MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/SerialBase.cpp@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "drivers/SerialBase.h"
sahilmgandhi 18:6a4db94011d3 17 #include "platform/mbed_wait_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 19
sahilmgandhi 18:6a4db94011d3 20 #if DEVICE_SERIAL
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 namespace mbed {
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 static void donothing() {};
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 SerialBase::SerialBase(PinName tx, PinName rx, int baud) :
sahilmgandhi 18:6a4db94011d3 27 #if DEVICE_SERIAL_ASYNCH
sahilmgandhi 18:6a4db94011d3 28 _thunk_irq(this), _tx_usage(DMA_USAGE_NEVER),
sahilmgandhi 18:6a4db94011d3 29 _rx_usage(DMA_USAGE_NEVER),
sahilmgandhi 18:6a4db94011d3 30 #endif
sahilmgandhi 18:6a4db94011d3 31 _serial(), _baud(baud) {
sahilmgandhi 18:6a4db94011d3 32 // No lock needed in the constructor
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
sahilmgandhi 18:6a4db94011d3 35 _irq[i] = donothing;
sahilmgandhi 18:6a4db94011d3 36 }
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 serial_init(&_serial, tx, rx);
sahilmgandhi 18:6a4db94011d3 39 serial_baud(&_serial, _baud);
sahilmgandhi 18:6a4db94011d3 40 serial_irq_handler(&_serial, SerialBase::_irq_handler, (uint32_t)this);
sahilmgandhi 18:6a4db94011d3 41 }
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 void SerialBase::baud(int baudrate) {
sahilmgandhi 18:6a4db94011d3 44 lock();
sahilmgandhi 18:6a4db94011d3 45 serial_baud(&_serial, baudrate);
sahilmgandhi 18:6a4db94011d3 46 _baud = baudrate;
sahilmgandhi 18:6a4db94011d3 47 unlock();
sahilmgandhi 18:6a4db94011d3 48 }
sahilmgandhi 18:6a4db94011d3 49
sahilmgandhi 18:6a4db94011d3 50 void SerialBase::format(int bits, Parity parity, int stop_bits) {
sahilmgandhi 18:6a4db94011d3 51 lock();
sahilmgandhi 18:6a4db94011d3 52 serial_format(&_serial, bits, (SerialParity)parity, stop_bits);
sahilmgandhi 18:6a4db94011d3 53 unlock();
sahilmgandhi 18:6a4db94011d3 54 }
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 int SerialBase::readable() {
sahilmgandhi 18:6a4db94011d3 57 lock();
sahilmgandhi 18:6a4db94011d3 58 int ret = serial_readable(&_serial);
sahilmgandhi 18:6a4db94011d3 59 unlock();
sahilmgandhi 18:6a4db94011d3 60 return ret;
sahilmgandhi 18:6a4db94011d3 61 }
sahilmgandhi 18:6a4db94011d3 62
sahilmgandhi 18:6a4db94011d3 63
sahilmgandhi 18:6a4db94011d3 64 int SerialBase::writeable() {
sahilmgandhi 18:6a4db94011d3 65 lock();
sahilmgandhi 18:6a4db94011d3 66 int ret = serial_writable(&_serial);
sahilmgandhi 18:6a4db94011d3 67 unlock();
sahilmgandhi 18:6a4db94011d3 68 return ret;
sahilmgandhi 18:6a4db94011d3 69 }
sahilmgandhi 18:6a4db94011d3 70
sahilmgandhi 18:6a4db94011d3 71 void SerialBase::attach(Callback<void()> func, IrqType type) {
sahilmgandhi 18:6a4db94011d3 72 lock();
sahilmgandhi 18:6a4db94011d3 73 // Disable interrupts when attaching interrupt handler
sahilmgandhi 18:6a4db94011d3 74 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 75 if (func) {
sahilmgandhi 18:6a4db94011d3 76 _irq[type] = func;
sahilmgandhi 18:6a4db94011d3 77 serial_irq_set(&_serial, (SerialIrq)type, 1);
sahilmgandhi 18:6a4db94011d3 78 } else {
