mouvement AX12 petit robot version 2
Fork of command_AX12_petit_robot_v2 by
mbed/Serial.h@7:ad4a19e26b84, 2017-05-12 (annotated)
- Committer:
- ClementBreteau
- Date:
- Fri May 12 14:35:09 2017 +0000
- Revision:
- 7:ad4a19e26b84
- Parent:
- 2:99b1cb0d9f5e
position ax12
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SquirrelGod | 2:99b1cb0d9f5e | 1 | /* mbed Microcontroller Library - Serial |
SquirrelGod | 2:99b1cb0d9f5e | 2 | * Copyright (c) 2007-2011 ARM Limited. All rights reserved. |
SquirrelGod | 2:99b1cb0d9f5e | 3 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 4 | |
SquirrelGod | 2:99b1cb0d9f5e | 5 | #ifndef MBED_SERIAL_H |
SquirrelGod | 2:99b1cb0d9f5e | 6 | #define MBED_SERIAL_H |
SquirrelGod | 2:99b1cb0d9f5e | 7 | |
SquirrelGod | 2:99b1cb0d9f5e | 8 | #include "device.h" |
SquirrelGod | 2:99b1cb0d9f5e | 9 | |
SquirrelGod | 2:99b1cb0d9f5e | 10 | #if DEVICE_SERIAL |
SquirrelGod | 2:99b1cb0d9f5e | 11 | |
SquirrelGod | 2:99b1cb0d9f5e | 12 | #include "platform.h" |
SquirrelGod | 2:99b1cb0d9f5e | 13 | #include "PinNames.h" |
SquirrelGod | 2:99b1cb0d9f5e | 14 | #include "PeripheralNames.h" |
SquirrelGod | 2:99b1cb0d9f5e | 15 | #include "Stream.h" |
SquirrelGod | 2:99b1cb0d9f5e | 16 | #include "FunctionPointer.h" |
SquirrelGod | 2:99b1cb0d9f5e | 17 | |
SquirrelGod | 2:99b1cb0d9f5e | 18 | namespace mbed { |
SquirrelGod | 2:99b1cb0d9f5e | 19 | |
SquirrelGod | 2:99b1cb0d9f5e | 20 | /* Class: Serial |
SquirrelGod | 2:99b1cb0d9f5e | 21 | * A serial port (UART) for communication with other serial devices |
SquirrelGod | 2:99b1cb0d9f5e | 22 | * |
SquirrelGod | 2:99b1cb0d9f5e | 23 | * Can be used for Full Duplex communication, or Simplex by specifying |
SquirrelGod | 2:99b1cb0d9f5e | 24 | * one pin as NC (Not Connected) |
SquirrelGod | 2:99b1cb0d9f5e | 25 | * |
SquirrelGod | 2:99b1cb0d9f5e | 26 | * Example: |
SquirrelGod | 2:99b1cb0d9f5e | 27 | * > // Print "Hello World" to the PC |
SquirrelGod | 2:99b1cb0d9f5e | 28 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 29 | * > #include "mbed.h" |
SquirrelGod | 2:99b1cb0d9f5e | 30 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 31 | * > Serial pc(USBTX, USBRX); |
SquirrelGod | 2:99b1cb0d9f5e | 32 | * > |
SquirrelGod | 2:99b1cb0d9f5e | 33 | * > int main() { |
SquirrelGod | 2:99b1cb0d9f5e | 34 | * > pc.printf("Hello World\n"); |
SquirrelGod | 2:99b1cb0d9f5e | 35 | * > } |
SquirrelGod | 2:99b1cb0d9f5e | 36 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 37 | class Serial : public Stream { |
SquirrelGod | 2:99b1cb0d9f5e | 38 | |
SquirrelGod | 2:99b1cb0d9f5e | 39 | public: |
SquirrelGod | 2:99b1cb0d9f5e | 40 | |
SquirrelGod | 2:99b1cb0d9f5e | 41 | /* Constructor: Serial |
SquirrelGod | 2:99b1cb0d9f5e | 42 | * Create a Serial port, connected to the specified transmit and receive pins |
SquirrelGod | 2:99b1cb0d9f5e | 43 | * |
SquirrelGod | 2:99b1cb0d9f5e | 44 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 45 | * tx - Transmit pin |
