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Diff: scrp_slave.cpp
- Revision:
- 3:a9b4b2565a23
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scrp_slave.cpp Sun Mar 27 04:51:16 2022 +0000 @@ -0,0 +1,324 @@ +#include "scrp_slave.hpp" + +#define STX 0x41 +#define DMY 0xff + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,uint32_t addr,bool interrupt) + :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){ + mode_ = 0; + init(); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,uint32_t addr,bool interrupt) + :port1(TX1,RX1,115200),port2(port1),address_(addr),interrupt_(interrupt){ + mode_ = 1; + rede_ = new DigitalOut(REDE1,0); + init(); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt) + :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){ + mode_ = 2; + serial_[1] = &port2; + if(interrupt_){ + serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq); + } + init(); +} + +ScrpSlave::ScrpSlave(PinName TX1,PinName RX1,PinName REDE1,PinName TX2,PinName RX2,uint32_t addr,bool interrupt) + :port1(TX1,RX1,115200),port2(TX2,RX2,115200),address_(addr),interrupt_(interrupt){ + mode_ = 3; + rede_ = new DigitalOut(REDE1,0); + serial_[1] = &port2; + if(interrupt_){ + serial_[1]->attach(callback(this,&ScrpSlave::receive1),Serial::RxIrq); + } + init(); +} + +void ScrpSlave::init(){ + for(int i = 0;i<2;i++){ + wait_data_[i] = false; + stx_flag_[i] = false; + id_ok_[i] = false; + get_response_[i] = false; + } + for(int i = 1;i<256;++i){ + procs_[i] = NULL; + } + responseFunc_ = NULL; + all_receive_ = false; + serial_[0] = &port1; + if(interrupt_){ + serial_[0]->attach(callback(this,&ScrpSlave::receive0),Serial::RxIrq); + } + if(address_ < 256){ + my_id_ = address_;//引数addressが0~254の時その値をidとして使用 + all_receive_ = (address_ == 255);//引数addressが255の時すべてのidに応答する、全受信モードになる + return; + } + //フラッシュメモリーのアクセスにエラーが出たら、アドレスは10に設定される。 + flash_ = new FlashIAP; + if(flash_->init()==0){ + if(flash_->read(&my_id_,address_,1) != 0){ + send2(222,222,222); + my_id_ = 10; + } + }else{ + send2(111,111,111); + my_id_ = 10; + } +} + +void ScrpSlave::receive(){ + if(interrupt_){ + return; + } + while(port1.readable()){ + check(0); + } + if(mode_ > 1){ + while(port2.readable()){ + check(1); + } + } +} + +void ScrpSlave::receive0(){ + check(0); +} + +void ScrpSlave::receive1(){ + check(1); +} + +void ScrpSlave::attachResponse(void (*func)(uint8_t id, uint8_t cmd, int16_t response)){ + responseFunc_ = func; +} + +void ScrpSlave::addCMD(uint8_t cmd, bool (*proc)(int rx_data, int& tx_data)){ + if(cmd == 0 || cmd == 254 || cmd == 253)return; + procs_[cmd] = proc; +} + +void ScrpSlave::changeID(uint8_t id){ + if(address_ < 256){ + return; + } + flash_->erase(address_,flash_->get_sector_size(address_)); + flash_->program(&id,address_,1); +} + +bool ScrpSlave::send1(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){ + return sending(0,id,cmd,tx_data,flag); +} + +bool ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data, bool flag){ + return sending((mode_ > 1),id,cmd,tx_data,flag); +} + +bool ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data,bool flag){ + if(!serial_[port]->writeable()){ + return false; + } + if(flag){ + wait_data_[port] = true;//データ返信待ち + get_response_[port] = false; + } + uint8_t tx_dataL = tx_data; + uint8_t tx_dataH = tx_data >> 8; + uint8_t tx_sum = id + cmd + tx_dataL + tx_dataH; + + const uint8_t data[8] = {DMY, STX, id, cmd, tx_dataL, tx_dataH, tx_sum, DMY}; + memcpy(send_data_[port],data,8); + if(interrupt_){ + prime(port); + }else{ + sendNoInterrupt(port); + } + return true; +} + +void ScrpSlave::sendNoInterrupt(uint8_t port){ + if(mode_%2 == 1 && port == 0){ + rede_->write(1); + } + for(int i = 0;i < 8;i++){ + serial_[port]->putc(send_data_[port][i]); + while(!serial_[port]->writeable()); + } + if(mode_%2 == 1 && port == 0){ + rede_->write(0); + } +} + +bool ScrpSlave::getResponse(uint8_t port){ + if(port > 1 || (port == 1 && mode_ < 2)){ + return false; + } + return get_response_[port]; +} + +bool ScrpSlave::isWaiting(uint8_t port){ + if(port > 1 || (port == 1 && mode_ < 2)){ + return false; + } + return wait_data_[port]; +} + +int16_t ScrpSlave::receiveData(uint8_t port){ + //ポート指定が正しいかどうか。 + if(port > 1 || (port == 1 && mode_ < 2)){ + return -1; + } + //データがあるか確認。 + if(get_response_[port]){ + return rx_data_[port]; + }else{ + return -1; + } +} + +uint8_t ScrpSlave::receiveCmd(){ + return rx_cmd_;//受信したcmd番号を返す。 +} + +uint8_t ScrpSlave::receiveId(){ + return rx_id_;//受信したidを返す。 +} + +uint8_t ScrpSlave::receivePort(){ + return receive_port_;//直近で受信したポートを返す。 +} + +void ScrpSlave::check(int port){ + if(id_ok_[port]){ + tmp_data_[port][data_count_[port]] = serial_[port]->getc(); + data_count_[port]++; + if(data_count_[port] > 4){ + stx_flag_[port] = false;//通信フラグクリア + id_ok_[port] = false; + + uint8_t sum = 0; + for(int i = 0;i<4;i++){ + sum += tmp_data_[port][i]; + } + if(sum != tmp_data_[port][4]){//check sum照合 + return; + } + receive_port_ = port;//受信したポート番号を保存 + uint8_t rx_id = tmp_data_[port][0]; + uint8_t rx_cmd = tmp_data_[port][1]; + rx_data_[port] = (int16_t)(tmp_data_[port][2] + ((int16_t)tmp_data_[port][3] << 8)); + if(wait_data_[port]){//データ返信待ち時 + wait_data_[port] = false; + get_response_[port] = true; + if(responseFunc_ != NULL){ + responseFunc_(rx_id,rx_cmd,rx_data_[port]); + } + return; + }else if(get_response_[port]){ + get_response_[port] = false; + } + rx_cmd_ = rx_cmd;//メンバ変数に保存 + bool broadcast = (tmp_data_[port][0] == 255); + + int tx_data = rx_data_[port]; + if(rx_cmd == 0){//通信テスト + }else if(rx_cmd == 254){//id変更 + uint8_t new_id = rx_data_[port]; + my_id_ = new_id; + changeID(new_id); + }else if(rx_cmd == 253){//id確認 + tx_data = my_id_; + rx_cmd = 250 + all_receive_*5; + broadcast = false; + }else if(procs_[rx_cmd] == NULL || !procs_[rx_cmd](rx_data_[port],tx_data)){ + return; + } + if(broadcast){ + return;//全体送信の時はレスポンスを返さない。 + } + uint8_t tx_dataL = tx_data; + uint8_t tx_dataH = tx_data >> 8; + uint8_t tx_sum = my_id_ + rx_cmd + tx_dataL + tx_dataH; + + const uint8_t data[8] = {DMY, STX, my_id_, rx_cmd, tx_dataL, tx_dataH, tx_sum, DMY}; + memcpy(send_data_[port],data,8); + if(interrupt_){ + prime(port); + }else{ + sendNoInterrupt(port); + } + } + }else if(stx_flag_[port]){ + uint8_t get_data = serial_[port]->getc(); + if(get_data == my_id_ || get_data == 255 || (all_receive_ && !wait_data_[port])){ + id_ok_[port] = true; + wait_data_[port] = false; + tmp_data_[port][0] = get_data; + data_count_[port]++; + }else if(wait_data_[port]){ + id_ok_[port] = true; + tmp_data_[port][0] = get_data; + data_count_[port]++; + }else{ + stx_flag_[port] = false; + } + rx_id_ = get_data;//メンバ変数に保存 + }else if(serial_[port]->getc() == STX){ + stx_flag_[port] = true; + data_count_[port] = 0; + id_ok_[port] = false; + //id_ok_[port] = wait_data_[port];//データ返信待ち時はidチェック無し + } + return; +} + +void ScrpSlave::dataSend0(){ + while(serial_[0]->writeable()){ + if(data_count_[0] < 8){ + serial_[0]->putc(send_data_[0][data_count_[0]++]); + }else{ + serial_[0]->attach(NULL, Serial::TxIrq); + if(mode_%2 == 1){ + rede_->write(0); + } + break; + } + } +} + +void ScrpSlave::dataSend1(){ + while(serial_[1]->writeable()){ + if(data_count_[1] < 8){ + serial_[1]->putc(send_data_[1][data_count_[1]++]); + }else{ + serial_[1]->attach(NULL, Serial::TxIrq); + break; + } + } +} + +void ScrpSlave::prime(int port){ + serial_[port]->attach(NULL, Serial::TxIrq); + data_count_[port] = 0; + if(port == 0){ + if(mode_%2 == 1){ + rede_->write(1); + } + dataSend0(); + serial_[0]->attach(callback(this, &ScrpSlave::dataSend0), Serial::TxIrq); + }else{ + dataSend1(); + serial_[1]->attach(callback(this, &ScrpSlave::dataSend1), Serial::TxIrq); + } +} + +ScrpSlave::~ScrpSlave(){ + delete flash_; + if(mode_%2 == 1){ + delete rede_; + } +} \ No newline at end of file