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--- a/MODSERIAL.h Wed Nov 24 00:33:40 2010 +0000 +++ b/MODSERIAL.h Thu Jan 20 11:57:32 2011 +0000 @@ -1,879 +1,933 @@ -/* - Copyright (c) 2010 Andy Kirkham - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - - @file MODSERIAL.h - @purpose Extends Serial to provide fully buffered IO - @version see ChangeLog.c - @date Nov 2010 - @author Andy Kirkham -*/ - -#ifndef MODSERIAL_H -#define MODSERIAL_H - -/** @defgroup API The MODSERIAL API */ -/** @defgroup MISC Misc MODSERIAL functions */ -/** @defgroup INTERNALS MODSERIAL Internals */ - -#ifndef MODSERIAL_DEFAULT_RX_BUFFER_SIZE -#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256 -#endif - -#ifndef MODSERIAL_DEFAULT_TX_BUFFER_SIZE -#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 256 -#endif - -#include "mbed.h" - -namespace AjK { - -/** - * @author Andy Kirkham - * @see http://mbed.org/cookbook/MODSERIAL - * @see http://mbed.org/handbook/Serial - * @see example.cpp - * @see API - * - * <b>MODSERIAL</b> extends the Mbed library <a href="/handbook/Serial">Serial</a> to provide fully buffered - * TX and RX streams. Buffer length is fully customisable. - * - * Before using MODSERIAL users should be familar with Mbed's standard <a href="/handbook/Serial">Serial</a> - * library object. MODSERIAL is a direct "drop in" replacement for <a href="/handbook/Serial">Serial</a>. Where - * previously Serial was used, MODSERIAL can be used as adirect replacement instantly offering standard - * TX and RX buffering. By default, both TX and RX buffers are 256 bytes in length. - * - * @image html /media/uploads/mbedofficial/serial_interfaces.png - * - * Standard example: - * @code - * #include "mbed.h" - * #include "MODSERIAL.h" - * - * MODSERIAL pc(USBTX, USBRX); // tx, rx - * - * int main() { - * pc.printf("Hello World!"); - * while(1) { - * pc.putc(pc.getc() + 1); - * } - * } - * @endcode - * - * Example with alternate buffer length: - * @code - * #include "mbed.h" - * #include "MODSERIAL.h" - * - * // Make TX and RX buffers 512byes in length - * MODSERIAL pc(USBTX, USBRX, 512); // tx, rx - * - * int main() { - * pc.printf("Hello World!"); - * while(1) { - * pc.putc(pc.getc() + 1); - * } - * } - * @endcode - * - * Example with alternate buffer length: - * @code - * #include "mbed.h" - * #include "MODSERIAL.h" - * - * // Make TX 1024bytes and RX 512byes in length - * MODSERIAL pc(USBTX, USBRX, 1024, 512); // tx, rx - * - * int main() { - * pc.printf("Hello World!"); - * while(1) { - * pc.putc(pc.getc() + 1); - * } - * } - * @endcode - */ -class MODSERIAL : public Serial -{ -public: - - //! A copy of the Serial parity enum - /** @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format */ - enum Parity { - None = 0 - , Odd - , Even - , Forced1 - , Forced0 - }; - - //! A copy of the Serial IrqType enum - enum IrqType { - RxIrq = 0 - , TxIrq - , RxOvIrq - , TxOvIrq - , TxEmpty - }; - - //! Non-blocking functions return code. - enum Result { - Ok = 0 /*!< Ok. */ - , NoMemory = -1 /*!< Memory allocation failed. */ - , NoChar = -1 /*!< No character in buffer. */ - , BufferOversize = -2 /*!< Oversized buffer. */ - }; - - /** - * The MODSERIAL constructor is used to initialise the serial object. - * - * @param tx PinName of the TX pin. - * @param rx PinName of the TX pin. - * @param name An option name for RPC usage. - */ - MODSERIAL(PinName tx, PinName rx, const char *name = NULL); - - /** - * The MODSERIAL constructor is used to initialise the serial object. - * - * @param tx PinName of the TX pin. - * @param rx PinName of the TX pin. - * @param bufferSize Integer of the TX and RX buffer sizes. - * @param name An option name for RPC usage. - */ - MODSERIAL(PinName tx, PinName rx, int bufferSize, const char *name = NULL); - - /** - * The MODSERIAL constructor is used to initialise the serial object. - * - * @param tx PinName of the TX pin. - * @param rx PinName of the TX pin. - * @param txBufferSize Integer of the TX buffer sizes. - * @param rxBufferSize Integer of the RX buffer sizes. - * @param name An option name for RPC usage. - */ - MODSERIAL(PinName