Hiroaki Matsuda / Mbed 2 deprecated mbed-for-McuComm

this is program for mbed ,to relay MCUcomm data to servo

Dependencies:   Servo mbed

main.cpp@0:09bf8e3091e8, 2012-11-28 (annotated)

Committer:
matsu
Date:
Wed Nov 28 17:12:00 2012 +0000
Revision:
0:09bf8e3091e8
Child:
1:0fe52e356d01
to move servo using data from pc by serial; ; ver 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matsu 0:09bf8e3091e8 1 #include "mbed.h"
matsu 0:09bf8e3091e8 2 #include "Servo.h"
matsu 0:09bf8e3091e8 3 #include "command.h"
matsu 0:09bf8e3091e8 4 #include "iSerial.h"
matsu 0:09bf8e3091e8 5
matsu 0:09bf8e3091e8 6 #define MAX_DATA 1800
matsu 0:09bf8e3091e8 7 #define TIME_INTERRAPUT_US 16000
matsu 0:09bf8e3091e8 8
matsu 0:09bf8e3091e8 9 #define targetPosition_COMMAND 0x64
matsu 0:09bf8e3091e8 10 #define SET_targetPosition_COMMAND 0x67
matsu 0:09bf8e3091e8 11 #define SERVO_MOVE_COMMAND 0x58
matsu 0:09bf8e3091e8 12 #define POWER_ONOFF_COMMAND 0x59
matsu 0:09bf8e3091e8 13 #define SENDDATA_COMMAND 0x05
matsu 0:09bf8e3091e8 14 #define INIT_COMMAND 0x66
matsu 0:09bf8e3091e8 15
matsu 0:09bf8e3091e8 16 #define targetPosition_BYTE 7
matsu 0:09bf8e3091e8 17 #define SERVO_MOVE_BYTE 3
matsu 0:09bf8e3091e8 18 #define POWER_ONOFF_BYTE 3
matsu 0:09bf8e3091e8 19 #define SENDDATA_BYTE 3
matsu 0:09bf8e3091e8 20 #define INIT_BYTE 6
matsu 0:09bf8e3091e8 21
matsu 0:09bf8e3091e8 22 #define ACK 0x06
matsu 0:09bf8e3091e8 23 #define NACK 0x15
matsu 0:09bf8e3091e8 24
matsu 0:09bf8e3091e8 25 Ticker flipper;
matsu 0:09bf8e3091e8 26 Serial device(USBTX, USBRX); // tx, rx
matsu 0:09bf8e3091e8 27 DigitalOut myLed1(LED1);
matsu 0:09bf8e3091e8 28 DigitalOut myLed2(LED2);
matsu 0:09bf8e3091e8 29 DigitalOut myLed3(LED3);
matsu 0:09bf8e3091e8 30
matsu 0:09bf8e3091e8 31 Command servo1(p21);
matsu 0:09bf8e3091e8 32 Command servo2(p22);
matsu 0:09bf8e3091e8 33 Command servo3(p23);
matsu 0:09bf8e3091e8 34 Command servo4(p24);
matsu 0:09bf8e3091e8 35 Command servo5(p25);
matsu 0:09bf8e3091e8 36 Command servo6(p26);
matsu 0:09bf8e3091e8 37
matsu 0:09bf8e3091e8 38 AnalogIn ain1(p15);
matsu 0:09bf8e3091e8 39 AnalogIn ain2(p16);
matsu 0:09bf8e3091e8 40 AnalogIn ain3(p17);
matsu 0:09bf8e3091e8 41 AnalogIn ain4(p18);
matsu 0:09bf8e3091e8 42 AnalogIn ain5(p19);
matsu 0:09bf8e3091e8 43 AnalogIn ain6(p20);
matsu 0:09bf8e3091e8 44
matsu 0:09bf8e3091e8 45 typedef struct{
matsu 0:09bf8e3091e8 46 short int target;
matsu 0:09bf8e3091e8 47 short int preTarget;
matsu 0:09bf8e3091e8 48 long perTime;
matsu 0:09bf8e3091e8 49 bool moveFlag;
matsu 0:09bf8e3091e8 50 int resolution;
matsu 0:09bf8e3091e8 51 double positionNow;
matsu 0:09bf8e3091e8 52 }servo_t;
matsu 0:09bf8e3091e8 53 servo_t servo[7];
matsu 0:09bf8e3091e8 54
matsu 0:09bf8e3091e8 55 void flip() {
