Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

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Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

SCI.cpp@12:6cd135bf03bd, 2013-02-03 (annotated)

Committer:
syundo0730
Date:
Sun Feb 03 04:53:44 2013 +0000
Revision:
12:6cd135bf03bd
Child:
13:711f74b2fa33
file reading, motion selecting, serial communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 12:6cd135bf03bd 1 #include "mbed.h"
syundo0730 12:6cd135bf03bd 2 #include "SCI.h"
syundo0730 12:6cd135bf03bd 3
syundo0730 12:6cd135bf03bd 4 SCI::SCI(PinName tx, PinName rx)
syundo0730 12:6cd135bf03bd 5 {
syundo0730 12:6cd135bf03bd 6 serial = new Serial(tx, rx);
syundo0730 12:6cd135bf03bd 7 }
syundo0730 12:6cd135bf03bd 8
syundo0730 12:6cd135bf03bd 9 SCI::~SCI()
syundo0730 12:6cd135bf03bd 10 {
syundo0730 12:6cd135bf03bd 11 delete serial;
syundo0730 12:6cd135bf03bd 12 }
syundo0730 12:6cd135bf03bd 13
syundo0730 12:6cd135bf03bd 14 char SCI::getid()
syundo0730 12:6cd135bf03bd 15 {
syundo0730 12:6cd135bf03bd 16 char comm, id;
syundo0730 12:6cd135bf03bd 17 comm = getc_nowait();
syundo0730 12:6cd135bf03bd 18 if (comm == 'A') {
syundo0730 12:6cd135bf03bd 19 serial->putc(comm);
syundo0730 12:6cd135bf03bd 20 serial->printf("command");
syundo0730 12:6cd135bf03bd 21 id = getc_wait();
syundo0730 12:6cd135bf03bd 22 }
syundo0730 12:6cd135bf03bd 23 return id;
syundo0730 12:6cd135bf03bd 24 }
syundo0730 12:6cd135bf03bd 25
syundo0730 12:6cd135bf03bd 26 char SCI::getc_wait()
syundo0730 12:6cd135bf03bd 27 {
syundo0730 12:6cd135bf03bd 28 while (!serial->readable()) {
syundo0730 12:6cd135bf03bd 29 serial->printf("waiting..");
syundo0730 12:6cd135bf03bd 30 }
syundo0730 12:6cd135bf03bd 31 return serial->getc();
syundo0730 12:6cd135bf03bd 32 }
syundo0730 12:6cd135bf03bd 33
syundo0730 12:6cd135bf03bd 34 char SCI::getc_nowait()
syundo0730 12:6cd135bf03bd 35 {
syundo0730 12:6cd135bf03bd 36 uint8_t buf = 0;
syundo0730 12:6cd135bf03bd 37 if (serial->readable()) {
syundo0730 12:6cd135bf03bd 38 buf = serial->getc();
syundo0730 12:6cd135bf03bd 39 }
syundo0730 12:6cd135bf03bd 40 return buf;
syundo0730 12:6cd135bf03bd 41 }
syundo0730 12:6cd135bf03bd 42
syundo0730 12:6cd135bf03bd 43 /*uint16_t readint(void)
syundo0730 12:6cd135bf03bd 44 {
syundo0730 12:6cd135bf03bd 45 uint8_t buff[16];
syundo0730 12:6cd135bf03bd 46 buff[0] = pc->getc();
syundo0730 12:6cd135bf03bd 47 buff[1] = pc->getc();
syundo0730 12:6cd135bf03bd 48 uint16_t val;
syundo0730 12:6cd135bf03bd 49 val = (uint16_t)(buff[1] << 8) | (uint16_t)buff[0];
syundo0730 12:6cd135bf03bd 50 return val;
syundo0730 12:6cd135bf03bd 51 }
syundo0730 12:6cd135bf03bd 52
syundo0730 12:6cd135bf03bd 53 void sendint(uint16_t val)
syundo0730 12:6cd135bf03bd 54 {
syundo0730 12:6cd135bf03bd 55 uint8_t buff[16];
syundo0730 12:6cd135bf03bd 56 buff[0] = (uint8_t)(val & 0x00FF);
syundo0730 12:6cd135bf03bd 57 buff[1] = (uint8_t)(val >> 8);
syundo0730 12:6cd135bf03bd 58 pc.putc(buff[0]);
syundo0730 12:6cd135bf03bd 59 pc.putc(buff[1]);
syundo0730 12:6cd135bf03bd 60 }*/