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Dependencies:   mbed FreeRTOS

uart.cpp@26:732bc37fbefd, 2018-12-13 (annotated)

Committer:
MasashiNomura
Date:
Thu Dec 13 12:15:35 2018 +0000
Revision:
26:732bc37fbefd
Parent:
25:f3a6e7eec9c3
Child:
39:1b76f7df8804
2018/12/13 Add MotorOfs Function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 0:ecd925601fc6 1 #include "typedef.h"
takeru0x1103 0:ecd925601fc6 2 #include "uart.h"
takeru0x1103 19:4b0fe9a5ec38 3 #include "mbed.h"
takeru0x1103 19:4b0fe9a5ec38 4 #include "globalFlags.h"
takeru0x1103 0:ecd925601fc6 5
takeru0x1103 8:1ca49cb18290 6 //ログ吐出し様シリアルポートインスタンス
takeru0x1103 8:1ca49cb18290 7 //----------------------------------
MasashiNomura 26:732bc37fbefd 8 #ifdef DEBUG_T_SERIAL
MasashiNomura 26:732bc37fbefd 9 Serial sp(USBTX, USBRX); //有線のポート
MasashiNomura 26:732bc37fbefd 10 Serial spMoni(p9, p10);//TWILITEをモジュールを接続したポート/Outputのみ
MasashiNomura 26:732bc37fbefd 11 #define BAUD_RATE 115200
MasashiNomura 26:732bc37fbefd 12 #else
takeru0x1103 8:1ca49cb18290 13 #define WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 14 #ifdef WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 15 Serial sp(USBTX, USBRX); //有線のポート
takeru0x1103 8:1ca49cb18290 16 #define BAUD_RATE 115200
takeru0x1103 0:ecd925601fc6 17 #else
takeru0x1103 0:ecd925601fc6 18 Serial sp(p9, p10);//TWILITEをモジュールを接続したポート
takeru0x1103 0:ecd925601fc6 19 #define BAUD_RATE 115200
takeru0x1103 0:ecd925601fc6 20 #endif
MasashiNomura 26:732bc37fbefd 21 #endif
MasashiNomura 14:76a56d517103 22 //Serial sp46Axis(p28,p27);
MasashiNomura 7:bfbbf605be43 23
takeru0x1103 8:1ca49cb18290 24 //Asciiコード
takeru0x1103 8:1ca49cb18290 25 #define CR 0x0D
takeru0x1103 8:1ca49cb18290 26 #define LF 0x0A
takeru0x1103 19:4b0fe9a5ec38 27
takeru0x1103 19:4b0fe9a5ec38 28 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 29 //グローバル変数
takeru0x1103 19:4b0fe9a5ec38 30 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 31 char cmdBuf[G_CMD_BUF_SIZ] ={0,} ;// コマンドバッファ
takeru0x1103 19:4b0fe9a5ec38 32 static UCHAR bp=0;// バッファポインタ
takeru0x1103 19:4b0fe9a5ec38 33
takeru0x1103 19:4b0fe9a5ec38 34 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 35 //受信コマンドバッファクリア
takeru0x1103 19:4b0fe9a5ec38 36 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 37 static void xBufClear(){
takeru0x1103 19:4b0fe9a5ec38 38 memset(&cmdBuf[0] , 0x00 , sizeof(cmdBuf) ); //コマンドバッファクリア
takeru0x1103 19:4b0fe9a5ec38 39 bp=0; //バッファポインタを先頭に戻す
takeru0x1103 19:4b0fe9a5ec38 40 }
takeru0x1103 19:4b0fe9a5ec38 41 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 42 //エンターが押されてコマンドを転送
takeru0x1103 19:4b0fe9a5ec38 43 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 44 static void xSendMsg(){
