Hayato Kikuchi / Mbed OS MonitoringTest

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Dependencies:   SoftPWM

ControllerForMbed.cpp@0:a33375289d79, 2021-12-22 (annotated)

Committer:
kikuchi8810
Date:
Wed Dec 22 11:15:12 2021 +0000
Revision:
0:a33375289d79
CommunicationMonitoring Class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikuchi8810 0:a33375289d79 1 //宇井コンとの通信をmbedで行えるように変更を加えたクラスでプロジェクトに公開していない．
kikuchi8810 0:a33375289d79 2 #include "ControllerForMbed.h"
kikuchi8810 0:a33375289d79 3
kikuchi8810 0:a33375289d79 4 ControllerForMbed::ControllerForMbed(PinName tx, PinName rx, int baudrate) : serial(tx, rx, baudrate)
kikuchi8810 0:a33375289d79 5 {
kikuchi8810 0:a33375289d79 6 conData.ButtonState = 0;
kikuchi8810 0:a33375289d79 7 conData.RJoyX = 127, conData.RJoyY = 127, conData.LJoyX = 127, conData.LJoyY = 127;
kikuchi8810 0:a33375289d79 8
kikuchi8810 0:a33375289d79 9 lastButtonState = 0;
kikuchi8810 0:a33375289d79 10
kikuchi8810 0:a33375289d79 11 comCheck = false;
kikuchi8810 0:a33375289d79 12 conAvailable = false;
kikuchi8810 0:a33375289d79 13 time_out_ms = -1;
kikuchi8810 0:a33375289d79 14 }
kikuchi8810 0:a33375289d79 15
kikuchi8810 0:a33375289d79 16 void ControllerForMbed::init(int _time_out_ms, int _int_time_ms)
kikuchi8810 0:a33375289d79 17 {
kikuchi8810 0:a33375289d79 18 time_out_ms = _time_out_ms;
kikuchi8810 0:a33375289d79 19 int_time_ms = _int_time_ms;
kikuchi8810 0:a33375289d79 20 //serial.attach(this, &Controller::update, Serial::RxIrq);
kikuchi8810 0:a33375289d79 21 //timer.start();
kikuchi8810 0:a33375289d79 22 }
kikuchi8810 0:a33375289d79 23
kikuchi8810 0:a33375289d79 24 bool ControllerForMbed::update()
kikuchi8810 0:a33375289d79 25 {
kikuchi8810 0:a33375289d79 26 //receptionTime = timer.read();
kikuchi8810 0:a33375289d79 27 static int count_ms = time_out_ms, pre_count_ms = 0; //受信時刻と前回の受信時刻
kikuchi8810 0:a33375289d79 28
kikuchi8810 0:a33375289d79 29 char receive_data[10];
kikuchi8810 0:a33375289d79 30 unsigned int checksum = 0x00;
kikuchi8810 0:a33375289d79 31 comCheck = false;
kikuchi8810 0:a33375289d79 32
kikuchi8810 0:a33375289d79 33 #if CON_TYPE == CON_ADACHI // 安達君開発のコントローラを使う場合の処理(どのコントローラを使うかはdefine.hで設定)
kikuchi8810 0:a33375289d79 34
kikuchi8810 0:a33375289d79 35 //while (loop_count < 10 && serial.readable())
kikuchi8810 0:a33375289d79 36 while (serial.readable())
kikuchi8810 0:a33375289d79 37 {
kikuchi8810 0:a33375289d79 38 static int recv_num = 0;
kikuchi8810 0:a33375289d79 39 char c = serial.getc();
kikuchi8810 0:a33375289d79 40
kikuchi8810 0:a33375289d79 41 //if (serial_recieve() == '\n')
kikuchi8810 0:a33375289d79 42 if (c == '\n')
kikuchi8810 0:a33375289d79 43 {
kikuchi8810 0:a33375289d79 44 if(recv_num == 8)
kikuchi8810 0:a33375289d79 45 {
kikuchi8810 0:a33375289d79 46 //for (int i = 0; i < 8; i++)
