Penn Electric Racing
System Management code
Dependencies: mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP
Fork of
SystemManagement
by 
Martin Deng
Revision 31:7eaa5e881b56, committed 2014-11-14
- Comitter:
- pspatel321
- Date:
- Fri Nov 14 06:05:59 2014 +0000
- Parent:
- 30:91af74a299e1
- Child:
- 32:e70407021ad2
- Commit message:
- Mostly working. Wrote CAN in/out code. Xbee still needs work. My guess is that MODDMA breaks when used with RTOS.
Changed in this revision
--- a/IOobjects/CAN_Filter_LUT.h Thu Nov 13 10:53:10 2014 +0000
+++ b/IOobjects/CAN_Filter_LUT.h Fri Nov 14 06:05:59 2014 +0000
@@ -39,6 +39,8 @@
// STANDARD ID RANGES - CAN CONTROLLER 2
//( 0xLOWERBOUND & STDMASK | 1<<13) << 16 | ( 0xUPPERBOUND & STDMASK | 1<<13), lower/upperbounds are inclusive
+//( 0xLOWERBOUND & STDMASK | 1<<13) << 16 | ( 0xUPPERBOUND & STDMASK | 1<<13), lower/upperbounds are inclusive
+
};
const uint32_t AF_LUT_EEI[] = {
--- a/IOobjects/CAN_RxIDs.h Thu Nov 13 10:53:10 2014 +0000 +++ b/IOobjects/CAN_RxIDs.h Fri Nov 14 06:05:59 2014 +0000 @@ -2,5 +2,14 @@ #define CAN_RXIDS_H // Receive IDs +#define FAN_CONTROL_ID 0x480 +#define PUMP_CONTROL_ID 0x481 +#define DCDC_CONTROL_ID 0x482 + +#define AMS_RELAYS_ID 0x30E + +#define GLVBAT_CLEARSOC_ID 0x490 +#define GLVBAT_CLEARAH_ID 0x491 +#define GLVBAT_SETCAPAC_ID 0x492 #endif \ No newline at end of file
--- a/IOobjects/CAN_TxIDs.h Thu Nov 13 10:53:10 2014 +0000 +++ b/IOobjects/CAN_TxIDs.h Fri Nov 14 06:05:59 2014 +0000 @@ -1,6 +1,36 @@ #ifndef CAN_TXIDS_H #define CAN_TXIDS_H +// Transmit IDs - System Mgmt Specific +// Operating diagnostics +#define SYS_ERROR_ID 0x400 // Error frame - critical errors that require shutdown +#define SYS_XBEE1_ID 0x401 // Message in/out counter for xbee1 +#define SYS_XBEE2_ID 0x402 // Message in/out counter for xbee2 +#define SYS_TEMP_ID 0x403 // Internal temperature of the glv battery chargerFET +// GLV Battery +#define SYS_GLV_CURRENT_ID 0x410 // GLV battery current +#define SYS_GLV_CAPACITY_ID 0x411 // GLV battery capacity setting +#define SYS_GLV_AH_ID 0x412 // GLV battery amphours +#define SYS_GLV_SOC_ID 0x413 // GLV battery SOC + +// DC-DC Converter +#define SYS_DCDC_CURRENT_ID 0x420 // DC-DC current +#define SYS_DCDC_STATUS_ID 0x421 // DC-DC status byte + +// PWM Channels +#define SYS_PWM_FAN_ID 0x430 // FAN1 actual pwm +#define SYS_PWM_PUMP_ID 0x431 // PUMP1 actual pwm + +// IMD +#define SYS_IMD_STATUS_ID 0x440 // IMD status byte +#define SYS_IMD_RESIST_ID 0x441 // IMD resistance measurement + +// Latch Supervisor states +#define SYS_IMD_LATCH_ID 0x450 // IMD Latch circuit error byte +#define SYS_AMS_LATCH_ID 0x451 // AMS Latch circuit error byte + +// Shutdown Switches +#define SYS_SWITCHES_ID 0x460 // Shutdown Switch State #endif \ No newline at end of file
--- a/IOobjects/IOobjects.cpp Thu Nov 13 10:53:10 2014 +0000
+++ b/IOobjects/IOobjects.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -19,14 +19,16 @@
CoulombCounter glvBat(p19, 10); // Coulomb counter battery monitor for GLV Battery (CURRENT SENSE PIN, INTEGRATION TIME)
DC_DC dcdc(p18, p20, p26, p25, p24, p23, 0.01, 1); // DC-DC converter & high-current load control (CONTROL PIN< CURRENT SENSE PIN, FAN1 PIN, FAN2 PIN, PUMP1 PIN, PUMP2 PIN, PWM PERIOD (sec), FULL-SCALE SLEW (sec))
IMD imd(p1_26); // IMD PWM sense channel to read status and resistance (IMD PWM PIN)
-LatchMonitor AMSlatch(p0_18, p0_22, 5000); // Supervisor for AMS hardware latch/reset circuit (OK PIN, FAULT PIN, STARTUP DELAY (ms))
-LatchMonitor IMDlatch(p0_17, p0_21, 5000); // Supervisor for IMD hardware latch/reset circuit (OK PIN, FAULT PIN, STARTUP DELAY (ms))
+LatchMonitor AMSlatch(p0_18, p0_22, 15000); // Supervisor for AMS hardware latch/reset circuit (OK PIN, FAULT PIN, STARTUP DELAY (ms))
+LatchMonitor IMDlatch(p0_17, p0_21, 15000); // Supervisor for IMD hardware latch/reset circuit (OK PIN, FAULT PIN, STARTUP DELAY (ms))
MODSERIAL pc(USBTX, USBRX); // Serial to computer for diagnostics
Temperature internalTmp(&NXFT15XH103_TABLE, p15); // Temperature conversion look-up table for internal temperature on the GLV bat charger FET (TABLE PTR, PIN)
PollSwitch switches(sw, sizeof(sw)/sizeof(sw[0])); // Shutdown switch sense pins (SWITCH PIN ARRAY, NUM PINS)
Watchdog wdt(0.25); // Watchdog timer (TIMEOUT (sec))
-Xbee xbee1(p9, p10, 250000, 1000, '\n'); // Software buffered Xbee 1 of 2 for wireless comms (TX, RX, BAUD, BUFFERSIZE, DELIM CHAR)
-Xbee xbee2(p9, p10, 250000, 1000, '\n'); // Software buffered Xbee 2 of 2 for wireless comms (TX, RX, BAUD, BUFFERSIZE, DELIM CHAR)
+//Xbee xbee1(p9, p10, 250000, 1000, '\n'); // Software buffered Xbee 1 of 2 for wireless comms (TX, RX, BAUD, BUFFERSIZE, DELIM CHAR)
+//Xbee xbee2(p13, p14, 250000, 1000, '\n'); // Software buffered Xbee 2 of 2 for wireless comms (TX, RX, BAUD, BUFFERSIZE, DELIM CHAR)
+XbeeRelay xbee;
+
DigitalOut extras[] = {(p16), (p17)}; // Unused analog pins driven low
Inputs data;
CANinputs CANdata;
\ No newline at end of file
--- a/IOobjects/IOobjects.h Thu Nov 13 10:53:10 2014 +0000
+++ b/IOobjects/IOobjects.h Fri Nov 14 06:05:59 2014 +0000
@@ -13,6 +13,7 @@
#include "Temperature.h"
#include "Watchdog.h"
#include "Xbee.h"
+#include "XbeeRelay.h"
extern CANBuffer can;
extern CoulombCounter glvBat;
@@ -24,8 +25,7 @@
extern PollSwitch switches;
extern Temperature internalTmp;
extern Watchdog wdt;
-extern Xbee xbee1;
-extern Xbee xbee2;
+extern XbeeRelay xbee;
// Shared data updated by producer threads
class Inputs {
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Libs/MODDMA.lib Fri Nov 14 06:05:59 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/MODDMA/#97a16bf2ff43
--- a/Libs/MODSERIAL.lib Thu Nov 13 10:53:10 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/AjK/code/MODSERIAL/#ae0408ebdd68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/ChangeLog.c Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,177 @@
+/* $Id:$
+
+1.25 8th January 2013
+
+ * Bring back into line with MBed libraries.
+ * Credits:
+ Erik Olieman : http://mbed.org/users/Sissors/code/MODSERIAL/rev/3ba4341d74d6
+ Erik Olieman : http://mbed.org/users/Sissors/code/MODSERIAL/rev/a469aa702bab
+
+
+1.24 6th Dec 2012
+
+ * Beta release for new Mbed library.
+
+1.23 25th July 2012
+
+ * LPC1768 code as was. This release includes "alpha" support for the LPC11U24
+
+1.22 19th April 2012
+
+ * http://mbed.org/forum/bugs-suggestions/topic/2936/
+ * Bug fix, protect important buffer pointers from IRQ corruption.
+ * Credits:
+ Anthony Wieser http://mbed.org/users/WieserSoftwareLtd/ for the fix.
+ BlazeX http://mbed.org/users/BlazeX/ for the alert that a fix was needed!
+
+1.21 10 May 2011
+
+ * http://mbed.org/forum/mbed/topic/2264
+
+1.20 26 April 2011
+
+ * Bug fix, not blocking on transmit
+ by Erik Petrich, http://mbed.org/forum/bugs-suggestions/topic/2200
+
+1.19 20 April 2011
+
+ * Fixed some doxygen comment bugs.
+
+1.18 20 April 2011
+
+ * All callbacks now use MODSERIAL_callback (rather than Mbed's FunctionPointer[1] type)
+ to store and invoke it's callbacks. This allows MODSERIAL to pass a parameter
+ to callbacks. The function prototype is now void func(MODSERIAL_IRQ_INFO *q).
+ * Callbacks now pass a pointer to a MODSERIAL_IRQ_INFO class type.
+ This class holds a pointer to the MODSERIAL object that invoked the callback
+ thus freeing callbacks need to use the global variable of the original
+ MODSERIAL instance.
+ * MODSERIAL_IRQ_INFO also declares public functions that are protected within MODSERIAL
+ thus allowing certain functions to be restricted to callback context only.
+ * New function MODSERIAL_IRQ_INFO::rxDiscardLastChar() allows an rxCallback function
+ to remove the character that was just placed into the RX buffer.
+
+ [1] http://mbed.org/users/AjK/libraries/FPointer/latest/docs/
+
+1.17 08/Mar/2011
+ Fixed a memory leak in the DMA code.
+
+1.16 - 12 Feb 2011
+
+ * Missed one, doh!
+
+1.15 - 12 Feb 2011
+
+ * Fixed some typos.
+
+1.14 - 7 Feb 2011
+
+ * Fixed a bug in __putc() that caused the output buffer pointer to
+ become corrupted.
+
+1.13 - 20/01/2011
+
+ * Added extra documentation.
+ * Fixed some typos.
+
+1.12 - 20/01/2011
+
+ * Added new "autoDetectChar()" function. To use:-
+ 1st: Add a callback to invoke when the char is detected:-
+ .attach(&detectedChar, MODSERIAL::RxAutoDetect);
+ 2nd: Send the char to detect.
+ .autoDectectChar('\n');
+ Whenever that char goes into the RX buffer your callback will be invoked.
+ Added example2.cpp to demo a simple messaging system using this auto feature.
+
+
+1.11 - 23/11/2010
+
+ * Fixed a minor issue with 1.10 missed an alteration of name change.
+
+1.10 - 23/11/2010
+
+ * Rename the DMA callback from attach_dma_complete() to attach_dmaSendComplete()
+
+1.9 - 23/11/2010
+
+ * Added support for DMA sending of characters. Required is
+ the MODDMA library module:-
+ http://mbed.org/users/AjK/libraries/MODDMA/latest
+ See example_dma.cpp for more information.
+
+1.8 - 22/11/2010
+
+ * Added code so that if a buffer is set to zero length then
+ MODSERIAL defaults to just using the FIFO for that stream
+ thus making the library "fall back" to teh same operation
+ that the Mbed Serial library performs.
+ * Removed dmaSend() function that should have been removed
+ at 1.7
+
+1.7 - 21/11/2010
+
+ * Remove the DMA enum from MODSERIAL.h as it's not currently
+ ready for release.
+ * Added page doxygen comments.
