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Dependencies:   mbed FreeRTOS

uart.cpp@7:bfbbf605be43, 2018-11-24 (annotated)

Committer:
MasashiNomura
Date:
Sat Nov 24 11:49:51 2018 +0000
Revision:
7:bfbbf605be43
Parent:
1:15ab74f0d0f1
Child:
8:1ca49cb18290
?????Z???????yaw,accZ,gyroZ?????

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 1:15ab74f0d0f1 3 #include "command.h"
takeru0x1103 0:ecd925601fc6 4
MasashiNomura 7:bfbbf605be43 5 #include <vector>
MasashiNomura 7:bfbbf605be43 6 #include <string>
MasashiNomura 7:bfbbf605be43 7 #include <sstream>
MasashiNomura 7:bfbbf605be43 8 using namespace std;
MasashiNomura 7:bfbbf605be43 9
takeru0x1103 0:ecd925601fc6 10 //#define WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 11
takeru0x1103 0:ecd925601fc6 12 //シリアルポートインスタンス
takeru0x1103 0:ecd925601fc6 13 #ifdef WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 14 Serial sp(USBTX, USBRX); //有線のポート
takeru0x1103 0:ecd925601fc6 15 #define BAUD_RATE 9600
takeru0x1103 0:ecd925601fc6 16 #else
takeru0x1103 0:ecd925601fc6 17 Serial sp(p9, p10);//TWILITEをモジュールを接続したポート
takeru0x1103 0:ecd925601fc6 18 #define BAUD_RATE 115200
takeru0x1103 0:ecd925601fc6 19 #endif
MasashiNomura 7:bfbbf605be43 20
MasashiNomura 7:bfbbf605be43 21 Serial sp46Axis(p28,p27);
MasashiNomura 7:bfbbf605be43 22 #define BAUD_RATE4_6AXIS 115200
MasashiNomura 7:bfbbf605be43 23
takeru0x1103 0:ecd925601fc6 24 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 25 // UART 受信割り込みハンドラ
takeru0x1103 0:ecd925601fc6 26 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 27 void uartRxIntHndler(){
takeru0x1103 0:ecd925601fc6 28 //1Byte抜き出す
takeru0x1103 0:ecd925601fc6 29 UCHAR buf = sp.getc();
takeru0x1103 0:ecd925601fc6 30 //エコーバック
takeru0x1103 0:ecd925601fc6 31 sp.putc(buf);
takeru0x1103 0:ecd925601fc6 32 //コマンドバッファに突っ込む
takeru0x1103 1:15ab74f0d0f1 33 commandPush(buf);
takeru0x1103 0:ecd925601fc6 34 }
takeru0x1103 0:ecd925601fc6 35
MasashiNomura 7:bfbbf605be43 36 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MasashiNomura 7:bfbbf605be43 37 // UART 受信割り込みハンドラ for Arduino UNO(Six Axis Sensor)
MasashiNomura 7:bfbbf605be43 38 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MasashiNomura 7:bfbbf605be43 39 void uartRxIntHndler46Axis(){
MasashiNomura 7:bfbbf605be43 40 //1Byte抜き出す
MasashiNomura 7:bfbbf605be43 41 UCHAR buf = sp46Axis.getc();
MasashiNomura 7:bfbbf605be43 42 //エコーバック
MasashiNomura 7:bfbbf605be43 43 sp46Axis.putc(buf);
MasashiNomura 7:bfbbf605be43 44 //スルーするためのバッファに突っ込む
MasashiNomura 7:bfbbf605be43 45 PushBuf(buf);
MasashiNomura 7:bfbbf605be43 46 }
MasashiNomura 7:bfbbf605be43 47
takeru0x1103 0:ecd925601fc6 48 //=============================================================
takeru0x1103 0:ecd925601fc6 49 //初期設定
takeru0x1103 0:ecd925601fc6 50 //=============================================================
takeru0x1103 0:ecd925601fc6 51 void uartInit(){
takeru0x1103 0:ecd925601fc6 52 //ボーレート設定
takeru0x1103 0:ecd925601fc6 53 sp.baud(BAUD_RATE);
takeru0x1103 0:ecd925601fc6 54
takeru0x1103 0:ecd925601fc6 55 //受信割り込みハンドラ登録
takeru0x1103 0:ecd925601fc6 56 sp.attach
takeru0x1103 0:ecd925601fc6 57 (uartRxIntHndler //登録するハンドラ
takeru0x1103 0:ecd925601fc6 58 ,Serial::RxIrq //割り込み要因
takeru0x1103 0:ecd925601fc6 59 );
takeru0x1103 0:ecd925601fc6 60
takeru0x1103 0:ecd925601fc6 61 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 62 sp.printf("UART open!!\r\n");
takeru0x1103 0:ecd925601fc6 63 sp.printf("-----------\r\n");
takeru0x1103 0:ecd925601fc6 64 sp.printf("short = %d\r\n" ,sizeof(unsigned short) );
takeru0x1103 0:ecd925601fc6 65 sp.printf("int = %d\r\n" ,sizeof(unsigned int) );
takeru0x1103 0:ecd925601fc6 66 sp.printf("long = %d\r\n" ,sizeof(unsigned long) );