kikuchi8810 0:a33375289d79 47 // receive_data[i] = serial_recieve();
kikuchi8810 0:a33375289d79 48 for (int i = 0; i < 8; i++)
kikuchi8810 0:a33375289d79 49 receive_data[i] -= 0x20;
kikuchi8810 0:a33375289d79 50 for (int i = 0; i < 7; i++)
kikuchi8810 0:a33375289d79 51 checksum ^= receive_data[i];
kikuchi8810 0:a33375289d79 52
kikuchi8810 0:a33375289d79 53 if (receive_data[7] == checksum & 0xFF)
kikuchi8810 0:a33375289d79 54 {
kikuchi8810 0:a33375289d79 55 comCheck = true;
kikuchi8810 0:a33375289d79 56
kikuchi8810 0:a33375289d79 57 //pre_conData.ButtonState = conData.ButtonState;
kikuchi8810 0:a33375289d79 58 lastButtonState = ((receive_data[0] & 0x3F) << 2) | ((receive_data[1] & 0x30) >> 4);
kikuchi8810 0:a33375289d79 59 conData.ButtonState |= lastButtonState;
kikuchi8810 0:a33375289d79 60
kikuchi8810 0:a33375289d79 61 conData.RJoyX = ((receive_data[1] & 0x0F) << 4) | ((receive_data[2] & 0x3C) >> 2);
kikuchi8810 0:a33375289d79 62 conData.RJoyY = ((receive_data[2] & 0x03) << 6) | (receive_data[3] & 0x3F);
kikuchi8810 0:a33375289d79 63 conData.LJoyX = ((receive_data[4] & 0x3F) << 2) | ((receive_data[5] & 0x30) >> 4);
kikuchi8810 0:a33375289d79 64 conData.LJoyY = ((receive_data[5] & 0x0F) << 4) | (receive_data[6] & 0x0F);
kikuchi8810 0:a33375289d79 65
kikuchi8810 0:a33375289d79 66 pre_count_ms = count_ms; //受信時間の更新
kikuchi8810 0:a33375289d79 67 if(pre_count_ms > int_time_ms * 1000) pre_count_ms = count_ms = 0; //オーバーフロー対策
kikuchi8810 0:a33375289d79 68 }
kikuchi8810 0:a33375289d79 69 }
kikuchi8810 0:a33375289d79 70 recv_num = 0;
kikuchi8810 0:a33375289d79 71 }
kikuchi8810 0:a33375289d79 72 else
kikuchi8810 0:a33375289d79 73 {
kikuchi8810 0:a33375289d79 74 receive_data[recv_num] = c;
kikuchi8810 0:a33375289d79 75 recv_num++;
kikuchi8810 0:a33375289d79 76 }
kikuchi8810 0:a33375289d79 77
kikuchi8810 0:a33375289d79 78 }
kikuchi8810 0:a33375289d79 79
kikuchi8810 0:a33375289d79 80 #elif CON_TYPE == CON_ELECOM // ELECOMのコントローラを使う場合の処理(どのコントローラを使うかはdefine.hで設定)
kikuchi8810 0:a33375289d79 81 // コントローラデータを取得する部分
kikuchi8810 0:a33375289d79 82 static int recv_num = 0;
kikuchi8810 0:a33375289d79 83 char c;
kikuchi8810 0:a33375289d79 84 while (serial.readable())
kikuchi8810 0:a33375289d79 85 {
kikuchi8810 0:a33375289d79 86 c = serial.getc();
kikuchi8810 0:a33375289d79 87 if (c == '\n')
kikuchi8810 0:a33375289d79 88 {
kikuchi8810 0:a33375289d79 89 if (recv_num == 10)
kikuchi8810 0:a33375289d79 90 { // チェックサムは無く，9個受信したら値を格納
kikuchi8810 0:a33375289d79 91 for (int i = 0; i < 9; i++)
kikuchi8810 0:a33375289d79 92 checksum += (unsigned int)(receive_data[i] - 0x20); // チェックサムの計算
kikuchi8810 0:a33375289d79 93 if ((checksum & 0x3F) == (receive_data[9] - 0x20))
kikuchi8810 0:a33375289d79 94 { // チェックサムの計算が合っていた場合のみ値を格納
kikuchi8810 0:a33375289d79 95 comCheck = true;