+
+1.6 - 21/11/2010
+
+ * Version 1.5 solved a blocking problem on putc() when called
+ from another ISR. However, isr_tx() invokes a callback of it's
+ own when a byte is tranferred from TX buffer to TX FIFO. User
+ programs may interpret that as an IRQ callback. That's an ISR
+ call from within an existing ISR which is not good. So the
+ TxIrq callback from isr_tx is now conditional. It will only
+ be called when isr_tx() is actually within it's own ISR and
+ not when called from alternate ISR handlers.
+
+1.5 - 21/11/2010
+
+ * Calling putc() (or any derived function that uses it like
+ printf()) while inside an interrupt service routine can
+ cause the system to lock up if the TX buffer is full. This
+ is because bytes are only transferred from the TX buffer to
+ the TX FIFO via the TX ISR. If we are, say in an RX ISR already,
+ then the TX ISR will never trigger. The TX buffer stays full and
+ there is never space to putc() the byte. So, while putc() blocks
+ waiting for space it calls isr_tx() to ensure if TX FIFO space
+ becomes available it will move bytes from the TX buffer to TX
+ FIFO thus removing the blocking condition within putc().
+
+1.4 - 21/11/2010
+
+ * Removed all the new DMA code. I wish mbed.org had proper SVN
+ versioning, I'm use to working in HEAD and BRANCHES after I've
+ released a project. Getting bug reports in current releases
+ while trying to dev new code is hard to manage without source
+ control of some type!
+
+1.3 - 21/11/2010
+
+ * Fixed a macro problem with txIsBusy()
+ * Started adding code to use "block data" sending using DMA
+ * Removed #include "IOMACROS.h"
+
+1.2 - 21/11/2010
+
+ * Removed unsed variables from flushBuffer()
+ * Fixed a bug where both RX AND TX fifos are cleared/reset
+ when just TX OR RX should be cleared.
+ * Fixed a bug that cleared IIR when in fact it should be left
+ alone so that any pending interrupt after flush is handled.
+ * Merged setBase() into init() as it wasn't required anywhere else.
+ * Changed init() to enforce _uidx is set by Serial to define the _base
+ address of the Uart in use.
+
+1.1 - 20/11/2010
+
+ * Added this file
+ * Removed cruft from GETC.cpp
+ * "teh" should be "the", why do my fingers do that?
+
+1.0 - 20/11/2010
+
+ * First release.
+
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/FLUSH.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,47 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::flushBuffer(IrqType type)
+{
+ uint32_t ier = _IER;
+ switch(type) {
+ case TxIrq: _IER &= ~(1UL << 1); break;
+ case RxIrq: _IER &= ~(1UL << 0); break;
+ }
+ buffer_in[type] = 0;
+ buffer_out[type] = 0;
+ buffer_count[type] = 0;
+ buffer_overflow[type] = 0;
+ switch(type) {
+ case TxIrq: _FCR = MODSERIAL_FIFO_TX_RESET; break;
+ case RxIrq: _FCR = MODSERIAL_FIFO_RX_RESET; break;
+ }
+ _IER = ier;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/GETC.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,65 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::__getc(bool block)
+{
+ // If no buffer is in use fall back to standard RX FIFO usage.
+ // Note, we must block in this case and ignore bool "block"
+ // so as to maintain compat with Mbed Serial.
+ if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
+ while(! MODSERIAL_RBR_HAS_DATA ) ;
+ return (int)(_RBR & 0xFF);
+ }
+
+ if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks.
+ else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1;
+
+ int c = buffer[RxIrq][buffer_out[RxIrq]];
+ buffer_out[RxIrq]++;
+ if (buffer_out[RxIrq] >= buffer_size[RxIrq]) {
+ buffer_out[RxIrq] = 0;
+ }
+
+ // If we have made space in the RX Buffer then copy over
+ // any characters in the RX FIFO that my reside there.
+ // Temporarily disable the RX IRQ so that we do not re-enter
+ // it under interrupts.
+ if ( ! MODSERIAL_RX_BUFFER_FULL ) {
+ uint32_t ier = _IER;
+ _IER &= ~(1UL << 0);
+ isr_rx();
+ _IER = ier;
+ }
+
+ __disable_irq();
+ buffer_count[RxIrq]--;
+ __enable_irq();
+ return c;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/INIT.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,81 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+
+namespace AjK {
+
+void
+MODSERIAL::init( int txSize, int rxSize, PinName rx )
+{
+ disableIrq();
+
+ callbackInfo.setSerial(this);
+
+#ifdef __LPC11UXX_H__
+
+ _base = LPC_USART;
+
+#else
+ switch( _serial.index ) {
+ case 0: _base = LPC_UART0; break;
+ case 1: _base = LPC_UART1; break;
+ case 2: _base = LPC_UART2; break;
+ case 3: _base = LPC_UART3; break;
+ default: _base = NULL; break;
+ }
+#endif
+
+ dmaSendChannel = -1;
+ moddma_p = (void *)NULL;
+
+ if ( _base != NULL ) {
+ buffer_size[RxIrq] = rxSize;
+ buffer[RxIrq] = rxSize > 0 ? (char *)malloc(buffer_size[RxIrq]) : (char *)NULL;
+ buffer_in[RxIrq] = 0;
+ buffer_out[RxIrq] = 0;
+ buffer_count[RxIrq] = 0;
+ buffer_overflow[RxIrq] = 0;
+ Serial::attach( this, &MODSERIAL::isr_rx, Serial::RxIrq );
+
+ buffer_size[TxIrq] = txSize;
+ buffer[TxIrq] = txSize > 0 ? (char *)malloc(buffer_size[TxIrq]) : (char *)NULL;
+ buffer_in[TxIrq] = 0;
+ buffer_out[TxIrq] = 0;
+ buffer_count[TxIrq] = 0;
+ buffer_overflow[TxIrq] = 0;
+ Serial::attach( this, &MODSERIAL::isr_tx, Serial::TxIrq );
+ }
+ else {
+ error("MODSERIAL must have a defined UART to function.");
+ }
+
+ _FCR = MODSERIAL_FIFO_ENABLE | MODSERIAL_FIFO_RX_RESET | MODSERIAL_FIFO_TX_RESET;
+
+ auto_detect_char = 0;
+
+ enableIrq();
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/ISR_RX.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,60 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::isr_rx(void)
+{
+ if (! _base || buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
+ _isr[RxIrq].call(&this->callbackInfo);
+ return;
+ }
+
+ while( MODSERIAL_RBR_HAS_DATA ) {
+ rxc = (char)(_RBR & 0xFF);
+ if ( MODSERIAL_RX_BUFFER_FULL ) {
+ buffer_overflow[RxIrq] = rxc; // Oh dear, no room in buffer.
+ _isr[RxOvIrq].call(&this->callbackInfo);
+ }
+ else {
+ if (buffer[RxIrq] != (char *)NULL) {
+ buffer[RxIrq][buffer_in[RxIrq]] = rxc;
+ buffer_count[RxIrq]++;
+ buffer_in[RxIrq]++;
+ if (buffer_in[RxIrq] >= buffer_size[RxIrq]) {
+ buffer_in[RxIrq] = 0;
+ }
+ }
+ _isr[RxIrq].call(&this->callbackInfo);
+ }
+ if (auto_detect_char == rxc) {
+ _isr[RxAutoDetect].call(&this->callbackInfo);
+ }
+ }
+}
+
+}; // namespace AjK ends
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/ISR_TX.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,54 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::isr_tx(bool doCallback)
+{
+ if (! _base || buffer_size[TxIrq] == 0 || buffer[TxIrq] == (char *)NULL) {
+ _isr[TxIrq].call(&this->callbackInfo);
+ return;
+ }
+
+ while (! MODSERIAL_TX_BUFFER_EMPTY && MODSERIAL_THR_HAS_SPACE ) {
+ _THR = txc = (uint8_t)(buffer[TxIrq][buffer_out[TxIrq]]);
+ buffer_count[TxIrq]--;
+ buffer_out[TxIrq]++;
+ if (buffer_out[TxIrq] >= buffer_size[TxIrq]) {
+ buffer_out[TxIrq] = 0;
+ }
+ if (doCallback) _isr[TxIrq].call(&this->callbackInfo);
+ }
+
+ if ( MODSERIAL_TX_BUFFER_EMPTY ) {
+ _IER = 1;
+ _isr[TxEmpty].call(&this->callbackInfo);
+ }
+}
+
+}; // namespace AjK ends
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Libs/MODSERIAL/MACROS.h Fri Nov 14 06:05:59 2014 +0000 @@ -0,0 +1,70 @@ +/* + Copyright (c) 2010 Andy Kirkham + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. +*/ + +#ifndef MODSERIAL_MACROS_H +#define MODSERIAL_MACROS_H + +#define MODSERIAL_RBR 0x00 +#define MODSERIAL_THR 0x00 +#define MODSERIAL_DLL 0x00 +#define MODSERIAL_IER 0x04 +#define MODSERIAL_DML 0x04 +#define MODSERIAL_IIR 0x08 +#define MODSERIAL_FCR 0x08 +#define MODSERIAL_LCR 0x0C +#define MODSERIAL_LSR 0x14 +#define MODSERIAL_SCR 0x1C +#define MODSERIAL_ACR 0x20 +#define MODSERIAL_ICR 0x24 +#define MODSERIAL_FDR 0x28 +#define MODSERIAL_TER 0x30 + +#define MODSERIAL_LSR_RDR (1UL << 0) +#define MODSERIAL_LSR_OE (1UL << 1) +#define MODSERIAL_LSR_PE (1UL << 2) +#define MODSERIAL_LSR_FE (1UL << 3) +#define MODSERIAL_LSR_BR (1UL << 4) +#define MODSERIAL_LSR_THRE (1UL << 5) +#define MODSERIAL_LSR_TEMT (1UL << 6) +#define MODSERIAL_LSR_RXFE (1UL << 7) + +#define MODSERIAL_FIFO_ENABLE 1 +#define MODSERIAL_FIFO_RX_RESET 2 +#define MODSERIAL_FIFO_TX_RESET 4 + +#define _RBR *((char *)_base+MODSERIAL_RBR) +#define _THR *((char *)_base+MODSERIAL_THR) +#define _IIR *((char *)_base+MODSERIAL_IIR) +#define _IER *((char *)_base+MODSERIAL_IER) +#define _LSR *((char *)_base+MODSERIAL_LSR) +#define _FCR *((char *)_base+MODSERIAL_FCR) + +#define MODSERIAL_TX_BUFFER_EMPTY (buffer_count[TxIrq]==0) +#define MODSERIAL_RX_BUFFER_EMPTY (buffer_count[RxIrq]==0) +#define MODSERIAL_TX_BUFFER_FULL (buffer_count[TxIrq]==buffer_size[TxIrq]) +#define MODSERIAL_RX_BUFFER_FULL (buffer_count[RxIrq]==buffer_size[RxIrq]) + +#define MODSERIAL_THR_HAS_SPACE ((int)_LSR&MODSERIAL_LSR_THRE) +#define MODSERIAL_TEMT_IS_EMPTY ((int)_LSR&MODSERIAL_LSR_TEMT) +#define MODSERIAL_RBR_HAS_DATA ((int)_LSR&MODSERIAL_LSR_RDR) + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/MODSERIAL.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,137 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL.h
+ @purpose Extends Serial to provide fully buffered IO
+ @version 1.6
+ @date Nov 2010
+ @author Andy Kirkham
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+MODSERIAL::MODSERIAL( PinName tx, PinName rx, const char* name ) : Serial( tx, rx, name )
+{
+ init( MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE, rx );
+}
+
+MODSERIAL::MODSERIAL( PinName tx, PinName rx, int bufferSize, const char* name ) : Serial( tx, rx, name )
+{
+ init( bufferSize, bufferSize, rx );
+}
+
+MODSERIAL::MODSERIAL( PinName tx, PinName rx, int txSize, int rxSize, const char* name ) : Serial( tx, rx, name )
+{
+ init( txSize, rxSize, rx );
+}
+
+MODSERIAL::~MODSERIAL()
+{
+ disableIrq();
+ if ( buffer[0] != NULL) free((char *)buffer[0] );
+ if ( buffer[1] != NULL) free((char *)buffer[1] );
+}
+
+bool
+MODSERIAL::txBufferFull( void )
+{
+ return MODSERIAL_TX_BUFFER_FULL;
+}
+
+bool
+MODSERIAL::rxBufferFull( void )
+{
+ return MODSERIAL_RX_BUFFER_FULL;
+}
+
+bool
+MODSERIAL::txBufferEmpty( void )
+{
+ return MODSERIAL_TX_BUFFER_EMPTY;
+}
+
+bool
+MODSERIAL::rxBufferEmpty( void )
+{
+ return MODSERIAL_RX_BUFFER_EMPTY;
+}
+
+bool
+MODSERIAL::txIsBusy( void )
+{
+ return ( _LSR & ( 3UL << 5 ) == 0 ) ? true : false;
+}
+
+void
+MODSERIAL::disableIrq( void )
+{
+
+#ifdef __LPC11UXX_H__
+ NVIC_DisableIRQ( UART_IRQn );
+#else
+ switch( _serial.index ) {
+ case 0: NVIC_DisableIRQ( UART0_IRQn ); break;
+ case 1: NVIC_DisableIRQ( UART1_IRQn ); break;
+ case 2: NVIC_DisableIRQ( UART2_IRQn ); break;
+ case 3: NVIC_DisableIRQ( UART3_IRQn ); break;
+ }
+#endif
+}
+
+void
+MODSERIAL::enableIrq(void)
+{
+#ifdef __LPC11UXX_H__
+ NVIC_EnableIRQ( UART_IRQn );
+#else
+ switch( _serial.index ) {
+ case 0: NVIC_EnableIRQ( UART0_IRQn ); break;
+ case 1: NVIC_EnableIRQ( UART1_IRQn ); break;
+ case 2: NVIC_EnableIRQ( UART2_IRQn ); break;
+ case 3: NVIC_EnableIRQ( UART3_IRQn ); break;
+ }
+#endif
+}
+
+int
+MODSERIAL::rxDiscardLastChar( void )
+{
+ // This function can only be called indirectly from
+ // an rxCallback function. Therefore, we know we
+ // just placed a char into the buffer.
