Hiroki Tanaka / Mbed 2 deprecated L432KC_temp

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Dependencies:   mbed ros_lib_kinetic

library/ScrpSlave.hpp

Committer:
TanakaRobo
Date:
2019-05-18
Revision:
0:a8a56075e947
Child:
1:17051435cfc5

File content as of revision 0:a8a56075e947:

#pragma once
#include "mbed.h"
#define constrain(x,a,b) min(max(x,a),b)

class ScrpSlave{
public:
    ScrpSlave(PinName TX1,PinName RX1,uint32_t addr);//RedePinなし、１ポート
    ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr);//RedePinあり、１ポート
    ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr);//RedePinなし、２ポート
    ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr);//RedePinあり、１ポート＋RedePinなし、１ポート
    ~ScrpSlave();
    void setTimeout(int);
    void addCMD(uint8_t cmd, bool (*proc)(int rx_data,int& tx_data));
    int send(uint8_t id,uint8_t cmd,int16_t tx_data);
    int send2(uint8_t id,uint8_t cmd,int16_t tx_data);
private:
    DigitalOut *rede;
    Serial *serial[2];
    FlashIAP *flash;
    uint8_t mode;
    uint8_t my_id;
    uint32_t addr;
    int timeout;
    bool (*procs[256])(int rx_data, int& tx_data);
    int sending(int,uint8_t,uint8_t,int16_t);
    void changeID(uint8_t);
    void check(int port);
    void init(PinName,PinName);
    void port1();
    void port2();
};