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| kenken0721 |
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| kenken0721 |
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#include "kbt.h"
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#include "mbed.h"
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double KBT::map(double x, double in_min, double in_max, double out_min, double out_max){
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return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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KBT::KBT(PinName TX, PinName RX) : bt(TX,RX) {
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}
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void KBT::init(long baudrate){
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numinit();
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bt.baud(baudrate);
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bt.attach(this, &KBT::intSerial, Serial::RxIrq);
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}
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void KBT::numinit(){
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start = 0;
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stopcheck = 0;
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val = 0;
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count = 0;
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bitbox[0] = data[0] = open_data[0] = 0x80;
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bitbox[1] = data[1] = open_data[1] = 0x00;
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bitbox[2] = data[2] = open_data[2] = 0x00;
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bitbox[3] = data[3] = open_data[3] = 0x40;
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bitbox[4] = data[4] = open_data[4] = 0x40;
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bitbox[5] = data[5] = open_data[5] = 0x40;
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bitbox[6] = data[6] = open_data[6] = 0x40;
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bitbox[7] = data[7] = open_data[7] = 0x00;
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check[0] = 0x01;
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check[1] = 0x02;
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check[2] = 0x04;
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check[3] = 0x08;
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check[4] = 0x10;
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check[5] = 0x20;
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check[6] = 0x40;
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check[7] = 0x03;
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check[8] = 0x0C;
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}
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void KBT::putc(int val){
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bt.putc(val);
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}
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bool KBT::button(int num){
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return Button[num];
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}
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double KBT::stick(int num){
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return Stick[num - 14];
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}
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void KBT::bitcheck(){
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for(int i=0;i<5;i++){
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if(bitbox[1] == check[i]){
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Button[i] = true;
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}else{
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Button[i] = 0;
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}
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}
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for(int i=0;i<9;i++){
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if(bitbox[2] == check[i]){
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Button[i+5] = true;
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}else{
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Button[i+5] = 0;
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}
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}
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if(bitbox[3] == 0x40){
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Stick[0] = 0;
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}else if(bitbox[3] < 0x40){
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Stick[0] = map(bitbox[3], 65, 0, 0, 1);
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}else if(bitbox[3] > 0x40){
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Stick[0] = map(bitbox[3], 63, 127, 0, -1);
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}
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if(bitbox[4] == 0x40){
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Stick[1] = 0;
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}else if(bitbox[4] < 0x40){
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Stick[1] = map(bitbox[4], 63, 127, 0, -1);
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}else if(bitbox[4] > 0x40){
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Stick[1] = map(bitbox[4], 65, 0, 0, 1);
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}
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if(bitbox[5] == 0x40){
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Stick[2] = 0;
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}else if(bitbox[5] < 0x40){
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Stick[2] = map(bitbox[5], 65, 0, 0, -1);
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}else if(bitbox[5] > 0x40){
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Stick[2] = map(bitbox[5], 63, 127, 0, 1);
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}
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if(bitbox[6] == 0x40){
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Stick[3] = 0;
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}else if(bitbox[6] < 0x40){
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Stick[3] = map(bitbox[6], 65, 0, 0, 1);
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}else if(bitbox[6] > 0x40){
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Stick[3] = map(bitbox[6], 63, 127, 0, -1);
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}
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}
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void KBT::intSerial(){
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val = bt.getc();
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if(val == 0x80){
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bitbox[0] = val;
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start = 1;
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count = 1;
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stopcheck = 0;
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}else{
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if(start == 1){
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bitbox[count] = val;
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count++;
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}
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if(count >= BITNUM){
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for(int i=1;i<DATANUM;i++){
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stopcheck += bitbox[i];
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}
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if((stopcheck & 0b01111111) == bitbox[DATANUM]){
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for(int i=0;i<BITNUM;i++){
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data[i] = bitbox[i];
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open_data[i] = data[i];
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}
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}
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bitcheck();
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count=0;
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start=0;
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}
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}
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} |
ケンタ ミヤザキ