Taiki Maruyama
/
MB2019_main_11_12
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Revision 20:eae8c84f318c, committed 2019-08-27
- Comitter:
- M_souta
- Date:
- Tue Aug 27 04:33:08 2019 +0000
- Parent:
- 19:96a462583af9
- Child:
- 21:e3b58d675c1c
- Commit message:
- ttsts
Changed in this revision
--- a/Communication/RS485/RS485.cpp Tue Jul 16 06:48:51 2019 +0000
+++ b/Communication/RS485/RS485.cpp Tue Aug 27 04:33:08 2019 +0000
@@ -5,20 +5,26 @@
#include "../../System/Using.h"
namespace RS485 {
- DigitalOut selectBit(SELECTBIT_PIN);
+ DigitalOut selectBitT(SELECTBIT_T_PIN);
+ DigitalOut selectBitR(SELECTBIT_R_PIN);
Serial RS485Uart(RS485UART_TX, RS485UART_RX);
+ Serial RS485Line(RS485LINE_TX, RS485LINE_RX);
void Transmit();
+ void Recieve();
void RS485::Initialize() {
- selectBit = 1; //送信固定
+ selectBitT = 1; //送信固定
+ selectBitR = 0; //受信固定
RS485Uart.baud(38400);
- RS485Uart.attach(Transmit, Serial::TxIrq);
+ RS485Uart.attach(Transmit, Serial::TxIrq); //送信割り込み
+ RS485Line.baud(38400);
+ RS485Line.attach(Recieve, Serial::RxIrq); //受信割り込み
}
void Transmit() {
+ __disable_irq();
static uint8_t count = 0;
- __disable_irq();
RS485Uart.putc(RS485SendBuffer.GetData());
if(count >= 200) {
#ifdef USE_MOTOR
@@ -29,4 +35,15 @@
} else count++;
__enable_irq();
}
+
+ void Recieve() {
+ static uint8_t count = 0;
+ __disable_irq();
+ char data = RS485Line.getc();
+ if(count >= 200) {
+ LED_DEBUG1 = !LED_DEBUG1;
+ count = 0;
+ } else count++;
+ __enable_irq();
+ }
}
--- a/Communication/RS485/RS485.h Tue Jul 16 06:48:51 2019 +0000
+++ b/Communication/RS485/RS485.h Tue Aug 27 04:33:08 2019 +0000
@@ -2,10 +2,13 @@
#define RS485_H_
namespace RS485 {
- #define SELECTBIT_PIN PB_7
+ #define SELECTBIT_T_PIN PB_3
+ #define SELECTBIT_R_PIN PA_5
#define RS485UART_TX PA_9
#define RS485UART_RX PA_10
+ #define RS485LINE_TX PC_10
+ #define RS485LINE_RX PC_11
class RS485 {
public:
--- a/System/Process/Process.cpp Tue Jul 16 06:48:51 2019 +0000
+++ b/System/Process/Process.cpp Tue Aug 27 04:33:08 2019 +0000
@@ -62,6 +62,23 @@
Ticker tapeLedTimer;
//************TapaLed*****************
+/*************LineHub****************
+Serial linehubUart(PC_10,PC_11);
+char data[6];
+
+void LineRead()
+{
+ //__disable_irq();
+ if(linehubUart.readable()) {
+ for(int i=0; i<=5; i++) {
+ data[i] = linehubUart.getc();
+ }
+ }
+ //__enable_irq();
+}
+
+//*************LineHub****************/
+
float tireProRPM[4];
float tireTarRPM[4];
float tirePWM[4];
@@ -187,6 +204,9 @@
while(1)
{
+
+ pc.printf("aaa\n\r");
+
if(LimitSw::IsPressed(10)) {
LED_DEBUG0 = LED_ON;
} else {