mtinterface_uart.cpp

00001 /*!
00002  * \file
00003  * \copyright Copyright (C) Xsens Technologies B.V., 2015.
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00006  * use this file except in compliance with the License. You may obtain a copy
00007  * of the License at
00008  *
00009  * http://www.apache.org/licenses/LICENSE-2.0
00010  *
00011  * Unless required by applicable law or agreed to in writing, software
00012  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00013  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00014  * License for the specific language governing permissions and limitations
00015  * under the License.
00016  */
00017 #include "mtinterface_uart.h "
00018 #include <assert.h>
00019 #include "board.h "
00020 #include "mbed.h"
00021 
00022 
00023 /*! \class MtInterfaceUart
00024     \brief Implementation of MtInterface for communicating over UART.
00025 
00026     The low level UART driver is provided by the mbed platform.
00027 */
00028 
00029 static MtInterfaceUart* thisPtr = 0;    // required to give callback function access to class members
00030 
00031 
00032 /*! \brief Constructor
00033     \param baudrate Uart baud rate used to communicate with the module
00034 */
00035 MtInterfaceUart::MtInterfaceUart(int baudrate)
00036 {
00037     assert(thisPtr == 0);   //(only one instance is allowed)
00038     thisPtr = this;
00039     m_serial = new Serial(UART_TX_TO_MODULE, UART_RX_FROM_MODULE);
00040     m_serial->baud(baudrate);
00041     m_serial->format(8, Serial::None, 1);
00042     m_serial->attach(uart_rx_interrupt_handler, Serial::RxIrq);
00043     m_txBuffer = new uint8_t[300];
00044 }
00045 
00046 
00047 /*! \brief Destructor
00048 */
00049 MtInterfaceUart::~MtInterfaceUart()
00050 {
00051     delete m_serial;
00052     delete[] m_txBuffer;
00053     thisPtr = 0;
00054 }
00055 
00056 
00057 /*! \brief Sends an xbus message to the module via UART
00058     \param xbusMessage Xbus message to be send
00059 */
00060 void MtInterfaceUart::sendXbusMessage(XbusMessage const* xbusMessage)
00061 {
00062     int size = XbusMessage_createRawMessage(m_txBuffer, xbusMessage, XBF_Uart);
00063     for (int n = 0; n < size; n++)
00064     {
00065         m_serial->putc(m_txBuffer[n]);
00066     }
00067 }
00068 
00069 
00070 /*! \brief Returns the low level bus format used by this interface
00071 */
00072 XbusBusFormat MtInterfaceUart::busFormat()
00073 {
00074     return XBF_Uart;
00075 }
00076 
00077 
00078 /*! \brief Handles UART bytes received from the motion tracker
00079 */
00080 void MtInterfaceUart::uart_rx_interrupt_handler()
00081 {
00082     while (thisPtr->m_serial->readable())
00083     {
00084         uint8_t c = thisPtr->m_serial->getc();
00085         XbusParser_parseBuffer(thisPtr->m_xbusParser, &c, 1);
00086     }
00087 }
00088 
00089 
00090 /*! \brief Set the baudrate
00091     \param baudrate The baudrate value which should be set
00092 */
00093 void MtInterfaceUart::setBaudrate(int baudrate)
00094 {
00095     m_serial->baud(baudrate);
00096 }
00097