+ char c = buffer[RxIrq][buffer_in[RxIrq]];
+
+ if (buffer_count[RxIrq]) {
+ buffer_count[RxIrq]--;
+ buffer_in[RxIrq]--;
+ if (buffer_in[RxIrq] < 0) {
+ buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
+ }
+ }
+
+ return (int)c;
+}
+
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/MODSERIAL.h Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,1089 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL.h
+ @purpose Extends Serial to provide fully buffered IO
+ @version see ChangeLog.c
+ @date Nov 2010
+ @author Andy Kirkham
+*/
+
+#ifndef MODSERIAL_H
+#define MODSERIAL_H
+
+/** @defgroup API The MODSERIAL API */
+/** @defgroup MISC Misc MODSERIAL functions */
+/** @defgroup INTERNALS MODSERIAL Internals */
+
+#ifndef MODSERIAL_DEFAULT_RX_BUFFER_SIZE
+#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
+#endif
+
+#ifndef MODSERIAL_DEFAULT_TX_BUFFER_SIZE
+#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 256
+#endif
+
+#include "mbed.h"
+#include "serial_api.h"
+
+namespace AjK {
+
+// Forward reference.
+class MODSERIAL;
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see API
+ *
+ * <b>MODSERIAL_IRQ_INFO</b> is a class used to pass information (and access to protected
+ * MODSERIAL functions) to IRQ callbacks.
+ */
+class MODSERIAL_IRQ_INFO
+{
+public:
+ friend class MODSERIAL;
+
+ MODSERIAL *serial;
+
+ MODSERIAL_IRQ_INFO() { serial = 0; }
+
+ /** rxDiscardLastChar()
+ *
+ * Remove the last char placed into the rx buffer.
+ * This is an operation that can only be performed
+ * by an rxCallback function.
+ * @ingroup API
+ * @return The byte removed from the buffer.
+ */
+ int rxDiscardLastChar(void);
+
+protected:
+
+ /** setSerial()
+ *
+ * Used internally by MODSERIAL to set the "this" pointer
+ * of the MODSERIAL that created this object.
+ * @ingroup INTERNAL
+ * @param A pointer to a MODSERIAL object instance.
+ */
+ void setSerial(MODSERIAL *s) { serial = s; }
+};
+
+// Forward reference dummy class.
+class MODSERIAL_callback_dummy;
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see API
+ *
+ * <b>MODSERIAL_callback</b> is a class used to hold application callbacks that
+ * MODSERIAL can invoke on certain events.
+ */
+class MODSERIAL_callback
+{
+protected:
+
+ //! C callback function pointer.
+ void (*c_callback)(MODSERIAL_IRQ_INFO *);
+
+ //! C++ callback object/method pointer (the object part).
+ MODSERIAL_callback_dummy *obj_callback;
+
+ //! C++ callback object/method pointer (the method part).
+ void (MODSERIAL_callback_dummy::*method_callback)(MODSERIAL_IRQ_INFO *);
+
+public:
+
+ /** Constructor
+ */
+ MODSERIAL_callback() {
+ c_callback = 0;
+ obj_callback = 0;
+ method_callback = 0;
+ }
+
+ /** attach - Overloaded attachment function.
+ *
+ * Attach a C type function pointer as the callback.
+ *
+ * Note, the callback function prototype must be:-
+ * @code
+ * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
+ * @endcode
+ * @param A C function pointer to call.
+ */
+ void attach(void (*function)(MODSERIAL_IRQ_INFO *) = 0) { c_callback = function; }
+
+ /** attach - Overloaded attachment function.
+ *
+ * Attach a C++ type object/method pointer as the callback.
+ *
+ * Note, the callback method prototype must be:-
+ * @code
+ * public:
+ * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
+ * @endcode
+ * @param A C++ object pointer.
+ * @param A C++ method within the object to call.
+ */
+ template<class T>
+ void attach(T* item, void (T::*method)(MODSERIAL_IRQ_INFO *)) {
+ obj_callback = (MODSERIAL_callback_dummy *)item;
+ method_callback = (void (MODSERIAL_callback_dummy::*)(MODSERIAL_IRQ_INFO *))method;
+ }
+
+ /** call - Overloaded callback initiator.
+ *
+ * call the callback function.
+ *
+ * @param A pointer to a MODSERIAL_IRQ_INFO object.
+ */
+ void call(MODSERIAL_IRQ_INFO *arg) {
+ if (c_callback != 0) {
+ (*c_callback)(arg);
+ }
+ else {
+ if (obj_callback != 0 && method_callback != 0) {
+ (obj_callback->*method_callback)(arg);
+ }
+ }
+ }
+};
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see http://mbed.org/handbook/Serial
+ * @see example1.cpp
+ * @see example2.cpp
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see example_dma.cpp
+ * @see API
+ *
+ * <b>MODSERIAL</b> extends the Mbed library <a href="/handbook/Serial">Serial</a> to provide fully buffered
+ * TX and RX streams. Buffer length is fully customisable.
+ *
+ * Before using MODSERIAL users should be familar with Mbed's standard <a href="/handbook/Serial">Serial</a>
+ * library object. MODSERIAL is a direct "drop in" replacement for <a href="/handbook/Serial">Serial</a>. Where
+ * previously Serial was used, MODSERIAL can be used as adirect replacement instantly offering standard
+ * TX and RX buffering. By default, both TX and RX buffers are 256 bytes in length.
+ *
+ * @image html /media/uploads/mbedofficial/serial_interfaces.png
+ *
+ * Standard example:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * MODSERIAL pc(USBTX, USBRX); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ *
+ * Example with alternate buffer length:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * // Make TX and RX buffers 512byes in length
+ * MODSERIAL pc(USBTX, USBRX, 512); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ *
+ * Example with alternate buffer length:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * // Make TX 1024bytes and RX 512byes in length
+ * MODSERIAL pc(USBTX, USBRX, 1024, 512); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ */
+class MODSERIAL : public Serial
+{
+public:
+
+ // Allow instances of MODSERIAL_IRQ_INFO to use protected properties and methods.
+ friend class MODSERIAL_IRQ_INFO;
+
+ //! A copy of the Serial parity enum
+ /** @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format */
+ enum Parity {
+ None = 0
+ , Odd
+ , Even
+ , Forced1
+ , Forced0
+ };
+
+ //! A copy of the Serial IrqType enum
+ enum IrqType {
+ RxIrq = 0
+ , TxIrq
+ , RxOvIrq
+ , TxOvIrq
+ , TxEmpty
+ , RxAutoDetect
+ , NumOfIrqTypes
+ };
+
+ //! Non-blocking functions return code.
+ enum Result {
+ Ok = 0 /*!< Ok. */
+ , NoMemory = -1 /*!< Memory allocation failed. */
+ , NoChar = -1 /*!< No character in buffer. */
+ , BufferOversize = -2 /*!< Oversized buffer. */
+ };
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ */
+ MODSERIAL(PinName tx, PinName rx, const char* name = NULL);
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ * @param bufferSize Integer of the TX and RX buffer sizes.
+ */
+ MODSERIAL(PinName tx, PinName rx, int bufferSize, const char* name = NULL);
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ * @param txBufferSize Integer of the TX buffer sizes.
+ * @param rxBufferSize Integer of the RX buffer sizes.
+ */
+ MODSERIAL(PinName tx, PinName rx, int txBufferSize, int rxBufferSize, const char* name = NULL);
+
+ virtual ~MODSERIAL();
+
+ /**
+ * Function: attach
+ *
+ * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
+ * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
+ * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
+ * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
+ * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
+ * be used.
+ *
+ * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
+ * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
+ * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
+ * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
+ * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
+ * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
+ * never come into play.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * DigitalOut led1(LED1);
+ * DigitalOut led2(LED2);
+ * DigitalOut led3(LED3);
+ *
+ * // To test, connect p9 to p10 as a loopback.
+ * MODSERIAL pc(p9, p10);
+ *
+ * // This function is called when a character goes into the TX buffer.
+ * void txCallback(void) {
+ * led2 = !led2;
+ * }
+ *
+ * // This function is called when a character goes into the RX buffer.
+ * void rxCallback(void) {
+ * led3 = !led3;
+ * }
+ *
+ * int main() {
+ * pc.baud(115200);
+ * pc.attach(&txCallback, MODSERIAL::TxIrq);
+ * pc.attach(&rxCallback, MODSERIAL::RxIrq);
+ *
+ * while(1) {
+ * led1 = !led1;
+ * wait(0.5);
+ * pc.putc('A');
+ * wait(0.5);
+ * }
+ * ]
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr A pointer to a void function, or 0 to set as none
+ * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+ */
+ void attach(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[type].attach(fptr); }
+
+ /**
+ * Function: attach
+ *
+ * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
+ * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
+ * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
+ * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
+ * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
+ * be used.
+ *
+ * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
+ * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
+ * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
+ * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
+ * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
+ * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
+ * never come into play.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * DigitalOut led1(LED1);
+ * DigitalOut led2(LED2);
+ * DigitalOut led3(LED3);
+ *
+ * // To test, connect p9 to p10 as a loopback.
+ * MODSERIAL pc(p9, p10);
+ *
+ * class Foo {
+ * public:
+ * // This method is called when a character goes into the TX buffer.
+ * void txCallback(void) { led2 = !led2; }
+ *
+ * // This method is called when a character goes into the RX buffer.
