ペリフェラル層 namespace peripheral_RX71Mプログラム各層 ペリフェラル層ロボットオブジェクト層マイクロマウスオブジェクト層アプリケーション層spi.cppvoidinitTMR0()//RSPI0voidinitRSPI0()uint8_tcommunicate8bitRSPI0(uint8_ttransmit)voidcommunicateNbyteRSPI0(uint8_t*send,uint8_t*recv,uint8_tnum)voidsetEnableRSPI0(uint8_ten)//RSPI1voidinitRSPI1()uint8_tcommunicate8bitRSPI1(uint8_ttransmit)voidcommunicateNbyteRSPI1(uint8_t*send,uint8_t*recv,uint8_tnum)voidsetEnableRSPI1(uint8_ten)da.cppvoidinitDA()voidsetDA()uint16_tgetDA()clock.cppvoidinitClock()ad.cpp_OKvoidinitAD()//start AD transformuint16_tstartAD_AN000()uint16_tstartAD_AN001()uint16_tstartAD_AN002()uint16_tstartAD_AN003()uint16_tstartAD_AN004()uint16_tstartAD_AN005()uint16_tstartAD_AN006()uint16_tstartAD_AN007()uint16_tstartAD_AN108()uint16_tstartAD_AN109()uint16_tstartAD_AN110()voidstartAD_All()//get valueuint16_tgetAD_AN000(void)uint16_tgetAD_AN001(void)uint16_tgetAD_AN002(void)uint16_tgetAD_AN003(void)uint16_tgetAD_AN004(void)uint16_tgetAD_AN005(void)uint16_tgetAD_AN006(void)uint16_tgetAD_AN007(void)uint16_tgetAD_AN108(void)uint16_tgetAD_AN109(void)uint16_tgetAD_AN110(void)voidgetAD_All(uint16_t*array)uart.cpp//SCI1 blockingvoidinitSCI1()voidput1byteSCI1(charc)voidputnbyteSCI1(char*buf,intlen)//SCIFA9 non blockingqueue<uint8_t> transBuffuint8_trecieveBuff[512]uint16_trecieveBuffCountvoidinitSCIFA9()voidputnbyteSCIFA9(uint8_t*buf,uint16_tlen)voidrecieveDataSCIFA9()voidsendDataSCIFA9()timer.cppvoidinitCMTW0()voidinitCMTW1()voidinitTPU0()//timer main CMTW1 32bitvoidwaitClockCount(uint32_tcCount)voidwaitusec(uint32_tusec)voidwaitmsec(uint32_tmsec)voidstartTimeuCount(void)uint32_tgetTimeuCount(void)uint32_t intendTimeuCount(void)//timer sub TPU0 16bitvoidwaitClockCount_sub(uint32_tcCount)voidwaitusec_sub(uint32_tusec)voidwaitmsec_sub(uint32_tmsec)voidstartTimeuCount_sub(void)uint32_tgetTimeuCount_sub(void)uint32_tendTimeuCount_sub(void)//起動時からの時間取得 CMTW0 32bituint32_tgetElapsedMsec(void)timerInterrupt.cpp//CMT0voidinitCMT0()voidsetPriorityCMT0(uint8_tpriori)voidstartCMT0()voidstopCMT0()uint32_tendTimeuCountIntCMT0()uint32_tgetTimeuCountIntCMT0()//CMT1voidinitCMT1()voidsetPriorityCMT1(uint8_tpriori)voidstartCMT1()voidstopCMT1()uint32_tendTimeuCountIntCMT1()uint32_tgetTimeuCountIntCMT1()phaseCounting.cpp//MTU1voidinitMTU1()int32_tgetCountMTU1()//MTU2voidinitMTU2()int32_tgetCountMTU2()pwm.cpp//MTU3voidinitMTU3()voidsetDutyMTU3(float duty)//MTU4voidsetDutyMTU4(float duty)voidinitMTU4()i2c.cppgpio.cppvoidinitGPIO()dataFlash.cppconst uint32_tdata_flash_block = 64 // データ・フラッシュのブロックサイズconst uint32_tdata_flash_size = 65536 // データ・フラッシュの容量const uint32_tdata_flash_bank = 1024 // データ・フラッシュのバンク数const uint32_tF_FCLK = 48000000error error_ = error::NONEmode mode_ = mode::NONEbool trans_farm_ = falsebool FACI_termination()voidFACI_readMD()voidFACI_peMD()bool initFCU()bool write32(const void* src,uint32_torg)bool initDataFlash()uint8_treadDataFlash(uint32_torg)bool readDataFlash(uint32_torg,void* dst,uint32_tlen)bool eraseCheckDataFlash(uint32_torg,uint32_tlen)bool eraseDataFlash(uint32_torg)bool eraseAllDataFlash()bool writeDataFlash(uint32_torg,const void* src,uint32_tlen)bool writeDataFlash(uint32_torg,uint8_tdata)