大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_25_saisyo

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Dependencies:   mbed TrapezoidControl QEI

Communication/RS485/RS485.cpp@36:788274604650, 2019-09-25 (annotated)

Committer:
yabahiro
Date:
Wed Sep 25 11:03:03 2019 +0000
Revision:
36:788274604650
Parent:
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"
yabahiro 21:1f1e9c585da8 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 {
yabahiro 21:1f1e9c585da8 9
yabahiro 21:1f1e9c585da8 10 DigitalOut selectBitT(SELECTBIT_T_PIN);
yabahiro 21:1f1e9c585da8 11 // DigitalOut selectBitR(SELECTBIT_R_PIN);
t_yamamoto 0:669ef71cba68 12 Serial RS485Uart(RS485UART_TX, RS485UART_RX);
yabahiro 21:1f1e9c585da8 13 Serial RS485Line(RS485LINE_TX, RS485LINE_RX);
yabahiro 21:1f1e9c585da8 14
yabahiro 21:1f1e9c585da8 15 bool readFase = 0;
yabahiro 21:1f1e9c585da8 16 char buffer[RS485_BUFFER_LINE] = {0};
t_yamamoto 0:669ef71cba68 17
t_yamamoto 0:669ef71cba68 18 void Transmit();
yabahiro 21:1f1e9c585da8 19 void Recieve();
t_yamamoto 0:669ef71cba68 20
t_yamamoto 0:669ef71cba68 21 void RS485::Initialize() {
yabahiro 21:1f1e9c585da8 22 selectBitT = 1; //送信固定
yabahiro 21:1f1e9c585da8 23 // selectBitR = 0; //受信固定
t_yamamoto 0:669ef71cba68 24 RS485Uart.baud(38400);
yabahiro 21:1f1e9c585da8 25 RS485Uart.attach(Transmit, Serial::TxIrq); //送信割り込み
yabahiro 21:1f1e9c585da8 26 RS485Line.baud(9600);
yabahiro 21:1f1e9c585da8 27 RS485Line.attach(Recieve, Serial::RxIrq); //受信割り込み
t_yamamoto 0:669ef71cba68 28 }
t_yamamoto 0:669ef71cba68 29
t_yamamoto 0:669ef71cba68 30 void Transmit() {
yabahiro 21:1f1e9c585da8 31 // __disable_irq();
t_yamamoto 0:669ef71cba68 32 static uint8_t count = 0;
t_yamamoto 0:669ef71cba68 33 RS485Uart.putc(RS485SendBuffer.GetData());
t_yamamoto 0:669ef71cba68 34 if(count >= 200) {
t_yamamoto 0:669ef71cba68 35 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 36 LED_DEBUG2 = !LED_DEBUG2;
t_yamamoto 0:669ef71cba68 37 #endif
t_yamamoto 0:669ef71cba68 38
t_yamamoto 0:669ef71cba68 39 count = 0;
t_yamamoto 0:669ef71cba68 40 } else count++;
t_yamamoto 0:669ef71cba68 41 __enable_irq();
t_yamamoto 0:669ef71cba68 42 }
yabahiro 21:1f1e9c585da8 43
yabahiro 21:1f1e9c585da8 44 void Recieve() {
yabahiro 21:1f1e9c585da8 45 __disable_irq();
yabahiro 21:1f1e9c585da8 46 static uint8_t time = 0;
yabahiro 21:1f1e9c585da8 47 static uint8_t count = 0;
yabahiro 21:1f1e9c585da8 48 char data = RS485Line.getc();
yabahiro 21:1f1e9c585da8 49 if (data == 'S') {
yabahiro 21:1f1e9c585da8 50 readFase = true;
yabahiro 21:1f1e9c585da8 51 time = 0;
yabahiro 21:1f1e9c585da8 52 } else if(data == 'F') {
yabahiro 21:1f1e9c585da8 53 readFase = false;
yabahiro 21:1f1e9c585da8 54 for(int i = 0; i < 8; i++) {
yabahiro 21:1f1e9c585da8 55 lineData[i] = buffer[i];
yabahiro 21:1f1e9c585da8 56 }
yabahiro 21:1f1e9c585da8 57 time = 0;
yabahiro 21:1f1e9c585da8 58 } else if(readFase) {
yabahiro 21:1f1e9c585da8 59 RS485LineBuffer.PutData(data);
yabahiro 21:1f1e9c585da8 60 buffer[time] = data;
yabahiro 21:1f1e9c585da8 61 time++;
yabahiro 21:1f1e9c585da8 62 } else {
yabahiro 21:1f1e9c585da8 63 readFase = false;
yabahiro 21:1f1e9c585da8 64 time = 0;
yabahiro 21:1f1e9c585da8 65 }
yabahiro 21:1f1e9c585da8 66 if(count >= 200) {
yabahiro 21:1f1e9c585da8 67 LED_DEBUG1 = !LED_DEBUG1;
yabahiro 21:1f1e9c585da8 68 count = 0;
yabahiro 21:1f1e9c585da8 69 } else count++;
yabahiro 21:1f1e9c585da8 70 __enable_irq();
yabahiro 21:1f1e9c585da8 71 }
yabahiro 21:1f1e9c585da8 72 }