Sustainable Robotic Logistics / Mbed 2 deprecated ApexPID

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Dependencies:   DRV8833 PidControllerV3 mbed Buffer

Fork of ApexPID by James Batchelar

BufferedSerial/BufferedSerial.cpp@0:95384d72794f, 2018-05-07 (annotated)

Committer:
batchee7
Date:
Mon May 07 05:20:37 2018 +0000
Revision:
0:95384d72794f
IntialRelease

Who changed what in which revision?

UserRevisionLine numberNew contents of line
batchee7 0:95384d72794f 1 /**
batchee7 0:95384d72794f 2 * @file BufferedSerial.cpp
batchee7 0:95384d72794f 3 * @brief Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX
batchee7 0:95384d72794f 4 * @author sam grove
batchee7 0:95384d72794f 5 * @version 1.0
batchee7 0:95384d72794f 6 * @see
batchee7 0:95384d72794f 7 *
batchee7 0:95384d72794f 8 * Copyright (c) 2013
batchee7 0:95384d72794f 9 *
batchee7 0:95384d72794f 10 * Licensed under the Apache License, Version 2.0 (the "License");
batchee7 0:95384d72794f 11 * you may not use this file except in compliance with the License.
batchee7 0:95384d72794f 12 * You may obtain a copy of the License at
batchee7 0:95384d72794f 13 *
batchee7 0:95384d72794f 14 * http://www.apache.org/licenses/LICENSE-2.0
batchee7 0:95384d72794f 15 *
batchee7 0:95384d72794f 16 * Unless required by applicable law or agreed to in writing, software
batchee7 0:95384d72794f 17 * distributed under the License is distributed on an "AS IS" BASIS,
batchee7 0:95384d72794f 18 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
batchee7 0:95384d72794f 19 * See the License for the specific language governing permissions and
batchee7 0:95384d72794f 20 * limitations under the License.
batchee7 0:95384d72794f 21 */
batchee7 0:95384d72794f 22
batchee7 0:95384d72794f 23 #include "BufferedSerial.h"
batchee7 0:95384d72794f 24 #include <stdarg.h>
batchee7 0:95384d72794f 25
batchee7 0:95384d72794f 26 BufferedSerial::BufferedSerial(PinName tx, PinName rx, uint32_t buf_size, uint32_t tx_multiple, const char* name)
batchee7 0:95384d72794f 27 : RawSerial(tx, rx) , _rxbuf(buf_size), _txbuf((uint32_t)(tx_multiple*buf_size))
batchee7 0:95384d72794f 28 {
batchee7 0:95384d72794f 29 RawSerial::attach(this, &BufferedSerial::rxIrq, Serial::RxIrq);
batchee7 0:95384d72794f 30 this->_buf_size = buf_size;
batchee7 0:95384d72794f 31 this->_tx_multiple = tx_multiple;
batchee7 0:95384d72794f 32 newlines = 0;
batchee7 0:95384d72794f 33 return;
batchee7 0:95384d72794f 34 }
batchee7 0:95384d72794f 35
batchee7 0:95384d72794f 36 BufferedSerial::~BufferedSerial(void)
batchee7 0:95384d72794f 37 {
batchee7 0:95384d72794f 38 RawSerial::attach(NULL, RawSerial::RxIrq);
batchee7 0:95384d72794f 39 RawSerial::attach(NULL, RawSerial::TxIrq);
batchee7 0:95384d72794f 40
batchee7 0:95384d72794f 41 return;
batchee7 0:95384d72794f 42 }
batchee7 0:95384d72794f 43
batchee7 0:95384d72794f 44 int BufferedSerial::readable(void)
batchee7 0:95384d72794f 45 {
