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ros_lib/BufferedSerial/BufferedSerial.cpp@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

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scarter1 0:020db18a476d 1 /**
scarter1 0:020db18a476d 2 * @file BufferedSerial.cpp
scarter1 0:020db18a476d 3 * @brief Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX
scarter1 0:020db18a476d 4 * @author sam grove
scarter1 0:020db18a476d 5 * @version 1.0
scarter1 0:020db18a476d 6 * @see
scarter1 0:020db18a476d 7 *
scarter1 0:020db18a476d 8 * Copyright (c) 2013
scarter1 0:020db18a476d 9 *
scarter1 0:020db18a476d 10 * Licensed under the Apache License, Version 2.0 (the "License");
scarter1 0:020db18a476d 11 * you may not use this file except in compliance with the License.
scarter1 0:020db18a476d 12 * You may obtain a copy of the License at
scarter1 0:020db18a476d 13 *
scarter1 0:020db18a476d 14 * http://www.apache.org/licenses/LICENSE-2.0
scarter1 0:020db18a476d 15 *
scarter1 0:020db18a476d 16 * Unless required by applicable law or agreed to in writing, software
scarter1 0:020db18a476d 17 * distributed under the License is distributed on an "AS IS" BASIS,
scarter1 0:020db18a476d 18 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
scarter1 0:020db18a476d 19 * See the License for the specific language governing permissions and
scarter1 0:020db18a476d 20 * limitations under the License.
scarter1 0:020db18a476d 21 */
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 #include "BufferedSerial.h"
scarter1 0:020db18a476d 24 #include <stdarg.h>
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 BufferedSerial::BufferedSerial(PinName tx, PinName rx, uint32_t buf_size, uint32_t tx_multiple, const char* name)
scarter1 0:020db18a476d 27 : RawSerial(tx, rx) , _rxbuf(buf_size), _txbuf((uint32_t)(tx_multiple*buf_size))
scarter1 0:020db18a476d 28 {
scarter1 0:020db18a476d 29 RawSerial::attach(this, &BufferedSerial::rxIrq, Serial::RxIrq);
scarter1 0:020db18a476d 30 this->_buf_size = buf_size;
scarter1 0:020db18a476d 31 this->_tx_multiple = tx_multiple;
scarter1 0:020db18a476d 32 return;
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 BufferedSerial::~BufferedSerial(void)
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 RawSerial::attach(NULL, RawSerial::RxIrq);
scarter1 0:020db18a476d 38 RawSerial::attach(NULL, RawSerial::TxIrq);
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 return;
scarter1 0:020db18a476d 41 }
scarter1 0:020db18a476d 42
scarter1 0:020db18a476d 43 int BufferedSerial::readable(void)
scarter1 0:020db18a476d 44 {
scarter1 0:020db18a476d 45 return _rxbuf.available(); // note: look if things are in the buffer
scarter1 0:020db18a476d 46 }
scarter1 0:020db18a476d 47
scarter1 0:020db18a476d 48 int BufferedSerial::writeable(void)
scarter1 0:020db18a476d 49 {
scarter1 0:020db18a476d 50 return 1; // buffer allows overwriting by design, always true
scarter1 0:020db18a476d 51 }
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 int BufferedSerial::getc(void)
scarter1 0:020db18a476d 54 {
scarter1 0:020db18a476d 55 return _rxbuf;
scarter1 0:020db18a476d 56 }
scarter1 0:020db18a476d 57
scarter1 0:020db18a476d 58 int BufferedSerial::putc(int c)
scarter1 0:020db18a476d 59 {
scarter1 0:020db18a476d 60 _txbuf = (char)c;
scarter1 0:020db18a476d 61 BufferedSerial::prime();
scarter1 0:020db18a476d 62
scarter1 0:020db18a476d 63 return c;
scarter1 0:020db18a476d 64 }
scarter1 0:020db18a476d 65
scarter1 0:020db18a476d 66 int BufferedSerial::puts(const char *s)
scarter1 0:020db18a476d 67 {
scarter1 0:020db18a476d 68 if (s != NULL) {
scarter1 0:020db18a476d 69 const char* ptr = s;
scarter1 0:020db18a476d 70
scarter1 0:020db18a476d 71 while(*(ptr) != 0) {
scarter1 0:020db18a476d 72 _txbuf = *(ptr++);
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74 _txbuf = '\n'; // done per puts definition
scarter1 0:020db18a476d 75 BufferedSerial::prime();
scarter1 0:020db18a476d 76
scarter1 0:020db18a476d 77 return (ptr - s) + 1;
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79 return 0;
scarter1 0:020db18a476d 80 }
scarter1 0:020db18a476d 81
scarter1 0:020db18a476d 82 int BufferedSerial::printf(const char* format, ...)
