taiyou komazawa / gamma_controller

gamma_controller

gamma_ctrl.h@0:c1bfd7b7e4b9, 2017-06-27 (annotated)

Committer:
Komazawa_sun
Date:
Tue Jun 27 07:54:10 2017 +0000
Revision:
0:c1bfd7b7e4b9
for gamma_controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:c1bfd7b7e4b9 1 #ifndef GAMMA_CTRL_H_
Komazawa_sun 0:c1bfd7b7e4b9 2 #define GAMMA_CTRL_H_
Komazawa_sun 0:c1bfd7b7e4b9 3
Komazawa_sun 0:c1bfd7b7e4b9 4 #include "ctrl_serial.h"
Komazawa_sun 0:c1bfd7b7e4b9 5
Komazawa_sun 0:c1bfd7b7e4b9 6 class gamma_ctrl : public ctrl_serial
Komazawa_sun 0:c1bfd7b7e4b9 7 {
Komazawa_sun 0:c1bfd7b7e4b9 8 public:
Komazawa_sun 0:c1bfd7b7e4b9 9 gamma_ctrl(int baudrate_g);
Komazawa_sun 0:c1bfd7b7e4b9 10 void get_data();
Komazawa_sun 0:c1bfd7b7e4b9 11
Komazawa_sun 0:c1bfd7b7e4b9 12 union gamma_packet
Komazawa_sun 0:c1bfd7b7e4b9 13 {
Komazawa_sun 0:c1bfd7b7e4b9 14 char all_data[GAMMA_DATA_SIZE];
Komazawa_sun 0:c1bfd7b7e4b9 15 struct
Komazawa_sun 0:c1bfd7b7e4b9 16 {
Komazawa_sun 0:c1bfd7b7e4b9 17 unsigned char start_byte:8;
Komazawa_sun 0:c1bfd7b7e4b9 18 signed int rx :8;
Komazawa_sun 0:c1bfd7b7e4b9 19 signed int ry :8;
Komazawa_sun 0:c1bfd7b7e4b9 20 signed int lx :8;
Komazawa_sun 0:c1bfd7b7e4b9 21 unsigned int r_sw1 :1;
Komazawa_sun 0:c1bfd7b7e4b9 22 unsigned int r_sw2 :1;
Komazawa_sun 0:c1bfd7b7e4b9 23 unsigned int r_sw3 :1;
Komazawa_sun 0:c1bfd7b7e4b9 24 unsigned int r_sw4 :1;
Komazawa_sun 0:c1bfd7b7e4b9 25 unsigned int r_s_sw1 :1;
Komazawa_sun 0:c1bfd7b7e4b9 26 unsigned int r_s_sw2 :1;
Komazawa_sun 0:c1bfd7b7e4b9 27 unsigned int l_sw1 :1;
Komazawa_sun 0:c1bfd7b7e4b9 28 unsigned int l_sw2 :1;
Komazawa_sun 0:c1bfd7b7e4b9 29 unsigned int l_sw3 :1;
Komazawa_sun 0:c1bfd7b7e4b9 30 unsigned int l_sw4 :1;
Komazawa_sun 0:c1bfd7b7e4b9 31 unsigned int l_s_sw1 :1;
Komazawa_sun 0:c1bfd7b7e4b9 32 unsigned int l_s_sw2 :1;
Komazawa_sun 0:c1bfd7b7e4b9 33 unsigned int mode1 :1;
Komazawa_sun 0:c1bfd7b7e4b9 34 unsigned int mode2 :1;
Komazawa_sun 0:c1bfd7b7e4b9 35 unsigned int r_srd :2;
Komazawa_sun 0:c1bfd7b7e4b9 36 unsigned int l_srd :2;
Komazawa_sun 0:c1bfd7b7e4b9 37 unsigned int no_data :6;
Komazawa_sun 0:c1bfd7b7e4b9 38 unsigned char phecksum:8;
Komazawa_sun 0:c1bfd7b7e4b9 39 unsigned char stop_byte :8;
Komazawa_sun 0:c1bfd7b7e4b9 40 }data;
Komazawa_sun 0:c1bfd7b7e4b9 41 };
Komazawa_sun 0:c1bfd7b7e4b9 42
Komazawa_sun 0:c1bfd7b7e4b9 43 gamma_packet pack;
Komazawa_sun 0:c1bfd7b7e4b9 44
Komazawa_sun 0:c1bfd7b7e4b9 45 };
Komazawa_sun 0:c1bfd7b7e4b9 46
Komazawa_sun 0:c1bfd7b7e4b9 47 #endif