Diff: SerialToI2C.cpp

Revision:

0:f55382f220f2

Child:

1:a3a4ae2c5af2

diff -r 000000000000 -r f55382f220f2 SerialToI2C.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialToI2C.cpp	Wed Oct 14 06:09:52 2015 +0000
@@ -0,0 +1,132 @@
+#include "mbed.h"
+#include "SerialToI2C.h"
+
+SerialToI2C* SerialToI2C::mInstance  = NULL;
+const char SerialToI2C::mControlMask = 0x30;
+const char SerialToI2C::mDetailMask  = 0x0F;
+const char SerialToI2C::mDutyMask    = 0xC0;
+
+const PinName SerialToI2C::mAddressDeciderPinName[] = {
+    dp17, dp18, dp26, dp25
+};
+
+SerialToI2C::SerialToI2C( PinName sda, PinName scl, PinName tx, PinName rx ){
+    mMoveDirection  = 0;
+    mMoveCoeff      = 0.0f;
+    mRoll           = 0.0f;
+    mActionType     = STOP;
+    mRecv           = OWN_POLE | STOP;
+    mI2CSentData    = mRecv;
+    mIsI2CSentDataChangeable = true;
+    mAimState       = OWN_POLE;
+    mStopDetailType = HIGH_SPEED;
+    
+    mLED = new DigitalOut( LED1, true );
+    
+    mAddress = 0xA0;    // 10100000(2)
+    for ( int i = 0; i < 4; ++i ){
+        // 101xxxx0 --- xxxxの部分に入力データが入る
+        DigitalIn d( mAddressDeciderPinName[ i ] );
+        mAddress |= d.read() << ( i + 1 );
+    }
+    
+    mI2C  = new I2CSlave( sda, scl );
+    mI2C->address( mAddress );
+    
+    mXBee = new RawSerial( tx, rx );
+    mXBee->baud( 19200 );
+    
+    mXBee->attach( this, &SerialToI2C::recvSerial, Serial::RxIrq );
+}
+
+void SerialToI2C::update(){
+    stringToI2CData();
+    updateI2CSlave();
+}
+
+void SerialToI2C::updateI2CSlave(){
+    switch ( mI2C->receive() ){
+        case I2CSlave::ReadAddressed:{
+            char buf[] = { mActionType, 0, mAimState, mIsSupplying };
+            
+            switch ( mActionType ){
+                case STOP:
+                    buf[ 1 ] = mStopDetailType;
+                    break;
+                    
+                case MOVE:
+                    buf[ 1 ] = mMoveDirection;
+                    break;
+                    
+                case ROLL:
+                    buf[ 1 ] = mRoll;
+                    break;
+                    
+                case SHOOT:
+                    break;
+                    
+                default:
+                    mActionType = STOP;
+                    break;
+            }
+            
+            mI2C->write( buf, 4 );
+            
+            /*
+            if ( ( mActionType == STOP ) &&
+                 ( ( mStopDetailType == INCREMENT ) || ( mStopDetailType == DECREMENT ) ) ){
+                //mRecv &= 0xF0;
+                mRecv &= 0xF8;
+            }
+            */
+            
+            mI2CSentData = mRecv;
+            break;
+        }
+        case I2CSlave::WriteGeneral:
+            break;
+        
+        case I2CSlave::WriteAddressed:
+            break;
+            
+        case I2CSlave::NoData:
+            break;
+    };
+}
+
+void SerialToI2C::stringToI2CData(){
+    // 受信したデータをロボットの行動情報に変換
+    mActionType     = static_cast< ActionType >( mRecv & 0x18 );    // 00011000(2)
+    char detail     = mRecv & 0x07; // 00000111(2)
+    mAimState       = static_cast< AimState >( mRecv & 0xC0 );  // 11000000(2)
+    mIsSupplying    = mRecv & 0x20; // 00100000(2)
+    
+    switch ( mActionType ){
+        case MOVE:{
+            mMoveDirection = detail;
+            break;
+        }
+        case ROLL:
+            mRoll = detail;
+            break;
+            
+        case STOP:
+            mStopDetailType = static_cast< StopDetailType >( detail );
+            break;
+            
+        case SHOOT:
+            break;
+            
+        default:
+            break;
+    }
+}
+
+void SerialToI2C::recvSerial(){
+    char recv = mXBee->getc();
+    
+    if ( ( recv != mRecv ) &&
+         ( mI2CSentData == mRecv ) ){
+        mRecv = recv;
+    }
+}