sahilmgandhi 18:6a4db94011d3 79 _irq[type] = donothing;
sahilmgandhi 18:6a4db94011d3 80 serial_irq_set(&_serial, (SerialIrq)type, 0);
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 83 unlock();
sahilmgandhi 18:6a4db94011d3 84 }
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 void SerialBase::_irq_handler(uint32_t id, SerialIrq irq_type) {
sahilmgandhi 18:6a4db94011d3 87 SerialBase *handler = (SerialBase*)id;
sahilmgandhi 18:6a4db94011d3 88 handler->_irq[irq_type]();
sahilmgandhi 18:6a4db94011d3 89 }
sahilmgandhi 18:6a4db94011d3 90
sahilmgandhi 18:6a4db94011d3 91 int SerialBase::_base_getc() {
sahilmgandhi 18:6a4db94011d3 92 // Mutex is already held
sahilmgandhi 18:6a4db94011d3 93 return serial_getc(&_serial);
sahilmgandhi 18:6a4db94011d3 94 }
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 int SerialBase::_base_putc(int c) {
sahilmgandhi 18:6a4db94011d3 97 // Mutex is already held
sahilmgandhi 18:6a4db94011d3 98 serial_putc(&_serial, c);
sahilmgandhi 18:6a4db94011d3 99 return c;
sahilmgandhi 18:6a4db94011d3 100 }
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 void SerialBase::send_break() {
sahilmgandhi 18:6a4db94011d3 103 lock();
sahilmgandhi 18:6a4db94011d3 104 // Wait for 1.5 frames before clearing the break condition
sahilmgandhi 18:6a4db94011d3 105 // This will have different effects on our platforms, but should
sahilmgandhi 18:6a4db94011d3 106 // ensure that we keep the break active for at least one frame.
sahilmgandhi 18:6a4db94011d3 107 // We consider a full frame (1 start bit + 8 data bits bits +
sahilmgandhi 18:6a4db94011d3 108 // 1 parity bit + 2 stop bits = 12 bits) for computation.
sahilmgandhi 18:6a4db94011d3 109 // One bit time (in us) = 1000000/_baud
sahilmgandhi 18:6a4db94011d3 110 // Twelve bits: 12000000/baud delay
sahilmgandhi 18:6a4db94011d3 111 // 1.5 frames: 18000000/baud delay
sahilmgandhi 18:6a4db94011d3 112 serial_break_set(&_serial);
sahilmgandhi 18:6a4db94011d3 113 wait_us(18000000/_baud);
sahilmgandhi 18:6a4db94011d3 114 serial_break_clear(&_serial);
sahilmgandhi 18:6a4db94011d3 115 unlock();
sahilmgandhi 18:6a4db94011d3 116 }
sahilmgandhi 18:6a4db94011d3 117
sahilmgandhi 18:6a4db94011d3 118 void SerialBase::lock() {
sahilmgandhi 18:6a4db94011d3 119 // Stub
sahilmgandhi 18:6a4db94011d3 120 }
sahilmgandhi 18:6a4db94011d3 121
sahilmgandhi 18:6a4db94011d3 122 void SerialBase:: unlock() {
sahilmgandhi 18:6a4db94011d3 123 // Stub
sahilmgandhi 18:6a4db94011d3 124 }
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 #if DEVICE_SERIAL_FC
sahilmgandhi 18:6a4db94011d3 127 void SerialBase::set_flow_control(Flow type, PinName flow1, PinName flow2) {
sahilmgandhi 18:6a4db94011d3 128 lock();
sahilmgandhi 18:6a4db94011d3 129 FlowControl flow_type = (FlowControl)type;
sahilmgandhi 18:6a4db94011d3 130 switch(type) {
sahilmgandhi 18:6a4db94011d3 131 case RTS:
sahilmgandhi 18:6a4db94011d3 132 serial_set_flow_control(&_serial, flow_type, flow1, NC);
sahilmgandhi 18:6a4db94011d3 133 break;
sahilmgandhi 18:6a4db94011d3 134
sahilmgandhi 18:6a4db94011d3 135 case CTS:
sahilmgandhi 18:6a4db94011d3 136 serial_set_flow_control(&_serial, flow_type, NC, flow1);
sahilmgandhi 18:6a4db94011d3 137 break;
