Diff: SerialToI2C.h

Revision:

0:f55382f220f2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialToI2C.h	Wed Oct 14 06:09:52 2015 +0000
@@ -0,0 +1,83 @@
+#ifndef INCLUDED_SERIAL_TO_I2C_H
+#define INCLUDED_SERIAL_TO_I2C_H
+
+#include "mbed.h"
+
+// Serial通信で得たデータをI2Cで渡す
+class SerialToI2C{
+public:
+    enum ActionType{
+        STOP    = 0x00, // 0000 0000(2)
+        MOVE    = 0x08, // 0000 1000(2)
+        ROLL    = 0x10, // 0001 0000(2)
+        SHOOT   = 0x18  // 0001 1000(2)
+    };
+    
+    enum AimState{
+        OWN_POLE            = 0x00,
+        CENTER_MIDDLE_POLE  = 0x40,
+        CENTER_SIDE_POLE    = 0x80,
+        ENEMYS_POLE         = 0xC0
+    };
+    
+    enum StopDetailType{
+        NO_OPERATION,
+        INCREMENT,
+        DECREMENT,
+        LOW_SPEED,
+        HIGH_SPEED
+    };
+
+    static void create( PinName sda, PinName scl, PinName tx, PinName rx ){
+        if ( mInstance == NULL ){
+            mInstance = new SerialToI2C( sda, scl, tx, rx );
+        }
+    }
+    static SerialToI2C* getInstance(){
+        return mInstance;
+    }
+    
+    void update();
+    
+private:
+    static SerialToI2C* mInstance;
+    // 実体なし
+    SerialToI2C( SerialToI2C& a );
+    void operator = ( SerialToI2C& a );
+    
+    SerialToI2C( PinName sda, PinName scl, PinName tx, PinName rx );
+    ~SerialToI2C(){
+        delete mXBee;
+        delete mI2C;
+    }
+    
+    void recvSerial();
+    void stringToI2CData();
+    void updateI2CSlave();
+    
+    static const PinName mAddressDeciderPinName[ 4 ];
+    static const char mControlMask;
+    static const char mDetailMask;
+    static const char mDutyMask;
+    
+    char mAddress;
+    
+    RawSerial* mXBee;
+    I2CSlave* mI2C;
+    
+    char mRecv;
+    char mI2CSentData;
+    bool mIsI2CSentDataChangeable;
+    
+    char mMoveDirection;
+    float mMoveCoeff;
+    float mRoll;
+    ActionType mActionType;
+    AimState mAimState;
+    StopDetailType mStopDetailType;
+    bool mIsSupplying;
+    
+    DigitalOut* mLED;
+};
+
+#endif