mukuyo hirohashi / Mbed 2 deprecated Rasp_serial

raspberry pi to stm32f303k8 for serial communication

Dependencies:   mbed Servo

serial/serial.cpp@0:7bc24e8d1591, 2021-05-02 (annotated)

Committer:
mukuyo
Date:
Sun May 02 15:01:33 2021 +0000
Revision:
0:7bc24e8d1591
update;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mukuyo 0:7bc24e8d1591 1 #include "serial.h"
mukuyo 0:7bc24e8d1591 2 Rasp::Rasp(PinName TX,PinName RX): device(USBTX,USBRX) {
mukuyo 0:7bc24e8d1591 3 device.baud(115200);//通信速度最速
mukuyo 0:7bc24e8d1591 4 device.attach(callback(this,&Rasp::dev_rx), RawSerial::RxIrq);//角度割り込み入力
mukuyo 0:7bc24e8d1591 5 u=0;
mukuyo 0:7bc24e8d1591 6 ID=0;
mukuyo 0:7bc24e8d1591 7 rx_val=0;
mukuyo 0:7bc24e8d1591 8 BUFFER_SIZE=6;
mukuyo 0:7bc24e8d1591 9 }
mukuyo 0:7bc24e8d1591 10
mukuyo 0:7bc24e8d1591 11 void Rasp::dev_rx(){
mukuyo 0:7bc24e8d1591 12 u++;
mukuyo 0:7bc24e8d1591 13 buffer[u-1]=device.getc();
mukuyo 0:7bc24e8d1591 14 rx_val=buffer[0];
mukuyo 0:7bc24e8d1591 15 if(buffer[0]!=0xFF)u--;
mukuyo 0:7bc24e8d1591 16 if(u==BUFFER_SIZE){
mukuyo 0:7bc24e8d1591 17 if(buffer[0]==0xFF){
mukuyo 0:7bc24e8d1591 18 u=0;
mukuyo 0:7bc24e8d1591 19 motor_limit = buffer[1]/100;
mukuyo 0:7bc24e8d1591 20 for(int i = 0; i < 4; i++){
mukuyo 0:7bc24e8d1591 21 Motor_pow[i] = buffer[i+2] - 100;
mukuyo 0:7bc24e8d1591 22 Motor_pow[i] *= 0.4;
mukuyo 0:7bc24e8d1591 23 }
mukuyo 0:7bc24e8d1591 24 }
mukuyo 0:7bc24e8d1591 25 }
mukuyo 0:7bc24e8d1591 26 }
mukuyo 0:7bc24e8d1591 27 void Rasp::put(int val){
mukuyo 0:7bc24e8d1591 28 device.putc(val);
mukuyo 0:7bc24e8d1591 29 }
mukuyo 0:7bc24e8d1591 30 void Rasp::get(float &a, int num){
mukuyo 0:7bc24e8d1591 31
mukuyo 0:7bc24e8d1591 32 a= Motor_pow[num];
mukuyo 0:7bc24e8d1591 33
mukuyo 0:7bc24e8d1591 34 }