takeru0x1103 19:4b0fe9a5ec38 45
takeru0x1103 19:4b0fe9a5ec38 46 memcpy(g_CmdBuf, cmdBuf, sizeof(g_CmdBuf));
takeru0x1103 19:4b0fe9a5ec38 47 gf_CmdPrs = true;
takeru0x1103 19:4b0fe9a5ec38 48 xBufClear();
takeru0x1103 19:4b0fe9a5ec38 49 }
takeru0x1103 19:4b0fe9a5ec38 50 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 51 //バックスペースが来た時の処理
takeru0x1103 19:4b0fe9a5ec38 52 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 53 static void xBs(){
takeru0x1103 19:4b0fe9a5ec38 54 cmdBuf[bp] = 0x0; //現在位置をNULLにする
takeru0x1103 19:4b0fe9a5ec38 55 if(bp>0) bp--; //インデックスを戻す(先頭でなければ)
takeru0x1103 19:4b0fe9a5ec38 56 }
takeru0x1103 19:4b0fe9a5ec38 57
takeru0x1103 19:4b0fe9a5ec38 58 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 59 //コマンドバッファへ格納
takeru0x1103 19:4b0fe9a5ec38 60 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 61 static void xPush(char cBuf){
takeru0x1103 19:4b0fe9a5ec38 62 //バッファ終端だったらエラー
takeru0x1103 19:4b0fe9a5ec38 63 if(bp < sizeof(cmdBuf)-1){
takeru0x1103 19:4b0fe9a5ec38 64 cmdBuf[bp] = cBuf;//受信文字をバッファへ格納
takeru0x1103 19:4b0fe9a5ec38 65 bp++;//次へ進める
takeru0x1103 19:4b0fe9a5ec38 66 }
takeru0x1103 19:4b0fe9a5ec38 67 }
takeru0x1103 19:4b0fe9a5ec38 68
MasashiNomura 25:f3a6e7eec9c3 69 //-------------------------------------------------------------
MasashiNomura 25:f3a6e7eec9c3 70 //ESCが来た時の処理
MasashiNomura 25:f3a6e7eec9c3 71 //-------------------------------------------------------------
MasashiNomura 25:f3a6e7eec9c3 72 static void xEsc(){
MasashiNomura 25:f3a6e7eec9c3 73 //バッファクリア
MasashiNomura 25:f3a6e7eec9c3 74 xBufClear();
MasashiNomura 25:f3a6e7eec9c3 75 //ESCをセット
MasashiNomura 25:f3a6e7eec9c3 76 xPush(ESC);
MasashiNomura 25:f3a6e7eec9c3 77 xSendMsg();
MasashiNomura 25:f3a6e7eec9c3 78 }
MasashiNomura 25:f3a6e7eec9c3 79
takeru0x1103 19:4b0fe9a5ec38 80 //=============================================================
takeru0x1103 19:4b0fe9a5ec38 81 // コマンドバッファへ受信キャラを格納
takeru0x1103 19:4b0fe9a5ec38 82 //=============================================================
takeru0x1103 19:4b0fe9a5ec38 83 static void xPushBuf(UCHAR iRxChar){
takeru0x1103 19:4b0fe9a5ec38 84 switch(iRxChar){
takeru0x1103 19:4b0fe9a5ec38 85 //▼タブ
takeru0x1103 21:78302ecdb661 86 case 0x21: //!マーク
takeru0x1103 21:78302ecdb661 87 // gf.push();
takeru0x1103 19:4b0fe9a5ec38 88 break;
takeru0x1103 19:4b0fe9a5ec38 89 //▼バックスペース
takeru0x1103 19:4b0fe9a5ec38 90 case BS :
takeru0x1103 19:4b0fe9a5ec38 91 xBs();
takeru0x1103 19:4b0fe9a5ec38 92 break;
takeru0x1103 19:4b0fe9a5ec38 93 //▼エスケープ　キャリッジリターン
takeru0x1103 19:4b0fe9a5ec38 94 case ESC:
MasashiNomura 25:f3a6e7eec9c3 95 xEsc();
MasashiNomura 25:f3a6e7eec9c3 96 break;
