Revision 4:47f17b5ac6e7, committed 2019-08-15

Comitter:

TanakaRobo

Date:

Thu Aug 15 08:58:21 2019 +0000

Parent:

3:46d174eeb541

Commit message:

scrp_master added

Changed in this revision

--- a/library/gy521.cpp	Mon Aug 12 02:40:59 2019 +0000
+++ b/library/gy521.cpp	Thu Aug 15 08:58:21 2019 +0000
@@ -2,20 +2,6 @@
 
 const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
 const unsigned int dev_id = 0x68 <<  1;
-enum GY521RegisterMap {
-  WHO_AM_I = 0x75,
-  PWR_MGMT_1 = 0x6B,
-  LPF = 0x1A,
-  FS_SEL = 0x1B,
-  AFS_SEL = 0x1C,
-  ACCEL_XOUT_H = 0x3B,
-  ACCEL_YOUT_H = 0x3D,
-  ACCEL_ZOUT_H = 0x3F,
-  //TEMPERATURE  = 0x41,
-  //GYRO_XOUT_H = 0x43,
-  //GYRO_YOUT_H = 0x45,
-  GYRO_ZOUT_H = 0x47
-};
 
 GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c_(i2c),bit_(bit),calibration_(calibration){
     char check;

--- a/library/gy521.hpp	Mon Aug 12 02:40:59 2019 +0000
+++ b/library/gy521.hpp	Thu Aug 15 08:58:21 2019 +0000
@@ -12,6 +12,21 @@
 //I2C i2c(SDA,SCL);
 //GY521 gyro(i2c);
 