kikuchi8810 0:a33375289d79 96
kikuchi8810 0:a33375289d79 97 //conData.ButtonState = 0;
kikuchi8810 0:a33375289d79 98 conData.LJoyX = 0, conData.LJoyY = 0, conData.RJoyX = 0, conData.RJoyY = 0;
kikuchi8810 0:a33375289d79 99 lastButtonState = (unsigned int)(receive_data[0] - 0x20);
kikuchi8810 0:a33375289d79 100 lastButtonState |= (unsigned int)(receive_data[1] - 0x20) << 6;
kikuchi8810 0:a33375289d79 101 lastButtonState |= (unsigned int)(receive_data[2] - 0x20) << 12;
kikuchi8810 0:a33375289d79 102
kikuchi8810 0:a33375289d79 103 conData.LJoyX |= (unsigned int)(receive_data[3] - 0x20);
kikuchi8810 0:a33375289d79 104 conData.LJoyX |= (unsigned int)((receive_data[4] - 0x20) & 0x03) << 6;
kikuchi8810 0:a33375289d79 105 conData.LJoyX = abs(conData.LJoyX - 0xFF);
kikuchi8810 0:a33375289d79 106
kikuchi8810 0:a33375289d79 107 conData.LJoyY |= (unsigned int)((receive_data[4] - 0x20) & 0x3C) >> 2;
kikuchi8810 0:a33375289d79 108 conData.LJoyY |= (unsigned int)((receive_data[5] - 0x20) & 0x0F) << 4;
kikuchi8810 0:a33375289d79 109 conData.LJoyY = abs(conData.LJoyY - 0xFF);
kikuchi8810 0:a33375289d79 110
kikuchi8810 0:a33375289d79 111 conData.RJoyX |= (unsigned int)((receive_data[5] - 0x20) & 0x30) >> 4;
kikuchi8810 0:a33375289d79 112 conData.RJoyX |= (unsigned int)((receive_data[6] - 0x20) & 0x3F) << 2;
kikuchi8810 0:a33375289d79 113 conData.RJoyX = abs(conData.RJoyX - 0xFF);
kikuchi8810 0:a33375289d79 114
kikuchi8810 0:a33375289d79 115 conData.RJoyY |= (unsigned int)(receive_data[7] - 0x20);
kikuchi8810 0:a33375289d79 116 conData.RJoyY |= (unsigned int)((receive_data[8] - 0x20) & 0x03) << 6;
kikuchi8810 0:a33375289d79 117 conData.RJoyY = abs(conData.RJoyY - 0xFF);
kikuchi8810 0:a33375289d79 118
kikuchi8810 0:a33375289d79 119 int buttonPushNum = 0;
kikuchi8810 0:a33375289d79 120 for (int i = 0; i < 16; i++)
kikuchi8810 0:a33375289d79 121 {
kikuchi8810 0:a33375289d79 122 buttonPushNum += (conData.ButtonState >> i) & 0x0001;
kikuchi8810 0:a33375289d79 123 }
kikuchi8810 0:a33375289d79 124 if (buttonPushNum > 5)
kikuchi8810 0:a33375289d79 125 {
kikuchi8810 0:a33375289d79 126 //conData.ButtonState = pre_conData.ButtonState;
kikuchi8810 0:a33375289d79 127 comCheck = false;
kikuchi8810 0:a33375289d79 128 }
kikuchi8810 0:a33375289d79 129 else
kikuchi8810 0:a33375289d79 130 {
kikuchi8810 0:a33375289d79 131 conData.ButtonState |= lastButtonState;
kikuchi8810 0:a33375289d79 132 }
kikuchi8810 0:a33375289d79 133
kikuchi8810 0:a33375289d79 134 pre_count_ms = count_ms; //受信時間の更新
kikuchi8810 0:a33375289d79 135 if(pre_count_ms > int_time_ms * 1000) pre_count_ms = count_ms = 0; //オーバーフロー対策
kikuchi8810 0:a33375289d79 136 }
kikuchi8810 0:a33375289d79 137 }
kikuchi8810 0:a33375289d79 138 recv_num = 0;
kikuchi8810 0:a33375289d79 139 }
kikuchi8810 0:a33375289d79 140 else
