Diff: RS422_put.h

Revision:

0:bf96e953cdb8

diff -r 000000000000 -r bf96e953cdb8 RS422_put.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RS422_put.h	Mon Jun 26 09:59:14 2017 +0000
@@ -0,0 +1,85 @@
+/***************
+RS422 master libraly
+
+RS422 name(tx, rx)
+tx : mbed_tx
+rx : mbed_rx
+
+put(int id, float m1_duty, float m2_duty)
+id : 0 - 254
+duty : -1.0 - 1.0
+
+****************/
+
+
+#define start_signal    0b11111111
+#define cool_time       0.0004
+
+class RS422
+{
+public :
+    RS422(PinName mbed_tx, PinName mbed_rx) : Rs422(mbed_tx,mbed_rx) {
+    }
+
+    void begin(int baudrate) {
+        Rs422.baud(baudrate);
+        timer.attach(this, &RS422::put_time, cool_time);
+    }
+
+    void put(int id, float m1_duty, float m2_duty) {
+        if (flag == 0) {
+            ID = id;
+            if (m1_duty < 0) {
+                m1_data = 0b10000000;
+            } else {
+                m1_data = 0;
+            }
+            if (m2_duty < 0) {
+                m2_data = 0b10000000;
+            } else {
+                m2_data = 0;
+            }
+            m1_data += fabs(m1_duty) * 100;
+            m2_data += fabs(m2_duty) * 100;
+
+            check_sum = (id + m1_data + m2_data) & 0b01111111;
+        }
+        flag = 1;
+    }
+
+private :
+    Serial Rs422;
+    Ticker timer;
+
+    short flag;
+    int counter;
+    int m1_data,m2_data,check_sum;
+    int ID;
+
+    void put_time() {
+        switch (counter) {
+            case 0 :
+                Rs422.putc(start_signal);
+                break;
+            case 1 :
+                Rs422.putc(ID);
+                break;
+            case 2 :
+                Rs422.putc(m1_data);
+                break;
+            case 3 :
+                Rs422.putc(m2_data);
+                break;
+            case 4 :
+                Rs422.putc(check_sum);
+                break;
+            default :
+                break;
+        }
+        counter ++;
+        if(counter >= 5) {
+            counter = 0;
+            flag = 0;
+        }
+    }
+};
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