Kiko Ishimoto / ds3_si

卒研

Fork of ds3_si by ken fuji

Files at this revision

API Documentation at this revision

Revision 5:5472bead8509, committed 2018-03-02

Comitter:
kikoaac
Date:
Fri Mar 02 02:55:16 2018 +0000
Parent:
4:5bb182ca2b07
Commit message:
??

Changed in this revision

ds3_si.cpp Show annotated file Show diff for this revision Revisions of this file
ds3_si.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 5bb182ca2b07 -r 5472bead8509 ds3_si.cpp
--- a/ds3_si.cpp	Wed Oct 25 09:42:56 2017 +0000
+++ b/ds3_si.cpp	Fri Mar 02 02:55:16 2018 +0000
@@ -17,7 +17,11 @@
 }
 
 void ds3_si::serialin()
-{
+{__disable_irq();
+    NVIC_ClearPendingIRQ(UART0_IRQn);
+    NVIC_ClearPendingIRQ(UART1_IRQn);
+    NVIC_ClearPendingIRQ(UART2_IRQn);
+    NVIC_ClearPendingIRQ(UART3_IRQn);
     if(serial.readable())
     {
         while(serial.getc() != 128) {}
@@ -26,6 +30,7 @@
             *(in + i) = serial.getc();
         }
     }
+__enable_irq();
 }
 
 bool ds3_si::buttonstate(short order)

diff -r 5bb182ca2b07 -r 5472bead8509 ds3_si.h
--- a/ds3_si.h	Wed Oct 25 09:42:56 2017 +0000
+++ b/ds3_si.h	Fri Mar 02 02:55:16 2018 +0000
@@ -14,8 +14,10 @@
 #define ds3_si_H
 
 #include "mbed.h"
+#include <iostream>
+#include <queue>
 
-#define PI 3.141592654
+#define PI 3.141
 #define square 1
 #define L1 2
 #define L2 4
@@ -35,13 +37,12 @@
 #define R3x 5
 #define R3y 6
 #define NONE_angle 10
-
 class ds3_si
 {
     private:
         Serial serial;
         char in[8];
-
+         
     public:
         ds3_si(PinName tx, PinName rx, int baudrate = 2400);
         void serialin();