SquirrelGod | 2:99b1cb0d9f5e | 46 | * rx - Receive pin |
SquirrelGod | 2:99b1cb0d9f5e | 47 | * |
SquirrelGod | 2:99b1cb0d9f5e | 48 | * Note: Either tx or rx may be specified as NC if unused |
SquirrelGod | 2:99b1cb0d9f5e | 49 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 50 | Serial(PinName tx, PinName rx, const char *name = NULL); |
SquirrelGod | 2:99b1cb0d9f5e | 51 | |
SquirrelGod | 2:99b1cb0d9f5e | 52 | /* Function: baud |
SquirrelGod | 2:99b1cb0d9f5e | 53 | * Set the baud rate of the serial port |
SquirrelGod | 2:99b1cb0d9f5e | 54 | * |
SquirrelGod | 2:99b1cb0d9f5e | 55 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 56 | * baudrate - The baudrate of the serial port (default = 9600). |
SquirrelGod | 2:99b1cb0d9f5e | 57 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 58 | void baud(int baudrate); |
SquirrelGod | 2:99b1cb0d9f5e | 59 | |
SquirrelGod | 2:99b1cb0d9f5e | 60 | enum Parity { |
SquirrelGod | 2:99b1cb0d9f5e | 61 | None = 0 |
SquirrelGod | 2:99b1cb0d9f5e | 62 | , Odd |
SquirrelGod | 2:99b1cb0d9f5e | 63 | , Even |
SquirrelGod | 2:99b1cb0d9f5e | 64 | , Forced1 |
SquirrelGod | 2:99b1cb0d9f5e | 65 | , Forced0 |
SquirrelGod | 2:99b1cb0d9f5e | 66 | }; |
SquirrelGod | 2:99b1cb0d9f5e | 67 | |
SquirrelGod | 2:99b1cb0d9f5e | 68 | enum IrqType { |
SquirrelGod | 2:99b1cb0d9f5e | 69 | RxIrq = 0 |
SquirrelGod | 2:99b1cb0d9f5e | 70 | , TxIrq |
SquirrelGod | 2:99b1cb0d9f5e | 71 | }; |
SquirrelGod | 2:99b1cb0d9f5e | 72 | |
SquirrelGod | 2:99b1cb0d9f5e | 73 | /* Function: format |
SquirrelGod | 2:99b1cb0d9f5e | 74 | * Set the transmission format used by the Serial port |
SquirrelGod | 2:99b1cb0d9f5e | 75 | * |
SquirrelGod | 2:99b1cb0d9f5e | 76 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 77 | * bits - The number of bits in a word (5-8; default = 8) |
SquirrelGod | 2:99b1cb0d9f5e | 78 | * parity - The parity used (Serial::None, Serial::Odd, Serial::Even, Serial::Forced1, Serial::Forced0; default = Serial::None) |
SquirrelGod | 2:99b1cb0d9f5e | 79 | * stop - The number of stop bits (1 or 2; default = 1) |
SquirrelGod | 2:99b1cb0d9f5e | 80 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 81 | void format(int bits = 8, Parity parity = Serial::None, int stop_bits = 1); |
SquirrelGod | 2:99b1cb0d9f5e | 82 | |
SquirrelGod | 2:99b1cb0d9f5e | 83 | #if 0 // Inhereted from Stream, for documentation only |
SquirrelGod | 2:99b1cb0d9f5e | 84 | |
SquirrelGod | 2:99b1cb0d9f5e | 85 | /* Function: putc |
SquirrelGod | 2:99b1cb0d9f5e | 86 | * Write a character |
SquirrelGod | 2:99b1cb0d9f5e | 87 | * |
SquirrelGod | 2:99b1cb0d9f5e | 88 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 89 | * c - The character to write to the serial port |
SquirrelGod | 2:99b1cb0d9f5e | 90 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 91 | int putc(int c); |
SquirrelGod | 2:99b1cb0d9f5e | 92 | |
SquirrelGod | 2:99b1cb0d9f5e | 93 | /* Function: getc |
SquirrelGod | 2:99b1cb0d9f5e | 94 | * Read a character |