takeru0x1103 0:ecd925601fc6 67 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 68
MasashiNomura 7:bfbbf605be43 69 ////////////////////////////
MasashiNomura 7:bfbbf605be43 70 // for 6Axis Sensor
MasashiNomura 7:bfbbf605be43 71 //ボーレート設定
MasashiNomura 7:bfbbf605be43 72 sp46Axis.baud(BAUD_RATE4_6AXIS);
MasashiNomura 7:bfbbf605be43 73
MasashiNomura 7:bfbbf605be43 74 //受信割り込みハンドラ登録
MasashiNomura 7:bfbbf605be43 75 sp46Axis.attach
MasashiNomura 7:bfbbf605be43 76 (uartRxIntHndler46Axis //登録するハンドラ
MasashiNomura 7:bfbbf605be43 77 ,Serial::RxIrq //割り込み要因
MasashiNomura 7:bfbbf605be43 78 );
MasashiNomura 7:bfbbf605be43 79
MasashiNomura 7:bfbbf605be43 80 sp46Axis.printf("***********\r\n");
MasashiNomura 7:bfbbf605be43 81 sp46Axis.printf("UART open!!\r\n");
MasashiNomura 7:bfbbf605be43 82 sp46Axis.printf("-----------\r\n");
MasashiNomura 7:bfbbf605be43 83 sp46Axis.printf("short = %d\r\n" ,sizeof(unsigned short) );
MasashiNomura 7:bfbbf605be43 84 sp46Axis.printf("int = %d\r\n" ,sizeof(unsigned int) );
MasashiNomura 7:bfbbf605be43 85 sp46Axis.printf("long = %d\r\n" ,sizeof(unsigned long) );
MasashiNomura 7:bfbbf605be43 86 sp46Axis.printf("***********\r\n");
MasashiNomura 7:bfbbf605be43 87
MasashiNomura 7:bfbbf605be43 88 // bufferのクリア
MasashiNomura 7:bfbbf605be43 89 InitBuf();
MasashiNomura 7:bfbbf605be43 90 ////////////////////////////
takeru0x1103 0:ecd925601fc6 91 }
MasashiNomura 7:bfbbf605be43 92
MasashiNomura 7:bfbbf605be43 93 static std::vector<std::string> split(const std::string &str, char sep)
MasashiNomura 7:bfbbf605be43 94 {
MasashiNomura 7:bfbbf605be43 95 std::vector<std::string> v;
MasashiNomura 7:bfbbf605be43 96 std::stringstream ss(str);
MasashiNomura 7:bfbbf605be43 97 std::string buffer;
MasashiNomura 7:bfbbf605be43 98 while( std::getline(ss, buffer, sep) ) {
MasashiNomura 7:bfbbf605be43 99 v.push_back(buffer);
MasashiNomura 7:bfbbf605be43 100 }
MasashiNomura 7:bfbbf605be43 101 return v;
MasashiNomura 7:bfbbf605be43 102 }
MasashiNomura 7:bfbbf605be43 103
MasashiNomura 7:bfbbf605be43 104 void InitBuf()
MasashiNomura 7:bfbbf605be43 105 {
MasashiNomura 7:bfbbf605be43 106 idxBufByG = 0;
MasashiNomura 7:bfbbf605be43 107 memset(bufDataByGyro, 0x00, sizeof(bufDataByGyro));
MasashiNomura 7:bfbbf605be43 108 accZ = gyroZ = yaw = 0.0f;
MasashiNomura 7:bfbbf605be43 109 }
MasashiNomura 7:bfbbf605be43 110
MasashiNomura 7:bfbbf605be43 111 void PushBuf(UCHAR rxChar)
MasashiNomura 7:bfbbf605be43 112 {
MasashiNomura 7:bfbbf605be43 113 bufDataByGyro[idxBufByG] = rxChar;
MasashiNomura 7:bfbbf605be43 114 ++idxBufByG;
MasashiNomura 7:bfbbf605be43 115 if(0x0A != rxChar){
MasashiNomura 7:bfbbf605be43 116 return;
MasashiNomura 7:bfbbf605be43 117 }
MasashiNomura 7:bfbbf605be43 118 else
MasashiNomura 7:bfbbf605be43 119 {
MasashiNomura 7:bfbbf605be43 120 //std::size_t sz;
MasashiNomura 7:bfbbf605be43 121 std::string str((char*)bufDataByGyro);
MasashiNomura 7:bfbbf605be43 122 std::vector<std::string> list = split(str,0x09);
MasashiNomura 7:bfbbf605be43 123 if(list.size() > 0 && list.size() < 4){
MasashiNomura 7:bfbbf605be43 124 yaw = atof(list.at(0).c_str());
MasashiNomura 7:bfbbf605be43 125 accZ = atof(list.at(1).c_str());
MasashiNomura 7:bfbbf605be43 126 gyroZ = atof(list.at(2).c_str());
MasashiNomura 7:bfbbf605be43 127 sp.printf("yaw = %f " ,yaw );
MasashiNomura 7:bfbbf605be43 128 sp.printf("acc = %f" ,accZ );
MasashiNomura 7:bfbbf605be43 129 sp.printf("gyro = %f\r\n" ,gyroZ );
MasashiNomura 7:bfbbf605be43 130 }
MasashiNomura 7:bfbbf605be43 131 idxBufByG = 0;
MasashiNomura 7:bfbbf605be43 132 memset(bufDataByGyro, 0x00, sizeof(bufDataByGyro));
MasashiNomura 7:bfbbf605be43 133 }
MasashiNomura 7:bfbbf605be43 134 }