Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
SerialConsole.cpp
00001 /* 00002 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). 00003 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. 00004 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. 00005 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 00006 */ 00007 00008 #include <string> 00009 #include <stdarg.h> 00010 using std::string; 00011 #include "libs/Module.h" 00012 #include "libs/Kernel.h" 00013 #include "libs/nuts_bolts.h" 00014 #include "SerialConsole.h" 00015 #include "libs/RingBuffer.h" 00016 #include "libs/SerialMessage.h" 00017 #include "libs/StreamOutput.h" 00018 00019 // Serial reading module 00020 // Treats every received line as a command and passes it ( via event call ) to the command dispatcher. 00021 // The command dispatcher will then ask other modules if they can do something with it 00022 SerialConsole::SerialConsole( PinName rx_pin, PinName tx_pin, int baud_rate ){ 00023 this->serial = new mbed::Serial( rx_pin, tx_pin ); 00024 this->serial->baud(baud_rate); 00025 } 00026 00027 // Called when the module has just been loaded 00028 void SerialConsole::on_module_loaded() { 00029 // We want to be called every time a new char is received 00030 this->serial->attach(this, &SerialConsole::on_serial_char_received, mbed::Serial::RxIrq); 00031 00032 // We only call the command dispatcher in the main loop, nowhere else 00033 this->register_for_event(ON_MAIN_LOOP); 00034 00035 // Add to the pack of streams kernel can call to, for example for broadcasting 00036 THEKERNEL->streams->append_stream(this); 00037 } 00038 00039 // Called on Serial::RxIrq interrupt, meaning we have received a char 00040 void SerialConsole::on_serial_char_received(){ 00041 while(this->serial->readable()){ 00042 char received = this->serial->getc(); 00043 // convert CR to NL (for host OSs that don't send NL) 00044 if( received == '\r' ){ received = '\n'; } 00045 this->buffer.push_back(received); 00046 } 00047 } 00048 00049 // Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data 00050 void SerialConsole::on_main_loop(void * argument){ 00051 if( this->has_char('\n') ){ 00052 string received; 00053 received.reserve(20); 00054 while(1){ 00055 char c; 00056 this->buffer.pop_front(c); 00057 if( c == '\n' ){ 00058 struct SerialMessage message; 00059 message.message = received; 00060 message.stream = this; 00061 THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); 00062 return; 00063 }else{ 00064 received += c; 00065 } 00066 } 00067 } 00068 } 00069 00070 00071 int SerialConsole::puts(const char* s) 00072 { 00073 return fwrite(s, strlen(s), 1, (FILE*)(*this->serial)); 00074 } 00075 00076 int SerialConsole::_putc(int c) 00077 { 00078 return this->serial->putc(c); 00079 } 00080 00081 int SerialConsole::_getc() 00082 { 00083 return this->serial->getc(); 00084 } 00085 00086 // Does the queue have a given char ? 00087 bool SerialConsole::has_char(char letter){ 00088 int index = this->buffer.tail; 00089 while( index != this->buffer.head ){ 00090 if( this->buffer.buffer[index] == letter ){ 00091 return true; 00092 } 00093 index = this->buffer.next_block_index(index); 00094 } 00095 return false; 00096 }
Generated on Tue Jul 12 2022 20:09:02 by 1.7.2