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明石高専ロボ研 mbedライブラリ
Dependents: MDD_L432KC USB2RS485 pathtracking odometry ... more
scrp_slave.cpp
- Committer:
- TanakaRobo
- Date:
- 2020-01-02
- Revision:
- 0:ca84ed7518f5
- Child:
- 2:141358d84ff4
File content as of revision 0:ca84ed7518f5:
#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]; } }