Revision 0:fb5a8d9d8aba, committed 2016-07-10

Comitter:

kachikyun

Date:

Sun Jul 10 06:50:33 2016 +0000

Commit message:

Changed in this revision

--- /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

--- /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