Revision 10:be8b10e54ecb, committed 2012-09-22

Comitter:

syundo0730

Date:

Sat Sep 22 06:58:21 2012 +0000

Parent:

9:d9ce965299d2

Child:

11:1539d181e159

Commit message:

repeat

Changed in this revision

--- a/Motion.cpp	Sat Sep 22 06:16:15 2012 +0000
+++ b/Motion.cpp	Sat Sep 22 06:58:21 2012 +0000
@@ -18,6 +18,7 @@
     }
     
     m_mode = 1;
+    m_in_interrupt = false;
     
     //zero clear
     m_idx = 0;
@@ -34,8 +35,12 @@
 void Motion::step()
 {
     if (m_idx < m_IDX_MAX - 1) {
+        m_in_interrupt = true;
         update();
     } else {
+        m_in_interrupt = false;
+        m_idx = 0;
+        m_play = 0;
         tick.detach();
     }
 }
@@ -111,4 +116,9 @@
         pwm.SetDuty(i, (uint32_t)m_buf[i]);
         __enable_irq();
     }
+}
+
+bool Motion::is_in_interrupt()
+{
+    return m_in_interrupt;
 }
\ No newline at end of file

--- a/Motion.h	Sat Sep 22 06:16:15 2012 +0000
+++ b/Motion.h	Sat Sep 22 06:58:21 2012 +0000
@@ -1,38 +1,40 @@
-#ifndef MOTION_H_2012_09_21_
-#define MOTION_H_2012_09_21_
-
-#include "LPC17xx.h"
-#include "mbed.h"
-
-class Motion
-{
-  public:
-    Motion(uint32_t** data, unsigned char size_idx, unsigned char size_num);
-    //~Motion();
-  public:
-    void step();
-  private:
-    void update();
-    void set_inter();
-    void init_inter();
-    void step_inter();
-  
-  private:
-    uint32_t** m_data;
-    unsigned char m_IDX_MAX;
-    unsigned char m_NUM_MAX;
-    unsigned char m_data_num[16];  //inter
-    unsigned char m_mode;
-  
-  private:
-    unsigned char m_idx;
-    unsigned char m_play;
-  private:  
-    double m_buf[25];              //buf
-    double m_d_buf[25];            //dbuf
-    double m_dd_buf[25];           //ddbuf
-    double m_brake_flg;
-    unsigned char m_brake_pnt;
-};
-
+#ifndef MOTION_H_2012_09_21_
+#define MOTION_H_2012_09_21_
+
+#include "LPC17xx.h"
+#include "mbed.h"
+
+class Motion
+{
+  public:
+    Motion(uint32_t** data, unsigned char size_idx, unsigned char size_num);
+    //~Motion();
+  public:
+    void step();
+    bool is_in_interrupt();
+  private:
+    void update();
+    void set_inter();
+    void init_inter();
+    void step_inter();
+  
+  private:
+    uint32_t** m_data;
+    unsigned char m_IDX_MAX;
+    unsigned char m_NUM_MAX;
+    unsigned char m_data_num[16];  //inter
+    unsigned char m_mode;
+    bool m_in_interrupt;
+  
+  private:
+    unsigned char m_idx;
+    unsigned char m_play;
+  private:  
+    double m_buf[25];              //buf
+    double m_d_buf[25];            //dbuf
+    double m_dd_buf[25];           //ddbuf
+    double m_brake_flg;
+    unsigned char m_brake_pnt;
+};
+
 #endif
\ No newline at end of file

--- a/main.cpp	Sat Sep 22 06:16:15 2012 +0000
+++ b/main.cpp	Sat Sep 22 06:58:21 2012 +0000
@@ -26,25 +26,13 @@
 	
     Motion inter0(array, size_x, size_y);
     
-    tick.attach(&inter0, &Motion::step, 0.02);
+    //tick.attach(&inter0, &Motion::step, 0.02);
     
     while (1) {
-        //SetDuty(1,SRV_MAX_DUTY);
-        //sleep();
-        //__enable_irq();
-        //__disable_irq();
-        //NVIC_DisableIRQ(PWM1_IRQn);
+        //int id = 0;
+        if (!inter0.is_in_interrupt()) {
+            tick.attach(&inter0, &Motion::step, 0.02);
+        }
+        wait(0.02);
     }
-}
-
-/*void main_th(void) {
-    PWM pwm;
-    //const uint32_t center = 1500 - 1;
-    //const uint32_t dif = SRV_MAX_DUTY - center;
-    static uint8_t i;
-    
-    __disable_irq();
-    pwm.SetDuty(1,SRV_MIN_DUTY+i);
-    __enable_irq();
-    ++i;
-}*/
\ No newline at end of file
+}
\ No newline at end of file