Diff: main.cpp

Revision:

1:36220c7411e9

Parent:

0:a277e27599ee

--- a/main.cpp	Wed Aug 09 06:21:04 2017 +0000
+++ b/main.cpp	Fri Dec 22 05:52:01 2017 +0000
@@ -1,45 +1,88 @@
 #include "mbed.h"
 #include "SakuraIO.h"
 
-#define SEND_INTERVAL 5
+// プロトタイプ宣言
+uint8_t monitor();
+uint8_t dequeue();
 
 DigitalOut status_led(PA_15);
-
-DigitalOut patlite_1(PA_0); // Clear
-DigitalOut patlite_2(PA_1); // Blue
-DigitalOut patlite_3(PA_2); // Green
-DigitalOut patlite_4(PA_3); // Yellow
-DigitalOut patlite_5(PA_4); // Red
+DigitalOut patlite_1(PA_0); // R
+DigitalOut patlite_2(PA_1); // Y
+DigitalOut patlite_3(PA_2); // G
+DigitalOut patlite_4(PA_3); // B
+DigitalOut patlite_5(PA_4); // C
+DigitalIn patlite_state_1(PA_12); // R
+DigitalIn patlite_state_2(PA_8);  // Y
+DigitalIn patlite_state_3(PA_7);  // G
+DigitalIn patlite_state_4(PA_6);  // B
+DigitalIn patlite_state_5(PA_5);  // C
 
-DigitalIn patlite_state_1(PA_12);
-DigitalIn patlite_state_2(PA_8);
-DigitalIn patlite_state_3(PA_7);
-DigitalIn patlite_state_4(PA_6);
-DigitalIn patlite_state_5(PA_5);
-
-DigitalOut patlite_out[5] = {patlite_1, patlite_2, patlite_4, patlite_5, patlite_3};
-// DigitalOut patlite_out[5] = {patlite_1, patlite_3, patlite_4, patlite_2, patlite_5};
-DigitalIn patlite_state[5] = {patlite_state_1, patlite_state_2, patlite_state_4, patlite_state_5, patlite_state_3};
+DigitalOut patlite_out[5] = {patlite_1, patlite_2, patlite_3, patlite_4, patlite_5};
+DigitalIn patlite_state[5] = {patlite_state_1, patlite_state_2, patlite_state_3, patlite_state_4, patlite_state_5};
 
 I2C i2c(PB_7, PB_6); // sda, scl
-uint64_t counter = 0;
-uint32_t iine_count = 0;
-uint8_t blink_flag = 0;
-uint8_t changed = 0;
+SakuraIO_I2C sakuraio(i2c);
 
 uint8_t last_state[5] = {0};
 
-//SakuraIO_SPI sakuraio(spi, cs);
-SakuraIO_I2C sakuraio(i2c);
-
-Ticker tick;
+int main()
+{
+    // パトライトを1段ずつ順に点滅させながら接続待ち
+    for (int patlite_index = 0;; patlite_index = (patlite_index + 1) % 5)
+    {
+        if ((sakuraio.getConnectionStatus() & 0x80) == 0x80)
+            break;
 
-void timer()
-{
-    uint8_t state[5];
-    __disable_irq();
+        status_led = 1;
+        patlite_out[patlite_index] = 1;
+        wait_ms(500);
+        status_led = 0;
+        patlite_out[patlite_index] = 0;
+        wait_ms(500);
+    }
+
+    // 接続完了したら全段1度点滅
+    status_led = 1;
+    for (int i = 0; i < 5; i++)
+    {
+        patlite_out[i] = 1;
+    }
+    wait(1);
+    status_led = 0;
     for (int i = 0; i < 5; i++)
     {
+        patlite_out[i] = 0;
+    }
+
+    while (1)
+    {
+        // ピン状態と新着メッセージを監視してどちらか変化があったら1
+        uint8_t changed = monitor() | dequeue();
+        if (changed == 1)
+        {
+            uint8_t state[5];
+            for (int i = 0; i < 5; i++)
+            {
+                state[i] = patlite_state[i];
+            }
+            for (int i = 0; i < 5; i++)
+            {
+                sakuraio.enqueueTx(i, (int32_t)state[i]);
+            }
+            sakuraio.send();
+        }
+        wait_ms(10);
+    }
+}
+
+// 外部からパトライトの点灯状態が変えられたことを検知する
+uint8_t monitor()
+{
+    uint8_t changed = 0;
+    uint8_t state[5];
+    for (int i = 0; i < 5; i++)
+    {
+        // 負論理なのでNOTかけてから点灯状態として取り込み
         state[i] = !patlite_state[i];
     }
 
