Takashi Ogura / Mbed 2 deprecated myBlueUSB_ros

Based on myBlueUSB and rosserial_mbed

Dependencies:   mbed myUSBHost AvailableMemory myBlueUSB

btserial.cpp@1:18139954944b, 2011-09-17 (annotated)

Committer:
OTL
Date:
Sat Sep 17 14:24:13 2011 +0000
Revision:
1:18139954944b
Parent:
0:7684b95768c7 
remove m3pi and main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OTL 0:7684b95768c7 1 #include "btserial.h"
OTL 0:7684b95768c7 2
OTL 0:7684b95768c7 3 btserial::btserial(char ba[6], char ch) {
OTL 0:7684b95768c7 4 L2CAPAddr a;
OTL 0:7684b95768c7 5 memcpy(&a.bdaddr, ba, 6);
OTL 0:7684b95768c7 6 a.psm = ch;
OTL 0:7684b95768c7 7 sendptr = 0;
OTL 0:7684b95768c7 8 recptrin = 0;
OTL 0:7684b95768c7 9 recptrout = bufsize - 1;
OTL 0:7684b95768c7 10 free = bufsize;
OTL 0:7684b95768c7 11 sock = Socket_Open(SOCKET_RFCOM, &a.hdr, cb, this);
OTL 0:7684b95768c7 12 }
OTL 0:7684b95768c7 13
OTL 0:7684b95768c7 14 btserial::btserial(char ch) {
OTL 0:7684b95768c7 15 sendptr = 0;
OTL 0:7684b95768c7 16 recptrin = 0;
OTL 0:7684b95768c7 17 recptrout = bufsize - 1;
OTL 0:7684b95768c7 18 free = bufsize;
OTL 0:7684b95768c7 19 sock = Socket_Listen(SOCKET_RFCOM, ch, cb, this);
OTL 0:7684b95768c7 20 }
OTL 0:7684b95768c7 21
OTL 0:7684b95768c7 22 void btserial::cb(int socket, SocketState state, const unsigned char *data, int len, void* userData) {
OTL 0:7684b95768c7 23 btserial *self = (btserial*)userData;
OTL 0:7684b95768c7 24 if (state == SocketState_Open)
OTL 0:7684b95768c7 25 if (len > 0)
OTL 0:7684b95768c7 26 self->stash(data, len);
OTL 0:7684b95768c7 27 else {
OTL 0:7684b95768c7 28 //Socket_GetOpt(sock, SO_RECBUF, &recbufsize, sizeof(recbufsize));
OTL 0:7684b95768c7 29 //Socket_GetOpt(sock, SO_SNDBUF, &sndbufsize, sizeof(sndbufsize));
OTL 0:7684b95768c7 30 port_settings ps;//defaults are ok
OTL 0:7684b95768c7 31 ps.baud = 3; //9600 baud
OTL 0:7684b95768c7 32 ps.bits = 3;//8 bits
OTL 0:7684b95768c7 33 ps.stop = 0;//1 bit
OTL 0:7684b95768c7 34 ps.par = 0; //no parity
OTL 0:7684b95768c7 35 ps.mask = MASK_BITRATE|MASK_DATABITS|MASK_STOPBITS|MASK_PARITYBITS;
OTL 0:7684b95768c7 36 //set_remote_port_parameters(sock, &ps);
OTL 0:7684b95768c7 37 self->open = true;
OTL 0:7684b95768c7 38 }
OTL 0:7684b95768c7 39 else if (state == SocketState_Closed)
OTL 0:7684b95768c7 40 self->open = false;
OTL 0:7684b95768c7 41 }
OTL 0:7684b95768c7 42
OTL 0:7684b95768c7 43 void btserial::stash(const unsigned char *data, int len) {
OTL 0:7684b95768c7 44 int i = 0;
OTL 0:7684b95768c7 45 while (i < len && free>0) {
OTL 0:7684b95768c7 46 recbuf[recptrin++] = data[i++];
OTL 0:7684b95768c7 47 if (recptrin == bufsize) recptrin = 0;
OTL 0:7684b95768c7 48 free--;
OTL 0:7684b95768c7 49 }
OTL 0:7684b95768c7 50 }
OTL 0:7684b95768c7 51
OTL 0:7684b95768c7 52 int btserial::getc() {