tx, PinName rx, int txBufferSize, int rxBufferSize, const char *name = NULL); - - virtual ~MODSERIAL(); - - /** - * Function: attach - * - * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback - * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts - * to enable it's buffering system. However, after the byte has been received/sent under interrupt control, - * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not - * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should - * be used. - * - * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty, - * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and - * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled - * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY - * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character - * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may - * never come into play. - * - * @code - * #include "mbed.h" - * #include "MODSERIAL.h" - * - * DigitalOut led1(LED1); - * DigitalOut led2(LED2); - * DigitalOut led3(LED3); - * - * // To test, connect p9 to p10 as a loopback. - * MODSERIAL pc(p9, p10); - * - * // This function is called when a character goes into the TX buffer. - * void txCallback(void) { - * led2 = !led2; - * } - * - * // This function is called when a character goes into the RX buffer. - * void rxCallback(void) { - * led3 = !led3; - * } - * - * int main() { - * pc.baud(115200); - * pc.attach(&txCallback, MODSERIAL::TxIrq); - * pc.attach(&rxCallback, MODSERIAL::RxIrq); - * - * while(1) { - * led1 = !led1; - * wait(0.5); - * pc.putc('A'); - * wait(0.5); - * } - * ] - * @endcode - * - * @ingroup API - * @param fptr A pointer to a void function, or 0 to set as none - * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) - */ - void attach(void (*fptr)(void), IrqType type = RxIrq) { _isr[type].attach(fptr); } - - /** - * Function: attach - * - * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback - * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts - * to enable it's buffering system. However, after the byte has been received/sent under interrupt control, - * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not - * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should - * be used. - * - * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty, - * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and - * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled - * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY - * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character - * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may - * never come into play. - * - * @code - * #include "mbed.h" - * #include "MODSERIAL.h" - * - * DigitalOut led1(LED1); - * DigitalOut led2(LED2); - * DigitalOut led3(LED3); - * - * // To test, connect p9 to p10 as a loopback. - * MODSERIAL pc(p9, p10); - * - * class Foo { - * public: - * // This method is called when a character goes into the TX buffer. - * void txCallback(void) { led2 = !led2; } - * - * // This method is called when a character goes into the RX buffer. - * void rxCallback(void) { led3 = !led3; } - * }; - * - * Foo foo; - * - * int main() { - * pc.baud(115200); - * pc.attach(&foo, &Foo::txCallback, MODSERIAL::TxIrq); - * pc.attach(&foo, &Foo::rxCallback, MODSERIAL::RxIrq); - * - * while(1) { - * led1 = !led1; - * wait(0.5); - * pc.putc('A'); - * wait(0.5); - * } - * ] - * @endcode - * - * @ingroup API - * @param tptr A pointer to the object to call the member function on - * @param mptr A pointer to the member function to be called - * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) - */ - template<typename T> - void attach(T* tptr, void (T::*mptr)(void), IrqType type = RxIrq) { - if((mptr != NULL) && (tptr != NULL)) { - _isr[type].attach(tptr, mptr); - } - } - - /** - * @see attach - * @ingroup API - */ - void connect(void (*fptr)(void), IrqType type = RxIrq) { _isr[RxIrq].attach(fptr); } - - /** - * @see attach - * @ingroup API - */ - template<typename T> - void connect(T* tptr, void (T::*mptr)(void), IrqType type = RxIrq) { - if((mptr != NULL) && (tptr != NULL)) { - _isr[type].attach(tptr, mptr); - } - } - - /** - * Function: writeable - * - * Determine if there is space available to write a byte - * - * @ingroup API - * @return 1 if there is space to write a character, else 0 - */ - int writeable() { return txBufferFull() ? 