Diff: uart.cpp

Revision:

2:f0fbb23b4605

Parent:

0:ecd925601fc6

Child:

4:7aa8cf0dd56f

diff -r ecd925601fc6 -r f0fbb23b4605 uart.cpp
--- a/uart.cpp	Fri Nov 23 07:27:43 2018 +0000
+++ b/uart.cpp	Fri Nov 23 08:01:44 2018 +0000
@@ -11,7 +11,10 @@
     Serial  sp(p9, p10);//TWILITEをモジュールを接続したポート
     #define BAUD_RATE   115200
 #endif
-    
+
+Serial sp46Axis(p28,p27);
+#define BAUD_RATE4_6AXIS   115200
+
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // UART 受信割り込みハンドラ
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -24,6 +27,19 @@
     //commandPush(buf);
 }
 
+//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// UART 受信割り込みハンドラ for Arduino UNO(Six Axis Sensor)
+//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+void uartRxIntHndler46AxisS(){
+    //1Byte抜き出す
+    UCHAR buf = sp46Axis.getc();
+    //エコーバック
+    sp46Axis.putc(buf);
+    sp.putc(buf);
+    //コマンドバッファに突っ込む
+    //commandPush(buf);
+}
+
 //=============================================================
 //初期設定
 //=============================================================
@@ -45,4 +61,21 @@
     sp.printf("long  = %d\r\n" ,sizeof(unsigned long) );
     sp.printf("***********\r\n");
 
+    // for 6Axis Sensor
+    //ボーレート設定
+    sp46Axis.baud(BAUD_RATE4_6AXIS);
+    
+    //受信割り込みハンドラ登録
+    sp46Axis.attach
+        (uartRxIntHndler46AxisS    //登録するハンドラ
+        ,Serial::RxIrq           //割り込み要因
+        );
+        
+    sp46Axis.printf("***********\r\n");
+    sp46Axis.printf("UART open!!\r\n");    
+    sp46Axis.printf("-----------\r\n");
+    sp46Axis.printf("short = %d\r\n" ,sizeof(unsigned short) );
+    sp46Axis.printf("int   = %d\r\n" ,sizeof(unsigned int) );
+    sp46Axis.printf("long  = %d\r\n" ,sizeof(unsigned long) );
+    sp46Axis.printf("***********\r\n");
 }