batchee7 0:95384d72794f 46 return _rxbuf.available(); // note: look if things are in the buffer
batchee7 0:95384d72794f 47 }
batchee7 0:95384d72794f 48
batchee7 0:95384d72794f 49 int BufferedSerial::writeable(void)
batchee7 0:95384d72794f 50 {
batchee7 0:95384d72794f 51 return 1; // buffer allows overwriting by design, always true
batchee7 0:95384d72794f 52 }
batchee7 0:95384d72794f 53
batchee7 0:95384d72794f 54 int BufferedSerial::getc(void)
batchee7 0:95384d72794f 55 {
batchee7 0:95384d72794f 56 return _rxbuf;
batchee7 0:95384d72794f 57 }
batchee7 0:95384d72794f 58
batchee7 0:95384d72794f 59 void BufferedSerial::readLine(char *s)
batchee7 0:95384d72794f 60 {
batchee7 0:95384d72794f 61 while(! canReadLine());
batchee7 0:95384d72794f 62 int i = 0;
batchee7 0:95384d72794f 63 while ((s[i]=(char)getc()) != '\n') {
batchee7 0:95384d72794f 64 i++;
batchee7 0:95384d72794f 65 }
batchee7 0:95384d72794f 66 newlines --;
batchee7 0:95384d72794f 67 i++;
batchee7 0:95384d72794f 68 s[i] = '\0';
batchee7 0:95384d72794f 69 }
batchee7 0:95384d72794f 70
batchee7 0:95384d72794f 71
batchee7 0:95384d72794f 72 int BufferedSerial::putc(int c)
batchee7 0:95384d72794f 73 {
batchee7 0:95384d72794f 74 _txbuf = (char)c;
batchee7 0:95384d72794f 75 BufferedSerial::prime();
batchee7 0:95384d72794f 76
batchee7 0:95384d72794f 77 return c;
batchee7 0:95384d72794f 78 }
batchee7 0:95384d72794f 79
batchee7 0:95384d72794f 80 int BufferedSerial::puts(const char *s)
batchee7 0:95384d72794f 81 {
batchee7 0:95384d72794f 82 if (s != NULL) {
batchee7 0:95384d72794f 83 const char* ptr = s;
batchee7 0:95384d72794f 84
batchee7 0:95384d72794f 85 while(*(ptr) != 0) {
batchee7 0:95384d72794f 86 _txbuf = *(ptr++);
batchee7 0:95384d72794f 87 }
batchee7 0:95384d72794f 88 _txbuf = '\n'; // done per puts definition
batchee7 0:95384d72794f 89 BufferedSerial::prime();
batchee7 0:95384d72794f 90
batchee7 0:95384d72794f 91 return (ptr - s) + 1;
batchee7 0:95384d72794f 92 }
batchee7 0:95384d72794f 93 return 0;
batchee7 0:95384d72794f 94 }
batchee7 0:95384d72794f 95
batchee7 0:95384d72794f 96 int BufferedSerial::printf(const char* format, ...)
batchee7 0:95384d72794f 97 {
batchee7 0:95384d72794f 98 char buffer[this->_buf_size];
batchee7 0:95384d72794f 99 memset(buffer,0,this->_buf_size);
batchee7 0:95384d72794f 100 int r = 0;
batchee7 0:95384d72794f 101
batchee7 0:95384d72794f 102 va_list arg;
batchee7 0:95384d72794f 103 va_start(arg, format);
batchee7 0:95384d72794f 104 r = vsprintf(buffer, format, arg);
batchee7 0:95384d72794f 105 // this may not hit the heap but should alert the user anyways
batchee7 0:95384d72794f 106 if(r > this->_buf_size) {
batchee7 0:95384d72794f 107 error("%s %d buffer overwrite (max_buf_size: %d exceeded: %d)!\r\n", __FILE__, __LINE__,this->_buf_size,r);
batchee7 0:95384d72794f 108 va_end(arg);
batchee7 0:95384d72794f 109 return 0;
batchee7 0:95384d72794f 110 }
batchee7 0:95384d72794f 111 va_end(arg);
batchee7 0:95384d72794f 112 r = BufferedSerial::write(buffer, r);