SquirrelGod | 2:99b1cb0d9f5e | 95 | * |
SquirrelGod | 2:99b1cb0d9f5e | 96 | * Reads a character from the serial port. This will block until |
SquirrelGod | 2:99b1cb0d9f5e | 97 | * a character is available. To see if a character is available, |
SquirrelGod | 2:99b1cb0d9f5e | 98 | * see <readable> |
SquirrelGod | 2:99b1cb0d9f5e | 99 | * |
SquirrelGod | 2:99b1cb0d9f5e | 100 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 101 | * returns - The character read from the serial port |
SquirrelGod | 2:99b1cb0d9f5e | 102 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 103 | int getc(); |
SquirrelGod | 2:99b1cb0d9f5e | 104 | |
SquirrelGod | 2:99b1cb0d9f5e | 105 | /* Function: printf |
SquirrelGod | 2:99b1cb0d9f5e | 106 | * Write a formated string |
SquirrelGod | 2:99b1cb0d9f5e | 107 | * |
SquirrelGod | 2:99b1cb0d9f5e | 108 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 109 | * format - A printf-style format string, followed by the |
SquirrelGod | 2:99b1cb0d9f5e | 110 | * variables to use in formating the string. |
SquirrelGod | 2:99b1cb0d9f5e | 111 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 112 | int printf(const char* format, ...); |
SquirrelGod | 2:99b1cb0d9f5e | 113 | |
SquirrelGod | 2:99b1cb0d9f5e | 114 | /* Function: scanf |
SquirrelGod | 2:99b1cb0d9f5e | 115 | * Read a formated string |
SquirrelGod | 2:99b1cb0d9f5e | 116 | * |
SquirrelGod | 2:99b1cb0d9f5e | 117 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 118 | * format - A scanf-style format string, |
SquirrelGod | 2:99b1cb0d9f5e | 119 | * followed by the pointers to variables to store the results. |
SquirrelGod | 2:99b1cb0d9f5e | 120 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 121 | int scanf(const char* format, ...); |
SquirrelGod | 2:99b1cb0d9f5e | 122 | |
SquirrelGod | 2:99b1cb0d9f5e | 123 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 124 | |
SquirrelGod | 2:99b1cb0d9f5e | 125 | /* Function: readable |
SquirrelGod | 2:99b1cb0d9f5e | 126 | * Determine if there is a character available to read |
SquirrelGod | 2:99b1cb0d9f5e | 127 | * |
SquirrelGod | 2:99b1cb0d9f5e | 128 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 129 | * returns - 1 if there is a character available to read, else 0 |
SquirrelGod | 2:99b1cb0d9f5e | 130 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 131 | int readable(); |
SquirrelGod | 2:99b1cb0d9f5e | 132 | |
SquirrelGod | 2:99b1cb0d9f5e | 133 | /* Function: writeable |
SquirrelGod | 2:99b1cb0d9f5e | 134 | * Determine if there is space available to write a character |
SquirrelGod | 2:99b1cb0d9f5e | 135 | * |
SquirrelGod | 2:99b1cb0d9f5e | 136 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 137 | * returns - 1 if there is space to write a character, else 0 |
SquirrelGod | 2:99b1cb0d9f5e | 138 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 139 | int writeable(); |
SquirrelGod | 2:99b1cb0d9f5e | 140 | |
SquirrelGod | 2:99b1cb0d9f5e | 141 | /* Function: attach |