+ * void rxCallback(void) { led3 = !led3; }
+ * };
+ *
+ * Foo foo;
+ *
+ * int main() {
+ * pc.baud(115200);
+ * pc.attach(&foo, &Foo::txCallback, MODSERIAL::TxIrq);
+ * pc.attach(&foo, &Foo::rxCallback, MODSERIAL::RxIrq);
+ *
+ * while(1) {
+ * led1 = !led1;
+ * wait(0.5);
+ * pc.putc('A');
+ * wait(0.5);
+ * }
+ * ]
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr A pointer to the object to call the member function on
+ * @param mptr A pointer to the member function to be called
+ * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+ */
+ template<typename T>
+ void attach(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
+ if((mptr != 0) && (tptr != 0)) {
+ _isr[type].attach(tptr, mptr);
+ }
+ }
+
+ /**
+ * @see attach
+ * @ingroup API
+ */
+ void connect(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[RxIrq].attach(fptr); }
+
+ /**
+ * @see attach
+ * @ingroup API
+ */
+ template<typename T>
+ void connect(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
+ if((mptr != 0) && (tptr != 0)) {
+ _isr[type].attach(tptr, mptr);
+ }
+ }
+
+ /**
+ * Function: writeable
+ *
+ * Determine if there is space available to write a byte
+ *
+ * @ingroup API
+ * @return 1 if there is space to write a character, else 0
+ */
+ int writeable() { return txBufferFull() ? 0 : 1; }
+
+ /**
+ * Function: readable
+ *
+ * Determine if there is a byte available to read
+ *
+ * @ingroup API
+ * @return 1 if there is a character available to read, else 0
+ */
+ int readable() { return rxBufferEmpty() ? 0 : 1; }
+
+ /**
+ * Function: txBufferSane
+ *
+ * Determine if the TX buffer has been initialized.
+ *
+ * @ingroup API
+ * @return true if the buffer is initialized, else false
+ */
+ bool txBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
+
+ /**
+ * Function: rxBufferSane
+ *
+ * Determine if the RX buffer has been initialized.
+ *
+ * @ingroup API
+ * @return true if the buffer is initialized, else false
+ */
+ bool rxBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
+
+ /**
+ * Function: txBufferGetCount
+ *
+ * Returns how many bytes are in the TX buffer
+ *
+ * @ingroup API
+ * @return The number of bytes in the TX buffer
+ */
+ int txBufferGetCount(void) { return buffer_count[TxIrq]; }
+
+ /**
+ * Function: rxBufferGetCount
+ *
+ * Returns how many bytes are in the RX buffer
+ *
+ * @ingroup API
+ * @return The number of bytes in the RX buffer
+ */
+ int rxBufferGetCount(void) { return buffer_count[RxIrq]; }
+
+ /**
+ * Function: txBufferGetSize
+ *
+ * Returns the current size of the TX buffer
+ *
+ * @ingroup API
+ * @return The length iof the TX buffer in bytes
+ */
+ int txBufferGetSize(int size) { return buffer_size[TxIrq]; }
+
+ /**
+ * Function: rxBufferGetSize
+ *
+ * Returns the current size of the RX buffer
+ *
+ * @ingroup API
+ * @return The length iof the RX buffer in bytes
+ */
+ int rxBufferGetSize(int size) { return buffer_size[RxIrq]; }
+
+ /**
+ * Function: txBufferFull
+ *
+ * Is the TX buffer full?
+ *
+ * @ingroup API
+ * @return true if the TX buffer is full, otherwise false
+ */
+ bool txBufferFull(void);
+
+ /**
+ * Function: rxBufferFull
+ *
+ * Is the RX buffer full?
+ *
+ * @ingroup API
+ * @return true if the RX buffer is full, otherwise false
+ */
+ bool rxBufferFull(void);
+
+ /**
+ * Function: txBufferEmpty
+ *
+ * Is the TX buffer empty?
+ *
+ * @ingroup API
+ * @return true if the TX buffer is empty, otherwise false
+ */
+ bool txBufferEmpty(void);
+
+ /**
+ * Function: rxBufferEmpty
+ *
+ * Is the RX buffer empty?
+ *
+ * @ingroup API
+ * @return true if the RX buffer is empty, otherwise false
+ */
+ bool rxBufferEmpty(void);
+
+ /**
+ * Function: txBufferSetSize
+ *
+ * Change the TX buffer size.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new TX buffer size in bytes.
+ * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
+ * @return Result Ok on success.
+ */
+ int txBufferSetSize(int size, bool m) { return resizeBuffer(size, TxIrq, m); }
+
+ /**
+ * Function: rxBufferSetSize
+ *
+ * Change the RX buffer size.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new RX buffer size in bytes.
+ * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
+ * @return Result Ok on success.
+ */
+ int rxBufferSetSize(int size, bool m) { return resizeBuffer(size, RxIrq, m); }
+
+ /**
+ * Function: txBufferSetSize
+ *
+ * Change the TX buffer size.
+ * Always performs a memory sanity check, halting the Mbed on failure.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new TX buffer size in bytes.
+ * @return Result Ok on success.
+ */
+ int txBufferSetSize(int size) { return resizeBuffer(size, TxIrq, true); }
+
+ /**
+ * Function: rxBufferSetSize
+ *
+ * Change the RX buffer size.
+ * Always performs a memory sanity check, halting the Mbed on failure.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new RX buffer size in bytes.
+ * @return Result Ok on success.
+ */
+ int rxBufferSetSize(int size) { return resizeBuffer(size, RxIrq, true); }
+
+ /**
+ * Function: txBufferFlush
+ *
+ * Remove all bytes from the TX buffer.
+ * @ingroup API
+ */
+ void txBufferFlush(void) { flushBuffer(TxIrq); }
+
+ /**
+ * Function: rxBufferFlush
+ *
+ * Remove all bytes from the RX buffer.
+ * @ingroup API
+ */
+ void rxBufferFlush(void) { flushBuffer(RxIrq); }
+
+ /**
+ * Function: getcNb
+ *
+ * Like getc() but is non-blocking. If no bytes are in the RX buffer this
+ * function returns Result::NoChar (-1)
+ *
+ * @ingroup API
+ * @return A byte from the RX buffer or Result::NoChar (-1) if bufer empty.
+ */
+ int getcNb() { return __getc(false); }
+
+ /**
+ * Function: getc
+ *
+ * Overloaded version of Serial::getc()
+ *
+ * This function blocks (if the RX buffer is empty the function will wait for a
+ * character to arrive and then return that character).
+ *
+ * @ingroup API
+ * @return A byte from the RX buffer
+ */
+ int getc() { return __getc(true); }
+
+ /**
+ * Function: txGetLastChar
+ *
+ * Rteurn the last byte to pass through the TX interrupt handler.
+ *
+ * @ingroup MISC
+ * @return The byte
+ */
+ char txGetLastChar(void) { return txc; }
+
+ /**
+ * Function: rxGetLastChar
+ *
+ * Return the last byte to pass through the RX interrupt handler.
+ *
+ * @ingroup MISC
+ * @return The byte
+ */
+ char rxGetLastChar(void) { return rxc; }
+
+ /**
+ * Function: txIsBusy
+ *
+ * If the Uart is still actively sending characters this
+ * function will return true.
+ *
+ * @ingroup API
+ * @return bool
+ */
+ bool txIsBusy(void);
+
+ /**
+ * Function: autoDetectChar
+ *
+ * Set the char that, if seen incoming, invokes the AutoDetectChar callback.
+ *
+ * @ingroup API
+ * @param int c The character to detect.
+ */
+ void autoDetectChar(char c) { auto_detect_char = c; }
+
+ /**
+ * Function: move
+ *
+ * Move contents of RX buffer to external buffer. Stops if "end" detected.
+ *
+ * @ingroup API
+ * @param char *s The destination buffer address
+ * @param int max The maximum number of chars to move.
+ * @param char end If this char is detected stop moving.
+ */
+ int move(char *s, int max, char end) {
+ int counter = 0;
+ char c;
+ while(readable()) {
+ c = getc();
+ if (c == end) break;
+ *(s++) = c;
+ counter++;
+ if (counter == max) break;
+ }
+ return counter;
+ }
+
+ /**
+ * Function: move (overloaded)
+ *
+ * Move contents of RX buffer to external buffer. Stops if auto_detect_char detected.
+ *
+ * @ingroup API
+ * @param int max The maximum number of chars to move.
+ * @param char *s The destination buffer address
+ */
+ int move(char *s, int max) {
+ return move(s, max, auto_detect_char);
+ }
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: putc
+ *
+ * Write a character
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.putc
+ * @ingroup API
+ * @param c The character to write to the serial port
+ */
+ int putc(int c);
+ #endif
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: printf
+ *
+ * Write a formated string
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.printf
+ * @ingroup API
+ * @param format A printf-style format string, followed by the variables to use in formating the string.
+ */
+ int printf(const char* format, ...);
+ #endif
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: scanf
+ *
+ * Read a formated string
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.scanf
+ * @ingroup API
+ * @param format - A scanf-style format string, followed by the pointers to variables to store the results.
+ */
+ int scanf(const char* format, ...);
+ #endif
+
+protected:
+ /**
+ * Used to pass information to callbacks.
+ * @ingroup INTERNALS
+ */
+ MODSERIAL_IRQ_INFO callbackInfo;
+
+ /**
+ * Remove the last char placed into the rx buffer.
+ * This is an operation that can only be performed
+ * by an rxCallback function. To protect the buffers
+ * this function is defined protected so that a
+ * regular application cannot call it directly. It
+ * can only be called by the public version within a
+ * MODSERIAL_IRQ_INFO class.
+ * @ingroup INTERNALS
+ * @return The byte removed from the buffer.
+ */
+ int rxDiscardLastChar(void);
+
+private:
+
+ /**
+ * A pointer to the UART peripheral base address being used.
+ * @ingroup INTERNALS
+ */
+ void *_base;
+
+ /**
+ * The last byte to pass through the TX IRQ handler.
+ * @ingroup INTERNALS
+ */
+ volatile char txc;
+
+ /**
+ * The last byte to pass through the RX IRQ handler.
+ * @ingroup INTERNALS
+ */
+ volatile char rxc;
+
+ /**
+ * Pointers to the TX and RX buffers.
+ * @ingroup INTERNALS
+ */
+ volatile char *buffer[2];
+
+ /**
+ * Buffer in pointers.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_in[2];
+
+ /**
+ * Buffer out pointers.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_out[2];
+
+ /**
+ * Buffer lengths.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_size[2];
+
+ /**
+ * Buffer content counters.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_count[2];
+
+ /**
+ * Buffer overflow.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_overflow[2];
+
+ /**
+ * Auto-detect character.
+ * @ingroup INTERNALS
+ */
+ volatile char auto_detect_char;
+
+ /**
+ * Callback system.
+ * @ingroup INTERNALS
+ */
+ MODSERIAL_callback _isr[NumOfIrqTypes];
+
+ /**
+ * TX Interrupt Service Routine.
+ * @ingroup INTERNALS
+ */
+ void isr_tx(bool doCallback);
+
+ /**
+ * TX Interrupt Service Routine stub version.
+ * @ingroup INTERNALS
+ */
+ void isr_tx(void) { isr_tx(true); }
+
+
+ /**
+ * RX Interrupt Service Routine.
+ * @ingroup INTERNALS
+ */
+ void isr_rx(void);
+
+ /**
+ * Disable the interrupts for this Uart.
+ * @ingroup INTERNALS
+ */
+ void disableIrq(void);
+
+ /**
+ * Enable the interrupts for this Uart.
+ * @ingroup INTERNALS
+ */
+ void enableIrq(void);
+
+ /**
+ * Get a character from the RX buffer
+ * @ingroup INTERNALS
+ * @param bool True to block (wait for input)
+ * @return A byte from the buffer.
+ */
+ int __getc(bool);
+
+ /**
+ * Put a character from the TX buffer
+ * @ingroup INTERNALS
+ * @param bool True to block (wait for space in the TX buffer if full)
+ * @return 0 on success
+ */
+ int __putc(int c, bool);
+
+ /**
+ * Function: _putc
+ * Overloaded virtual function.
+ */
+ virtual int _putc(int c) { return __putc(c, true); }
+
+ /**
+ * Function: _getc
+ * Overloaded virtual function.
+ */
+ virtual int _getc() { return __getc(true); }
+
+ /**
+ * Function: init
+ * Initialize the MODSERIAL object
+ * @ingroup INTERNALS
+ */
+ void init(int txSize, int rxSize, PinName rx);
+
+ /**
+ * Function: flushBuffer
+ * @ingroup INTERNALS
+ */
+ void flushBuffer(IrqType type);
+
+ /**
+ * Function: resizeBuffer
+ * @ingroup INTERNALS
+ */
+ int resizeBuffer(int size, IrqType type = RxIrq, bool memory_check = true);
+
+ /**
+ * Function: downSizeBuffer
+ * @ingroup INTERNALS
+ */
+ int downSizeBuffer(int size, IrqType type, bool memory_check);
+
+ /**
+ * Function: upSizeBuffer
+ * @ingroup INTERNALS
+ */
+ int upSizeBuffer(int size, IrqType type, bool memory_check);
+
+ /*
+ * If MODDMA is available the compile in code to handle sending
+ * an arbitary char buffer. Note, the parts before teh #ifdef
+ * are declared so that MODSERIAL can access then even if MODDMA
+ * isn't avaiable. Since MODDMA.h is only available at this point
+ * all DMA functionality must be declared inline in the class
+ * definition.
