Diff: scrp_slave.cpp

Revision:

5:a7894e6982ea

Parent:

4:39ef4d91dc34

Child:

7:4ad54efe2fdd

--- a/scrp_slave.cpp	Fri Jul 24 14:12:15 2020 +0000
+++ b/scrp_slave.cpp	Thu Nov 12 16:38:23 2020 +0000
@@ -30,14 +30,22 @@
 }
 
 void ScrpSlave::init(PinName TX,PinName RX){
-    timeout_ = 500;
     for(int i = 0;i<2;i++){
         wait_data_[i] = false;
         stx_flag_[i] = false;
         id_ok_[i] = false;
+        get_responce_[i] = false;
+    }
+    for(int i = 1;i<256;++i){
+        procs_[i] = NULL;
     }
     serial_[0] = new Serial(TX,RX,115200);
     serial_[0]->attach(callback(this,&ScrpSlave::port1),Serial::RxIrq);
+    if(address_ < 255){
+        my_id_ = address_;
+        return;
+    }
+    //フラッシュメモリーのアクセスにエラーが出たら、アドレスは10に設定される。
     flash_ = new FlashIAP;
     if(flash_->init()==0){
         if(flash_->read(&my_id_,address_,1) != 0){
@@ -48,9 +56,6 @@
         send(111,111,111);
         my_id_ = 10;
     }
-    for(int i = 1;i<256;++i){
-        procs_[i] = NULL;
-    }
 }
 
 void ScrpSlave::port1(){
@@ -66,32 +71,30 @@
     procs_[cmd] = proc;
 }
 
-void ScrpSlave::setTimeout(int time){
-    timeout_ = time;
-}
-
 void ScrpSlave::changeID(uint8_t id){
+    if(address_ < 255){
+        return;
+    }
     flash_->erase(address_,flash_->get_sector_size(address_));
     flash_->program(&id,address_,1);
 }
 
-int16_t ScrpSlave::send(uint8_t id,uint8_t cmd,int16_t tx_data){
+bool ScrpSlave::send(uint8_t id,uint8_t cmd,int16_t tx_data){
     return sending(0,id,cmd,tx_data);
 }
 
-int16_t ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
+bool ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
     return ((mode_ < 2) ? -1 : sending(1,id,cmd,tx_data));
 }
 
-int16_t ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data){
+bool ScrpSlave::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;
-    Timer out;
 
     const uint8_t data[8] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY};  
     if(!serial_[port]->writeable()){
-        return -1;
+        return false;
     }
     wait_data_[port] = true;//データ返信待ち
     if(mode_%2 == 1 && port == 0){
@@ -104,17 +107,27 @@
     if(mode_%2 == 1 && port == 0){
         rede_->write(0);
     }
-    
-    out.reset();
-    out.start();
-    while(wait_data_[port]){
-        if(out.read_ms() > timeout_){
-           rx_data_[port] = -1;
-           wait_data_[port] = false;
-        }
+    return true;
+}
+
+bool ScrpSlave::isWaiting(uint8_t port){
+    if(port > 1 || (port == 1 && mode_ < 2)){
+        return false;
     }
-    out.stop();
-    return rx_data_[port];
+    return wait_data_[port];
+}
+
+int16_t ScrpSlave::receiveData(uint8_t port){
+    //ポート指定が正しいかどうか。
+    if(port > 1 || (port == 1 && mode_ < 2)){
+        return -1;
+    }
+    //データがあるか確認。
+    if(get_responce_[port]){
+        return rx_data_[port];
+    }else{
+        return -1;
+    }
 }
 
 void ScrpSlave::check(int port){
@@ -135,7 +148,10 @@
             rx_data_[port] = (int16_t)(tmp_data_[port][2] + ((int16_t)tmp_data_[port][3] << 8));
             if(wait_data_[port]){//データ返信待ち時
                 wait_data_[port] = false;
+                get_responce_[port] = true;
                 return;
+            }else if(get_responce_[port]){
+                get_responce_[port] = false;
             }
             uint8_t rx_cmd = tmp_data_[port][1];
             bool broadcast = (tmp_data_[port][0] == 255);