SquirrelGod | 2:99b1cb0d9f5e | 142 | * Attach a function to call whenever a serial interrupt is generated |
SquirrelGod | 2:99b1cb0d9f5e | 143 | * |
SquirrelGod | 2:99b1cb0d9f5e | 144 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 145 | * fptr - A pointer to a void function, or 0 to set as none |
SquirrelGod | 2:99b1cb0d9f5e | 146 | * type - Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) |
SquirrelGod | 2:99b1cb0d9f5e | 147 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 148 | void attach(void (*fptr)(void), IrqType type = RxIrq); |
SquirrelGod | 2:99b1cb0d9f5e | 149 | |
SquirrelGod | 2:99b1cb0d9f5e | 150 | /* Function: attach |
SquirrelGod | 2:99b1cb0d9f5e | 151 | * Attach a member function to call whenever a serial interrupt is generated |
SquirrelGod | 2:99b1cb0d9f5e | 152 | * |
SquirrelGod | 2:99b1cb0d9f5e | 153 | * Variables: |
SquirrelGod | 2:99b1cb0d9f5e | 154 | * tptr - pointer to the object to call the member function on |
SquirrelGod | 2:99b1cb0d9f5e | 155 | * mptr - pointer to the member function to be called |
SquirrelGod | 2:99b1cb0d9f5e | 156 | * type - Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) |
SquirrelGod | 2:99b1cb0d9f5e | 157 | */ |
SquirrelGod | 2:99b1cb0d9f5e | 158 | template<typename T> |
SquirrelGod | 2:99b1cb0d9f5e | 159 | void attach(T* tptr, void (T::*mptr)(void), IrqType type = RxIrq) { |
SquirrelGod | 2:99b1cb0d9f5e | 160 | if((mptr != NULL) && (tptr != NULL)) { |
SquirrelGod | 2:99b1cb0d9f5e | 161 | _irq[type].attach(tptr, mptr); |
SquirrelGod | 2:99b1cb0d9f5e | 162 | setup_interrupt(type); |
SquirrelGod | 2:99b1cb0d9f5e | 163 | } |
SquirrelGod | 2:99b1cb0d9f5e | 164 | } |
SquirrelGod | 2:99b1cb0d9f5e | 165 | |
SquirrelGod | 2:99b1cb0d9f5e | 166 | #ifdef MBED_RPC |
SquirrelGod | 2:99b1cb0d9f5e | 167 | virtual const struct rpc_method *get_rpc_methods(); |
SquirrelGod | 2:99b1cb0d9f5e | 168 | static struct rpc_class *get_rpc_class(); |
SquirrelGod | 2:99b1cb0d9f5e | 169 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 170 | |
SquirrelGod | 2:99b1cb0d9f5e | 171 | protected: |
SquirrelGod | 2:99b1cb0d9f5e | 172 | |
SquirrelGod | 2:99b1cb0d9f5e | 173 | void setup_interrupt(IrqType type); |
SquirrelGod | 2:99b1cb0d9f5e | 174 | void remove_interrupt(IrqType type); |
SquirrelGod | 2:99b1cb0d9f5e | 175 | |
SquirrelGod | 2:99b1cb0d9f5e | 176 | virtual int _getc(); |
SquirrelGod | 2:99b1cb0d9f5e | 177 | virtual int _putc(int c); |
SquirrelGod | 2:99b1cb0d9f5e | 178 | |
SquirrelGod | 2:99b1cb0d9f5e | 179 | UARTName _uart; |
SquirrelGod | 2:99b1cb0d9f5e | 180 | FunctionPointer _irq[2]; |
SquirrelGod | 2:99b1cb0d9f5e | 181 | int _uidx; |
SquirrelGod | 2:99b1cb0d9f5e | 182 | |
SquirrelGod | 2:99b1cb0d9f5e | 183 | }; |
SquirrelGod | 2:99b1cb0d9f5e | 184 | |
SquirrelGod | 2:99b1cb0d9f5e | 185 | } // namespace mbed |
SquirrelGod | 2:99b1cb0d9f5e | 186 | |
SquirrelGod | 2:99b1cb0d9f5e | 187 | #endif |
SquirrelGod | 2:99b1cb0d9f5e | 188 | |
SquirrelGod | 2:99b1cb0d9f5e | 189 | #endif |