kikuchi8810 0:a33375289d79 141 {
kikuchi8810 0:a33375289d79 142 receive_data[recv_num] = c;
kikuchi8810 0:a33375289d79 143 recv_num++;
kikuchi8810 0:a33375289d79 144 }
kikuchi8810 0:a33375289d79 145 }
kikuchi8810 0:a33375289d79 146 #elif CON_TYPE == CON_DS4 // DualShock4を使う場合の処理(どのコントローラを使うかはdefine.hで設定)
kikuchi8810 0:a33375289d79 147 // コントローラデータを取得する部分
kikuchi8810 0:a33375289d79 148 static int recv_num = 0;
kikuchi8810 0:a33375289d79 149 char c;
kikuchi8810 0:a33375289d79 150 while (serial.readable())
kikuchi8810 0:a33375289d79 151 {
kikuchi8810 0:a33375289d79 152 c = serial.getc();
kikuchi8810 0:a33375289d79 153 //Serial.print(c);
kikuchi8810 0:a33375289d79 154 if (c == '\n')
kikuchi8810 0:a33375289d79 155 {
kikuchi8810 0:a33375289d79 156 if (recv_num == 10)
kikuchi8810 0:a33375289d79 157 { // データ数はチェックサム含めて10個(0~9)
kikuchi8810 0:a33375289d79 158 checksum = 0;
kikuchi8810 0:a33375289d79 159 for (int i = 0; i < 9; i++)
kikuchi8810 0:a33375289d79 160 checksum ^= (unsigned int)(receive_data[i] - 0x20); // チェックサムの計算
kikuchi8810 0:a33375289d79 161 if ((checksum & 0x3F) == (receive_data[9] - 0x20))
kikuchi8810 0:a33375289d79 162 { // チェックサムの計算が合っていた場合のみ値を格納
kikuchi8810 0:a33375289d79 163 comCheck = true;
kikuchi8810 0:a33375289d79 164
kikuchi8810 0:a33375289d79 165 //conData.ButtonState = 0;
kikuchi8810 0:a33375289d79 166 conData.LJoyX = 0, conData.LJoyY = 0, conData.RJoyX = 0, conData.RJoyY = 0;
kikuchi8810 0:a33375289d79 167 lastButtonState = (unsigned int)(receive_data[0] - 0x20) & 0x3F;
kikuchi8810 0:a33375289d79 168 lastButtonState |= (unsigned int)((receive_data[1] - 0x20) & 0x3F) << 6;
kikuchi8810 0:a33375289d79 169 lastButtonState |= (unsigned int)((receive_data[2] - 0x20) & 0x0F) << 12;
kikuchi8810 0:a33375289d79 170
kikuchi8810 0:a33375289d79 171 conData.LJoyX |= (unsigned int)(receive_data[3] - 0x20);
kikuchi8810 0:a33375289d79 172 conData.LJoyX |= (unsigned int)((receive_data[4] - 0x20) & 0x03) << 6;
kikuchi8810 0:a33375289d79 173 conData.LJoyX = abs(conData.LJoyX - 0xFF);
kikuchi8810 0:a33375289d79 174
kikuchi8810 0:a33375289d79 175 conData.LJoyY |= (unsigned int)((receive_data[4] - 0x20) & 0x3C) >> 2;
kikuchi8810 0:a33375289d79 176 conData.LJoyY |= (unsigned int)((receive_data[5] - 0x20) & 0x0F) << 4;
kikuchi8810 0:a33375289d79 177 conData.LJoyY = abs(conData.LJoyY - 0xFF);
kikuchi8810 0:a33375289d79 178
kikuchi8810 0:a33375289d79 179 conData.RJoyX |= (unsigned int)((receive_data[5] - 0x20) & 0x30) >> 4;
kikuchi8810 0:a33375289d79 180 conData.RJoyX |= (unsigned int)((receive_data[6] - 0x20) & 0x3F) << 2;
kikuchi8810 0:a33375289d79 181 conData.RJoyX = abs(conData.RJoyX - 0xFF);
kikuchi8810 0:a33375289d79 182
kikuchi8810 0:a33375289d79 183 conData.RJoyY |= (unsigned int)(receive_data[7] - 0x20);
