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明石高専ロボ研 mbedライブラリ
Dependents: MDD_L432KC USB2RS485 pathtracking odometry ... more
Diff: scrp_slave.cpp
- Revision:
- 0:ca84ed7518f5
- Child:
- 2:141358d84ff4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scrp_slave.cpp Thu Jan 02 09:30:06 2020 +0000 @@ -0,0 +1,219 @@ +#include "scrp_slave.hpp" + +#define STX 0x41 +#define DMY 0xff + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr):address_(addr){ + mode_ = 0; + init(TX1,RX1); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr):address_(addr){ + mode_ = 1; + rede_ = new DigitalOut(REDE1); + init(TX1,RX1); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){ + mode_ = 2; + serial_[1] = new BufferedSerial(TX2,RX2); + serial_[1]->baud(115200); + serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq); + init(TX1,RX1); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr):address_(addr){ + mode_ = 3; + rede_ = new DigitalOut(REDE1); + serial_[1] = new BufferedSerial(TX2,RX2); + serial_[1]->baud(115200); + serial_[1]->attach(callback(this,&ScrpSlave::port2),Serial::RxIrq); + init(TX1,RX1); +} + +void ScrpSlave::init(PinName TX,PinName RX){ + timeout_ = 10; + serial_[0] = new BufferedSerial(TX,RX); + serial_[0]->baud(115200); + serial_[0]->attach(callback(this,&ScrpSlave::port1),Serial::RxIrq); + flash_ = new FlashIAP; + if(flash_->init()==0){ + if(flash_->read(&my_id_,address_,1) != 0){ + send(222,222,222); + my_id_ = 10; + } + }else{ + send(111,111,111); + my_id_ = 10; + } + for(int i = 1;i<255;++i){ + procs_[i] = NULL; + } +} + +void ScrpSlave::port1(){ + check(0); +} + +void ScrpSlave::port2(){ + check(1); +} + +void ScrpSlave::addCMD(uint8_t cmd, bool (*proc)(int rx_data, int& tx_data)){ + if(cmd == 0 || cmd == 254 || cmd == 253)return; + procs_[cmd] = proc; +} + +void ScrpSlave::setTimeout(int time){ + timeout_ = time; +} + +void ScrpSlave::changeID(uint8_t id){ + 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){ + return sending(0,id,cmd,tx_data); +} + +int16_t ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){ + if(mode_ < 2)return -1; + return sending(1,id,cmd,tx_data); +} + +int16_t 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; + + 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 && port == 0){ + rede_->write(1); + } + serial_[port]->write(data,8); + wait_ms(1);//送信待ち + if(mode_%2 == 1 && port == 0){ + rede_->write(0); + } + + int i = 0; + bool received = false; + bool stxflag = false; + uint8_t getdata; + uint8_t rx[5]={},sum = 0; + Timer out; + out.start(); + while(out.read_ms() < timeout_ && !received){ + while(serial_[port]->readable() > 0){ + getdata = serial_[port]->getc(); + if(!stxflag && getdata == STX){ + stxflag = true; + continue; + } + if(stxflag){ + rx[i] = getdata; + 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 (int16_t)(rx[2] + ((int16_t)rx[3] << 8)); +} + +void ScrpSlave::check(int port){ + uint8_t rx_cmd; + int16_t rx_data; + bool received = false; + bool broadcast = false; + while(serial_[port]->readable() >= 6){ + if(serial_[port]->getc() != STX)continue; + uint8_t rx_id = serial_[port]->getc(); + uint8_t tmp_rx_cmd = serial_[port]->getc(); + uint8_t tmp_rx_dataL = serial_[port]->getc(); + uint8_t tmp_rx_dataH = serial_[port]->getc(); + uint8_t rx_sum = serial_[port]->getc(); + + uint8_t sum = rx_id + tmp_rx_cmd + tmp_rx_dataL + tmp_rx_dataH; + if(sum != rx_sum){ + continue; + } + + if(rx_id == 255){ + broadcast = true; + }else if(my_id_ == rx_id){ + broadcast = false; + }else{ + return;//break; + } + + rx_cmd = tmp_rx_cmd; + rx_data = tmp_rx_dataL + ((int16_t)tmp_rx_dataH << 8); + received = true; + } + if(!received){ + return; + } + int tx_data = rx_data; + if(rx_cmd == 0){//通信テスト + tx_data = rx_data; + }else if(rx_cmd == 254){//id変更 + uint8_t new_id = rx_data; + my_id_ = new_id; + changeID(new_id); + }else if(rx_cmd == 253){//id確認 + tx_data = my_id_; + rx_cmd = 250; + broadcast = false; + }else if(procs_[rx_cmd] == NULL || !procs_[rx_cmd](rx_data,tx_data)){ + return; + } + if(broadcast){ + return; + } + + uint8_t tx_dataL = tx_data; + uint8_t tx_dataH = tx_data >> 8; + uint8_t tx_sum = my_id_ + rx_cmd + tx_dataL + tx_dataH; + + const uint8_t data[] = {DMY, STX, my_id_, rx_cmd, tx_dataL, tx_dataH, tx_sum, DMY}; + if(!serial_[port]->writeable()){ + return; + } + if(mode_%2 == 1 && port == 0){ + rede_->write(1); + } + serial_[port]->write(data,8); + wait_ms(1);//1ms待つ多分これだけで送信しきれる。 + if(mode_%2 == 1 && port == 0){ + rede_->write(0); + } + return; +} + +ScrpSlave::~ScrpSlave(){ + delete serial_[0]; + delete flash_; + if(mode_%2 == 1){ + delete rede_; + } + if(mode_ >= 2){ + delete serial_[1]; + } +} \ No newline at end of file