2021A Conste RX/TX lib
conste.h@0:847ba7e5b1a0, 2021-11-04 (annotated)
- Committer:
- TakushimaYukimasa
- Date:
- Thu Nov 04 10:42:49 2021 +0000
- Revision:
- 0:847ba7e5b1a0
- Child:
- 1:b67e696c0ec3
- Child:
- 2:4571cb39d887
make
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TakushimaYukimasa | 0:847ba7e5b1a0 | 1 | #ifndef INCLUDED_CONSTE_h_ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 2 | #define INCLUDED_CONSTE_h_ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 3 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 4 | #include "mbed.h" |
TakushimaYukimasa | 0:847ba7e5b1a0 | 5 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 6 | /* マクロ定義 ----------------------------------------------------------------*/ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 7 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 8 | /* 定数定義 ------------------------------------------------------------------*/ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 9 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 10 | /* クラス定義 ----------------------------------------------------------------*/ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 11 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 12 | /******************************************************************************* |
TakushimaYukimasa | 0:847ba7e5b1a0 | 13 | * @名称 CONSTE |
TakushimaYukimasa | 0:847ba7e5b1a0 | 14 | * @概要 2021Aチーム コントロールステーション受信クラス |
TakushimaYukimasa | 0:847ba7e5b1a0 | 15 | *******************************************************************************/ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 16 | class CONSTE |
TakushimaYukimasa | 0:847ba7e5b1a0 | 17 | { |
TakushimaYukimasa | 0:847ba7e5b1a0 | 18 | private: |
TakushimaYukimasa | 0:847ba7e5b1a0 | 19 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 20 | /* 受信割り込み用関数 */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 21 | void uartRX(void); |
TakushimaYukimasa | 0:847ba7e5b1a0 | 22 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 23 | uint8_t severalRX; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 24 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 25 | /* 受信生データ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 26 | uint8_t readData[255]; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 27 | uint8_t readLoc; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 28 | /* 各種処理済みデータ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 29 | uint8_t arrayRestore[255]; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 30 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 31 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 32 | public: |
TakushimaYukimasa | 0:847ba7e5b1a0 | 33 | Serial uart; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 34 | Timer lostRX; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 35 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 36 | CONSTE(PinName tx, PinName rx, int baud); |
TakushimaYukimasa | 0:847ba7e5b1a0 | 37 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 38 | // 操作パラメータ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 39 | bool baseStart; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 40 | bool baseEMO; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 41 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 42 | /* 受信データ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 43 | //タイマ時間(ms) |
TakushimaYukimasa | 0:847ba7e5b1a0 | 44 | uint32_t timeMs; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 45 | // タイマが動いてるか否か |
TakushimaYukimasa | 0:847ba7e5b1a0 | 46 | bool isStart; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 47 | // 非常停止状態 (trueの時はモーターを止めてください) |
TakushimaYukimasa | 0:847ba7e5b1a0 | 48 | bool isEMO; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 49 | // ロボットの状態 1…モード異常 2…座標追従失敗 3…正常 |
TakushimaYukimasa | 0:847ba7e5b1a0 | 50 | uint8_t RobotStat[3]; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 51 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 52 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 53 | /* 送信データ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 54 | // 識別番号 0…のあ 1…ねぷちゅーん 2…とりとん 4…リモコン1 6…リモコン2 |
TakushimaYukimasa | 0:847ba7e5b1a0 | 55 | uint8_t identificationNum; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 56 | /* ロボット送信データ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 57 | // ロボットの状態 1…モード異常 2…座標追従失敗 3…正常 |
TakushimaYukimasa | 0:847ba7e5b1a0 | 58 | uint8_t status; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 59 | /* リモコン送信データ */ |
TakushimaYukimasa | 0:847ba7e5b1a0 | 60 | // 非常停止SW状態 |
TakushimaYukimasa | 0:847ba7e5b1a0 | 61 | bool swEMO; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 62 | // スタートSW状態 |
TakushimaYukimasa | 0:847ba7e5b1a0 | 63 | bool swStart; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 64 | // バッテリ電圧 (4bit) |
TakushimaYukimasa | 0:847ba7e5b1a0 | 65 | int8_t batteryRemain; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 66 | }; |
TakushimaYukimasa | 0:847ba7e5b1a0 | 67 | |
TakushimaYukimasa | 0:847ba7e5b1a0 | 68 | #endif |