0 : 1; } - - /** - * Function: readable - * - * Determine if there is a byte available to read - * - * @ingroup API - * @return 1 if there is a character available to read, else 0 - */ - int readable() { return rxBufferEmpty() ? 0 : 1; } - - /** - * Function: txBufferSane - * - * Determine if the TX buffer has been initialized. - * - * @ingroup API - * @return true if the buffer is initialized, else false - */ - bool txBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; } - - /** - * Function: rxBufferSane - * - * Determine if the RX buffer has been initialized. - * - * @ingroup API - * @return true if the buffer is initialized, else false - */ - bool rxBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; } - - /** - * Function: txBufferGetCount - * - * Returns how many bytes are in the TX buffer - * - * @ingroup API - * @return The number of bytes in the TX buffer - */ - int txBufferGetCount(void) { return buffer_count[TxIrq]; } - - /** - * Function: rxBufferGetCount - * - * Returns how many bytes are in the RX buffer - * - * @ingroup API - * @return The number of bytes in the RX buffer - */ - int rxBufferGetCount(void) { return buffer_count[RxIrq]; } - - /** - * Function: txBufferGetSize - * - * Returns the current size of the TX buffer - * - * @ingroup API - * @return The length iof the TX buffer in bytes - */ - int txBufferGetSize(int size) { return buffer_size[TxIrq]; } - - /** - * Function: rxBufferGetSize - * - * Returns the current size of the RX buffer - * - * @ingroup API - * @return The length iof the RX buffer in bytes - */ - int rxBufferGetSize(int size) { return buffer_size[RxIrq]; } - - /** - * Function: txBufferFull - * - * Is the TX buffer full? - * - * @ingroup API - * @return true if the TX buffer is full, otherwise false - */ - bool txBufferFull(void); - - /** - * Function: rxBufferFull - * - * Is the RX buffer full? - * - * @ingroup API - * @return true if the RX buffer is full, otherwise false - */ - bool rxBufferFull(void); - - /** - * Function: txBufferEmpty - * - * Is the TX buffer empty? - * - * @ingroup API - * @return true if the TX buffer is empty, otherwise false - */ - bool txBufferEmpty(void); - - /** - * Function: rxBufferEmpty - * - * Is the RX buffer empty? - * - * @ingroup API - * @return true if the RX buffer is empty, otherwise false - */ - bool rxBufferEmpty(void); - - /** - * Function: txBufferSetSize - * - * Change the TX buffer size. - * - * @see Result - * @ingroup API - * @param size The new TX buffer size in bytes. - * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails. - * @return Result Ok on success. - */ - int txBufferSetSize(int size, bool m) { return resizeBuffer(size, TxIrq, m); } - - /** - * Function: rxBufferSetSize - * - * Change the RX buffer size. - * - * @see Result - * @ingroup API - * @param size The new RX buffer size in bytes. - * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails. - * @return Result Ok on success. - */ - int rxBufferSetSize(int size, bool m) { return resizeBuffer(size, RxIrq, m); } - - /** - * Function: txBufferSetSize - * - * Change the TX buffer size. - * Always performs a memory sanity check, halting the Mbed on failure. - * - * @see Result - * @ingroup API - * @param size The new TX buffer size in bytes. - * @return Result Ok on success. - */ - int txBufferSetSize(int size) { return resizeBuffer(size, TxIrq, true); } - - /** - * Function: rxBufferSetSize - * - * Change the RX buffer size. - * Always performs a memory sanity check, halting the Mbed on failure. - * - * @see Result - * @ingroup API - * @param size The new RX buffer size in bytes. - * @return Result Ok on success. - */ - int rxBufferSetSize(int size) { return resizeBuffer(size, RxIrq, true); } - - /** - * Function: txBufferFlush - * - * Remove all bytes from the TX buffer. - * @ingroup API - */ - void