matsu 0:09bf8e3091e8 56 for(int it=1;it<7;it++){
matsu 0:09bf8e3091e8 57 if(servo[it].moveFlag==true){
matsu 0:09bf8e3091e8 58 servo[it].positionNow+=servo[it].resolution;
matsu 0:09bf8e3091e8 59 if((servo[it].target-servo[it].preTarget > 0 && servo[it].positionNow-servo[it].target >= 0) || (servo[it].target-servo[it].preTarget < 0 && servo[it].positionNow-servo[it].target <= 0)){
matsu 0:09bf8e3091e8 60 servo[it].moveFlag=false;
matsu 0:09bf8e3091e8 61 servo[it].preTarget = servo[it].target;
matsu 0:09bf8e3091e8 62 servo[it].positionNow = servo[it].target;
matsu 0:09bf8e3091e8 63 if(it == 1){
matsu 0:09bf8e3091e8 64 myLed1 = 0;
matsu 0:09bf8e3091e8 65 }else if(it == 2){
matsu 0:09bf8e3091e8 66 myLed2 = 0;
matsu 0:09bf8e3091e8 67 }else if(it == 3){
matsu 0:09bf8e3091e8 68 myLed3 = 0;
matsu 0:09bf8e3091e8 69 }
matsu 0:09bf8e3091e8 70 }
matsu 0:09bf8e3091e8 71 switch(it){
matsu 0:09bf8e3091e8 72 case 1:
matsu 0:09bf8e3091e8 73 servo1=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 74 break;
matsu 0:09bf8e3091e8 75 case 2:
matsu 0:09bf8e3091e8 76 servo2=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 77 break;
matsu 0:09bf8e3091e8 78 case 3:
matsu 0:09bf8e3091e8 79 servo3=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 80 break;
matsu 0:09bf8e3091e8 81 case 4:
matsu 0:09bf8e3091e8 82 servo4=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 83 break;
matsu 0:09bf8e3091e8 84 case 5:
matsu 0:09bf8e3091e8 85 servo5=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 86 break;
matsu 0:09bf8e3091e8 87 case 6:
matsu 0:09bf8e3091e8 88 servo6=servo[it].positionNow/MAX_DATA;
matsu 0:09bf8e3091e8 89 break;
matsu 0:09bf8e3091e8 90 }
matsu 0:09bf8e3091e8 91 }
matsu 0:09bf8e3091e8 92 }
matsu 0:09bf8e3091e8 93 }
matsu 0:09bf8e3091e8 94
matsu 0:09bf8e3091e8 95
matsu 0:09bf8e3091e8 96 int main() {
matsu 0:09bf8e3091e8 97 device.baud(115200);
matsu 0:09bf8e3091e8 98 flipper.attach_us(&flip, TIME_INTERRAPUT_US);
matsu 0:09bf8e3091e8 99
matsu 0:09bf8e3091e8 100 // flag=false;
matsu 0:09bf8e3091e8 101 for(int it=0;it<7;it++){
matsu 0:09bf8e3091e8 102 servo[it].target=900;
matsu 0:09bf8e3091e8 103 servo[it].perTime=0;
matsu 0:09bf8e3091e8 104 servo[it].moveFlag=false;
matsu 0:09bf8e3091e8 105 servo[it].preTarget=900;
matsu 0:09bf8e3091e8 106 servo[it].resolution=0;
matsu 0:09bf8e3091e8 107 servo[it].positionNow=900;
matsu 0:09bf8e3091e8 108 }
matsu 0:09bf8e3091e8 109
matsu 0:09bf8e3091e8 110 myLed1=0;
matsu 0:09bf8e3091e8 111 myLed2=0;
matsu 0:09bf8e3091e8 112 myLed3=0;
matsu 0:09bf8e3091e8 113
matsu 0:09bf8e3091e8 114
matsu 0:09bf8e3091e8 115 int valueNumber=0;
matsu 0:09bf8e3091e8 116 int id=0;
matsu 0:09bf8e3091e8 117 int command=0;
matsu 0:09bf8e3091e8 118 int getValue=0;