kikuchi8810 0:a33375289d79 184 conData.RJoyY |= (unsigned int)((receive_data[8] - 0x20) & 0x03) << 6;
kikuchi8810 0:a33375289d79 185 conData.RJoyY = abs(conData.RJoyY - 0xFF);
kikuchi8810 0:a33375289d79 186
kikuchi8810 0:a33375289d79 187 // 通信ミスであり得ない数のボタン数押されていた場合に無視する処理
kikuchi8810 0:a33375289d79 188 int buttonPushNum = 0;
kikuchi8810 0:a33375289d79 189 for (int i = 0; i < 16; i++)
kikuchi8810 0:a33375289d79 190 {
kikuchi8810 0:a33375289d79 191 buttonPushNum += (lastButtonState >> i) & 0x0001;
kikuchi8810 0:a33375289d79 192 }
kikuchi8810 0:a33375289d79 193 if (buttonPushNum > 5)
kikuchi8810 0:a33375289d79 194 {
kikuchi8810 0:a33375289d79 195 //conData.ButtonState = pre_conData.ButtonState;
kikuchi8810 0:a33375289d79 196 comCheck = false;
kikuchi8810 0:a33375289d79 197 }
kikuchi8810 0:a33375289d79 198 else
kikuchi8810 0:a33375289d79 199 {
kikuchi8810 0:a33375289d79 200 conData.ButtonState = lastButtonState & 0xFFFF;
kikuchi8810 0:a33375289d79 201 }
kikuchi8810 0:a33375289d79 202
kikuchi8810 0:a33375289d79 203 pre_count_ms = count_ms; //受信時間の更新
kikuchi8810 0:a33375289d79 204 if(pre_count_ms > int_time_ms * 1000) pre_count_ms = count_ms = 0; //オーバーフロー対策
kikuchi8810 0:a33375289d79 205 }
kikuchi8810 0:a33375289d79 206 }
kikuchi8810 0:a33375289d79 207 recv_num = 0;
kikuchi8810 0:a33375289d79 208 }
kikuchi8810 0:a33375289d79 209 else
kikuchi8810 0:a33375289d79 210 {
kikuchi8810 0:a33375289d79 211 receive_data[recv_num] = c;
kikuchi8810 0:a33375289d79 212 recv_num++;
kikuchi8810 0:a33375289d79 213 }
kikuchi8810 0:a33375289d79 214 }
kikuchi8810 0:a33375289d79 215
kikuchi8810 0:a33375289d79 216 #endif
kikuchi8810 0:a33375289d79 217 if(!(time_out_ms == -1)) conAvailable = (time_out_ms > (count_ms - pre_count_ms)); //タイムアウトとインターバルの比較
kikuchi8810 0:a33375289d79 218 else conAvailable = true;
kikuchi8810 0:a33375289d79 219 count_ms += int_time_ms; //経過時間の更新
kikuchi8810 0:a33375289d79 220
kikuchi8810 0:a33375289d79 221 return comCheck;
kikuchi8810 0:a33375289d79 222 }
kikuchi8810 0:a33375289d79 223
kikuchi8810 0:a33375289d79 224 bool ControllerForMbed::getComCheck(void)
kikuchi8810 0:a33375289d79 225 {
kikuchi8810 0:a33375289d79 226 return comCheck;
kikuchi8810 0:a33375289d79 227 }
kikuchi8810 0:a33375289d79 228
kikuchi8810 0:a33375289d79 229 bool ControllerForMbed::available(void)
kikuchi8810 0:a33375289d79 230 {
kikuchi8810 0:a33375289d79 231 return conAvailable;
kikuchi8810 0:a33375289d79 232 }
kikuchi8810 0:a33375289d79 233
kikuchi8810 0:a33375289d79 234 bool ControllerForMbed::readButton_bin(unsigned int ButtonNum)
kikuchi8810 0:a33375289d79 235 { //放しているときは０，押しているときは１
kikuchi8810 0:a33375289d79 236 return ((conData.ButtonState & (0x0001 << (ButtonNum - 1))) == (0x0001 << (ButtonNum - 1))) ? true : false;
kikuchi8810 0:a33375289d79 237 }
kikuchi8810 0:a33375289d79 238