OTL 0:7684b95768c7 53 if (free == bufsize || !open)
OTL 0:7684b95768c7 54 return -1;
OTL 0:7684b95768c7 55 free++;
OTL 0:7684b95768c7 56 recptrout++;
OTL 0:7684b95768c7 57 if (recptrout == bufsize) recptrout = 0;
OTL 0:7684b95768c7 58 return recbuf[recptrout];
OTL 0:7684b95768c7 59 }
OTL 0:7684b95768c7 60
OTL 0:7684b95768c7 61 int btserial::putc(int c) {
OTL 0:7684b95768c7 62 if (sendptr==bufsize || !open)
OTL 0:7684b95768c7 63 return -1;
OTL 0:7684b95768c7 64 sendbuf[sendptr++] = c;
OTL 0:7684b95768c7 65 if (sendptr==bufsize || c=='\n' || c=='\r') {
OTL 0:7684b95768c7 66 Socket_Send(sock, sendbuf, sendptr);
OTL 0:7684b95768c7 67 sendptr = 0;
OTL 0:7684b95768c7 68 }
OTL 0:7684b95768c7 69 return c;
OTL 0:7684b95768c7 70 }
OTL 0:7684b95768c7 71
OTL 0:7684b95768c7 72 int btserial::write(u8* data, int len) {
OTL 0:7684b95768c7 73 Socket_Send(sock, data, len);
OTL 0:7684b95768c7 74 }
OTL 0:7684b95768c7 75
OTL 0:7684b95768c7 76 void btserial::baud(int br) {
OTL 0:7684b95768c7 77 int rates[] = {2400,4800,7200,9600,19200,38400,57600,115200,230400};
OTL 0:7684b95768c7 78 if (!open) return;
OTL 0:7684b95768c7 79 for (int i = 0; i < sizeof(rates)/sizeof(int);i++)
OTL 0:7684b95768c7 80 if (rates[i] == br) {
OTL 0:7684b95768c7 81 port_settings ps;
OTL 0:7684b95768c7 82 ps.baud = i;
OTL 0:7684b95768c7 83 ps.mask = MASK_BITRATE;
OTL 0:7684b95768c7 84 set_remote_port_parameters(sock, &ps);
OTL 0:7684b95768c7 85 return;
OTL 0:7684b95768c7 86 }
OTL 0:7684b95768c7 87 printf("Illegal baudrate requested %d\n", br);
OTL 0:7684b95768c7 88 }
OTL 0:7684b95768c7 89
OTL 0:7684b95768c7 90 void btserial::format(int bits, Serial::Parity par, int stop) {
OTL 0:7684b95768c7 91 if (!open) return;
OTL 0:7684b95768c7 92 port_settings ps;
OTL 0:7684b95768c7 93 ps.bits = bits-5;
OTL 0:7684b95768c7 94 ps.stop = stop-1;
OTL 0:7684b95768c7 95 switch (par) {
OTL 0:7684b95768c7 96 case Serial::None:
OTL 0:7684b95768c7 97 ps.par = 0;
OTL 0:7684b95768c7 98 ps.par_t = 0;
OTL 0:7684b95768c7 99 break;
OTL 0:7684b95768c7 100 case Serial::Odd:
OTL 0:7684b95768c7 101 ps.par = 1;
OTL 0:7684b95768c7 102 ps.par_t = 0;
OTL 0:7684b95768c7 103 break;
OTL 0:7684b95768c7 104 case Serial::Even:
OTL 0:7684b95768c7 105 ps.par = 1;
OTL 0:7684b95768c7 106 ps.par_t = 1;
OTL 0:7684b95768c7 107 break;
OTL 0:7684b95768c7 108 case Serial::Forced0:
OTL 0:7684b95768c7 109 ps.par = 1;
OTL 0:7684b95768c7 110 ps.par_t = 3;
OTL 0:7684b95768c7 111 break;
OTL 0:7684b95768c7 112 case Serial::Forced1:
OTL 0:7684b95768c7 113 ps.par = 1;
OTL 0:7684b95768c7 114 ps.par_t = 2;
OTL 0:7684b95768c7 115 break;
OTL 0:7684b95768c7 116 }
OTL 0:7684b95768c7 117 ps.mask = MASK_DATABITS|MASK_STOPBITS|MASK_PARITYBITS|MASK_PARITYTYPE;
OTL 0:7684b95768c7 118 set_remote_port_parameters(sock, &ps);
OTL 0:7684b95768c7 119 }
OTL 0:7684b95768c7 120