,------------------------------------------------------------------------------------.
|ad.cpp_OK |
|------------------------------------------------------------------------------------|
|+void initAD() |
|//start AD transform | ,---------------------------------------------------------------------------------------------------------------. ,-------------------------------------------------------------------------------------------------------------------------------------------------------------------------.
|+uint16_t startAD_AN000() | |timer.cpp | |dataFlash.cpp |
|+uint16_t startAD_AN001() | |---------------------------------------------------------------------------------------------------------------| |-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
|+uint16_t startAD_AN002() | |+void initCMTW0() | ,-----------------------------------------------------------------------------------------. |-const uint32_t data_flash_block = 64 // データ・フラッシュのブロックサイズ |
,------------------------------------------------------------------------------------------------------------------------------------------------------------------------------. |+uint16_t startAD_AN003() | ,-----------------------------------------------------------------------------------------------------------------------------. |+void initCMTW1() | |timerInterrupt.cpp | |-const uint32_t data_flash_size = 65536 // データ・フラッシュの容量 |
|spi.cpp | |+uint16_t startAD_AN004() | |uart.cpp | |+void initTPU0() | |-----------------------------------------------------------------------------------------| |-const uint32_t data_flash_bank = 1024 // データ・フラッシュのバンク数 |
|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| |+uint16_t startAD_AN005() | |-----------------------------------------------------------------------------------------------------------------------------| |//timer main CMTW1 32bit | |//CMT0 | |-const uint32_t F_FCLK = 48000000 |
,-------------------------------------------------------. |-void initTMR0() | |+uint16_t startAD_AN006() | |//SCI1 blocking | |+void waitClockCount(uint32_t cCount) | |+void initCMT0() | ,-------------------------------------------------. ,-------------------------------------------------------. |-error error_ = error::NONE |
|プログラム各層 | |//RSPI0 | ,--------------------------------------------. |+uint16_t startAD_AN007() | |+void initSCI1() | |+void waitusec(uint32_t usec) | |+void setPriorityCMT0(uint8_t priori)| |phaseCounting.cpp | |pwm.cpp | |-mode mode_ = mode::NONE |
|-------------------------------------------------------| |+void initRSPI0() | |da.cpp | ,-------------------------------------------. |+uint16_t startAD_AN108() | |+void put1byteSCI1(char c) | |+void waitmsec(uint32_t msec) | |+void startCMT0() | |-------------------------------------------------| |-------------------------------------------------------| ,------------------------------------------. |-bool trans_farm_ = false |
|**ペリフェラル層** | |+uint8_t communicate8bitRSPI0(uint8_t transmit) | |--------------------------------------------| |clock.cpp | |+uint16_t startAD_AN109() | |+void putnbyteSCI1(char *buf,int len) | |+void startTimeuCount(void) | |+void stopCMT0() | |//MTU1 | |//MTU3 | ,-------. |gpio.cpp | |-bool FACI_termination() |
|ロボットオブジェクト層 | |+void communicateNbyteRSPI0(uint8_t *send, uint8_t *recv, uint8_t num)| |+void initDA() | |-------------------------------------------| |+uint16_t startAD_AN110() | |//SCIFA9 non blocking | |+uint32_t getTimeuCount(void) | |+uint32_t endTimeuCountIntCMT0() | |+void initMTU1() | |+void initMTU3() | |i2c.cpp| |------------------------------------------| |-void FACI_readMD() |
|マイクロマウスオブジェクト層| |+void setEnableRSPI0(uint8_t en) | |+void setDA() | |+void initClock()| |+void startAD_All() | |+queue<uint8_t> transBuff | |+uint32_t int endTimeuCount(void)| |+uint32_t getTimeuCountIntCMT0() | |+int32_t getCountMTU1()| |+void setDutyMTU3(float duty)| |-------| |+void initGPIO()| |-void FACI_peMD() |
|アプリケーション層 | |//RSPI1 | |+uint16_t getDA()| `-------------------------------------------' |//get value | |+uint8_t recieveBuff[512] | |//timer sub TPU0 16bit | |//CMT1 | |//MTU2 | |//MTU4 | `-------' `------------------------------------------' |-bool initFCU() |
| | |+void initRSPI1() | `--------------------------------------------' |+uint16_t getAD_AN000(void) | |+uint16_t recieveBuffCount | |+void waitClockCount_sub(uint32_t cCount) | |+void initCMT1() | |+void initMTU2() | |+void setDutyMTU4(float duty)| |-bool write32(const void* src, uint32_t org) |
`-------------------------------------------------------' |+uint8_t communicate8bitRSPI1(uint8_t transmit) | |+uint16_t getAD_AN001(void) | |+void initSCIFA9() | |+void waitusec_sub(uint32_t usec) | |+void setPriorityCMT1(uint8_t priori)| |+int32_t getCountMTU2()| |+void initMTU4() | |+bool initDataFlash() |
|+void communicateNbyteRSPI1(uint8_t *send, uint8_t *recv, uint8_t num)| |+uint16_t getAD_AN002(void) | |+void putnbyteSCIFA9(uint8_t *buf,uint16_t len)| |+void waitmsec_sub(uint32_t msec) | |+void startCMT1() | `-------------------------------------------------' `-------------------------------------------------------' |+uint8_t readDataFlash(uint32_t org) |
|+void setEnableRSPI1(uint8_t en) | |+uint16_t getAD_AN003(void) | |+void recieveDataSCIFA9() | |+void startTimeuCount_sub(void) | |+void stopCMT1() | |+bool readDataFlash(uint32_t org, void* dst, uint32_t len) |
`------------------------------------------------------------------------------------------------------------------------------------------------------------------------------' |+uint16_t getAD_AN004(void) | |+void sendDataSCIFA9() | |+uint32_t getTimeuCount_sub(void) | |+uint32_t endTimeuCountIntCMT1() | |+bool eraseCheckDataFlash(uint32_t org, uint32_t len) |
|+uint16_t getAD_AN005(void) | `-----------------------------------------------------------------------------------------------------------------------------' |+uint32_t endTimeuCount_sub(void) | |+uint32_t getTimeuCountIntCMT1() | |+bool eraseDataFlash(uint32_t org) |
|+uint16_t getAD_AN006(void) | |//起動時からの時間取得 CMTW0 32bit | `-----------------------------------------------------------------------------------------' |+bool eraseAllDataFlash() |
|+uint16_t getAD_AN007(void) | |+uint32_t getElapsedMsec(void) | |+bool writeDataFlash(uint32_t org, const void* src, uint32_t len)|
|+uint16_t getAD_AN108(void) | `---------------------------------------------------------------------------------------------------------------' |+bool writeDataFlash(uint32_t org, uint8_t data) |
|+uint16_t getAD_AN109(void) | `-------------------------------------------------------------------------------------------------------------------------------------------------------------------------'
|+uint16_t getAD_AN110(void) |
|+void getAD_All(uint16_t *array)|
`------------------------------------------------------------------------------------'