takeru0x1103 19:4b0fe9a5ec38 97 case CR :
takeru0x1103 19:4b0fe9a5ec38 98 /*何もしない*/
takeru0x1103 19:4b0fe9a5ec38 99 break;
takeru0x1103 19:4b0fe9a5ec38 100 //▼ラインフィード(改行)
takeru0x1103 19:4b0fe9a5ec38 101 case LF :
takeru0x1103 19:4b0fe9a5ec38 102 xSendMsg();
takeru0x1103 19:4b0fe9a5ec38 103 break;
takeru0x1103 19:4b0fe9a5ec38 104 //▼スペース
takeru0x1103 19:4b0fe9a5ec38 105 case SPC:
takeru0x1103 19:4b0fe9a5ec38 106 xPush(0x0);//Null文字にしてバッファ格納
takeru0x1103 19:4b0fe9a5ec38 107 break;
takeru0x1103 19:4b0fe9a5ec38 108 //▼//その他
takeru0x1103 19:4b0fe9a5ec38 109 default :
takeru0x1103 19:4b0fe9a5ec38 110 xPush(iRxChar);//コマンドバッファへプッシュ
takeru0x1103 19:4b0fe9a5ec38 111 break;
takeru0x1103 19:4b0fe9a5ec38 112 }//switch
takeru0x1103 19:4b0fe9a5ec38 113 }
takeru0x1103 19:4b0fe9a5ec38 114
takeru0x1103 0:ecd925601fc6 115 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 116 // UART 受信割り込みハンドラ
takeru0x1103 0:ecd925601fc6 117 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 118 void uartRxIntHndler(){
takeru0x1103 0:ecd925601fc6 119 //1Byte抜き出す
takeru0x1103 0:ecd925601fc6 120 UCHAR buf = sp.getc();
takeru0x1103 0:ecd925601fc6 121 //エコーバック
takeru0x1103 17:f9610f3cfa1b 122 sp.putc(buf);
takeru0x1103 0:ecd925601fc6 123 //コマンドバッファに突っ込む
takeru0x1103 19:4b0fe9a5ec38 124 xPushBuf(buf);
takeru0x1103 0:ecd925601fc6 125 }
takeru0x1103 0:ecd925601fc6 126
takeru0x1103 0:ecd925601fc6 127 //=============================================================
takeru0x1103 0:ecd925601fc6 128 //初期設定
takeru0x1103 0:ecd925601fc6 129 //=============================================================
takeru0x1103 0:ecd925601fc6 130 void uartInit(){
takeru0x1103 19:4b0fe9a5ec38 131 //バッファクリア
takeru0x1103 19:4b0fe9a5ec38 132 xBufClear();
takeru0x1103 19:4b0fe9a5ec38 133
takeru0x1103 0:ecd925601fc6 134 //ボーレート設定
takeru0x1103 0:ecd925601fc6 135 sp.baud(BAUD_RATE);
takeru0x1103 0:ecd925601fc6 136
takeru0x1103 8:1ca49cb18290 137 //受信割り込みハンドラ登録(登録するハンドラ,割り込み要因)
takeru0x1103 8:1ca49cb18290 138 sp.attach(uartRxIntHndler,Serial::RxIrq);
takeru0x1103 0:ecd925601fc6 139
takeru0x1103 0:ecd925601fc6 140 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 141 sp.printf("UART open!!\r\n");
takeru0x1103 0:ecd925601fc6 142 sp.printf("-----------\r\n");
takeru0x1103 18:5aa48aec9cae 143 sp.printf("INT16 = %d\r\n" ,sizeof(INT16) );
takeru0x1103 18:5aa48aec9cae 144 sp.printf("unsigned int = %d\r\n" ,sizeof(unsigned int) );
takeru0x1103 18:5aa48aec9cae 145 sp.printf("long = %d\r\n" ,sizeof(unsigned long) );
takeru0x1103 18:5aa48aec9cae 146 sp.printf("unsigned int = %d\r\n" ,sizeof(unsigned int) );
takeru0x1103 0:ecd925601fc6 147 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 148 }