519ec302e9b8 50 {
Komazawa_sun 0:519ec302e9b8 51 struct
Komazawa_sun 0:519ec302e9b8 52 {
Komazawa_sun 0:519ec302e9b8 53 signed int pwm :8;
Komazawa_sun 0:519ec302e9b8 54 int fire1 :1;
Komazawa_sun 0:519ec302e9b8 55 int fire2 :1;
Komazawa_sun 0:519ec302e9b8 56 }r;
Komazawa_sun 0:519ec302e9b8 57
Komazawa_sun 0:519ec302e9b8 58 struct
Komazawa_sun 0:519ec302e9b8 59 {
Komazawa_sun 0:519ec302e9b8 60 signed int pwm :8;
Komazawa_sun 0:519ec302e9b8 61 int fire1 :1;
Komazawa_sun 0:519ec302e9b8 62 int fire2 :1;
Komazawa_sun 0:519ec302e9b8 63 }l;
Komazawa_sun 0:519ec302e9b8 64
Komazawa_sun 0:519ec302e9b8 65 struct
Komazawa_sun 0:519ec302e9b8 66 {
Komazawa_sun 0:519ec302e9b8 67 signed int pwm :8;
Komazawa_sun 0:519ec302e9b8 68 int fire :1;
Komazawa_sun 0:519ec302e9b8 69 //int fire2 :1;
Komazawa_sun 0:519ec302e9b8 70 }k;
Komazawa_sun 0:519ec302e9b8 71
Komazawa_sun 0:519ec302e9b8 72 int sao_call1 :1;
Komazawa_sun 0:519ec302e9b8 73 int sao_call2 :1;
Komazawa_sun 0:519ec302e9b8 74 int no_data :1;
Komazawa_sun 0:519ec302e9b8 75 };
Komazawa_sun 0:519ec302e9b8 76 }; //apper_body
Komazawa_sun 0:519ec302e9b8 77 i2c_johanshin_data a;
Komazawa_sun 0:519ec302e9b8 78
Komazawa_sun 0:519ec302e9b8 79 union i2c_johanshin_return
Komazawa_sun 0:519ec302e9b8 80 {
Komazawa_sun 0:519ec302e9b8 81 char all_data[1];
Komazawa_sun 0:519ec302e9b8 82 struct limit
Komazawa_sun 0:519ec302e9b8 83 {
Komazawa_sun 0:519ec302e9b8 84 unsigned int max_limit :1;
Komazawa_sun 0:519ec302e9b8 85 unsigned int min_limit :1;
Komazawa_sun 0:519ec302e9b8 86 };
Komazawa_sun 0:519ec302e9b8 87 limit r;
Komazawa_sun 0:519ec302e9b8 88 limit l;
Komazawa_sun 0:519ec302e9b8 89 limit k;
Komazawa_sun 0:519ec302e9b8 90 }; //apper_body_return
Komazawa_sun 0:519ec302e9b8 91 i2c_johanshin_return ar;
Komazawa_sun 0:519ec302e9b8 92
Komazawa_sun 3:8487ffc7b69c 93 int data_index[33];
Komazawa_sun 0:519ec302e9b8 94 };
Komazawa_sun 0:519ec302e9b8 95
Komazawa_sun 0:519ec302e9b8 96
Komazawa_sun 0:519ec302e9b8 97 #endif