kikuchi8810 0:a33375289d79 239 int ControllerForMbed::readButton(unsigned int ButtonNum)
kikuchi8810 0:a33375289d79 240 { //放しているときは０，押しているときは１，押した瞬間は２，放した瞬間は－１
kikuchi8810 0:a33375289d79 241 int result = 0;
kikuchi8810 0:a33375289d79 242 if ((conData.ButtonState & (0x0001 << (ButtonNum - 1))) == (0x0001 << (ButtonNum - 1)))
kikuchi8810 0:a33375289d79 243 result += 2;
kikuchi8810 0:a33375289d79 244 if ((pre_conData.ButtonState & (0x0001 << (ButtonNum - 1))) == (0x0001 << (ButtonNum - 1)))
kikuchi8810 0:a33375289d79 245 result -= 1;
kikuchi8810 0:a33375289d79 246 return result;
kikuchi8810 0:a33375289d79 247 }
kikuchi8810 0:a33375289d79 248
kikuchi8810 0:a33375289d79 249 unsigned int ControllerForMbed::getButtonState()
kikuchi8810 0:a33375289d79 250 {
kikuchi8810 0:a33375289d79 251 return conData.ButtonState;
kikuchi8810 0:a33375289d79 252 }
kikuchi8810 0:a33375289d79 253
kikuchi8810 0:a33375289d79 254 void ControllerForMbed::clearButtonState()
kikuchi8810 0:a33375289d79 255 {
kikuchi8810 0:a33375289d79 256 pre_conData.ButtonState = conData.ButtonState;
kikuchi8810 0:a33375289d79 257 }
kikuchi8810 0:a33375289d79 258
kikuchi8810 0:a33375289d79 259 ControllerData ControllerForMbed::getConData()
kikuchi8810 0:a33375289d79 260 {
kikuchi8810 0:a33375289d79 261 return conData;
kikuchi8810 0:a33375289d79 262 }
kikuchi8810 0:a33375289d79 263
kikuchi8810 0:a33375289d79 264 double ControllerForMbed::readJoyRX()
kikuchi8810 0:a33375289d79 265 {
kikuchi8810 0:a33375289d79 266 if (conData.RJoyX == 127)
kikuchi8810 0:a33375289d79 267 return 0;
kikuchi8810 0:a33375289d79 268 return ((double)conData.RJoyX - 127.5) / 127.5;
kikuchi8810 0:a33375289d79 269 }
kikuchi8810 0:a33375289d79 270
kikuchi8810 0:a33375289d79 271 double ControllerForMbed::readJoyRY()
kikuchi8810 0:a33375289d79 272 {
kikuchi8810 0:a33375289d79 273 if (conData.RJoyY == 127)
kikuchi8810 0:a33375289d79 274 return 0;
kikuchi8810 0:a33375289d79 275 return ((double)conData.RJoyY - 127.5) / 127.5;
kikuchi8810 0:a33375289d79 276 }
kikuchi8810 0:a33375289d79 277
kikuchi8810 0:a33375289d79 278 double ControllerForMbed::readJoyLX()
kikuchi8810 0:a33375289d79 279 {
kikuchi8810 0:a33375289d79 280 if (conData.LJoyX == 127)
kikuchi8810 0:a33375289d79 281 return 0;
kikuchi8810 0:a33375289d79 282 return ((double)conData.LJoyX - 127.5) / 127.5;
kikuchi8810 0:a33375289d79 283 }
kikuchi8810 0:a33375289d79 284
kikuchi8810 0:a33375289d79 285 double ControllerForMbed::readJoyLY()
kikuchi8810 0:a33375289d79 286 {
kikuchi8810 0:a33375289d79 287 if (conData.LJoyY == 127)
kikuchi8810 0:a33375289d79 288 return 0;
kikuchi8810 0:a33375289d79 289 return ((double)conData.LJoyY - 127.5) / 127.5;
kikuchi8810 0:a33375289d79 290 }
kikuchi8810 0:a33375289d79 291
kikuchi8810 0:a33375289d79 292 uint8_t ControllerForMbed::readJoyRXbyte()