+ */
+public:
+
+ int dmaSendChannel;
+ void *moddma_p;
+
+#ifdef MODDMA_H
+
+ MODDMA_Config *config;
+
+ /**
+ * Set the "void pointer" moddma_p to be a pointer to a
+ * MODDMA controller class instance. Used to manage the
+ * data transfer of DMA configurations.
+ *
+ * @ingroup API
+ * @param p A pointer to "the" instance of MODDMA.
+ */
+ void MODDMA(MODDMA *p) { moddma_p = p; }
+
+ /**
+ * Send a char buffer to the Uarts TX system
+ * using DMA. This blocks regular library
+ * sending.
+ *
+ * @param buffer A char buffer of bytes to send.
+ * @param len The length of the buffer to send.
+ * @param dmaChannel The DMA channel to use, defaults to 7
+ * @return MODDMA::Status MODDMA::ok if all went ok
+ */
+ int dmaSend(char *buffer, int len, int dmaChannel = 7)
+ {
+ if (moddma_p == (void *)NULL) return -2;
+ class MODDMA *dma = (class MODDMA *)moddma_p;
+
+ dmaSendChannel = dmaChannel & 0x7;
+
+ uint32_t conn = MODDMA::UART0_Tx;
+ switch(_serial.index) {
+ case 0: conn = MODDMA::UART0_Tx; break;
+ case 1: conn = MODDMA::UART1_Tx; break;
+ case 2: conn = MODDMA::UART2_Tx; break;
+ case 3: conn = MODDMA::UART3_Tx; break;
+ }
+
+ config = new MODDMA_Config;
+ config
+ ->channelNum ( (MODDMA::CHANNELS)(dmaSendChannel & 0x7) )
+ ->srcMemAddr ( (uint32_t) buffer )
+ ->transferSize ( len )
+ ->transferType ( MODDMA::m2p )
+ ->dstConn ( conn )
+ ->attach_tc ( this, &MODSERIAL::dmaSendCallback )
+ ->attach_err ( this, &MODSERIAL::dmaSendCallback )
+ ; // config end
+
+ // Setup the configuration.
+ if (dma->Setup(config) == 0) {
+ return -1;
+ }
+
+ //dma.Enable( MODDMA::Channel_0 );
+ dma->Enable( config->channelNum() );
+ return MODDMA::Ok;
+ }
+
+ /**
+ * Attach a callback to the DMA completion.
+ *
+ * @ingroup API
+ * @param fptr A function pointer to call
+ * @return this
+ */
+ void attach_dmaSendComplete(void (*fptr)(MODSERIAL_IRQ_INFO *)) {
+ _isrDmaSendComplete.attach(fptr);
+ }
+
+ /**
+ * Attach a callback to the DMA completion.
+ *
+ * @ingroup API
+ * @param tptr A template pointer to the calling object
+ * @param mptr A method pointer within the object to call.
+ * @return this
+ */
+ template<typename T>
+ void attach_dmaSendComplete(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *)) {
+ if((mptr != NULL) && (tptr != NULL)) {
+ _isrDmaSendComplete.attach(tptr, mptr);
+ }
+ }
+
+ MODSERIAL_callback _isrDmaSendComplete;
+
+protected:
+ /**
+ * Callback for dmaSend().
+ */
+ void dmaSendCallback(void)
+ {
+ if (moddma_p == (void *)NULL) return;
+ class MODDMA *dma = (class MODDMA *)moddma_p;
+
+ MODDMA_Config *config = dma->getConfig();
+ dma->haltAndWaitChannelComplete( (MODDMA::CHANNELS)config->channelNum());
+ dma->Disable( (MODDMA::CHANNELS)config->channelNum() );
+ if (dma->irqType() == MODDMA::TcIrq) dma->clearTcIrq();
+ if (dma->irqType() == MODDMA::ErrIrq) dma->clearErrIrq();
+ dmaSendChannel = -1;
+ _isrDmaSendComplete.call(&this->callbackInfo);
+ delete(config);
+ }
+
+#endif // MODDMA_H
+
+};
+
+}; // namespace AjK ends
+
+using namespace AjK;
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/MODSERIAL_IRQ_INFO.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,38 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL_IRQ_INFO.cpp
+ @author Andy Kirkham
+*/
+
+#include "MODSERIAL.h"
+
+namespace AjK {
+
+int
+MODSERIAL_IRQ_INFO::rxDiscardLastChar(void)
+{
+ if (!serial) return -1;
+
+ return serial->rxDiscardLastChar();
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/PUTC.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,81 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::__putc(int c, bool block) {
+
+ // If no buffer is in use fall back to standard TX FIFO usage.
+ // Note, we must block in this case and ignore bool "block"
+ // so as to maintain compat with Mbed Serial.
+ if (buffer[TxIrq] == (char *)NULL || buffer_size[TxIrq] == 0) {
+ while (! MODSERIAL_THR_HAS_SPACE) ; // Wait for space in the TX FIFO.
+ _THR = (uint32_t)c;
+ return 0;
+ }
+
+ if ( MODSERIAL_THR_HAS_SPACE && MODSERIAL_TX_BUFFER_EMPTY && dmaSendChannel == -1 ) {
+ _THR = (uint32_t)c;
+ }
+ else {
+ if (block) {
+ uint32_t ier = _IER; _IER = 1;
+ while ( MODSERIAL_TX_BUFFER_FULL ) { // Blocks!
+ // If putc() is called from an ISR then we are stuffed
+ // because in an ISR no bytes from the TX buffer will
+ // get transferred to teh TX FIFOs while we block here.
+ // So, to work around this, instead of sitting in a
+ // loop waiting for space in the TX buffer (which will
+ // never happen in IRQ context), check to see if the
+ // TX FIFO has space available to move bytes from the
+ // TX buffer to TX FIFO to make space. The easiest way
+ // to do this is to poll the isr_tx() function while we
+ // are blocking.
+ isr_tx(false);
+ }
+ _IER = ier;
+ }
+ else if( MODSERIAL_TX_BUFFER_FULL ) {
+ buffer_overflow[TxIrq] = c; // Oh dear, no room in buffer.
+ _isr[TxOvIrq].call(&this->callbackInfo);
+ return -1;
+ }
+ _IER &= ~2;
+ buffer[TxIrq][buffer_in[TxIrq]] = c;
+ __disable_irq();
+ buffer_count[TxIrq]++;
+ __enable_irq();
+ buffer_in[TxIrq]++;
+ if (buffer_in[TxIrq] >= buffer_size[TxIrq]) {
+ buffer_in[TxIrq] = 0;
+ }
+ _IER |= 2;
+ }
+
+ return 0;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/RESIZE.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,123 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::resizeBuffer(int size, IrqType type, bool memory_check)
+{
+ int rval = Ok;
+
+ // If the requested size is the same as the current size there's nothing to do,
+ // just continue to use the same buffer as it's fine as it is.
+ if (buffer_size[type] == size) return rval;
+
+ // Make sure the ISR cannot use the buffers while we are manipulating them.
+ disableIrq();
+
+ // If the requested buffer size is larger than the current size,
+ // attempt to create a new buffer and use it.
+ if (buffer_size[type] < size) {
+ rval = upSizeBuffer(size, type, memory_check);
+ }
+ else if (buffer_size[type] > size) {
+ rval = downSizeBuffer(size, type, memory_check);
+ }
+
+ // Start the ISR system again with the new buffers.
+ enableIrq();
+
+ return rval;
+}
+
+int
+MODSERIAL::downSizeBuffer(int size, IrqType type, bool memory_check)
+{
+ if (size >= buffer_count[type]) {
+ return BufferOversize;
+ }
+
+ char *s = (char *)malloc(size);
+
+ if (s == (char *)NULL) {
+ if (memory_check) {
+ error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
+ }
+ return NoMemory;
+ }
+
+ int c, new_in = 0;
+
+ do {
+ c = __getc(false);
+ if (c != -1) s[new_in++] = (char)c;
+ if (new_in >= size) new_in = 0;
+ }
+ while (c != -1);
+
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = new_in;
+ buffer_out[type] = 0;
+ return Ok;
+}
+
+int
+MODSERIAL::upSizeBuffer(int size, IrqType type, bool memory_check)
+{
+ char *s = (char *)malloc(size);
+
+ if (s == (char *)NULL) {
+ if (memory_check) {
+ error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
+ }
+ return NoMemory;
+ }
+
+ if (buffer_count[type] == 0) { // Current buffer empty?
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = 0;
+ buffer_out[type] = 0;
+ }
+ else { // Copy the current contents into the new buffer.
+ int c, new_in = 0;
+ do {
+ c = __getc(false);
+ if (c != -1) s[new_in++] = (char)c;
+ if (new_in >= size) new_in = 0; // Shouldn't happen, but be sure.
+ }
+ while (c != -1);
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = new_in;
+ buffer_out[type] = 0;
+ }
+
+ buffer_size[type] = size;
+ return Ok;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/example1.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,120 @@
+#ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
+
+/*
+ * To run this test program, link p9 to p10 so the Serial loops
+ * back and receives characters it sends.
+ */
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+MODSERIAL pc(USBTX, USBRX);
+
+/*
+ * As experiement, you can define MODSERIAL as show here and see what
+ * effects it has on the LEDs.
+ *
+ * MODSERIAL uart(TX_PIN, RX_PIN, 512);
+ * With this, the 512 characters sent can straight into the buffer
+ * vary quickly. This means LED1 is only on briefly as the TX buffer
+ * fills.
+ *
+ * MODSERIAL uart(TX_PIN, RX_PIN, 32);
+ * With this, the buffer is smaller than the default 256 bytes and
+ * therefore LED1 stays on much longer while the system waits for
+ * room in the TX buffer.
+ */
+MODSERIAL uart(TX_PIN, RX_PIN);
+
+// This function is called when a character goes from the TX buffer
+// to the Uart THR FIFO register.
+void txCallback(MODSERIAL_IRQ_INFO *q) {
+ led2 = !led2;
+}
+
+// This function is called when TX buffer goes empty
+void txEmpty(MODSERIAL_IRQ_INFO *q) {
+ led2 = 0;
+ pc.puts(" Done. ");
+}
+
+// This function is called when a character goes into the RX buffer.
+void rxCallback(MODSERIAL_IRQ_INFO *q) {
+ led3 = !led3;
+ pc.putc(uart.getc());
+}
+
+int main() {
+ int c = 'A';
+
+ // Ensure the baud rate for the PC "USB" serial is much
+ // higher than "uart" baud rate below.
+ pc.baud(PC_BAUD);
+
+ // Use a deliberatly slow baud to fill up the TX buffer
+ uart.baud(1200);
+
+ uart.attach(&txCallback, MODSERIAL::TxIrq);
+ uart.attach(&rxCallback, MODSERIAL::RxIrq);
+ uart.attach(&txEmpty, MODSERIAL::TxEmpty);
+
+ // Loop sending characters. We send 512
+ // which is twice the default TX/RX buffer size.
+
+ led1 = 1; // Show start of sending with LED1.
+
+ for (int loop = 0; loop < 512; loop++) {
+ uart.printf("%c", c);
+ c++;
+ if (c > 'Z') c = 'A';
+ }
+
+ led1 = 0; // Show the end of sending by switching off LED1.
+
+ // End program. Flash LED4. Notice how LED 2 and 3 continue
+ // to flash for a short period while the interrupt system
+ // continues to send the characters left in the TX buffer.
+
+ while(1) {
+ led4 = !led4;
+ wait(0.25);
+ }
+}
+
+/*
+ * Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
+ * machine that is connected to the "pc" USB serial port.
+ *
+ * ABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUV
+ * WXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQR
+ * STUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMN
+ * OPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJ
+ * KLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEF
+ * GHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZAB
+ * CDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
+ *
+ * Of interest is that last "R" character after the system has said "Done."
