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Dependencies:   mbed

Communication/RS485/RS485.cpp@31:17be2176063f, 2019-10-22 (annotated)

Committer:
M_souta
Date:
Tue Oct 22 02:04:30 2019 +0000
Revision:
31:17be2176063f
Parent:
30:8f092276b2ba 
lll

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"
M_souta 21:e3b58d675c1c 4 #include "LineHub/LineHub.h"
t_yamamoto 0:669ef71cba68 5 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 6 #include "../../System/Using.h"
t_yamamoto 0:669ef71cba68 7
t_yamamoto 0:669ef71cba68 8 namespace RS485 {
M_souta 21:e3b58d675c1c 9
M_souta 20:eae8c84f318c 10 DigitalOut selectBitT(SELECTBIT_T_PIN);
M_souta 21:e3b58d675c1c 11 // DigitalOut selectBitR(SELECTBIT_R_PIN);
M_souta 31:17be2176063f 12 Serial RS485Uart(RS485UART_TX, RS485UART_RX);
M_souta 31:17be2176063f 13 // Serial RS485Uart(USBTX, USBRX);
M_souta 20:eae8c84f318c 14 Serial RS485Line(RS485LINE_TX, RS485LINE_RX);
M_souta 21:e3b58d675c1c 15
M_souta 21:e3b58d675c1c 16 bool readFase = 0;
M_souta 21:e3b58d675c1c 17 char buffer[RS485_BUFFER_LINE] = {0};
t_yamamoto 0:669ef71cba68 18
t_yamamoto 0:669ef71cba68 19 void Transmit();
M_souta 20:eae8c84f318c 20 void Recieve();
t_yamamoto 0:669ef71cba68 21
t_yamamoto 0:669ef71cba68 22 void RS485::Initialize() {
M_souta 20:eae8c84f318c 23 selectBitT = 1; //送信固定
M_souta 21:e3b58d675c1c 24 // selectBitR = 0; //受信固定
M_souta 31:17be2176063f 25 RS485Uart.baud(38400); // 38400
M_souta 20:eae8c84f318c 26 RS485Uart.attach(Transmit, Serial::TxIrq); //送信割り込み
M_souta 30:8f092276b2ba 27 RS485Line.baud(9600);
M_souta 20:eae8c84f318c 28 RS485Line.attach(Recieve, Serial::RxIrq); //受信割り込み
t_yamamoto 0:669ef71cba68 29 }
t_yamamoto 0:669ef71cba68 30
t_yamamoto 0:669ef71cba68 31 void Transmit() {
M_souta 21:e3b58d675c1c 32 // __disable_irq();
t_yamamoto 0:669ef71cba68 33 static uint8_t count = 0;
t_yamamoto 0:669ef71cba68 34 RS485Uart.putc(RS485SendBuffer.GetData());
t_yamamoto 0:669ef71cba68 35 if(count >= 200) {
t_yamamoto 0:669ef71cba68 36 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 37 LED_DEBUG2 = !LED_DEBUG2;
t_yamamoto 0:669ef71cba68 38 #endif
t_yamamoto 0:669ef71cba68 39
t_yamamoto 0:669ef71cba68 40 count = 0;
t_yamamoto 0:669ef71cba68 41 } else count++;
t_yamamoto 0:669ef71cba68 42 __enable_irq();
t_yamamoto 0:669ef71cba68 43 }
M_souta 20:eae8c84f318c 44
M_souta 20:eae8c84f318c 45 void Recieve() {
M_souta 21:e3b58d675c1c 46 __disable_irq();
M_souta 21:e3b58d675c1c 47 static uint8_t time = 0;
M_souta 20:eae8c84f318c 48 static uint8_t count = 0;
M_souta 20:eae8c84f318c 49 char data = RS485Line.getc();
M_souta 21:e3b58d675c1c 50 if (data == 'S') {
M_souta 21:e3b58d675c1c 51 readFase = true;
M_souta 21:e3b58d675c1c 52 time = 0;
M_souta 21:e3b58d675c1c 53 } else if(data == 'F') {
M_souta 21:e3b58d675c1c 54 readFase = false;
M_souta 21:e3b58d675c1c 55 for(int i = 0; i < 8; i++) {
M_souta 21:e3b58d675c1c 56 lineData[i] = buffer[i];
M_souta 21:e3b58d675c1c 57 }
M_souta 21:e3b58d675c1c 58 time = 0;
M_souta 21:e3b58d675c1c 59 } else if(readFase) {
M_souta 21:e3b58d675c1c 60 buffer[time] = data;
M_souta 21:e3b58d675c1c 61 time++;
M_souta 21:e3b58d675c1c 62 } else {
M_souta 21:e3b58d675c1c 63 readFase = false;
M_souta 21:e3b58d675c1c 64 time = 0;
M_souta 21:e3b58d675c1c 65 }
M_souta 20:eae8c84f318c 66 if(count >= 200) {
M_souta 20:eae8c84f318c 67 LED_DEBUG1 = !LED_DEBUG1;
M_souta 20:eae8c84f318c 68 count = 0;
M_souta 20:eae8c84f318c 69 } else count++;
M_souta 20:eae8c84f318c 70 __enable_irq();
M_souta 20:eae8c84f318c 71 }
M_souta 21:e3b58d675c1c 72 }