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Dependencies:   mbed FreeRTOS

uart.cpp@2:f0fbb23b4605, 2018-11-23 (annotated)

Committer:
MasashiNomura
Date:
Fri Nov 23 08:01:44 2018 +0000
Revision:
2:f0fbb23b4605
Parent:
0:ecd925601fc6
Child:
4:7aa8cf0dd56f
uart.cpp?Serial?sp46Axis???; ??????????;

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 0:ecd925601fc6 3
takeru0x1103 0:ecd925601fc6 4 //#define WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 5
takeru0x1103 0:ecd925601fc6 6 //シリアルポートインスタンス
takeru0x1103 0:ecd925601fc6 7 #ifdef WIREED_SERIAL
takeru0x1103 0:ecd925601fc6 8 Serial sp(USBTX, USBRX); //有線のポート
takeru0x1103 0:ecd925601fc6 9 #define BAUD_RATE 9600
takeru0x1103 0:ecd925601fc6 10 #else
takeru0x1103 0:ecd925601fc6 11 Serial sp(p9, p10);//TWILITEをモジュールを接続したポート
takeru0x1103 0:ecd925601fc6 12 #define BAUD_RATE 115200
takeru0x1103 0:ecd925601fc6 13 #endif
MasashiNomura 2:f0fbb23b4605 14
MasashiNomura 2:f0fbb23b4605 15 Serial sp46Axis(p28,p27);
MasashiNomura 2:f0fbb23b4605 16 #define BAUD_RATE4_6AXIS 115200
MasashiNomura 2:f0fbb23b4605 17
takeru0x1103 0:ecd925601fc6 18 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 19 // UART 受信割り込みハンドラ
takeru0x1103 0:ecd925601fc6 20 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
takeru0x1103 0:ecd925601fc6 21 void uartRxIntHndler(){
takeru0x1103 0:ecd925601fc6 22 //1Byte抜き出す
takeru0x1103 0:ecd925601fc6 23 UCHAR buf = sp.getc();
takeru0x1103 0:ecd925601fc6 24 //エコーバック
takeru0x1103 0:ecd925601fc6 25 sp.putc(buf);
takeru0x1103 0:ecd925601fc6 26 //コマンドバッファに突っ込む
takeru0x1103 0:ecd925601fc6 27 //commandPush(buf);
takeru0x1103 0:ecd925601fc6 28 }
takeru0x1103 0:ecd925601fc6 29
MasashiNomura 2:f0fbb23b4605 30 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MasashiNomura 2:f0fbb23b4605 31 // UART 受信割り込みハンドラ for Arduino UNO(Six Axis Sensor)
MasashiNomura 2:f0fbb23b4605 32 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MasashiNomura 2:f0fbb23b4605 33 void uartRxIntHndler46AxisS(){
MasashiNomura 2:f0fbb23b4605 34 //1Byte抜き出す
MasashiNomura 2:f0fbb23b4605 35 UCHAR buf = sp46Axis.getc();
MasashiNomura 2:f0fbb23b4605 36 //エコーバック
MasashiNomura 2:f0fbb23b4605 37 sp46Axis.putc(buf);
MasashiNomura 2:f0fbb23b4605 38 sp.putc(buf);
MasashiNomura 2:f0fbb23b4605 39 //コマンドバッファに突っ込む
MasashiNomura 2:f0fbb23b4605 40 //commandPush(buf);
MasashiNomura 2:f0fbb23b4605 41 }
MasashiNomura 2:f0fbb23b4605 42
takeru0x1103 0:ecd925601fc6 43 //=============================================================
takeru0x1103 0:ecd925601fc6 44 //初期設定
takeru0x1103 0:ecd925601fc6 45 //=============================================================
takeru0x1103 0:ecd925601fc6 46 void uartInit(){
takeru0x1103 0:ecd925601fc6 47 //ボーレート設定
takeru0x1103 0:ecd925601fc6 48 sp.baud(BAUD_RATE);
takeru0x1103 0:ecd925601fc6 49
takeru0x1103 0:ecd925601fc6 50 //受信割り込みハンドラ登録
takeru0x1103 0:ecd925601fc6 51 sp.attach
takeru0x1103 0:ecd925601fc6 52 (uartRxIntHndler //登録するハンドラ
takeru0x1103 0:ecd925601fc6 53 ,Serial::RxIrq //割り込み要因
takeru0x1103 0:ecd925601fc6 54 );
takeru0x1103 0:ecd925601fc6 55
takeru0x1103 0:ecd925601fc6 56 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 57 sp.printf("UART open!!\r\n");
takeru0x1103 0:ecd925601fc6 58 sp.printf("-----------\r\n");
takeru0x1103 0:ecd925601fc6 59 sp.printf("short = %d\r\n" ,sizeof(unsigned short) );
takeru0x1103 0:ecd925601fc6 60 sp.printf("int = %d\r\n" ,sizeof(unsigned int) );
takeru0x1103 0:ecd925601fc6 61 sp.printf("long = %d\r\n" ,sizeof(unsigned long) );
takeru0x1103 0:ecd925601fc6 62 sp.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 63
MasashiNomura 2:f0fbb23b4605 64 // for 6Axis Sensor
MasashiNomura 2:f0fbb23b4605 65 //ボーレート設定
MasashiNomura 2:f0fbb23b4605 66 sp46Axis.baud(BAUD_RATE4_6AXIS);
MasashiNomura 2:f0fbb23b4605 67
MasashiNomura 2:f0fbb23b4605 68 //受信割り込みハンドラ登録
MasashiNomura 2:f0fbb23b4605 69 sp46Axis.attach
MasashiNomura 2:f0fbb23b4605 70 (uartRxIntHndler46AxisS //登録するハンドラ
MasashiNomura 2:f0fbb23b4605 71 ,Serial::RxIrq //割り込み要因
MasashiNomura 2:f0fbb23b4605 72 );
MasashiNomura 2:f0fbb23b4605 73
MasashiNomura 2:f0fbb23b4605 74 sp46Axis.printf("***********\r\n");
MasashiNomura 2:f0fbb23b4605 75 sp46Axis.printf("UART open!!\r\n");
MasashiNomura 2:f0fbb23b4605 76 sp46Axis.printf("-----------\r\n");
MasashiNomura 2:f0fbb23b4605 77 sp46Axis.printf("short = %d\r\n" ,sizeof(unsigned short) );
MasashiNomura 2:f0fbb23b4605 78 sp46Axis.printf("int = %d\r\n" ,sizeof(unsigned int) );
MasashiNomura 2:f0fbb23b4605 79 sp46Axis.printf("long = %d\r\n" ,sizeof(unsigned long) );
MasashiNomura 2:f0fbb23b4605 80 sp46Axis.printf("***********\r\n");
takeru0x1103 0:ecd925601fc6 81 }