+ * This comes from the fact that the TxEmpty callback is made when the TX buffer
+ * becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
+ * LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
+ * when the TxEmpty callback is made, the TX buffer is empty, but that just means
+ * the "last few characters" were written to the TX FIFO. So although the TX
+ * buffer has gone empty, the Uart's transmit system is still sending any remaining
+ * characters from it's TX FIFO. If you want to be truely sure all the characters
+ * you have sent have left the Mbed then call txIsBusy(); This function will
+ * return true if characters are still being sent. If it returns false after
+ * the Tx buffer is empty then all your characters have been sent.
+ *
+ * In a similar way, when characters are received into the RX FIFO, the entire
+ * FIFO contents is moved to the RX buffer, assuming there is room left in the
+ * RX buffer. If there is not, any remaining characters are left in the RX FIFO
+ * and will be moved to the RX buffer on the next interrupt or when the running
+ * program removes a character(s) from the RX buffer with the getc() method.
+ */
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/example2.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,167 @@
+/*
+ Copyright (c) 2011 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file example2.cpp
+ @purpose Demos a simple messaging system.
+ @version see ChangeLog.c
+ @date Jan 2011
+ @author Andy Kirkham
+*/
+
+/*
+ This example demostrates a simple "messaging" system. You can use it with
+ a terminal program to test it out or write a cusom C#/C++/VB/etc program
+ to read and write messages to or from the Mbed. The default baud rate in
+ this example is 115200.
+
+ In this example, the LEDs are controlled and pins p21 to p24 are set as
+ InterruptIn and send messages out when their value changes.
+
+ To use, hook up the MBed USB and open your fav terminal. All messages
+ end with the \n character, don't forget to hit carriage return!.
+ As an example:-
+
+ to switch on LED1 send LED1:1\n, off is LED1:0\n and toggle is LED1:2\n
+ to switch on LED2 send LED2:1\n, off is LED2:0\n and toggle is LED2:2\n
+ to switch on LED3 send LED3:1\n, off is LED3:0\n and toggle is LED3:2\n
+ to switch on LED4 send LED4:1\n, off is LED4:0\n and toggle is LED4:2\n
+
+ When a pin change on p21 to p24 happens, a message is sent. As an example
+ when p21 goes low PIN21:0\n is sent, when goes high PIN21:1\n is sent.
+
+ Note, the InterruptIn pins p21 to p24 are setup to have pullups. This means
+ they are high. To activate them use a wire to short the pin to 0volts.
+
+ If you find that p21 to p24 sent a lot of on/off/on/off then it's probably
+ due to "bounce". If you are connecting a mechanical switch to a pin you
+ may prefer to use the PinDetect library rather than using InterruptIn.
+ @see http://mbed.org/users/AjK/libraries/PinDetect/latest
+
+ One point you may notice. Incoming messages are processed via main()'s
+ while(1) loop whereas pin changes have their messages directly sent.
+ The reason for this is when MODSERIAL makes callbacks to your application
+ it is in "interrupt context". And one thing you want to avoid is spending
+ lots of CPU time in that context. So, the callback moves the message from
+ the input buffer to a local holding buffer and it then sets a bool flag
+ which tells main()'s while(1) loop to process that buffer. This means the
+ time spent doing the real incoming message handing is within your program
+ and not within MODSERIAL's interrupt context. So you may ask, why not do
+ the same for out going messages? Well, because MODSERIAL output buffers
+ all your sent content then sending chars is very fast. MODSERIAL handles
+ all the nitty gritty bits for you. You can just send. This example uses
+ puts() to send the message. If you can, always try and use sprintf()+puts()
+ rathe than printf(), printf() is known to often screw things up when used
+ within an interrupt context. Better still, just use puts() and do away
+ with any of the crappy ?printf() calls if possible. But I found the code
+ below to work fine even at 115200baud.
+
+*/
+
+
+#ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+#define MESSAGE_BUFFER_SIZE 32
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+InterruptIn P21(p21);
+InterruptIn P22(p22);
+InterruptIn P23(p23);
+InterruptIn P24(p24);
+
+MODSERIAL messageSystem(USBTX, USBRX);
+
+char messageBufferIncoming[MESSAGE_BUFFER_SIZE];
+char messageBufferOutgoing[MESSAGE_BUFFER_SIZE];
+bool messageReceived;
+
+void messageReceive(MODSERIAL_IRQ_INFO *q) {
+ MODSERIAL *sys = q->serial;
+ sys->move(messageBufferIncoming, MESSAGE_BUFFER_SIZE);
+ messageReceived = true;
+ return 0;
+}
+
+void messageProcess(void) {
+ if (!strncmp(messageBufferIncoming, "LED1:1", sizeof("LED1:1")-1)) led1 = 1;
+ else if (!strncmp(messageBufferIncoming, "LED1:0", sizeof("LED1:0")-1)) led1 = 0;
+ else if (!strncmp(messageBufferIncoming, "LED1:2", sizeof("LED1:2")-1)) led1 = !led1;
+
+ else if (!strncmp(messageBufferIncoming, "LED2:1", sizeof("LED2:1")-1)) led2 = 1;
+ else if (!strncmp(messageBufferIncoming, "LED2:0", sizeof("LED2:0")-1)) led2 = 0;
+ else if (!strncmp(messageBufferIncoming, "LED2:2", sizeof("LED2:2")-1)) led2 = !led2;
+
+ else if (!strncmp(messageBufferIncoming, "LED3:1", sizeof("LED3:1")-1)) led3 = 1;
+ else if (!strncmp(messageBufferIncoming, "LED3:0", sizeof("LED3:0")-1)) led3 = 0;
+ else if (!strncmp(messageBufferIncoming, "LED3:2", sizeof("LED3:2")-1)) led3 = !led3;
+
+ else if (!strncmp(messageBufferIncoming, "LED4:1", sizeof("LED4:1")-1)) led4 = 1;
+ else if (!strncmp(messageBufferIncoming, "LED4:0", sizeof("LED4:0")-1)) led4 = 0;
+ else if (!strncmp(messageBufferIncoming, "LED4:2", sizeof("LED4:2")-1)) led4 = !led4;
+
+ messageReceived = false;
+}
+
+#define PIN_MESSAGE_SEND(x,y) \
+ sprintf(messageBufferOutgoing,"PIN%02d:%d\n",x,y);\
+ messageSystem.puts(messageBufferOutgoing);
+
+void pin21Rise(void) { PIN_MESSAGE_SEND(21, 1); }
+void pin21Fall(void) { PIN_MESSAGE_SEND(21, 0); }
+void pin22Rise(void) { PIN_MESSAGE_SEND(22, 1); }
+void pin22Fall(void) { PIN_MESSAGE_SEND(22, 0); }
+void pin23Rise(void) { PIN_MESSAGE_SEND(23, 1); }
+void pin23Fall(void) { PIN_MESSAGE_SEND(23, 0); }
+void pin24Rise(void) { PIN_MESSAGE_SEND(24, 1); }
+void pin24Fall(void) { PIN_MESSAGE_SEND(24, 0); }
+
+int main() {
+
+ messageReceived = false;
+ messageSystem.baud(115200);
+ messageSystem.attach(&messageReceive, MODSERIAL::RxAutoDetect);
+ messageSystem.autoDetectChar('\n');
+
+ // Enable pullup resistors on pins.
+ P21.mode(PullUp); P22.mode(PullUp); P23.mode(PullUp); P24.mode(PullUp);
+
+ // Fix Mbed library bug, see http://mbed.org/forum/bugs-suggestions/topic/1498
+ LPC_GPIOINT->IO2IntClr = (1UL << 5) | (1UL << 4) | (1UL << 3) | (1UL << 2);
+
+ // Attach InterruptIn pin callbacks.
+ P21.rise(&pin21Rise); P21.fall(&pin21Fall);
+ P22.rise(&pin22Rise); P22.fall(&pin22Fall);
+ P23.rise(&pin23Rise); P23.fall(&pin23Fall);
+ P24.rise(&pin24Rise); P24.fall(&pin24Fall);
+
+ while(1) {
+ // Process incoming messages.
+ if (messageReceived) messageProcess();
+ }
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/example3a.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,83 @@
+/*
+ Copyright (c) 2011 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file example3.cpp
+ @purpose Demos a simple filter.
+ @version see ChangeLog.c
+ @author Andy Kirkham
+*/
+
+/*
+ This example shows how to use the new callback system. In the old system
+ Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks.
+ However, that limits the callback function prototype to void func(void);
+ which means we cannot pass parameters.
+
+ This latest version of MODSERIAL now uses its own callback object. This allows
+ the passing of a pointer to a class that holds information about the MODSERIAL
+ object making the callback. As of version 1.18 one critcal piece of information
+ is passed, a pointer to the MODSERIAL object. This allows callbacks to use the
+ MODSERIAL functions and data.
+
+ Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO
+ are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL.
+ This is used to ensure functions that can only be called during a callback
+ can be invoked from a callback.
+
+ [1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
+*/
+
+#ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+DigitalOut led1(LED1);
+
+MODSERIAL pc(USBTX, USBRX);
+
+// The following callback is defined in example3b.cpp
+//! @see example3b.cpp
+void rxCallback(MODSERIAL_IRQ_INFO *info);
+
+int main() {
+
+ int life_counter = 0;
+
+ pc.baud(115200);
+
+ pc.attach(&rxCallback, MODSERIAL::RxIrq);
+
+ while(1) {
+ // Echo back any chars we get except 'A' which is filtered by the rxCallback.
+ if (pc.readable()) {
+ pc.putc(pc.getc());
+ }
+
+ // Toggle LED1 every so often to show we are alive.
+ if (life_counter++ == 1000000) {
+ life_counter = 0;
+ led1 = !led1;
+ }
+ }
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/example3b.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,78 @@
+/*
+ Copyright (c) 2011 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file example3b.cpp
+ @purpose Demos a simple filter.
+ @version see ChangeLog.c
+ @author Andy Kirkham
+*/
+
+/*
+ This example shows how to use the new callback system. In the old system
+ Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks.
+ However, that limits the callback function prototype to void func(void);
+ which means we cannot pass parameters.
+
+ This latest version of MODSERIAL now uses its own callback object. This allows
+ the passing of a pointer to a class that holds information about the MODSERIAL
+ object making the callback. As of version 1.18 one critcal piece of information
+ is passed, a pointer to the MODSERIAL object. This allows callbacks to use the
+ MODSERIAL functions and data.
+
+ Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO
+ are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL.
+ This is used to ensure functions that can only be called during a callback
+ can be invoked from a callback.
+
+ [1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
+*/
+
+
+#ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+void rxCallback(MODSERIAL_IRQ_INFO *info) {
+
+ // Get the pointer to our MODSERIAL object that invoked this callback.
+ MODSERIAL *pc = info->serial;
+
+ // info->serial points at the MODSERIAL instance so we can use it to call
+ // any of the public MODSERIAL functions that are normally available. So
+ // there's now no need to use the global version (pc in our case) inside
+ // callback functions.
+ char c = pc->rxGetLastChar(); // Where local pc variable is a pointer to the global MODSERIAL pc object.
+
+ // The following is rather daft but demos the point.
+ // Don't allow the letter "A" go into the RX buffer.
+ // Basically acts as a filter to remove the letter "A"
+ // if it goes into the RX buffer.
+ if (c == 'A') {
+ // Note, we call the MODSERIAL_IRQ_INFO::rxDiscardLastChar() public function which
+ // is permitted access to the protected version of MODSERIAL::rxDiscardLastChar()
+ // within MODSERIAL (because they are friends). This ensures rxDiscardLastChar()
+ // can only be called within an rxCallback function.
+ info->rxDiscardLastChar();
+ }
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/MODSERIAL/example_dma.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,144 @@
+#ifdef COMPILE_EXAMPLE_CODE_MODSERIAL_MODDMA
+
+/*
+ * To run this test program, link p9 to p10 so the Serial loops
+ * back and receives characters it sends.