sahilmgandhi 18:6a4db94011d3 138
sahilmgandhi 18:6a4db94011d3 139 case RTSCTS:
sahilmgandhi 18:6a4db94011d3 140 case Disabled:
sahilmgandhi 18:6a4db94011d3 141 serial_set_flow_control(&_serial, flow_type, flow1, flow2);
sahilmgandhi 18:6a4db94011d3 142 break;
sahilmgandhi 18:6a4db94011d3 143
sahilmgandhi 18:6a4db94011d3 144 default:
sahilmgandhi 18:6a4db94011d3 145 break;
sahilmgandhi 18:6a4db94011d3 146 }
sahilmgandhi 18:6a4db94011d3 147 unlock();
sahilmgandhi 18:6a4db94011d3 148 }
sahilmgandhi 18:6a4db94011d3 149 #endif
sahilmgandhi 18:6a4db94011d3 150
sahilmgandhi 18:6a4db94011d3 151 #if DEVICE_SERIAL_ASYNCH
sahilmgandhi 18:6a4db94011d3 152
sahilmgandhi 18:6a4db94011d3 153 int SerialBase::write(const uint8_t *buffer, int length, const event_callback_t& callback, int event)
sahilmgandhi 18:6a4db94011d3 154 {
sahilmgandhi 18:6a4db94011d3 155 if (serial_tx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 156 return -1; // transaction ongoing
sahilmgandhi 18:6a4db94011d3 157 }
sahilmgandhi 18:6a4db94011d3 158 start_write((void *)buffer, length, 8, callback, event);
sahilmgandhi 18:6a4db94011d3 159 return 0;
sahilmgandhi 18:6a4db94011d3 160 }
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 int SerialBase::write(const uint16_t *buffer, int length, const event_callback_t& callback, int event)
sahilmgandhi 18:6a4db94011d3 163 {
sahilmgandhi 18:6a4db94011d3 164 if (serial_tx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 165 return -1; // transaction ongoing
sahilmgandhi 18:6a4db94011d3 166 }
sahilmgandhi 18:6a4db94011d3 167 start_write((void *)buffer, length, 16, callback, event);
sahilmgandhi 18:6a4db94011d3 168 return 0;
sahilmgandhi 18:6a4db94011d3 169 }
sahilmgandhi 18:6a4db94011d3 170
sahilmgandhi 18:6a4db94011d3 171 void SerialBase::start_write(const void *buffer, int buffer_size, char buffer_width, const event_callback_t& callback, int event)
sahilmgandhi 18:6a4db94011d3 172 {
sahilmgandhi 18:6a4db94011d3 173 _tx_callback = callback;
sahilmgandhi 18:6a4db94011d3 174
sahilmgandhi 18:6a4db94011d3 175 _thunk_irq.callback(&SerialBase::interrupt_handler_asynch);
sahilmgandhi 18:6a4db94011d3 176 serial_tx_asynch(&_serial, buffer, buffer_size, buffer_width, _thunk_irq.entry(), event, _tx_usage);
sahilmgandhi 18:6a4db94011d3 177 }
sahilmgandhi 18:6a4db94011d3 178
sahilmgandhi 18:6a4db94011d3 179 void SerialBase::abort_write(void)
sahilmgandhi 18:6a4db94011d3 180 {
sahilmgandhi 18:6a4db94011d3 181 serial_tx_abort_asynch(&_serial);
sahilmgandhi 18:6a4db94011d3 182 }
sahilmgandhi 18:6a4db94011d3 183
sahilmgandhi 18:6a4db94011d3 184 void SerialBase::abort_read(void)
sahilmgandhi 18:6a4db94011d3 185 {
sahilmgandhi 18:6a4db94011d3 186 serial_rx_abort_asynch(&_serial);
sahilmgandhi 18:6a4db94011d3 187 }
sahilmgandhi 18:6a4db94011d3 188
sahilmgandhi 18:6a4db94011d3 189 int SerialBase::set_dma_usage_tx(DMAUsage usage)
sahilmgandhi 18:6a4db94011d3 190 {
sahilmgandhi 18:6a4db94011d3 191 if (serial_tx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 192 return -1;
sahilmgandhi 18:6a4db94011d3 193 }
sahilmgandhi 18:6a4db94011d3 194 _tx_usage = usage;
sahilmgandhi 18:6a4db94011d3 195 return 0;
sahilmgandhi 18:6a4db94011d3 196 }
sahilmgandhi 18:6a4db94011d3 197
