tarou yamada / serial_connected_mcu

nucleo側のプログラム

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

Fork of serial_connected_mcu by tarou yamada

serial_connected_mcu.hpp@18:111207e201b6, 2016-09-08 (annotated)

Committer:
inst
Date:
Thu Sep 08 02:27:22 2016 +0000
Revision:
18:111207e201b6
Parent:
16:4e310c3f3a2b 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:9ca9a6eddffa 1 #ifndef INCUDED_SERIAL_CONNECTED_MCU_HPP
inst 0:9ca9a6eddffa 2 #define INCUDED_SERIAL_CONNECTED_MCU_HPP
inst 0:9ca9a6eddffa 3
inst 0:9ca9a6eddffa 4 #include "rotary_encoder_ab_phase.hpp"
inst 0:9ca9a6eddffa 5 #include "servo.hpp"
inst 4:1323ef48a984 6 #include "serial_connected_mcu_slave.hpp"
inst 0:9ca9a6eddffa 7 #include "mbed.h"
inst 0:9ca9a6eddffa 8
inst 0:9ca9a6eddffa 9 namespace serial_connected_mcu {
inst 0:9ca9a6eddffa 10
inst 0:9ca9a6eddffa 11 class serial_connected_mcu {
inst 0:9ca9a6eddffa 12 public:
inst 0:9ca9a6eddffa 13 static serial_connected_mcu* instance();
inst 0:9ca9a6eddffa 14 void update();
inst 0:9ca9a6eddffa 15
inst 0:9ca9a6eddffa 16 private:
inst 0:9ca9a6eddffa 17 serial_connected_mcu();
inst 2:9d7a03c79cd3 18 ~serial_connected_mcu();
inst 0:9ca9a6eddffa 19
inst 0:9ca9a6eddffa 20 // 実体を記述しない
inst 0:9ca9a6eddffa 21 void operator=(const serial_connected_mcu&);
inst 0:9ca9a6eddffa 22 serial_connected_mcu(const serial_connected_mcu&);
inst 0:9ca9a6eddffa 23
inst 0:9ca9a6eddffa 24 static serial_connected_mcu* _instance;
inst 0:9ca9a6eddffa 25
inst 16:4e310c3f3a2b 26 static const float _sampling_delta_time_usec;
inst 6:a0cc9c27cedf 27
inst 11:6f8e34a71c7e 28 static const PinName _servo_pins[];
inst 11:6f8e34a71c7e 29 static TIM_TypeDef* _encoder_timers[];
inst 0:9ca9a6eddffa 30 static const size_t _encoder_pulse_per_revol;
inst 11:6f8e34a71c7e 31 static const PinName _analog_input_pins[];
inst 0:9ca9a6eddffa 32
inst 11:6f8e34a71c7e 33 static const size_t _servo_num;
inst 11:6f8e34a71c7e 34 static const size_t _analog_input_num;
inst 16:4e310c3f3a2b 35 enum {
inst 16:4e310c3f3a2b 36 ENCODER_NUM = 3
inst 16:4e310c3f3a2b 37 };
inst 0:9ca9a6eddffa 38
inst 11:6f8e34a71c7e 39 servo** _servos;
inst 11:6f8e34a71c7e 40 rotary_encoder_ab_phase** _encoders;
inst 11:6f8e34a71c7e 41 AnalogIn** _analog_inputs;
inst 11:6f8e34a71c7e 42
inst 11:6f8e34a71c7e 43 float* _prev_encoders_values;
inst 11:6f8e34a71c7e 44 Timer _timer;
inst 16:4e310c3f3a2b 45 float _encoders_speed[ENCODER_NUM];
inst 4:1323ef48a984 46
inst 4:1323ef48a984 47 serial_connected_mcu_slave _slave;
inst 0:9ca9a6eddffa 48 };
inst 0:9ca9a6eddffa 49
inst 0:9ca9a6eddffa 50 } /* namespace serial_connected_mcu */
inst 0:9ca9a6eddffa 51
inst 0:9ca9a6eddffa 52 #endif