hidaka sato
Serial library for Ususama
Dependents: ususama_serial_demo WRS2021_mecanum_driver
Diff: ususama_serial.h
- Revision:
- 0:a0ec74fb2cb0
- Child:
- 1:33d6c6f43306
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ususama_serial.h Fri Aug 20 08:27:30 2021 +0000
@@ -0,0 +1,28 @@
+#ifndef USUSAMA_SERIAL_H
+#define USUSAMA_SERIAL_H
+#include "mbed.h"
+#include <vector>
+
+#define HEAD_BYTE 0x1D
+#define READ_COMMAND 0xFF
+#define ESCAPE_BYTE 0x1E
+#define ESCAPE_MASK 0x1F
+
+class UsusamaSerial
+{
+ public:
+ UsusamaSerial(PinName tx, PinName rx, int32_t* registar, int baudrate = 115200);
+ void set_bufferedserial(int baudrate);
+ void set_unbufferedserial(int baudrate);
+ void writeData(int32_t data, uint8_t reg);
+ void readData();
+ private:
+
+ int32_t* _register;
+ char buffer_w_[64];
+ char buffer_r_[64];
+ //UnbufferedSerial port_;
+ BufferedSerial port_;
+};
+
+#endif
\ No newline at end of file