+ */
+
+#include "mbed.h"
+
+/* Note, this example requires that you also import into the Mbed
+ compiler the MODDMA project as well as MODSERIAL
+ http://mbed.org/users/AjK/libraries/MODDMA/latest
+ MODDMA.h MUST come before MODSERIAL.h */
+#include "MODDMA.h" // <--- Declare first
+#include "MODSERIAL.h" // Flollowed by MODSERIAL
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+MODSERIAL pc(USBTX, USBRX);
+
+/*
+ * As experiement, you can define MODSERIAL as show here and see what
+ * effects it has on the LEDs.
+ *
+ * MODSERIAL uart(TX_PIN, RX_PIN, 512);
+ * With this, the 512 characters sent can straight into the buffer
+ * vary quickly. This means LED1 is only on briefly as the TX buffer
+ * fills.
+ *
+ * MODSERIAL uart(TX_PIN, RX_PIN, 32);
+ * With this, the buffer is smaller than the default 256 bytes and
+ * therefore LED1 stays on much longer while the system waits for
+ * room in the TX buffer.
+ */
+MODSERIAL uart(TX_PIN, RX_PIN);
+
+MODDMA dma;
+
+// This function is called when a character goes from the TX buffer
+// to the Uart THR FIFO register.
+void txCallback(void) {
+ led2 = !led2;
+}
+
+// This function is called when TX buffer goes empty
+void txEmpty(void) {
+ led2 = 0;
+ pc.puts(" Done. ");
+}
+
+void dmaComplete(void) {
+ led1 = 1;
+}
+
+// This function is called when a character goes into the RX buffer.
+void rxCallback(void) {
+ led3 = !led3;
+ pc.putc(uart.getc());
+}
+
+int main() {
+ char s1[] = " *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* ";
+ int c = 'A';
+
+ // Tell MODSERIAL where the MODDMA controller is.
+ pc.MODDMA( &dma );
+
+ // Ensure the baud rate for the PC "USB" serial is much
+ // higher than "uart" baud rate below.
+ pc.baud( PC_BAUD );
+
+ // Use a deliberatly slow baud to fill up the TX buffer
+ uart.baud(1200);
+
+ uart.attach( &txCallback, MODSERIAL::TxIrq );
+ uart.attach( &rxCallback, MODSERIAL::RxIrq );
+ uart.attach( &txEmpty, MODSERIAL::TxEmpty );
+
+ // Loop sending characters. We send 512
+ // which is twice the default TX/RX buffer size.
+
+ led1 = 0;
+
+ // Send the buffer s using DMA channel 7
+ pc.attach_dmaSendComplete( &dmaComplete );
+ pc.dmaSend( s1, sizeof(s1), MODDMA::Channel_7 );
+
+ for (int loop = 0; loop < 512; loop++) {
+ uart.printf("%c", c);
+ c++;
+ if (c > 'Z') c = 'A';
+ }
+
+ led1 = 0; // Show the end of sending by switching off LED1.
+
+ // End program. Flash LED4. Notice how LED 2 and 3 continue
+ // to flash for a short period while the interrupt system
+ // continues to send the characters left in the TX buffer.
+
+ while(1) {
+ led4 = !led4;
+ wait(0.25);
+ }
+}
+
+/*
+ * Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
+ * machine that is connected to the "pc" USB serial port.
+ *
+ * *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE
+ * FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZA
+ * BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVW
+ * XYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRS
+ * TUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNO
+ * PQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJK
+ * LMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFG
+ * HIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
+ *
+ * Note how the DMA blocks the TX buffer sending under standard interrupt control.
+ * Not until the DMA transfer is complete will "normal" buffered TX sending resume.
+ *
+ * Of interest is that last "R" character after the system has said "Done."
+ * This comes from the fact that the TxEmpty callback is made when the TX buffer
+ * becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
+ * LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
+ * when the TxEmpty callback is made, the TX buffer is empty, but that just means
+ * the "last few characters" were written to the TX FIFO. So although the TX
+ * buffer has gone empty, the Uart's transmit system is still sending any remaining
+ * characters from it's TX FIFO. If you want to be truely sure all the characters
+ * you have sent have left the Mbed then call txIsBusy(); This function will
+ * return true if characters are still being sent. If it returns false after
+ * the Tx buffer is empty then all your characters have been sent.
+ *
+ * In a similar way, when characters are received into the RX FIFO, the entire
+ * FIFO contents is moved to the RX buffer, assuming there is room left in the
+ * RX buffer. If there is not, any remaining characters are left in the RX FIFO
+ * and will be moved to the RX buffer on the next interrupt or when the running
+ * program removes a character(s) from the RX buffer with the getc() method.
+ */
+
+#endif
--- a/Libs/Xbee/Xbee.cpp Thu Nov 13 10:53:10 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#include "Xbee.h"
-
-Xbee::Xbee(PinName tx, PinName rx, int baudrate, int bufferSize, char _delim) : xbee(tx, rx, bufferSize) {
- xbee.baud(baudrate);
- charCounter = 0;
- numMessagesIn = 0;
- numMessagesOut = 0;
- delim = _delim;
-
- // Attach callback when a new message delimiter character arrives
- xbee.autoDetectChar(delim);
- xbee.attach(this, &Xbee::newMsg, MODSERIAL::RxAutoDetect);
-}
-bool Xbee::send(CANMessage& msg) {
- if (!xbee.writeable()) return false; // Exit, txBuffer full
-
- // Format as string
- char str[100];
-
- // Will it fit?
- if (xbee.txBufferGetSize(0) - xbee.txBufferGetCount() > strlen(str)){
- xbee.printf("%s\n", str);
- numMessagesOut++;
- return true;
-
- // Don't send
- } else {
- return false;
- }
-}
-bool Xbee::receive(CANMessage& msg) {
- char str[100];
- unsigned int i = 0;
-
- if (charCounter == 0) return false; // No messages yet
- else {
- while (xbee.readable()) { // Build string until buffer is empty or delimiter char is found
- char c = xbee.getc();
- str[i] = c;
- i++;
- if (c == delim) {
- charCounter--;
- str[i-1] = '\0'; // Null terminator in place of delimiter char
- break;
- }
- }
- }
-
- // Process string into CAN Message
- int len = strlen(str);
-
- numMessagesIn++;
- return true;
-}
-void Xbee::newMsg(MODSERIAL_IRQ_INFO *q) {
- charCounter++;
-}
\ No newline at end of file
--- a/Libs/Xbee/Xbee.h Thu Nov 13 10:53:10 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,25 +0,0 @@
-#ifndef __XBEE_FILE_H
-#define __XBEE_FILE_H
-
-#include "mbed.h"
-#include "MODSERIAL.h"
-
-class Xbee {
-public:
- Xbee(PinName tx, PinName rx, int baudrate, int bufferSize, char delim='\n');
- bool send(CANMessage& msg);
- bool receive(CANMessage& msg);
- unsigned int messagesProcessedOut() { return numMessagesOut; }
- unsigned int messagesProcessedIn() { return numMessagesIn; }
-private:
- MODSERIAL xbee;
- volatile unsigned int numMessagesIn;
- volatile unsigned int numMessagesOut;
-
- // Interrupt function called on receipt of message delimitter char
- void newMsg(MODSERIAL_IRQ_INFO *q);
- char delim; // Delimitter char that ends each message
- volatile unsigned int charCounter; // Number of messages received so far in the serial buffer
-};
-
-#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/xbeeRelay/PERMessage.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,54 @@
+#include "PERMessage.h"
+
+PERMessage::PERMessage() {
+
+}
+
+PERMessage::PERMessage(char contentID, char deviceID, bool rtr, char length, unsigned char* data) {
+ dataArray[0] = contentID;
+ dataArray[1] = ((deviceID & 0x7) << 5) | (rtr << 4) | (length & 0xF);
+ for (int i = 0; i < (length & 0xF); i++) {
+ dataArray[i+2] = data[i];
+ }
+}
+
+char PERMessage::getContentID() {
+ return dataArray[0];
+}
+
+char PERMessage::getDeviceID() {
+ return (dataArray[1] >> 5) & 0x7;
+}
+
+bool PERMessage::getRTR() {
+ return dataArray[1] & 0x1F;
+}
+
+char PERMessage::getLength() {
+ return dataArray[1] & 0xF;
+}
+
+void PERMessage::getDataArray(char* buffer) {
+ for (int i = 0; i < getLength() + 2; i++) {
+ buffer[i] = dataArray[i];
+ }
+}
+bool PERMessage::setContentID(char contentID) {
+ dataArray[0] = contentID;
+ return true;
+}
+
+bool PERMessage::setDeviceID(char deviceID) {
+ dataArray[1] = dataArray[1] | (deviceID & 0x7) << 5;
+ return true;
+}
+
+bool PERMessage::setRTR(bool RTR) {
+ dataArray[1] = dataArray[1] | RTR << 4;
+ return true;
+}
+
+bool PERMessage::setLength(char length) {
+ dataArray[1] = dataArray[1] | length & 0xF;
+ return true;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/xbeeRelay/PERMessage.h Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,26 @@
+#ifndef PERMESSAGE
+#define PERMESSAGE
+
+class PERMessage {
+
+public:
+ PERMessage ();
+ PERMessage (char /* content */, char /* device ID */, bool /* rtr */, char /* length */, unsigned char* /* data[] */);
+ char getContentID();
+ char getDeviceID();
+ bool getRTR();
+ char getLength();
+ void getDataArray(char* /*buffer*/);
+
+
+ bool setContentID(char /*contentID*/);
+ bool setDeviceID(char /*deviceID*/);
+ bool setRTR(bool /*RTR*/);
+ bool setLength(char /* Length*/);
+
+
+private:
+ char dataArray[10];
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/xbeeRelay/XbeeRelay.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,64 @@
+#include "XbeeRelay.h"
+#include "mbed.h"
+#include "MODDMA.h"
+#include "MODSERIAL.h"
+#include "PERMessage.h"
+
+#define MOTORCONID 0x181
+#define PCMIDLOW 0x200
+#define PCMIDHIGH 0x2FF
+
+#define MOTORCONSERIALID 0x3
+#define PCMSERIALID 0x2
+
+#define DMA_CHANNEL_XBEE_1 0
+#define DMA_CHANNEL_XBEE_2 1
+
+XbeeRelay::XbeeRelay() : Xbee_e1(p9,p10), Xbee_e2(p13,p14), counter(0) {
+ Xbee_e1.baud(250000);
+ Xbee_e2.baud(250000);
+ Xbee_e1.MODDMA(&dma);
+ Xbee_e2.MODDMA(&dma);
+}
+
+bool XbeeRelay::receive(CANMessage cm) {
+ this->cm = cm;
+
+ XbeeRelay::parse();
+ return true;//XbeeRelay::send();
+}
+
+void XbeeRelay::parseMotorCon () {
+ unsigned char *dataPtr = cm.data;
+ PERMessage pm(*dataPtr, MOTORCONSERIALID, false, cm.len - 1, (dataPtr+1));
