Revision 20:eae8c84f318c, committed 2019-08-27

Comitter:

M_souta

Date:

Tue Aug 27 04:33:08 2019 +0000

Parent:

19:96a462583af9

Child:

21:e3b58d675c1c

Commit message:

ttsts

Changed in this revision

--- a/Communication/RS485/RS485.cpp	Tue Jul 16 06:48:51 2019 +0000
+++ b/Communication/RS485/RS485.cpp	Tue Aug 27 04:33:08 2019 +0000
@@ -5,20 +5,26 @@
 #include "../../System/Using.h"
 
 namespace RS485 {
-    DigitalOut selectBit(SELECTBIT_PIN);
+    DigitalOut selectBitT(SELECTBIT_T_PIN);
+    DigitalOut selectBitR(SELECTBIT_R_PIN);
     Serial RS485Uart(RS485UART_TX, RS485UART_RX);
+    Serial RS485Line(RS485LINE_TX, RS485LINE_RX);
 
     void Transmit();
+    void Recieve();
 
     void RS485::Initialize() {
-        selectBit = 1;  //送信固定
+        selectBitT = 1;  //送信固定
+        selectBitR = 0;  //受信固定
         RS485Uart.baud(38400);
-        RS485Uart.attach(Transmit, Serial::TxIrq);
+        RS485Uart.attach(Transmit, Serial::TxIrq);  //送信割り込み
+        RS485Line.baud(38400);
+        RS485Line.attach(Recieve, Serial::RxIrq);  //受信割り込み
     }
 
     void Transmit() {
+        __disable_irq();
         static uint8_t count = 0;
-        __disable_irq();
         RS485Uart.putc(RS485SendBuffer.GetData());
         if(count >= 200) {
             #ifdef USE_MOTOR
@@ -29,4 +35,15 @@
         } else count++;
         __enable_irq();
     }
+    
+    void Recieve() {
+        static uint8_t count = 0;
+        __disable_irq();
+        char data = RS485Line.getc();
+        if(count >= 200) {
+            LED_DEBUG1 = !LED_DEBUG1;
+            count = 0;
+        } else count++;
+        __enable_irq();
+    }
 }

--- a/Communication/RS485/RS485.h	Tue Jul 16 06:48:51 2019 +0000
+++ b/Communication/RS485/RS485.h	Tue Aug 27 04:33:08 2019 +0000
@@ -2,10 +2,13 @@
 #define RS485_H_
 
 namespace RS485 {
-    #define SELECTBIT_PIN PB_7
+    #define SELECTBIT_T_PIN PB_3
+    #define SELECTBIT_R_PIN PA_5
 
     #define RS485UART_TX PA_9
     #define RS485UART_RX PA_10
+    #define RS485LINE_TX PC_10
+    #define RS485LINE_RX PC_11
     
     class RS485 {
         public:

--- a/System/Process/Process.cpp	Tue Jul 16 06:48:51 2019 +0000
+++ b/System/Process/Process.cpp	Tue Aug 27 04:33:08 2019 +0000
@@ -62,6 +62,23 @@
 Ticker tapeLedTimer;
 //************TapaLed*****************
 
+/*************LineHub****************
+Serial linehubUart(PC_10,PC_11);
+char data[6];
+
+void LineRead()
+{
+    //__disable_irq();
+    if(linehubUart.readable()) {
+        for(int i=0; i<=5; i++) {
+            data[i] = linehubUart.getc();
+        }
+    }
+    //__enable_irq();
+}
+
+//*************LineHub****************/
+
 float tireProRPM[4];
 float tireTarRPM[4];
 float tirePWM[4];
@@ -187,6 +204,9 @@
 
 	while(1)
 	{
+		
+		pc.printf("aaa\n\r");
+		
 		if(LimitSw::IsPressed(10)) {
 			LED_DEBUG0 = LED_ON;
 		} else {