matsu 0:09bf8e3091e8 119 int checkSum=0;
matsu 0:09bf8e3091e8 120
matsu 0:09bf8e3091e8 121 while(1){
matsu 0:09bf8e3091e8 122 if(device.readable()){
matsu 0:09bf8e3091e8 123 valueNumber++;
matsu 0:09bf8e3091e8 124 getValue = device.getc();
matsu 0:09bf8e3091e8 125
matsu 0:09bf8e3091e8 126 switch(valueNumber){
matsu 0:09bf8e3091e8 127 case 1: //get ID
matsu 0:09bf8e3091e8 128 id = getValue;
matsu 0:09bf8e3091e8 129 checkSum = getValue;
matsu 0:09bf8e3091e8 130 break;
matsu 0:09bf8e3091e8 131 case 2: //get command upbyte
matsu 0:09bf8e3091e8 132 command = getValue;
matsu 0:09bf8e3091e8 133 checkSum += getValue;
matsu 0:09bf8e3091e8 134 break;
matsu 0:09bf8e3091e8 135 case 3:
matsu 0:09bf8e3091e8 136 case 4:
matsu 0:09bf8e3091e8 137 case 5:
matsu 0:09bf8e3091e8 138 case 6:
matsu 0:09bf8e3091e8 139 case 7:
matsu 0:09bf8e3091e8 140
matsu 0:09bf8e3091e8 141 //servo_move_command
matsu 0:09bf8e3091e8 142 if(command == SERVO_MOVE_COMMAND){
matsu 0:09bf8e3091e8 143 if((valueNumber == SERVO_MOVE_BYTE && (checkSum & 0x0FF) == getValue) || valueNumber < SERVO_MOVE_BYTE){
matsu 0:09bf8e3091e8 144 if(0 < id && id < 7){
matsu 0:09bf8e3091e8 145 servo[id].moveFlag = true;
matsu 0:09bf8e3091e8 146 }else if(id == 0x0FE){
matsu 0:09bf8e3091e8 147 for(int it=1; it<7; it++){
matsu 0:09bf8e3091e8 148 servo[it].moveFlag = true;
matsu 0:09bf8e3091e8 149 }
matsu 0:09bf8e3091e8 150 }
matsu 0:09bf8e3091e8 151 if(valueNumber == SERVO_MOVE_BYTE){
matsu 0:09bf8e3091e8 152 device.putc(id);
matsu 0:09bf8e3091e8 153 device.putc(ACK); //ACK
matsu 0:09bf8e3091e8 154 valueNumber = 0;
matsu 0:09bf8e3091e8 155 }
matsu 0:09bf8e3091e8 156 }else{
matsu 0:09bf8e3091e8 157 device.putc(id);
matsu 0:09bf8e3091e8 158 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 159 valueNumber = 0;
matsu 0:09bf8e3091e8 160 }
matsu 0:09bf8e3091e8 161 }
matsu 0:09bf8e3091e8 162
matsu 0:09bf8e3091e8 163
matsu 0:09bf8e3091e8 164 //senddata command check
matsu 0:09bf8e3091e8 165 if(command == SENDDATA_COMMAND){
matsu 0:09bf8e3091e8 166 if((valueNumber == SENDDATA_BYTE && (checkSum & 0xFF) == getValue) || valueNumber < SENDDATA_BYTE){
matsu 0:09bf8e3091e8 167 int send_data = 0;
matsu 0:09bf8e3091e8 168 switch(id){
matsu 0:09bf8e3091e8 169 case 1: //x
matsu 0:09bf8e3091e8 170 send_data = ain1.read_u16();
matsu 0:09bf8e3091e8 171 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 172 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 173 break;
matsu 0:09bf8e3091e8 174 case 2: //y
matsu 0:09bf8e3091e8 175 send_data = ain2.read_u16();
matsu 0:09bf8e3091e8 176 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 177 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 178 break;
matsu 0:09bf8e3091e8 179 case 3: //z
matsu 0:09bf8e3091e8 180 send_data = ain3.read_u16();