sahilmgandhi 18:6a4db94011d3 198 int SerialBase::set_dma_usage_rx(DMAUsage usage)
sahilmgandhi 18:6a4db94011d3 199 {
sahilmgandhi 18:6a4db94011d3 200 if (serial_tx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 201 return -1;
sahilmgandhi 18:6a4db94011d3 202 }
sahilmgandhi 18:6a4db94011d3 203 _rx_usage = usage;
sahilmgandhi 18:6a4db94011d3 204 return 0;
sahilmgandhi 18:6a4db94011d3 205 }
sahilmgandhi 18:6a4db94011d3 206
sahilmgandhi 18:6a4db94011d3 207 int SerialBase::read(uint8_t *buffer, int length, const event_callback_t& callback, int event, unsigned char char_match)
sahilmgandhi 18:6a4db94011d3 208 {
sahilmgandhi 18:6a4db94011d3 209 if (serial_rx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 210 return -1; // transaction ongoing
sahilmgandhi 18:6a4db94011d3 211 }
sahilmgandhi 18:6a4db94011d3 212 start_read((void*)buffer, length, 8, callback, event, char_match);
sahilmgandhi 18:6a4db94011d3 213 return 0;
sahilmgandhi 18:6a4db94011d3 214 }
sahilmgandhi 18:6a4db94011d3 215
sahilmgandhi 18:6a4db94011d3 216
sahilmgandhi 18:6a4db94011d3 217 int SerialBase::read(uint16_t *buffer, int length, const event_callback_t& callback, int event, unsigned char char_match)
sahilmgandhi 18:6a4db94011d3 218 {
sahilmgandhi 18:6a4db94011d3 219 if (serial_rx_active(&_serial)) {
sahilmgandhi 18:6a4db94011d3 220 return -1; // transaction ongoing
sahilmgandhi 18:6a4db94011d3 221 }
sahilmgandhi 18:6a4db94011d3 222 start_read((void*)buffer, length, 16, callback, event, char_match);
sahilmgandhi 18:6a4db94011d3 223 return 0;
sahilmgandhi 18:6a4db94011d3 224 }
sahilmgandhi 18:6a4db94011d3 225
sahilmgandhi 18:6a4db94011d3 226
sahilmgandhi 18:6a4db94011d3 227 void SerialBase::start_read(void *buffer, int buffer_size, char buffer_width, const event_callback_t& callback, int event, unsigned char char_match)
sahilmgandhi 18:6a4db94011d3 228 {
sahilmgandhi 18:6a4db94011d3 229 _rx_callback = callback;
sahilmgandhi 18:6a4db94011d3 230 _thunk_irq.callback(&SerialBase::interrupt_handler_asynch);
sahilmgandhi 18:6a4db94011d3 231 serial_rx_asynch(&_serial, buffer, buffer_size, buffer_width, _thunk_irq.entry(), event, char_match, _rx_usage);
sahilmgandhi 18:6a4db94011d3 232 }
sahilmgandhi 18:6a4db94011d3 233
sahilmgandhi 18:6a4db94011d3 234 void SerialBase::interrupt_handler_asynch(void)
sahilmgandhi 18:6a4db94011d3 235 {
sahilmgandhi 18:6a4db94011d3 236 int event = serial_irq_handler_asynch(&_serial);
sahilmgandhi 18:6a4db94011d3 237 int rx_event = event & SERIAL_EVENT_RX_MASK;
sahilmgandhi 18:6a4db94011d3 238 if (_rx_callback && rx_event) {
sahilmgandhi 18:6a4db94011d3 239 _rx_callback.call(rx_event);
sahilmgandhi 18:6a4db94011d3 240 }
sahilmgandhi 18:6a4db94011d3 241
sahilmgandhi 18:6a4db94011d3 242 int tx_event = event & SERIAL_EVENT_TX_MASK;
sahilmgandhi 18:6a4db94011d3 243 if (_tx_callback && tx_event) {
sahilmgandhi 18:6a4db94011d3 244 _tx_callback.call(tx_event);
sahilmgandhi 18:6a4db94011d3 245 }
sahilmgandhi 18:6a4db94011d3 246 }
sahilmgandhi 18:6a4db94011d3 247
sahilmgandhi 18:6a4db94011d3 248 #endif
sahilmgandhi 18:6a4db94011d3 249
sahilmgandhi 18:6a4db94011d3 250 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 251
sahilmgandhi 18:6a4db94011d3 252 #endif