@@ -48,107 +91,37 @@
         if (last_state[i] != state[i])
         {
             changed = 1;
-            //sakuraio.enqueueTx(i, state[i]);
             status_led = !status_led;
             last_state[i] = state[i];
         }
     }
-    __enable_irq();
+
+    return changed;
 }
 
-int main()
+// sakura.ioのRxキューの状態を見て操作命令が来ていないか確認する
+uint8_t dequeue()
 {
-    for (int i = 0; i < 5; i++)
+    uint8_t avail = 0, queued = 0, changed = 0;
+    sakuraio.getRxQueueLength(&avail, &queued);
+    for (uint8_t i = 0; i < queued; i++)
     {
-        patlite_state[i].mode(PullUp);
-    }
-
-    // Waiting to come online
-    int a = 0;
-    for (;;)
-    {
-        status_led = 1;
-        patlite_out[a] = 1;
+        uint8_t channel, type, values[8];
+        int64_t offset;
 
-        if ((sakuraio.getConnectionStatus() & 0x80) == 0x80)
-            break;
-        wait_ms(500);
-        status_led = 0;
-        patlite_out[a] = 0;
-        a++;
-        if (a == 5)
-            a = 0;
-        wait_ms(500);
-    }
-    status_led = 1;
-    for (int i = 0; i < 5; i++)
-        patlite_out[i] = 1;
-
-    wait(1);
-    status_led = 0;
-    for (int i = 0; i < 5; i++)
-        patlite_out[i] = 0;
-
-    // tick.attach_us(&timer, 100 * 1000); // 100ms
-
-    while (1)
-    {
-        timer();
-
-        uint8_t avail = 0;
-        uint8_t queued = 0;
-
-        __disable_irq();
-        sakuraio.getRxQueueLength(&avail, &queued);
-        for (uint8_t i = 0; i < queued; i++)
+        // RXキューから点灯要求を取り出す
+        uint8_t ret = sakuraio.dequeueRx(&channel, &type, values, &offset);
+        if (ret == 0x01)
         {
-            uint8_t channel;
-            uint8_t type;
-            uint8_t values[8];
-            int64_t offset;
-
-            // RXキューから点灯要求を取り出す
-            uint8_t ret = sakuraio.dequeueRx(&channel, &type, values, &offset);
-            if (ret == 0x01)
+            if (channel < 5)
             {
-                if (channel >= 0 && channel < 5)
-                {
-                    if (*((int32_t *)values) == 0)
-                        patlite_out[channel] = 0;
-                    else
-                        patlite_out[channel] = 1;
-                }
-                changed = 1;
+                if (*((int32_t *)values) == 0)
+                    patlite_out[channel] = 0;
+                else
+                    patlite_out[channel] = 1;
             }
+            changed = 1;
         }
-
-        avail = 0;
-        queued = 0;
-        sakuraio.getTxQueueLength(&avail, &queued);
-        if (changed == 1)
-        {
-            uint8_t state[5];
-            for (int i = 0; i < 5; i++)
-            {
-                state[i] = !patlite_state[i];
-            }
-
-            for (int i = 0; i < 5; i++)
-            {
-                sakuraio.enqueueTx(i, state[i]);
-            }
-            sakuraio.send();
-            changed = 0;
-        }
-        __enable_irq();
-
-        /*
-        sakuraio.clearTx();
-        sakuraio.enqueueTx(0, counter);
-        sakuraio.enqueueTx(1, iine_count);
-        sakuraio.send();
-        */
-
-//        wait_ms(10);
     }
+    return changed;
 }