Diff: ctrl_serial.cpp

Revision:

0:4be3cd232468

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ctrl_serial.cpp	Tue Jun 27 07:55:09 2017 +0000
@@ -0,0 +1,141 @@
+//受信くん用コントローラーシリアルライブラリ　by駒澤
+
+#include "ctrl_serial.h"
+
+
+ctrl_serial::ctrl_serial(int baudrate,int size)//(dps,byte)
+    :serial_dev(CTRL_TX_PIN,CTRL_RX_PIN)//,usb(USBTX,USBRX)
+{    
+    //printf("super constructor\r\n");
+    serial_dev.baud(baudrate);
+    data_size = size;
+    error_status = No_Error;
+    allready_set_data = false;
+    serial_dev.attach(this,&ctrl_serial::ctrl_receive_data,Serial::RxIrq);
+    timeout_checker.attach(this,&ctrl_serial::timeout_check,timeout_st_seconds);
+    timeout_call = false;
+    time.start();
+}
+
+
+void ctrl_serial::ctrl_receive_data(void)
+{
+    if(serial_dev.readable())
+    {
+        timeout_call = true;
+        buffer[buffer_count] = serial_dev.getc();
+        //printf("%x ",buffer[buffer_count]);
+        if(buffer_count + 1 >= data_size)
+        {
+            //printf("get_8b\r\n");
+            data_table(data_check());
+        }
+        else
+        {
+            buffer_count++;
+        }
+    }     
+}
+
+ctrl_serial::Error_type ctrl_serial::data_check()
+{
+    if(buffer[0] == start_byte && buffer[buffer_count] == stop_byte)
+    {
+        //printf("data_get\r\n");
+        if(checksum_read() == true){
+            //printf("data_true\r\n");
+            return No_Error;
+        }
+        else
+        {
+            //printf("data_false\r\n");
+            return Receive_data_False;
+        }
+    }
+    else
+    {
+        //printf("data_get_false\r\n");
+        return Receive_Failed;
+    }
+}
+
+void ctrl_serial::data_table(ctrl_serial::Error_type error){
+    switch(error)
+    {
+        case No_Error:
+            error_status = No_Error;
+            buffer_count = 0;
+            sending_data();
+            allready_set_data = true;
+            break;
+            
+        case Receive_Failed:
+            error_status = Receive_Failed;
+            buffer_shift();
+            break;
+            
+        case Receive_data_False:
+            error_status = Receive_data_False;
+            buffer_shift();
+            break;
+            
+        default:
+            buffer_refresh();
+            sending_data();
+            break;
+    }
+            
+}
+
+void ctrl_serial::sending_data()
+{
+    for(int t = 0;t < data_size;t++)
+        ctrl_data[t] = buffer[t];
+}
+
+bool ctrl_serial::checksum_read()
+{
+    unsigned int sum = 0;
+    for(int t = 1;t < (data_size - 2);t++)
+        sum = sum + buffer[t];
+    unsigned char checksum = (unsigned char)(0xFF & sum);
+    //printf("%x)",checksum);
+    if(buffer[data_size - 2] == checksum)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }   
+}
+
+void ctrl_serial::timeout_check()
+{
+    if(timeout_call == true)
+    {
+        timeout_call = false;
+    }
+    else
+    {
+        //printf("time_out\r\n");
+        error_status = Conect_Timeout;
+        buffer_refresh();
+    }
+}
+
+void ctrl_serial::buffer_refresh()
+{
+    for(int t = 0;t < data_size;t++)
+        buffer[t] = 0;
+    allready_set_data = true;
+    buffer_count = 0;
+}
+
+void ctrl_serial::buffer_shift()
+{
+    for(int t = 0;t < data_size;t++)
+        buffer[t] = buffer[t + 1];
+        
+}
+    
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