+enum GY521RegisterMap {
+  WHO_AM_I = 0x75,
+  PWR_MGMT_1 = 0x6B,
+  LPF = 0x1A,
+  FS_SEL = 0x1B,
+  AFS_SEL = 0x1C,
+  ACCEL_XOUT_H = 0x3B,
+  ACCEL_YOUT_H = 0x3D,
+  ACCEL_ZOUT_H = 0x3F,
+  //TEMPERATURE  = 0x41,
+  //GYRO_XOUT_H = 0x43,
+  //GYRO_YOUT_H = 0x45,
+  GYRO_ZOUT_H = 0x47
+};
+
 class GY521{
 public:
     GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/library/scrp_master.cpp	Thu Aug 15 08:58:21 2019 +0000
@@ -0,0 +1,113 @@
+#include "scrp_master.hpp"
+
+#define STX 0x41
+#define DMY 0xff
+
+ScrpMaster::ScrpMaster(PinName TX1,PinName RX1){
+    mode_ = 0;
+    init(TX1,RX1);
+}
+
+ScrpMaster::ScrpMaster(PinName TX1,PinName RX1,PinName REDE1){
+    mode_ = 1;
+    rede_ = new DigitalOut(REDE1);
+    init(TX1,RX1);
+}
+
+ScrpMaster::ScrpMaster(PinName TX1,PinName RX1,PinName TX2,PinName RX2){
+    mode_ = 2;
+    serial_[1] = new Serial(TX2,RX2,115200);
+    init(TX1,RX1);
+}
+
+ScrpMaster::ScrpMaster(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2){
+    mode_ = 3;
+    rede_ = new DigitalOut(REDE1);
+    serial_[1] = new Serial(TX2,RX2,115200);
+    init(TX1,RX1);
+}
+
+void ScrpMaster::init(PinName TX,PinName RX){
+    timeout_ = 100;
+    serial_[0] = new Serial(TX,RX,115200);
+}
+
+void ScrpMaster::setTimeout(int time){
+    timeout_ = time;
+}
+
+int ScrpMaster::send(uint8_t id,uint8_t cmd,int16_t tx_data){
+    return sending(0,id,cmd,tx_data);
+}
+
+int ScrpMaster::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
+    if(mode_ < 2){
+        return -1;
+    }
+    return sending(1,id,cmd,tx_data);
+}
+
+int ScrpMaster::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data){
+    uint8_t tx_dataL = tx_data;
+    uint8_t tx_dataH = tx_data >> 8;
+    uint8_t tx_sum = id + cmd + tx_dataL + tx_dataH;
+
+    const uint8_t data[] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};
+    if(!serial_[port]->writeable()){
+        return -1;
+    }
+    if(mode_%2 == 1 && id == 0){
+        rede_->write(1);
+    }
+    for(int i = 0;i<8;i++){
+        serial_[port]->putc(data[i]);
+    }
+    while(!serial_[port]->writeable());
+    if(mode_%2 == 1 && id == 0){
+        rede_->write(0);
+    }
+            
+    int i = 0;
+    bool received = false;
+    bool stxflag = false;
+    uint8_t rx[5]={},sum = 0;
+    Timer out;
+    out.start();
+    while(out.read_ms() < timeout_ && !received){
+        while(serial_[port]->readable()){
+            if(serial_[port]->getc() == STX && !stxflag){
+                stxflag = true;
+                continue;
+            }
+            if(stxflag){
+                rx[i] = serial_[port]->getc();
+                sum += rx[i++];
+            }
+            if(i > 4){/*
+                uint8_t sum = 0;
+                for(int j = 0;j<4;j++){
+                    sum += rx[j];
+                }*/
+                if(sum == rx[4]){
+                    received = true;
+                }
+                break;
+            }
+        }
+    }
+    out.stop();
+    if(!received){
+        return -1;
+    }
+    return (rx[2] + (rx[3] << 8));
+}
+
+ScrpMaster::~ScrpMaster(){
+    delete serial_[0];
+    if(mode_%2 == 1){
+        delete rede_;
+    }
+    if(mode_ >= 2){
+        delete serial_[1];
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/library/scrp_master.hpp	Thu Aug 15 08:58:21 2019 +0000
@@ -0,0 +1,45 @@
+#ifndef SCRP_SLAVE_H
+#define SCRP_SLAVE_H
+#include "mbed.h"
+
+/*USBでPCにつなぐポートと、基板上でRasPiとつなぐポートを同時に開く。
+ *RedePinの有り無しの選択、ポートを一つだけ開くことも可。
+ *以下から選択。
+ *ScrpMaster(PinName TX1,PinName RX1,uint32_t addr);//RedePinなし、１ポート
+ *ScrpMaster(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr);//RedePinあり、１ポート
+ *ScrpMaster(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr);//RedePinなし、２ポート
+ *ScrpMaster(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
+ *example not usb port
+ *L432KC : TX = PA_9 , RX = PA_10 , REDE = PA_12 , addr = 0x0803e000
+ *F446RE : TX = PC_12 , RX = PD_2 , RDDE = PH_1 , addr = 0x0807ffff
+ */
+//ScrpMaster slave(SERIAL_TX,SERIAL_RX);
+
+inline int constrain(int x,int a,int b){
+    return (x < a ? a : x > b ? b : x);
+}
+
+inline double constrain(double x,double a,double b){
+    return (x < a ? a : x > b ? b : x);
+}
+
+class ScrpMaster{
+public:
+    ScrpMaster(PinName TX1,PinName RX1);//RedePinなし、１ポート
+    ScrpMaster(PinName TX1,PinName RX1,PinName REDE1);//RedePinあり、１ポート
+    ScrpMaster(PinName TX1,PinName RX1,PinName TX2,PinName RX2);//RedePinなし、２ポート
+    ScrpMaster(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2);//RedePinあり、１ポート＋RedePinなし、１ポート
+    ~ScrpMaster();
+    void setTimeout(int);
+    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];
+    uint8_t mode_;
+    int timeout_;
+    int sending(int,uint8_t,uint8_t,int16_t);
+    void init(PinName,PinName);
+};
+
+#endif /* SCRP_SLAVE_H */
\ No newline at end of file