matsu 0:09bf8e3091e8 181 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 182 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 183 break;
matsu 0:09bf8e3091e8 184 case 4: //other
matsu 0:09bf8e3091e8 185 send_data = ain4.read_u16();
matsu 0:09bf8e3091e8 186 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 187 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 188 break;
matsu 0:09bf8e3091e8 189 case 5: //other
matsu 0:09bf8e3091e8 190 send_data = ain5.read_u16();
matsu 0:09bf8e3091e8 191 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 192 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 193 break;
matsu 0:09bf8e3091e8 194 case 6: //other
matsu 0:09bf8e3091e8 195 send_data = ain6.read_u16();
matsu 0:09bf8e3091e8 196 device.putc(send_data >> 8);
matsu 0:09bf8e3091e8 197 device.putc(send_data & 0xFF);
matsu 0:09bf8e3091e8 198 break;
matsu 0:09bf8e3091e8 199 default:
matsu 0:09bf8e3091e8 200 device.putc(id);
matsu 0:09bf8e3091e8 201 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 202 valueNumber = 0;
matsu 0:09bf8e3091e8 203 break;
matsu 0:09bf8e3091e8 204 }
matsu 0:09bf8e3091e8 205 if(valueNumber == SENDDATA_BYTE){
matsu 0:09bf8e3091e8 206 device.putc(id);
matsu 0:09bf8e3091e8 207 device.putc(ACK); //ACK
matsu 0:09bf8e3091e8 208 valueNumber = 0;
matsu 0:09bf8e3091e8 209 }
matsu 0:09bf8e3091e8 210 }else{
matsu 0:09bf8e3091e8 211 device.putc(id);
matsu 0:09bf8e3091e8 212 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 213 valueNumber = 0;
matsu 0:09bf8e3091e8 214 }
matsu 0:09bf8e3091e8 215 }
matsu 0:09bf8e3091e8 216
matsu 0:09bf8e3091e8 217 //power_onoff command check
matsu 0:09bf8e3091e8 218 if(command == POWER_ONOFF_COMMAND){
matsu 0:09bf8e3091e8 219 if((valueNumber == POWER_ONOFF_BYTE && (checkSum & 0xFF) == getValue) || valueNumber < POWER_ONOFF_BYTE){
matsu 0:09bf8e3091e8 220 switch(id){
matsu 0:09bf8e3091e8 221 case 1:
matsu 0:09bf8e3091e8 222 servo1.onOff();
matsu 0:09bf8e3091e8 223 break;
matsu 0:09bf8e3091e8 224 case 2:
matsu 0:09bf8e3091e8 225 servo2.onOff();
matsu 0:09bf8e3091e8 226 break;
matsu 0:09bf8e3091e8 227 case 3:
matsu 0:09bf8e3091e8 228 servo3.onOff();
matsu 0:09bf8e3091e8 229 break;
matsu 0:09bf8e3091e8 230 case 4:
matsu 0:09bf8e3091e8 231 servo4.onOff();
matsu 0:09bf8e3091e8 232 break;
matsu 0:09bf8e3091e8 233 case 5:
matsu 0:09bf8e3091e8 234 servo5.onOff();
matsu 0:09bf8e3091e8 235 break;
matsu 0:09bf8e3091e8 236 case 6:
matsu 0:09bf8e3091e8 237 servo6.onOff();
matsu 0:09bf8e3091e8 238 break;
matsu 0:09bf8e3091e8 239 default :
matsu 0:09bf8e3091e8 240 device.putc(id);
matsu 0:09bf8e3091e8 241 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 242 valueNumber = 0;
matsu 0:09bf8e3091e8 243 break;
matsu 0:09bf8e3091e8 244 }
