Revision 0:fb5a8d9d8aba, committed 2016-07-10
- Comitter:
- kachikyun
- Date:
- Sun Jul 10 06:50:33 2016 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r fb5a8d9d8aba serial_connected_mcu_slave.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial_connected_mcu_slave.cpp Sun Jul 10 06:50:33 2016 +0000
@@ -0,0 +1,72 @@
+#include "serial_connected_mcu_slave.hpp"
+
+namespace serial_connected_mcu{
+ serial_connected_mcu_slave::serial_connected_mcu_slave(){
+ port = new Serial(PIN_SERIAL_TX, PIN_SERIAL_RX);
+ port->baud(BAUDRATE);
+ array_of_read_data = new int16_t[SIZE_OF_READ_DATA];
+ array_of_write_data = new int16_t[SIZE_OF_WRITE_DATA];
+ is_locking = false;
+ received_buffer.clear();
+
+ port->attach(this, &serial_connected_mcu_slave::on_received, Serial::RxIrq);
+ }
+
+ serial_connected_mcu_slave::~serial_connected_mcu_slave(){
+ delete (port);
+ }
+
+ void serial_connected_mcu_slave::set(int index_of_data, int16_t setting_data){
+ while (is_locking);
+ is_locking = true;
+ array_of_write_data[index_of_data] = setting_data;
+ is_locking = false;
+ }
+
+ int16_t serial_connected_mcu_slave::get(int index_of_data){
+ return (array_of_read_data[index_of_data]);
+ }
+
+ void serial_connected_mcu_slave::on_received(){
+ char received_char = port->getc();
+ if (received_char == '\n'){
+ //port->printf("%d,%d,%d,%d,%d,%d\n", array_of_write_data[0], array_of_write_data[1], array_of_write_data[2], array_of_write_data[3], array_of_write_data[4], array_of_write_data[5]);
+ for (int i = 0;;i++){
+ port->printf("%d", array_of_write_data[i]);
+ if (i == (SIZE_OF_WRITE_DATA - 1)){
+ break;
+ }
+ port->printf(",");
+ }
+ port->printf("\n");
+ string_to_int();
+ received_buffer.clear();
+ return;
+ }
+ received_buffer.push_back(received_char);
+ }
+
+ void serial_connected_mcu_slave::string_to_int(){
+ std::string s;
+ int i = 0;
+
+ while (is_locking);
+ is_locking = true;
+ s.clear();
+
+ for (int index = 0; index < received_buffer.size(); index++){
+ char c = received_buffer[index];
+ if (c == ','){
+ array_of_read_data[i] = atoi(s.c_str());
+ i++;
+ s.clear();
+ }
+ else {
+ s.push_back(c);
+ }
+ }
+ array_of_read_data[i] = atoi(s.c_str());
+ is_locking = false;
+ }
+
+}
\ No newline at end of file
diff -r 000000000000 -r fb5a8d9d8aba serial_connected_mcu_slave.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/serial_connected_mcu_slave.hpp Sun Jul 10 06:50:33 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef SERIAL_CONNECTED_MCU_SLAVE_
+#define SERIAL_CONNECTED_MCU_SLAVE_
+
+#include "mbed.h"
+#include <stdint.h>
+#include <string>
+#include <stdlib.h>
+#include <sstream>
+
+namespace serial_connected_mcu{
+ enum{
+ ESC1,
+ ESC2,
+ ESC3,
+ SIZE_OF_READ_DATA
+ };
+
+ enum{
+ ENCODER1,
+ ENCODER2,
+ ENCODER3,
+ POTENTIONMETER1,
+ POTENTIONMETER2,
+ POTENTIONMETER3,
+ SIZE_OF_WRITE_DATA
+ };
+
+ class serial_connected_mcu_slave{
+ public:
+ serial_connected_mcu_slave();
+ ~serial_connected_mcu_slave();
+ void set(int index_of_data, int16_t setting_data);
+ int16_t get(int index_of_data);
+ private:
+ static const PinName PIN_SERIAL_TX = SERIAL_TX;
+ static const PinName PIN_SERIAL_RX = SERIAL_RX;
+ static const int BAUDRATE = 9600;
+ int16_t* array_of_read_data;
+ int16_t* array_of_write_data;
+ std::string received_buffer;
+ Serial* port;
+ bool is_locking;
+ void on_received();
+ void string_to_int();
+ };
+}
+
+#endif
\ No newline at end of file
kaito kachi