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Dependencies:   mbed

Communication/RS485/RS485.cpp

Committer:
M_souta
Date:
2019-10-22
Revision:
31:17be2176063f
Parent:
30:8f092276b2ba

File content as of revision 31:17be2176063f:

#include "RS485.h"
#include "mbed.h"
#include "ActuatorHub/ActuatorHub.h"
#include "LineHub/LineHub.h"
#include "../../LED/LED.h"
#include "../../System/Using.h"

namespace RS485 {
    
    DigitalOut selectBitT(SELECTBIT_T_PIN);
//  DigitalOut selectBitR(SELECTBIT_R_PIN);
    Serial RS485Uart(RS485UART_TX, RS485UART_RX);
//    Serial RS485Uart(USBTX, USBRX);
    Serial RS485Line(RS485LINE_TX, RS485LINE_RX);
    
    bool readFase = 0;
    char buffer[RS485_BUFFER_LINE] = {0};

    void Transmit();
    void Recieve();

    void RS485::Initialize() {
        selectBitT = 1;  //送信固定
//      selectBitR = 0;  //受信固定
        RS485Uart.baud(38400);  // 38400
        RS485Uart.attach(Transmit, Serial::TxIrq);  //送信割り込み
        RS485Line.baud(9600);  
        RS485Line.attach(Recieve, Serial::RxIrq);  //受信割り込み
    }

    void Transmit() {
//        __disable_irq();
        static uint8_t count = 0;
        RS485Uart.putc(RS485SendBuffer.GetData());
        if(count >= 200) {
            #ifdef USE_MOTOR
            LED_DEBUG2 = !LED_DEBUG2;
            #endif

            count = 0;
        } else count++;
        __enable_irq();
    }
    
    void Recieve() {
        __disable_irq();
        static uint8_t time = 0;
        static uint8_t count = 0;
        char data = RS485Line.getc();
        if (data == 'S') {
            readFase = true;
            time = 0;
        } else if(data == 'F') {
            readFase = false;
            for(int i = 0; i < 8; i++) {
                lineData[i] = buffer[i];
            }
            time = 0;
        } else if(readFase) {
            buffer[time] = data;
            time++;
        } else {
            readFase = false;
            time = 0;
        }
        if(count >= 200) {
            LED_DEBUG1 = !LED_DEBUG1;
            count = 0;
        } else count++;
        __enable_irq();
    }
}