Diff: driver.cpp

Revision:

1:e51abb43c074

Child:

2:b7a3ac7bcec8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver.cpp	Thu Jan 28 10:00:45 2016 +0000
@@ -0,0 +1,136 @@
+#include "MODSERIAL.h"
+#include "driver.hpp"
+
+static MODSERIAL pc(USBTX, USBRX);
+
+// Physical driver
+
+int32_t read(void * buf, uint32_t sizeToRead)
+{
+    *(uint8_t*)(buf) = pc.getc();
+    return 1;
+}
+
+int32_t readable()
+{
+    return pc.rxBufferGetCount();
+}
+
+int32_t write(void * buf, uint32_t sizeToWrite)
+{
+    char * ptr = (char *)buf;
+    for(uint32_t i = 0 ; i < sizeToWrite ; i++)
+    {
+        pc.putc(ptr[i]);
+    }
+    return 0;
+}
+
+int32_t writeable()
+{
+    return pc.writeable();
+}
+
+// C++ interface
+
+Telemetry::Telemetry(TM_state* userData)
+{
+    transport.read = read;
+    transport.write = write;
+    transport.readable = readable;
+    transport.writeable = writeable;
+    
+    init_telemetry(userData, &transport);
+    
+    pc.baud(9600);
+}
+    
+uint32_t Telemetry::cast(TM_msg * m, char * buf, size_t bufSize)
+{
+    return emplace(m,buf,bufSize);   
+}
+
+uint32_t Telemetry::cast_u8(TM_msg * m, uint8_t * dst)
+{
+    return emplace_u8(m,dst);
+}
+
+uint32_t Telemetry::cast_u16(TM_msg * m, uint16_t * dst)
+{
+    return emplace_u16(m,dst);
+}
+
+uint32_t Telemetry::cast_u32(TM_msg * m, uint32_t * dst)
+{
+    return emplace_u32(m,dst);
+}
+
+uint32_t Telemetry::cast_i8(TM_msg * m, int8_t * dst)
+{
+    return emplace_i8(m,dst);
+}
+
+uint32_t Telemetry::cast_i16(TM_msg * m, int16_t * dst)
+{
+    return emplace_i16(m,dst);
+}
+
+uint32_t Telemetry::cast_i32(TM_msg * m, int32_t * dst)
+{
+    return emplace_i32(m,dst);
+}
+
+uint32_t Telemetry::cast_f32(TM_msg * m, float * dst)
+{
+    return emplace_f32(m,dst);
+}
+
+void Telemetry::pub(const char * topic, char * msg)
+{
+    publish(topic,msg);
+}
+
+void Telemetry::pub_u8(const char * topic, uint8_t msg)
+{
+    publish_u8(topic,msg);
+}
+
+void Telemetry::pub_u16(const char * topic, uint16_t msg)
+{
+    publish_u16(topic,msg);
+}
+
+void Telemetry::pub_u32(const char * topic, uint32_t msg)
+{
+    publish_u32(topic,msg);
+}
+
+void Telemetry::pub_i8(const char * topic, int8_t msg)
+{
+    publish_i8(topic,msg);
+}
+
+void Telemetry::pub_i16(const char * topic, int16_t msg)
+{
+    publish_i16(topic,msg);
+}
+
+void Telemetry::pub_i32(const char * topic, int32_t msg)
+{
+    publish_i32(topic,msg);
+}
+
+void Telemetry::pub_f32(const char * topic, float msg)
+{
+    publish_f32(topic,msg);
+}
+
+void Telemetry::sub(void (*callback)(TM_state * s, TM_msg * m))
+{
+    subscribe(callback);
+}
+
+void Telemetry::update()
+{
+    update_telemetry(0);
+}
\ No newline at end of file