Revision 2:e78c0ddcf337, committed 2018-08-26

Comitter:

sgrsn

Date:

Sun Aug 26 08:42:11 2018 +0000

Parent:

1:d611aa1f9f70

Commit message:

Use AsyncSerial for Serial require.

Changed in this revision

diff -r d611aa1f9f70 -r e78c0ddcf337 JrkG2.cpp
--- a/JrkG2.cpp	Sat Aug 25 13:15:38 2018 +0000
+++ b/JrkG2.cpp	Sun Aug 26 08:42:11 2018 +0000
@@ -1,5 +1,7 @@
 #include <JrkG2.h>
 
+#define serial_delay_us 1500    //baud:9600
+
 /**** JrkG2Serial ****/
 
 void JrkG2Serial::commandW7(uint8_t cmd, uint8_t val)
@@ -25,8 +27,10 @@
     uint8_t val;
     
     sendCommandHeader(cmd);
+    wait_us(serial_delay_us);
     if(_stream->readable() != 1)
     {
+        _stream->abort_read();
         _lastError = JrkG2CommReadError;
         return 0;
     }
@@ -41,12 +45,10 @@
     
     sendCommandHeader(cmd);
     
-    //if(_stream->ByteCount() != 2)  //バッファリング未実装のため不可 
-    // → BufferedSerialを使用すべきか, タイムアウトも実装したい
-    
-    //これ以降も同様の理由で修正される
-    if(_stream->readable() == 0)
+    wait_us(serial_delay_us);
+    if(_stream->readable() != 2)
     {
+        _stream->abort_read();
         _lastError = JrkG2CommReadError;
         return 0;
     }
@@ -65,11 +67,12 @@
     
     sendCommandHeader(cmd);
     serialW7(offset);
+    wait_us(serial_delay_us);
     serialW7(length);
-    
-    //if(_stream->ByteCount() != length)
-    if(_stream->readable() != 1)
+    wait_us(serial_delay_us);
+    if(_stream->readable() != length)
     {
+        _stream->abort_read();
         _lastError = JrkG2CommReadError;
         // Set the buffer bytes to 0 so the program will not use an uninitialized
         // variable.

diff -r d611aa1f9f70 -r e78c0ddcf337 JrkG2.h
--- a/JrkG2.h	Sat Aug 25 13:15:38 2018 +0000
+++ b/JrkG2.h	Sun Aug 26 08:42:11 2018 +0000
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "mbed.h"
+#include "AsyncSerial.hpp"
 
 /*example**********************************
 
@@ -12,7 +13,7 @@
     //on the other or both
     
     //on Serial
-    Serial device(p9, p10);
+    AsyncSerial device(p9, p10);
     JrkG2Serial jrk(&device);
     
     //on I2C
@@ -1695,10 +1696,10 @@
 /// Represents a serial connection to a Jrk G2.
 ///
 /// For the high-level commands you can use on this object, see JrkG2Base.
-class JrkG2Serial : public JrkG2Base //public Stream
+class JrkG2Serial : public JrkG2Base
 {
 public:
-    JrkG2Serial(Serial *stream, uint8_t deviceNumber = 255) :
+    JrkG2Serial(AsyncSerial *stream, uint8_t deviceNumber = 255) :
     _deviceNumber(deviceNumber)
     {
         _stream = stream;
@@ -1708,7 +1709,9 @@
     uint8_t getDeviceNumber() { return _deviceNumber; }
 
 private:
-    Serial *_stream;
+    //Serial *_stream;
+    AsyncSerial *_stream;
+    
     const uint8_t _deviceNumber;
     
     virtual void commandQuick(uint8_t cmd) { sendCommandHeader(cmd); }
@@ -1722,7 +1725,6 @@
     uint8_t length, uint8_t * buffer);
     
     void sendCommandHeader(uint8_t cmd);
-    //void serialW7(uint8_t val) { _stream->write(val & 0x7F); }
     void serialW7(uint8_t val) { _stream->putc(val & 0x7F); }
 };