卒研
Fork of ds3_si by
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();