scarter1 0:020db18a476d 83 {
scarter1 0:020db18a476d 84 char buffer[this->_buf_size];
scarter1 0:020db18a476d 85 memset(buffer,0,this->_buf_size);
scarter1 0:020db18a476d 86 int r = 0;
scarter1 0:020db18a476d 87
scarter1 0:020db18a476d 88 va_list arg;
scarter1 0:020db18a476d 89 va_start(arg, format);
scarter1 0:020db18a476d 90 r = vsprintf(buffer, format, arg);
scarter1 0:020db18a476d 91 // this may not hit the heap but should alert the user anyways
scarter1 0:020db18a476d 92 if(r > this->_buf_size) {
scarter1 0:020db18a476d 93 error("%s %d buffer overwrite (max_buf_size: %d exceeded: %d)!\r\n", __FILE__, __LINE__,this->_buf_size,r);
scarter1 0:020db18a476d 94 va_end(arg);
scarter1 0:020db18a476d 95 return 0;
scarter1 0:020db18a476d 96 }
scarter1 0:020db18a476d 97 va_end(arg);
scarter1 0:020db18a476d 98 r = BufferedSerial::write(buffer, r);
scarter1 0:020db18a476d 99
scarter1 0:020db18a476d 100 return r;
scarter1 0:020db18a476d 101 }
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 ssize_t BufferedSerial::write(const void *s, size_t length)
scarter1 0:020db18a476d 104 {
scarter1 0:020db18a476d 105 if (s != NULL && length > 0) {
scarter1 0:020db18a476d 106 const char* ptr = (const char*)s;
scarter1 0:020db18a476d 107 const char* end = ptr + length;
scarter1 0:020db18a476d 108
scarter1 0:020db18a476d 109 while (ptr != end) {
scarter1 0:020db18a476d 110 _txbuf = *(ptr++);
scarter1 0:020db18a476d 111 }
scarter1 0:020db18a476d 112 BufferedSerial::prime();
scarter1 0:020db18a476d 113
scarter1 0:020db18a476d 114 return ptr - (const char*)s;
scarter1 0:020db18a476d 115 }
scarter1 0:020db18a476d 116 return 0;
scarter1 0:020db18a476d 117 }
scarter1 0:020db18a476d 118
scarter1 0:020db18a476d 119
scarter1 0:020db18a476d 120 void BufferedSerial::rxIrq(void)
scarter1 0:020db18a476d 121 {
scarter1 0:020db18a476d 122 // read from the peripheral and make sure something is available
scarter1 0:020db18a476d 123 if(serial_readable(&_serial)) {
scarter1 0:020db18a476d 124 _rxbuf = serial_getc(&_serial); // if so load them into a buffer
scarter1 0:020db18a476d 125 }
scarter1 0:020db18a476d 126
scarter1 0:020db18a476d 127 return;
scarter1 0:020db18a476d 128 }
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 void BufferedSerial::txIrq(void)
scarter1 0:020db18a476d 131 {
scarter1 0:020db18a476d 132 // see if there is room in the hardware fifo and if something is in the software fifo
scarter1 0:020db18a476d 133 while(serial_writable(&_serial)) {
scarter1 0:020db18a476d 134 if(_txbuf.available()) {
scarter1 0:020db18a476d 135 serial_putc(&_serial, (int)_txbuf.get());
scarter1 0:020db18a476d 136 } else {
scarter1 0:020db18a476d 137 // disable the TX interrupt when there is nothing left to send
scarter1 0:020db18a476d 138 RawSerial::attach(NULL, RawSerial::TxIrq);
scarter1 0:020db18a476d 139 break;
scarter1 0:020db18a476d 140 }
scarter1 0:020db18a476d 141 }
scarter1 0:020db18a476d 142
scarter1 0:020db18a476d 143 return;
scarter1 0:020db18a476d 144 }
scarter1 0:020db18a476d 145
scarter1 0:020db18a476d 146 void BufferedSerial::prime(void)
scarter1 0:020db18a476d 147 {
scarter1 0:020db18a476d 148 // if already busy then the irq will pick this up
scarter1 0:020db18a476d 149 if(serial_writable(&_serial)) {
scarter1 0:020db18a476d 150 RawSerial::attach(NULL, RawSerial::TxIrq); // make sure not to cause contention in the irq
scarter1 0:020db18a476d 151 BufferedSerial::txIrq(); // only write to hardware in one place
scarter1 0:020db18a476d 152 RawSerial::attach(this, &BufferedSerial::txIrq, RawSerial::TxIrq);
scarter1 0:020db18a476d 153 }
scarter1 0:020db18a476d 154
scarter1 0:020db18a476d 155 return;
scarter1 0:020db18a476d 156 }
scarter1 0:020db18a476d 157
scarter1 0:020db18a476d 158