batchee7 0:95384d72794f 113
batchee7 0:95384d72794f 114 return r;
batchee7 0:95384d72794f 115 }
batchee7 0:95384d72794f 116
batchee7 0:95384d72794f 117 ssize_t BufferedSerial::write(const void *s, size_t length)
batchee7 0:95384d72794f 118 {
batchee7 0:95384d72794f 119 if (s != NULL && length > 0) {
batchee7 0:95384d72794f 120 const char* ptr = (const char*)s;
batchee7 0:95384d72794f 121 const char* end = ptr + length;
batchee7 0:95384d72794f 122
batchee7 0:95384d72794f 123 while (ptr != end) {
batchee7 0:95384d72794f 124 _txbuf = *(ptr++);
batchee7 0:95384d72794f 125 }
batchee7 0:95384d72794f 126 BufferedSerial::prime();
batchee7 0:95384d72794f 127
batchee7 0:95384d72794f 128 return ptr - (const char*)s;
batchee7 0:95384d72794f 129 }
batchee7 0:95384d72794f 130 return 0;
batchee7 0:95384d72794f 131 }
batchee7 0:95384d72794f 132
batchee7 0:95384d72794f 133
batchee7 0:95384d72794f 134 void BufferedSerial::rxIrq(void)
batchee7 0:95384d72794f 135 {
batchee7 0:95384d72794f 136 // read from the peripheral and make sure something is available
batchee7 0:95384d72794f 137 if(serial_readable(&_serial)) {
batchee7 0:95384d72794f 138 char c = serial_getc(&_serial); // if so load them into a buffer
batchee7 0:95384d72794f 139 _rxbuf = c;
batchee7 0:95384d72794f 140 if (c == '\n') newlines ++;
batchee7 0:95384d72794f 141 }
batchee7 0:95384d72794f 142 return;
batchee7 0:95384d72794f 143 }
batchee7 0:95384d72794f 144
batchee7 0:95384d72794f 145 void BufferedSerial::txIrq(void)
batchee7 0:95384d72794f 146 {
batchee7 0:95384d72794f 147 // see if there is room in the hardware fifo and if something is in the software fifo
batchee7 0:95384d72794f 148 while(serial_writable(&_serial)) {
batchee7 0:95384d72794f 149 if(_txbuf.available()) {
batchee7 0:95384d72794f 150 serial_putc(&_serial, (int)_txbuf.get());
batchee7 0:95384d72794f 151 } else {
batchee7 0:95384d72794f 152 // disable the TX interrupt when there is nothing left to send
batchee7 0:95384d72794f 153 RawSerial::attach(NULL, RawSerial::TxIrq);
batchee7 0:95384d72794f 154 break;
batchee7 0:95384d72794f 155 }
batchee7 0:95384d72794f 156 }
batchee7 0:95384d72794f 157
batchee7 0:95384d72794f 158 return;
batchee7 0:95384d72794f 159 }
batchee7 0:95384d72794f 160
batchee7 0:95384d72794f 161 void BufferedSerial::prime(void)
batchee7 0:95384d72794f 162 {
batchee7 0:95384d72794f 163 // if already busy then the irq will pick this up
batchee7 0:95384d72794f 164 if(serial_writable(&_serial)) {
batchee7 0:95384d72794f 165 RawSerial::attach(NULL, RawSerial::TxIrq); // make sure not to cause contention in the irq
batchee7 0:95384d72794f 166 BufferedSerial::txIrq(); // only write to hardware in one place
batchee7 0:95384d72794f 167 RawSerial::attach(this, &BufferedSerial::txIrq, RawSerial::TxIrq);
batchee7 0:95384d72794f 168 }
batchee7 0:95384d72794f 169
batchee7 0:95384d72794f 170 return;
batchee7 0:95384d72794f 171 }
batchee7 0:95384d72794f 172
batchee7 0:95384d72794f 173