+ this->pm = pm;
+}
+
+void XbeeRelay::parseNormal () {
+ unsigned char *dataPtr = cm.data;
+ PERMessage pm(cm.id & 0xFF, (cm.id & 0x700) >> 8, false, cm.len, dataPtr);
+ this->pm = pm;
+}
+
+void XbeeRelay::parse () {
+ if (cm.id == MOTORCONID) {
+ parseMotorCon();
+ } else {
+ parseNormal();
+ }
+}
+
+bool XbeeRelay::send () {
+ char dataarr[pm.getLength() + 2];
+ pm.getDataArray(dataarr);
+
+ if (!dma.Enabled(DMA_CHANNEL_XBEE_1)) {
+ Xbee_e1.dmaSend(dataarr, sizeof(dataarr), DMA_CHANNEL_XBEE_1);
+ return true;
+ } else if (!dma.Enabled(DMA_CHANNEL_XBEE_2)) {
+ Xbee_e2.dmaSend(dataarr, sizeof(dataarr), DMA_CHANNEL_XBEE_2);
+ return true;
+ }
+
+ return false;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/xbeeRelay/XbeeRelay.h Fri Nov 14 06:05:59 2014 +0000
@@ -0,0 +1,33 @@
+#ifndef XBEERELAY
+
+#define XBEERELAY
+
+#include "mbed.h"
+#include "MODDMA.h"
+#include "MODSERIAL.h"
+#include "PERMessage.h"
+
+
+class XbeeRelay {
+
+public:
+ XbeeRelay ();
+ // returns TRUE on successful send, FALSE otherwise
+ bool receive(CANMessage /* cm */);
+
+
+private:
+ void parse(void /* cm */);
+ void parseMotorCon(void);
+ void parseNormal(void /* deviceID */);
+ bool send(void /*pm*/);
+ char dataLength (char /*contentID*/);
+ MODSERIAL Xbee_e1;
+ MODSERIAL Xbee_e2;
+ unsigned int counter;
+ MODDMA dma;
+ CANMessage cm;
+ PERMessage pm;
+};
+
+#endif
\ No newline at end of file
--- a/main.cpp Thu Nov 13 10:53:10 2014 +0000
+++ b/main.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -1,9 +1,10 @@
#include "IOobjects.h"
#include "runTime.h"
#include "outDiagnostics.h"
+#include "serviceCAN.h"
int main() {
- wdt.kick(0.11); // Kick the watchdog timer, set the timeout to 110ms
+ wdt.kick(0.25); // Kick the watchdog timer, set the timeout to 110ms
pc.baud(921600);
pc.printf("\r\n\r\nSys Mgmt Reset\r\n");
can.mode(FIFO); // Use FIFO mode
@@ -24,10 +25,11 @@
// Start the serial, CAN threads
Thread serial_out(outDiagnostics::thread_serialOut, 0, osPriorityAboveNormal, 6000); // Allocate 6kB RAM stack
- Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityAboveNormal, 256); // Allocate 256B RAM stack
+ Thread can_out(outDiagnostics::thread_canOut, 0, osPriorityAboveNormal); // Allocate 256B RAM stack
// Background task
while(1) {
// Service CAN and Xbee logic
+ if (canbus::serviceCAN());
}
}
\ No newline at end of file
--- a/outDiagnostics/outDiagnostics.cpp Thu Nov 13 10:53:10 2014 +0000
+++ b/outDiagnostics/outDiagnostics.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -1,4 +1,5 @@
#include "outDiagnostics.h"
+#include "CAN_TxIDs.h"
// Macros for working with the string
#define ADD_LINE len+=sprintf(buff+len,"%s\r\n",line); // Add newlines, add it to the working buffer
@@ -69,17 +70,17 @@
char switches = data.switchState;
const char switchNames[12][26] = {"FUSE","AMS LATCH","IMD LATCH","PCM RELAY","BRAKE PLAUSIBILITY RELAY","LEFT E-STOP","INERTIA SWITCH","BRAKE OVER-TRAVEL SWITCH","COCKPIT E-STOP","RIGHT E-STOP","HVD","TSMS"};
- padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE // Generate blank line
+ padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE // Generate blank line
padCenter(line, max_charsPerLine-2, " Shutdown Switches ", '*'); ADD_LINE
if (switches == 0) sprintf(temp, "All switches are CLOSED.");
else sprintf(temp, "%s is OPEN.", switchNames[switches-1]);
ADD_SPRINTF_LINE
- padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE // Generate blank line
+ /* padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE // Generate blank line
padCenter(line, max_charsPerLine-2, " Telemetry ", '*'); ADD_LINE
sprintf(temp, "Channel 1: MessagesIn: %d MessagesOut: %d", data.xbee1MessagesIn, data.xbee1MessagesOut); ADD_SPRINTF_LINE
sprintf(temp, "Channel 2: MessagesIn: %d MessagesOut: %d", data.xbee2MessagesIn, data.xbee2MessagesOut); ADD_SPRINTF_LINE
-
+*/
padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE // Generate blank line
padCenter(line, max_charsPerLine-2, " Miscellaneous ", '*'); ADD_LINE
sprintf(temp, "Temp: %5.1fC OverTemp: %s canFault: %s WatchdogReset: %s ErrorFrame: 0x%x", data.internalTemp, BOOL(data.internalOverTemp), BOOL(data.canFault), BOOL(data.watchdogReset), data.errorFrame); ADD_SPRINTF_LINE
@@ -88,14 +89,89 @@
for (int i = 0; i < strlen(buff); i++) {
pc.putc(buff[i]);
}
+ // Erase screen every 5sec to remove glitches
+ static int count=0;
+ if (count%50==0) {
+ pc.printf("\033[2J"); // Clear the screen
+ }
+ count++;
Thread::wait(100);
}
}
+template <typename T>
+void sendCAN(int ID, T dat) {
+ CANMessage msg;
+ msg.id = ID;
+ msg.len = sizeof(T);
+ memcpy(&msg.data[0], (void*)&dat, sizeof(T));
+ if (!can.txWrite(msg)) data.canFault = true;
+ xbee.receive(msg);
+}
+
void outDiagnostics::thread_canOut(void const *args) {
+
while(1) {
CANMessage msg;
+ // Sys Mgmt Error Frame
+ sendCAN(SYS_ERROR_ID, data.errorFrame);
+
+ // Xbee1 Counter
+ msg.id = SYS_XBEE1_ID;
+ msg.len = 2*sizeof(int);
+ memcpy(&msg.data[0], (void*)&data.xbee1MessagesIn, sizeof(int));
+ memcpy(&msg.data[4], (void*)&data.xbee1MessagesOut, sizeof(int));
+ if (!can.txWrite(msg)) data.canFault = true;
+ xbee.receive(msg);
+
+ // Xbee2 Counter
+ msg.id = SYS_XBEE2_ID;
+ msg.len = 2*sizeof(int);
+ memcpy(&msg.data[0], (void*)&data.xbee2MessagesIn, sizeof(int));
+ memcpy(&msg.data[4], (void*)&data.xbee2MessagesOut, sizeof(int));
+ if (!can.txWrite(msg)) data.canFault = true;
+ xbee.receive(msg);
+
+ // Internal temperature
+ sendCAN(SYS_TEMP_ID, data.internalTemp);
+
+ // GLV Battery
+ sendCAN(SYS_GLV_CURRENT_ID, data.glvCurrent);
+ sendCAN(SYS_GLV_CAPACITY_ID, data.glvCapacity);
+ sendCAN(SYS_GLV_AH_ID, data.glvAmphours);
+ sendCAN(SYS_GLV_SOC_ID, data.glvSOC);
+
+ // DC-DC Converter
+ sendCAN(SYS_DCDC_CURRENT_ID, data.dcdcCurrent);
+ sendCAN(SYS_DCDC_STATUS_ID, data.dcdcStatus);
+
+ // PWM Channels
+ msg.id = SYS_PWM_FAN_ID;
+ msg.len = 2*sizeof(float);
+ memcpy(&msg.data[0], (void*)&data.dcdcFan1Duty, sizeof(float));
+ memcpy(&msg.data[4], (void*)&data.dcdcFan2Duty, sizeof(float));
+ if (!can.txWrite(msg)) data.canFault = true;
+ xbee.receive(msg);
+
+ msg.id = SYS_PWM_PUMP_ID;
+ msg.len = 2*sizeof(float);
+ memcpy(&msg.data[0], (void*)&data.dcdcPump1Duty, sizeof(float));
+ memcpy(&msg.data[4], (void*)&data.dcdcPump2Duty, sizeof(float));
+ if (!can.txWrite(msg)) data.canFault = true;
+ xbee.receive(msg);
+
+ // IMD
+ sendCAN(SYS_IMD_STATUS_ID, data.imdStatus);
+ sendCAN(SYS_IMD_RESIST_ID, data.imdResistance);
+
+ // Latches
+ sendCAN(SYS_IMD_LATCH_ID, data.IMDlatchError);
+ sendCAN(SYS_AMS_LATCH_ID, data.AMSlatchError);
+
+ // Shutdown Switches
+ sendCAN(SYS_SWITCHES_ID, data.switchState);
+
Thread::wait(100);
}
}
\ No newline at end of file
--- a/runTime/runTime.cpp Thu Nov 13 10:53:10 2014 +0000
+++ b/runTime/runTime.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -40,11 +40,11 @@
else data.internalOverTemp = false;
// Xbees
- data.xbee1MessagesIn = xbee1.messagesProcessedIn();
+/* data.xbee1MessagesIn = xbee1.messagesProcessedIn();
data.xbee2MessagesIn = xbee2.messagesProcessedIn();
data.xbee1MessagesOut = xbee1.messagesProcessedOut();
data.xbee2MessagesOut = xbee2.messagesProcessedOut();
-
+*/
data.errorFrame = data.canFault<<0 | data.watchdogReset<<1 | data.internalOverTemp<<2 | (data.IMDlatchError!=0)<<3 | (data.AMSlatchError!=0)<<4 | data.imdError<<5 | data.dcdcError<<6 | data.glvOverCurrent<<7;
Thread::wait(100);
}
--- a/serviceCAN/serviceCAN.cpp Thu Nov 13 10:53:10 2014 +0000
+++ b/serviceCAN/serviceCAN.cpp Fri Nov 14 06:05:59 2014 +0000
@@ -1,25 +1,64 @@
#include "serviceCAN.h"
-
-// MACRO to setup handling of timeouts
-#define TIMEOUT(VAR) Timeout timer_##VAR; void timeout_##VAR(){ flags.VAR = false; }
-#define REFRESH_TIMEOUT(VAR) timer_##VAR.detach(); timer_##VAR.attach(&timeout_##VAR, DEVICE_CAN_TIMEOUT/100.0);
-#define CHECK_ERRORS(VAR, MSG) if (hasErrors(MSG)) { flags.VAR = false; } else { flags.VAR = true; }
-
-// Timeouts to handle cases where CAN messages stop coming in
-
+#include "CAN_RxIDs.h"
-// Check every byte of the message for an error bit
-bool hasErrors(CANMessage& msg) {
- bool errorPresent = false;
- for (int i = 0; i < msg.len; i++) {
- if (i >= 8) { errorPresent = true; break; } // out of bounds, bad CAN message
- if (msg.data[i]) errorPresent = true;
- }
- return errorPresent;
-}
bool canbus::serviceCAN() {
CANMessage msg;
-
+ if (can.rxRead(msg)) {
+ switch (msg.id) {
+ case FAN_CONTROL_ID:
+ if (msg.len != 2*sizeof(float)) break;
+ memcpy((void*)&CANdata.dcdcFan1Duty, &msg.data[0], sizeof(float));
+ memcpy((void*)&CANdata.dcdcFan2Duty, &msg.data[4], sizeof(float));
+ dcdc.setPwm(FAN1, CANdata.dcdcFan1Duty);
+ dcdc.setPwm(FAN2, CANdata.dcdcFan2Duty);
+ break;
+
+ case PUMP_CONTROL_ID:
+ if (msg.len != 2*sizeof(float)) break;
+ memcpy((void*)&CANdata.dcdcPump1Duty, &msg.data[0], sizeof(float));
+ memcpy((void*)&CANdata.dcdcPump2Duty, &msg.data[4], sizeof(float));
+ dcdc.setPwm(PUMP1, CANdata.dcdcPump1Duty);
+ dcdc.setPwm(PUMP2, CANdata.dcdcPump2Duty);
+ break;
+
+ case DCDC_CONTROL_ID:
+ if (msg.len != sizeof(char)) break;
+ if (msg.data[0] == 1) dcdc.set(1);
+ else dcdc.set(0);
+ break;
+
+ case AMS_RELAYS_ID:
+ if (msg.len != sizeof(char)) break;
+ if ((msg.data[0] & 0xC0) == 0xC0) {
+ CANdata.airsClosed = true;
+ dcdc.set(1);
+ } else {
+ CANdata.airsClosed = false;
+ dcdc.set(0);
+ }
+ break;
+
+ case GLVBAT_CLEARSOC_ID:
+ if (msg.len != sizeof(float)) break;
+ glvBat.resetToSOC(*((float*)(&msg.data[0])));
+ break;
+
+ case GLVBAT_CLEARAH_ID:
+ if (msg.len != sizeof(float)) break;
+ glvBat.resetToAh(*((float*)(&msg.data[0])));
+ break;
+
+ case GLVBAT_SETCAPAC_ID:
+ if (msg.len != sizeof(float)) break;
+ glvBat.changeCapacity(*((float*)(&msg.data[0])));
+ break;
+
+ default:
+ break;
+ }
+ xbee.receive(msg);
+ return true;
+ }
return false;
}
\ No newline at end of file