大季 矢花 / Mbed 2 deprecated 2019_Master_NEWMODE

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Dependencies:   mbed TrapezoidControl QEI

Communication/RS485/RS485.cpp@0:669ef71cba68, 2018-09-08 (annotated)

Committer:
t_yamamoto
Date:
Sat Sep 08 06:05:22 2018 +0000
Revision:
0:669ef71cba68
Child:
21:1f1e9c585da8
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #include "RS485.h"
t_yamamoto 0:669ef71cba68 2 #include "mbed.h"
t_yamamoto 0:669ef71cba68 3 #include "ActuatorHub/ActuatorHub.h"
t_yamamoto 0:669ef71cba68 4 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 5 #include "../../System/Using.h"
t_yamamoto 0:669ef71cba68 6
t_yamamoto 0:669ef71cba68 7 namespace RS485 {
t_yamamoto 0:669ef71cba68 8 DigitalOut selectBit(SELECTBIT_PIN);
t_yamamoto 0:669ef71cba68 9 Serial RS485Uart(RS485UART_TX, RS485UART_RX);
t_yamamoto 0:669ef71cba68 10
t_yamamoto 0:669ef71cba68 11 void Transmit();
t_yamamoto 0:669ef71cba68 12
t_yamamoto 0:669ef71cba68 13 void RS485::Initialize() {
t_yamamoto 0:669ef71cba68 14 selectBit = 1; //送信固定
t_yamamoto 0:669ef71cba68 15 RS485Uart.baud(38400);
t_yamamoto 0:669ef71cba68 16 RS485Uart.attach(Transmit, Serial::TxIrq);
t_yamamoto 0:669ef71cba68 17 }
t_yamamoto 0:669ef71cba68 18
t_yamamoto 0:669ef71cba68 19 void Transmit() {
t_yamamoto 0:669ef71cba68 20 static uint8_t count = 0;
t_yamamoto 0:669ef71cba68 21 __disable_irq();
t_yamamoto 0:669ef71cba68 22 RS485Uart.putc(RS485SendBuffer.GetData());
t_yamamoto 0:669ef71cba68 23 if(count >= 200) {
t_yamamoto 0:669ef71cba68 24 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 25 LED_DEBUG2 = !LED_DEBUG2;
t_yamamoto 0:669ef71cba68 26 #endif
t_yamamoto 0:669ef71cba68 27
t_yamamoto 0:669ef71cba68 28 count = 0;
t_yamamoto 0:669ef71cba68 29 } else count++;
t_yamamoto 0:669ef71cba68 30 __enable_irq();
t_yamamoto 0:669ef71cba68 31 }
t_yamamoto 0:669ef71cba68 32 }