kikuchi8810 0:a33375289d79 293 {
kikuchi8810 0:a33375289d79 294 return conData.RJoyX;
kikuchi8810 0:a33375289d79 295 }
kikuchi8810 0:a33375289d79 296
kikuchi8810 0:a33375289d79 297 uint8_t ControllerForMbed::readJoyRYbyte()
kikuchi8810 0:a33375289d79 298 {
kikuchi8810 0:a33375289d79 299 return conData.RJoyY;
kikuchi8810 0:a33375289d79 300 }
kikuchi8810 0:a33375289d79 301
kikuchi8810 0:a33375289d79 302 uint8_t ControllerForMbed::readJoyLXbyte()
kikuchi8810 0:a33375289d79 303 {
kikuchi8810 0:a33375289d79 304 return conData.LJoyX;
kikuchi8810 0:a33375289d79 305 }
kikuchi8810 0:a33375289d79 306
kikuchi8810 0:a33375289d79 307 uint8_t ControllerForMbed::readJoyLYbyte()
kikuchi8810 0:a33375289d79 308 {
kikuchi8810 0:a33375289d79 309 return conData.LJoyY;
kikuchi8810 0:a33375289d79 310 }
kikuchi8810 0:a33375289d79 311
kikuchi8810 0:a33375289d79 312 unsigned int ControllerForMbed::getButtonFlagRise()
kikuchi8810 0:a33375289d79 313 {
kikuchi8810 0:a33375289d79 314 // 立ち上がり，立下りのフラッギング処理 (フラグクリアは別関数で)
kikuchi8810 0:a33375289d79 315 unsigned int buttonFlagRise = 0;
kikuchi8810 0:a33375289d79 316 if (pre_conData.ButtonState != conData.ButtonState)
kikuchi8810 0:a33375289d79 317 {
kikuchi8810 0:a33375289d79 318 for (int i = 0; i < 16; i++)
kikuchi8810 0:a33375289d79 319 {
kikuchi8810 0:a33375289d79 320 int mask = 0x01 << i;
kikuchi8810 0:a33375289d79 321 if ((conData.ButtonState & mask) != (pre_conData.ButtonState & mask))
kikuchi8810 0:a33375289d79 322 {
kikuchi8810 0:a33375289d79 323 if ((conData.ButtonState & mask) == mask)
kikuchi8810 0:a33375289d79 324 buttonFlagRise |= (conData.ButtonState & mask);
kikuchi8810 0:a33375289d79 325 }
kikuchi8810 0:a33375289d79 326 }
kikuchi8810 0:a33375289d79 327 }
kikuchi8810 0:a33375289d79 328 return buttonFlagRise;
kikuchi8810 0:a33375289d79 329 }
kikuchi8810 0:a33375289d79 330
kikuchi8810 0:a33375289d79 331 unsigned int ControllerForMbed::getButtonFlagFall()
kikuchi8810 0:a33375289d79 332 {
kikuchi8810 0:a33375289d79 333 unsigned int buttonFlagFall = 0;
kikuchi8810 0:a33375289d79 334 if (pre_conData.ButtonState != conData.ButtonState)
kikuchi8810 0:a33375289d79 335 {
kikuchi8810 0:a33375289d79 336 for (int i = 0; i < 16; i++)
kikuchi8810 0:a33375289d79 337 {
kikuchi8810 0:a33375289d79 338 int mask = 0x01 << i;
kikuchi8810 0:a33375289d79 339 if ((conData.ButtonState & mask) != (pre_conData.ButtonState & mask))
kikuchi8810 0:a33375289d79 340 {
kikuchi8810 0:a33375289d79 341 if ((pre_conData.ButtonState & mask) == mask)
kikuchi8810 0:a33375289d79 342 buttonFlagFall |= (pre_conData.ButtonState & mask);
kikuchi8810 0:a33375289d79 343 }
kikuchi8810 0:a33375289d79 344 }
kikuchi8810 0:a33375289d79 345 }
kikuchi8810 0:a33375289d79 346 return buttonFlagFall;
kikuchi8810 0:a33375289d79 347 }
kikuchi8810 0:a33375289d79 348