matsu 0:09bf8e3091e8 245 if(valueNumber == POWER_ONOFF_BYTE){
matsu 0:09bf8e3091e8 246 device.putc(id);
matsu 0:09bf8e3091e8 247 device.putc(ACK); //ACK
matsu 0:09bf8e3091e8 248 valueNumber = 0;
matsu 0:09bf8e3091e8 249 }
matsu 0:09bf8e3091e8 250 }else{
matsu 0:09bf8e3091e8 251 device.putc(id);
matsu 0:09bf8e3091e8 252 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 253 valueNumber = 0;
matsu 0:09bf8e3091e8 254 }
matsu 0:09bf8e3091e8 255 }
matsu 0:09bf8e3091e8 256
matsu 0:09bf8e3091e8 257 //init command check
matsu 0:09bf8e3091e8 258 if(command == INIT_COMMAND){
matsu 0:09bf8e3091e8 259 if((valueNumber == INIT_BYTE && (checkSum & 0xFF) == getValue) || valueNumber < INIT_BYTE){
matsu 0:09bf8e3091e8 260 switch(id){
matsu 0:09bf8e3091e8 261 case 1:
matsu 0:09bf8e3091e8 262 servo1.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 263 break;
matsu 0:09bf8e3091e8 264 case 2:
matsu 0:09bf8e3091e8 265 servo2.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 266 break;
matsu 0:09bf8e3091e8 267 case 3:
matsu 0:09bf8e3091e8 268 servo3.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 269 break;
matsu 0:09bf8e3091e8 270 case 4:
matsu 0:09bf8e3091e8 271 servo4.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 272 break;
matsu 0:09bf8e3091e8 273 case 5:
matsu 0:09bf8e3091e8 274 servo5.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 275 break;
matsu 0:09bf8e3091e8 276 case 6:
matsu 0:09bf8e3091e8 277 servo6.homePosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 278 break;
matsu 0:09bf8e3091e8 279 default :
matsu 0:09bf8e3091e8 280 device.putc(id);
matsu 0:09bf8e3091e8 281 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 282 valueNumber = 0;
matsu 0:09bf8e3091e8 283 break;
matsu 0:09bf8e3091e8 284 }
matsu 0:09bf8e3091e8 285 if(valueNumber == INIT_BYTE){
matsu 0:09bf8e3091e8 286 device.putc(id);
matsu 0:09bf8e3091e8 287 device.putc(ACK); //ACK
matsu 0:09bf8e3091e8 288 valueNumber = 0;
matsu 0:09bf8e3091e8 289 }
matsu 0:09bf8e3091e8 290 }else{
matsu 0:09bf8e3091e8 291 device.putc(id);
matsu 0:09bf8e3091e8 292 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 293 valueNumber = 0;
matsu 0:09bf8e3091e8 294 }
matsu 0:09bf8e3091e8 295 }
matsu 0:09bf8e3091e8 296
matsu 0:09bf8e3091e8 297 //move command check
matsu 0:09bf8e3091e8 298 if(command == targetPosition_COMMAND || command == SET_targetPosition_COMMAND){
matsu 0:09bf8e3091e8 299 if((valueNumber == targetPosition_BYTE && (checkSum & 0xFF) == getValue) || valueNumber < targetPosition_BYTE){
matsu 0:09bf8e3091e8 300 switch(id){
matsu 0:09bf8e3091e8 301 case 1:
matsu 0:09bf8e3091e8 302 servo1.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 303 servo[id].target = servo1.getPosition();
