Revision 4:39ef4d91dc34, committed 2020-07-24

Comitter:

TanakaRobo

Date:

Fri Jul 24 14:12:15 2020 +0000

Parent:

3:28c77df7c0b6

Child:

5:68617f409aaf

Child:

6:a7894e6982ea

Commit message:

update serial interrupt

Changed in this revision

--- a/gy521.cpp	Mon Jan 06 11:06:26 2020 +0000
+++ b/gy521.cpp	Fri Jul 24 14:12:15 2020 +0000
@@ -2,20 +2,6 @@
 
 const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
 const unsigned int dev_id = 0x68 <<  1;
-enum GY521RegisterMap {
-  WHO_AM_I = 0x75,
-  PWR_MGMT_1 = 0x6B,
-  LPF = 0x1A,
-  FS_SEL = 0x1B,
-  AFS_SEL = 0x1C,
-  ACCEL_XOUT_H = 0x3B,
-  ACCEL_YOUT_H = 0x3D,
-  ACCEL_ZOUT_H = 0x3F,
-  //TEMPERATURE  = 0x41,
-  //GYRO_XOUT_H = 0x43,
-  //GYRO_YOUT_H = 0x45,
-  GYRO_ZOUT_H = 0x47
-};
 
 GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c_(i2c),bit_(bit),calibration_(calibration){
     char check;

--- a/gy521.hpp	Mon Jan 06 11:06:26 2020 +0000
+++ b/gy521.hpp	Fri Jul 24 14:12:15 2020 +0000
@@ -15,6 +15,21 @@
 //I2C i2c(SDA,SCL);
 //GY521 gyro(i2c);
 
+enum GY521RegisterMap {
+  WHO_AM_I = 0x75,
+  PWR_MGMT_1 = 0x6B,
+  LPF = 0x1A,
+  FS_SEL = 0x1B,
+  AFS_SEL = 0x1C,
+  ACCEL_XOUT_H = 0x3B,
+  ACCEL_YOUT_H = 0x3D,
+  ACCEL_ZOUT_H = 0x3F,
+  //TEMPERATURE  = 0x41,
+  //GYRO_XOUT_H = 0x43,
+  //GYRO_YOUT_H = 0x45,
+  GYRO_ZOUT_H = 0x47
+};
+
 class GY521{
 public:
     GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);

--- a/scrp_slave.cpp	Mon Jan 06 11:06:26 2020 +0000
+++ b/scrp_slave.cpp	Fri Jul 24 14:12:15 2020 +0000
@@ -80,8 +80,7 @@
 }
 
 int16_t ScrpSlave::send2(uint8_t id,uint8_t cmd,int16_t tx_data){
-    if(mode_ < 2)return -1;
-    return sending(1,id,cmd,tx_data);
+    return ((mode_ < 2) ? -1 : sending(1,id,cmd,tx_data));
 }
 
 int16_t ScrpSlave::sending(int port,uint8_t id,uint8_t cmd,int16_t tx_data){
@@ -167,7 +166,7 @@
         }
     }else if(stx_flag_[port]){
         uint8_t get_data = serial_[port]->getc();
-        if(get_data == my_id_ || get_data == 255){
+        if(get_data == my_id_ || get_data == 255 || wait_data_[port]){
             id_ok_[port] = true;
             tmp_data_[port][0] = get_data;
             data_count_[port]++;
@@ -177,7 +176,8 @@
     }else if(serial_[port]->getc() == STX){
         stx_flag_[port] = true;
         data_count_[port] = 0;
-        id_ok_[port] = wait_data_[port];//データ返信待ち時はidチェック無し
+        id_ok_[port] = false;
+        //id_ok_[port] = wait_data_[port];//データ返信待ち時はidチェック無し
     }
     return;
 }

--- a/scrp_slave.hpp	Mon Jan 06 11:06:26 2020 +0000
+++ b/scrp_slave.hpp	Fri Jul 24 14:12:15 2020 +0000
@@ -12,6 +12,7 @@
  *example not usb port
  *L432KC : TX = PA_9 , RX = PA_10 , REDE = PA_12 , addr = 0x0803e000
  *F446RE : TX = PC_12 , RX = PD_2 , RDDE = PH_1 , addr = 0x0807ffff
+ *H743ZI : TX = PD_5 , RX = PD_6 , REDE = PD_7 , addr = 0x081ee000
  *<obj>.addCMD(int cmd, bool (*proc)(int rx_data, int& tx_data))
  *でcmdで指定したコマンドを受信したときに呼び出される
  *bool型で引数が(int rx_data, int& tx_data)の関数を指定する。
@@ -19,6 +20,7 @@
 //ScrpSlave slave(SERIAL_TX,SERIAL_RX);
 //ScrpSlave slave(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807ffff);
 //ScrpSlave slave(PA_9 ,PA_10,PA_12,SERIAL_TX,SERIAL_RX,0x0803e000);
+//ScrpSlave slave(PD_5 ,PD_6,PD_7,SERIAL_TX,SERIAL_RX,0x081ee000);
 
 inline int constrain(int x,int a,int b){
     return (x < a ? a : x > b ? b : x);