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Dependencies:   mbed

uart.cpp@2:ff609fd0c51a, 2018-08-20 (annotated)

Committer:
duchung2603
Date:
Mon Aug 20 07:58:27 2018 +0000
Revision:
2:ff609fd0c51a
Parent:
1:c002cfb55315
Child:
3:6898c5bd7fef
2nd_release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
duchung2603 0:a8339cee32b7 1 #include "uart.h"
duchung2603 0:a8339cee32b7 2 #include "mbed.h"
duchung2603 0:a8339cee32b7 3 #include <string.h>
duchung2603 0:a8339cee32b7 4 #include "motor.h"
duchung2603 0:a8339cee32b7 5
duchung2603 0:a8339cee32b7 6 #define BS 0x08
duchung2603 0:a8339cee32b7 7 #define CR 0x0D
duchung2603 0:a8339cee32b7 8 #define LF 0x0A
duchung2603 0:a8339cee32b7 9
duchung2603 0:a8339cee32b7 10 static Serial sp(p9, p10, 115200) ;// シリアルポートインスタンス：tx , rx ,ボーレート
duchung2603 0:a8339cee32b7 11 static char msgBuf[63] ={0,} ;//
duchung2603 0:a8339cee32b7 12 static UCHAR bp =0 ;// バッファポインタ
duchung2603 0:a8339cee32b7 13
duchung2603 0:a8339cee32b7 14 DigitalOut led4(LED4);
duchung2603 0:a8339cee32b7 15
duchung2603 0:a8339cee32b7 16 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 17 //受信コマンドバッファクリア
duchung2603 0:a8339cee32b7 18 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 19 static void bufClear(){
duchung2603 0:a8339cee32b7 20 //コマンドバッファをゼロクリア
duchung2603 0:a8339cee32b7 21 memset(&msgBuf[0] , 0x00 , sizeof(msgBuf) );
duchung2603 0:a8339cee32b7 22 //バッファポインタを先頭に戻す
duchung2603 0:a8339cee32b7 23 bp=0;
duchung2603 0:a8339cee32b7 24 }
duchung2603 0:a8339cee32b7 25
duchung2603 0:a8339cee32b7 26 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 27 //バックスペースが来た時の処理
duchung2603 0:a8339cee32b7 28 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 29 static void xBs(){
duchung2603 0:a8339cee32b7 30 msgBuf[bp] = 0x0; //１文字消す
duchung2603 0:a8339cee32b7 31 if(bp>0) bp--; //インデックスを戻す(先頭でなければ)
duchung2603 0:a8339cee32b7 32 }
duchung2603 0:a8339cee32b7 33 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 34 //エンターを押したときの処理
duchung2603 0:a8339cee32b7 35 //-------------------------------------------------------------
duchung2603 0:a8339cee32b7 36 static void xEnter(){
duchung2603 0:a8339cee32b7 37 sp.printf("\r\n");
duchung2603 0:a8339cee32b7 38 sp.printf("%s\r\n" , msgBuf);
duchung2603 0:a8339cee32b7 39
duchung2603 0:a8339cee32b7 40 if(strcmp(msgBuf , "i")==0 ){
duchung2603 2:ff609fd0c51a 41 motorUp();
duchung2603 0:a8339cee32b7 42 }
duchung2603 0:a8339cee32b7 43
duchung2603 2:ff609fd0c51a 44 if(strcmp(msgBuf , "x")==0 ){ motorStop();}
duchung2603 0:a8339cee32b7 45
duchung2603 0:a8339cee32b7 46 //バッファクリア
duchung2603 0:a8339cee32b7 47 bufClear();
duchung2603 0:a8339cee32b7 48 }
duchung2603 0:a8339cee32b7 49
duchung2603 0:a8339cee32b7 50 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
duchung2603 0:a8339cee32b7 51 // UART 受信割り込みのコールバック
duchung2603 0:a8339cee32b7 52 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
duchung2603 0:a8339cee32b7 53 void rxCallback()
duchung2603 0:a8339cee32b7 54 {
duchung2603 0:a8339cee32b7 55 led4 = !led4;
duchung2603 0:a8339cee32b7 56 //1Byte抜き出す
duchung2603 0:a8339cee32b7 57 UCHAR buf = sp.getc();
duchung2603 0:a8339cee32b7 58
duchung2603 0:a8339cee32b7 59 //エコーバック
duchung2603 0:a8339cee32b7 60 sp.putc(buf);
duchung2603 0:a8339cee32b7 61
duchung2603 0:a8339cee32b7 62 //
duchung2603 0:a8339cee32b7 63 switch(buf){
duchung2603 0:a8339cee32b7 64 case BS : xBs(); break;
duchung2603 0:a8339cee32b7 65 case CR : break;
duchung2603 0:a8339cee32b7 66 case LF : xEnter(); break; // Enter
duchung2603 0:a8339cee32b7 67 default :
duchung2603 0:a8339cee32b7 68 //コマンドバッファ格納
duchung2603 0:a8339cee32b7 69 msgBuf[bp] = buf;
duchung2603 0:a8339cee32b7 70 bp++;
duchung2603 0:a8339cee32b7 71 break;
duchung2603 0:a8339cee32b7 72 }
duchung2603 0:a8339cee32b7 73 }
duchung2603 0:a8339cee32b7 74
duchung2603 0:a8339cee32b7 75 //=============================================================
duchung2603 0:a8339cee32b7 76 //初期化
duchung2603 0:a8339cee32b7 77 //=============================================================
duchung2603 0:a8339cee32b7 78 void uartInit(){
duchung2603 0:a8339cee32b7 79 //受信割り込みハンドラ登録
duchung2603 0:a8339cee32b7 80 sp.attach(rxCallback, Serial::RxIrq);
duchung2603 0:a8339cee32b7 81
duchung2603 0:a8339cee32b7 82 //シリアルポート開通確認メッセージ表示
duchung2603 0:a8339cee32b7 83 sp.printf("***************\n");
duchung2603 0:a8339cee32b7 84 sp.printf("start!!!!!\n");
duchung2603 0:a8339cee32b7 85 sp.printf("***************\n");
duchung2603 0:a8339cee32b7 86
duchung2603 0:a8339cee32b7 87 //受信コマンドバッファクリア
duchung2603 0:a8339cee32b7 88 bufClear();
duchung2603 0:a8339cee32b7 89 }
duchung2603 0:a8339cee32b7 90