matsu 0:09bf8e3091e8 304 servo[id].perTime = servo1.getTime();
matsu 0:09bf8e3091e8 305 break;
matsu 0:09bf8e3091e8 306 case 2:
matsu 0:09bf8e3091e8 307 servo2.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 308 servo[id].target = servo2.getPosition();
matsu 0:09bf8e3091e8 309 servo[id].perTime = servo2.getTime();
matsu 0:09bf8e3091e8 310 break;
matsu 0:09bf8e3091e8 311 case 3:
matsu 0:09bf8e3091e8 312 servo3.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 313 servo[id].target = servo3.getPosition();
matsu 0:09bf8e3091e8 314 servo[id].perTime = servo3.getTime();
matsu 0:09bf8e3091e8 315 break;
matsu 0:09bf8e3091e8 316 case 4:
matsu 0:09bf8e3091e8 317 servo4.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 318 servo[id].target = servo4.getPosition();
matsu 0:09bf8e3091e8 319 servo[id].perTime = servo4.getTime();
matsu 0:09bf8e3091e8 320 break;
matsu 0:09bf8e3091e8 321 case 5:
matsu 0:09bf8e3091e8 322 servo5.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 323 servo[id].target = servo5.getPosition();
matsu 0:09bf8e3091e8 324 servo[id].perTime = servo5.getTime();
matsu 0:09bf8e3091e8 325 break;
matsu 0:09bf8e3091e8 326 case 6:
matsu 0:09bf8e3091e8 327 servo6.targetPosition(valueNumber,getValue);
matsu 0:09bf8e3091e8 328 servo[id].target = servo6.getPosition();
matsu 0:09bf8e3091e8 329 servo[id].perTime = servo6.getTime();
matsu 0:09bf8e3091e8 330 break;
matsu 0:09bf8e3091e8 331 }
matsu 0:09bf8e3091e8 332 if(valueNumber == targetPosition_BYTE){
matsu 0:09bf8e3091e8 333 device.putc(id);
matsu 0:09bf8e3091e8 334 device.putc(ACK); //ACK
matsu 0:09bf8e3091e8 335 servo[id].resolution = (servo[id].target-servo[id].preTarget)/(servo[id].perTime/(TIME_INTERRAPUT_US/1000.00));
matsu 0:09bf8e3091e8 336 if(command == targetPosition_COMMAND){
matsu 0:09bf8e3091e8 337 servo[id].moveFlag = true;
matsu 0:09bf8e3091e8 338 if(id == 1){
matsu 0:09bf8e3091e8 339 myLed1 = 1;
matsu 0:09bf8e3091e8 340 }else if(id == 2){
matsu 0:09bf8e3091e8 341 myLed2 = 2;
matsu 0:09bf8e3091e8 342 }else if(id == 3){
matsu 0:09bf8e3091e8 343 myLed3 = 3;
matsu 0:09bf8e3091e8 344 }
matsu 0:09bf8e3091e8 345 }else if(command == SET_targetPosition_COMMAND){
matsu 0:09bf8e3091e8 346 }
matsu 0:09bf8e3091e8 347 valueNumber = 0;
matsu 0:09bf8e3091e8 348 }
matsu 0:09bf8e3091e8 349 }else{
matsu 0:09bf8e3091e8 350 device.putc(id);
matsu 0:09bf8e3091e8 351 device.putc(NACK); //NACK
matsu 0:09bf8e3091e8 352 valueNumber = 0;
matsu 0:09bf8e3091e8 353 }
matsu 0:09bf8e3091e8 354 }
matsu 0:09bf8e3091e8 355 //plus checkSum
matsu 0:09bf8e3091e8 356 checkSum += getValue;
matsu 0:09bf8e3091e8 357 break;
matsu 0:09bf8e3091e8 358
matsu 0:09bf8e3091e8 359 }
matsu 0:09bf8e3091e8 360 }
matsu 0:09bf8e3091e8 361 }
matsu 0:09bf8e3091e8 362 }
matsu 0:09bf8e3091e8 363