![](/media/cache/profiles/ef6fe50336005eee1e8e9093bfe576ae.jpg.50x50_q85.jpg)
stackable sakura.io board for patlite
main.cpp
- Committer:
- misodengaku
- Date:
- 2017-12-22
- Revision:
- 1:36220c7411e9
- Parent:
- 0:a277e27599ee
File content as of revision 1:36220c7411e9:
#include "mbed.h" #include "SakuraIO.h" // プロトタイプ宣言 uint8_t monitor(); uint8_t dequeue(); DigitalOut status_led(PA_15); 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 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 SakuraIO_I2C sakuraio(i2c); uint8_t last_state[5] = {0}; 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; 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]; } for (int i = 0; i < 5; i++) { if (last_state[i] != state[i]) { changed = 1; status_led = !status_led; last_state[i] = state[i]; } } return changed; } // 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() { uint8_t avail = 0, queued = 0, changed = 0; sakuraio.getRxQueueLength(&avail, &queued); for (uint8_t i = 0; i < queued; i++) { uint8_t channel, type, 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 (*((int32_t *)values) == 0) patlite_out[channel] = 0; else patlite_out[channel] = 1; } changed = 1; } } return changed; }