yuto kawamura / Mbed 2 deprecated George_Slave_BOTHMOVE

right and left move at the same time

Dependencies:   mbed robot

KondoServoLibrary/SerialHalfDuplex_HM/SerialHalfDuplex.h@0:411ab20ce87d, 2019-04-26 (annotated)

Committer:
eri
Date:
Fri Apr 26 11:34:44 2019 +0000
Revision:
0:411ab20ce87d
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eri 0:411ab20ce87d 1 /* mbed Microcontroller Library - SerialHalfDuplex
eri 0:411ab20ce87d 2 * Copyright (c) 2010-2011 ARM Limited. All rights reserved.
eri 0:411ab20ce87d 3 */
eri 0:411ab20ce87d 4 #ifndef MBED_SERIALHALFDUPLEX_H
eri 0:411ab20ce87d 5 #define MBED_SERIALHALFDUPLEX_H
eri 0:411ab20ce87d 6
eri 0:411ab20ce87d 7 #include "platform.h"
eri 0:411ab20ce87d 8
eri 0:411ab20ce87d 9 #if DEVICE_SERIAL
eri 0:411ab20ce87d 10
eri 0:411ab20ce87d 11 #include "Serial.h"
eri 0:411ab20ce87d 12
eri 0:411ab20ce87d 13 namespace mbed {
eri 0:411ab20ce87d 14
eri 0:411ab20ce87d 15 /** A serial port (UART) for communication with other devices using
eri 0:411ab20ce87d 16 * Half-Duplex, allowing transmit and receive on a single
eri 0:411ab20ce87d 17 * shared transmit and receive line. Only one end should be transmitting
eri 0:411ab20ce87d 18 * at a time.
eri 0:411ab20ce87d 19 *
eri 0:411ab20ce87d 20 * Both the tx and rx pin should be defined, and wired together.
eri 0:411ab20ce87d 21 * This is in addition to them being wired to the other serial
eri 0:411ab20ce87d 22 * device to allow both read and write functions to operate.
eri 0:411ab20ce87d 23 *
eri 0:411ab20ce87d 24 * For Simplex and Full-Duplex Serial communication, see Serial()
eri 0:411ab20ce87d 25 *
eri 0:411ab20ce87d 26 * Example:
eri 0:411ab20ce87d 27 * @code
eri 0:411ab20ce87d 28 * // Send a byte to a second HalfDuplex device, and read the response
eri 0:411ab20ce87d 29 *
eri 0:411ab20ce87d 30 * #include "mbed.h"
eri 0:411ab20ce87d 31 *
eri 0:411ab20ce87d 32 * // p9 and p10 should be wired together to form "a"
eri 0:411ab20ce87d 33 * // p28 and p27 should be wired together to form "b"
eri 0:411ab20ce87d 34 * // p9/p10 should be wired to p28/p27 as the Half Duplex connection
eri 0:411ab20ce87d 35 *
eri 0:411ab20ce87d 36 * SerialHalfDuplex a(p9, p10);
eri 0:411ab20ce87d 37 * SerialHalfDuplex b(p28, p27);
eri 0:411ab20ce87d 38 *
eri 0:411ab20ce87d 39 * void b_rx() { // second device response
eri 0:411ab20ce87d 40 * b.putc(b.getc() + 4);
eri 0:411ab20ce87d 41 * }
eri 0:411ab20ce87d 42 *
eri 0:411ab20ce87d 43 * int main() {
eri 0:411ab20ce87d 44 * b.attach(&b_rx);
eri 0:411ab20ce87d 45 * for (int c = 'A'; c < 'Z'; c++) {
eri 0:411ab20ce87d 46 * a.putc(c);
eri 0:411ab20ce87d 47 * printf("sent [%c]\n", c);
eri 0:411ab20ce87d 48 * wait(0.5); // b should respond
eri 0:411ab20ce87d 49 * if (a.readable()) {
eri 0:411ab20ce87d 50 * printf("received [%c]\n", a.getc());
eri 0:411ab20ce87d 51 * }
eri 0:411ab20ce87d 52 * }
eri 0:411ab20ce87d 53 * }
eri 0:411ab20ce87d 54 * @endcode
eri 0:411ab20ce87d 55 */
eri 0:411ab20ce87d 56 class SerialHalfDuplex : public Serial {
eri 0:411ab20ce87d 57
eri 0:411ab20ce87d 58 public:
eri 0:411ab20ce87d 59
eri 0:411ab20ce87d 60 /** Create a half-duplex serial port, connected to the specified transmit
eri 0:411ab20ce87d 61 * and receive pins.
eri 0:411ab20ce87d 62 *
eri 0:411ab20ce87d 63 * These pins should be wired together, as well as to the target device
eri 0:411ab20ce87d 64 *
eri 0:411ab20ce87d 65 * @param tx Transmit pin
eri 0:411ab20ce87d 66 * @param rx Receive pin
eri 0:411ab20ce87d 67 *
eri 0:411ab20ce87d 68 * @note
eri 0:411ab20ce87d 69 * Either tx or rx may be specified as NC if unused
eri 0:411ab20ce87d 70 */
eri 0:411ab20ce87d 71 SerialHalfDuplex(PinName tx=p13, PinName rx=p14, const char *name=NULL);
eri 0:411ab20ce87d 72
eri 0:411ab20ce87d 73 protected:
eri 0:411ab20ce87d 74
eri 0:411ab20ce87d 75 virtual int _putc(int c);
eri 0:411ab20ce87d 76 virtual int _getc(void);
eri 0:411ab20ce87d 77
eri 0:411ab20ce87d 78 }; // End class SerialHalfDuplex
eri 0:411ab20ce87d 79
eri 0:411ab20ce87d 80 } // End namespace
eri 0:411ab20ce87d 81
eri 0:411ab20ce87d 82 #endif
eri 0:411ab20ce87d 83
eri 0:411ab20ce87d 84 #endif