Diff: headerfile_unuse/sbdbt_.h

Revision:

66:1664ee92539d

Parent:

45:a32e8091901b

diff -r 5e4c2e5494ae -r 1664ee92539d headerfile_unuse/sbdbt_.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/headerfile_unuse/sbdbt_.h	Sun Sep 24 05:25:03 2017 +0000
@@ -0,0 +1,247 @@
+/*
+ver1.0
+Sbdbt Name(tx,rx)
+sbdbtに接続するtx,rx
+
+ver2.0
+Sbdbt Name(tx,rx)
+sbdbtに接続するtx,rx
+
+begin(baudrate)
+sbdbtと通信するbaudrateを決定
+
+ボタンデータ 0/1
+shikaku, l1, l2, r1, r2, start, select, 
+up, down, right, left, sankaku, batu, maru
+
+アナログスティックデータ -1 ~ 1
+left_x, left_y, right_x, right_y;
+
+sbdbtから受信したデータ
+open_data[data_byte];
+*/
+
+#define start_byte 0b10000000
+#define Shikaku 0
+#define L1      1
+#define L2      2
+#define R1      3
+#define R2      4
+#define Start   0b00000011
+#define Select  0b00001100
+#define Up      0
+#define Down    1
+#define Right   2
+#define Left    3
+#define Sankaku 4
+#define Batu    5
+#define Maru    6
+#define EvenNeutral 0b01000000
+#define OddNeutral  0b00111111
+#define data_byte  8
+#define input_byte 7
+
+class Sbdbt
+{
+public  :
+    Sbdbt(PinName mbed_tx, PinName mbed_rx, PinName pin_pairing) : SBDBT(mbed_tx,mbed_rx), pairing(pin_pairing){
+    }
+
+    void begin(long baudrate) {
+        init();
+        SBDBT.baud(baudrate);
+        SBDBT.attach(this, &Sbdbt::data_receive, Serial::RxIrq);
+    }
+    
+    int get_pairingState(){
+        return pairing;
+    }
+
+    short shikaku;
+    short l1;
+    short l2;
+    short r1;
+    short r2;
+    short start;
+    short select;
+    short up;
+    short down;
+    short right;
+    short left;
+    short sankaku;
+    short batu;
+    short maru;
+    float left_x;
+    float left_y;
+    float right_x;
+    float right_y;
+    int open_data[data_byte];
+
+private :
+    Serial SBDBT;
+    DigitalIn pairing;
+
+    int read, data_start, checksum, byte,
+        buffer[data_byte], data[data_byte];
+
+    int Left_X, Left_Y, Right_X, Right_Y ;
+    
+    void init() {
+        open_data[0] = buffer[0] = data[0] = 128;
+        open_data[1] = buffer[1] = data[1] = 0;
+        open_data[2] = buffer[2] = data[2] = 0;
+        open_data[3] = buffer[3] = data[3] = 64;
+        open_data[4] = buffer[4] = data[4] = 64;
+        open_data[5] = buffer[5] = data[5] = 64;
+        open_data[6] = buffer[6] = data[6] = 64;
+        open_data[7] = buffer[7] = data[7] = 0;
+    }
+
+    void check() {
+        if (bit_test(data[1],Shikaku)) {
+            shikaku = 1;
+        } else {
+            shikaku = 0;
+        }
+        if (bit_test(data[1],L1)) {
+            l1 = 1;
+        } else {
+            l1 = 0;
+        }
+        if (bit_test(data[1],L2)) {
+            l2 = 1;
+        } else {
+            l2 = 0;
+        }
+        if (bit_test(data[1],R1)) {
+            r1 = 1;
+        } else {
+            r1 = 0;
+        }
+        if (bit_test(data[1],R2)) {
+            r2 = 1;
+        } else {
+            r2 = 0;
+        }
+        if ((data[2] & Start) == Start) {
+            start = 1;
+            up = 0;
+            down = 0;
+        } else {
+            start = 0;
+            if (bit_test(data[2],Up)) {
+                up = 1;
+            } else {
+                up = 0;
+            }
+            if (bit_test(data[2],Down)) {
+                down = 1;
+            } else {
+                down = 0;
+            }
+        }
+        if ((data[2] & Select) == Select) {
+            select = 1;
+            right = 0;
+            left = 0;
+        } else {
+            select = 0;
+            if (bit_test(data[2],Right)) {
+                right = 1;
+            } else {
+                right = 0;
+            }
+            if (bit_test(data[2],Left)) {
+                left = 1;
+            } else {
+                left = 0;
+            }
+        }
+        if (bit_test(data[2],Sankaku)) {
+            sankaku = 1;
+        } else {
+            sankaku = 0;
+        }
+        if (bit_test(data[2],Batu)) {
+            batu = 1;
+        } else {
+            batu = 0;
+        }
+        if (bit_test(data[2],Maru)) {
+            maru = 1;
+        } else {
+            maru = 0;
+        }
+
+        Left_X  = data[3];
+        Left_Y  = data[4];
+        Right_X = data[5];
+        Right_Y = data[6];
+        
+        if (Left_X <= EvenNeutral) {
+            left_x = (float) EvenNeutral - Left_X;
+        } else {
+            left_x = (float) OddNeutral  - Left_X;
+        }
+
+        if (Left_Y <= EvenNeutral) {
+            left_y = (float) EvenNeutral - Left_Y;
+        } else {
+            left_y = (float) OddNeutral  - Left_Y;
+        }
+
+        if (Right_X <= EvenNeutral) {
+            right_x = (float) EvenNeutral - Right_X;
+        } else {
+            right_x = (float) OddNeutral  - Right_X;
+        }
+
+        if (Right_Y <= EvenNeutral) {
+            right_y = (float) EvenNeutral - Right_Y;
+        } else {
+            right_y = (float) OddNeutral  - Right_Y;
+        }
+
+        left_x  = -left_x  / EvenNeutral;
+        left_y  = left_y  / EvenNeutral;
+        right_x = -right_x / EvenNeutral;
+        right_y = right_y / EvenNeutral;
+        
+        if (fabs(left_x) < 0.24f) {
+            left_x = 0;
+        }
+        if (fabs(left_y) < 0.24f) {
+            left_y = 0;
+        }
+    }
+
+    void data_receive () {
+        read = SBDBT.getc();
+        if (read == start_byte) {
+            data_start = 1;
+            checksum = 0;
+            byte = 1;
+            buffer[0] = read;
+        } else {
+            if (data_start == 1) {
+                buffer[byte] = read;
+                byte++;
+            }
+            if (byte > input_byte) {
+                int i;
+                for (i = 1 ; i < input_byte; i++) {
+                    checksum = checksum + buffer[i];
+                }
+                if ((checksum & 0b01111111) == buffer[7]) {
+                    for (i = 0; i < data_byte; i++) {
+                        data[i] = buffer[i];
+                        open_data[i] = data[i];
+                    }
+                    check();
+                }
+                byte = 0;
+                data_start = 0;
+            }
+        }
+    }
+};
\ No newline at end of file