txBufferFlush(void) { flushBuffer(TxIrq); } - - /** - * Function: rxBufferFlush - * - * Remove all bytes from the RX buffer. - * @ingroup API - */ - void rxBufferFlush(void) { flushBuffer(RxIrq); } - - /** - * Function: getcNb - * - * Like getc() but is non-blocking. If no bytes are in the RX buffer this - * function returns Result::NoChar (-1) - * - * @ingroup API - * @return A byte from the RX buffer or Result::NoChar (-1) if bufer empty. - */ - int getcNb() { return __getc(false); } - - /** - * Function: getc - * - * Overloaded version of Serial::getc() - * - * This function blocks (if the RX buffer is empty the function will wait for a - * character to arrive and then return that character). - * - * @ingroup API - * @return A byte from the RX buffer - */ - int getc() { return __getc(true); } - - /** - * Function: txGetLastChar - * - * Rteurn the last byte to pass through the TX interrupt handler. - * - * @ingroup MISC - * @return The byte - */ - char txGetLastChar(void) { return txc; } - - /** - * Function: rxGetLastChar - * - * Return the last byte to pass through the RX interrupt handler. - * - * @ingroup MISC - * @return The byte - */ - char rxGetLastChar(void) { return rxc; } - - /** - * Function: txIsBusy - * - * If the Uart is still actively sending characters this - * function will return true. - * - * @ingroup API - * @return bool - */ - bool txIsBusy(void); - - #if 0 // Inhereted from Serial/Stream, for documentation only - /** - * Function: putc - * - * Write a character - * Inhereted from Serial/Stream - * - * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.putc - * @ingroup API - * @param c The character to write to the serial port - */ - int putc(int c); - #endif - - #if 0 // Inhereted from Serial/Stream, for documentation only - /** - * Function: printf - * - * Write a formated string - * Inhereted from Serial/Stream - * - * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.printf - * @ingroup API - * @param format A printf-style format string, followed by the variables to use in formating the string. - */ - int printf(const char* format, ...); - #endif - - #if 0 // Inhereted from Serial/Stream, for documentation only - /** - * Function: scanf - * - * Read a formated string - * Inhereted from Serial/Stream - * - * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.scanf - * @ingroup API - * @param format - A scanf-style format string, followed by the pointers to variables to store the results. - */ - int scanf(const char* format, ...); - #endif - -protected: - - /** - * A pointer to the UART peripheral base address being used. - * @ingroup INTERNALS - */ - void *_base; - - /** - * The last byte to pass through the TX IRQ handler. - * @ingroup INTERNALS - */ - volatile char txc; - - /** - * The last byte to pass through the RX IRQ handler. - * @ingroup INTERNALS - */ - volatile char rxc; - - /** - * Pointers to the TX and RX buffers. - * @ingroup INTERNALS - */ - volatile char *buffer[2]; - - /** - * Buffer in pointers. - * @ingroup INTERNALS - */ - volatile int buffer_in[2]; - - /** - * Buffer out pointers. - * @ingroup INTERNALS - */ - volatile int buffer_out[2]; - - /** - * Buffer lengths. - * @ingroup INTERNALS - */ - volatile int buffer_size[2]; - - /** - * Buffer content counters. - * @ingroup INTERNALS - */ - volatile int buffer_count[2]; - - /** - * Buffer overflow. - * @ingroup INTERNALS - */ - volatile int buffer_overflow[2]; - - /** - * Callback system. - * @ingroup INTERNALS - */ - FunctionPointer _isr[5]; - - /** - * TX Interrupt Service Routine. - * @ingroup INTERNALS - */ - void isr_tx(bool doCallback); - - /** - * TX Interrupt Service Routine stub version. - * @ingroup INTERNALS - */ - void isr_tx(void) { isr_tx(true); } - - - /** - * RX Interrupt Service Routine. - * @ingroup INTERNALS - */ - void isr_rx(void); - - /** - * Disable the interrupts for this Uart. - * @ingroup INTERNALS - */ - void disableIrq(void); - - /** - * Enable the interrupts for this Uart. - * @ingroup INTERNALS - */ - void enableIrq(void); - - /** - * Get a character from the RX buffer - * @ingroup INTERNALS - * @param bool True to block (wait for input) - * @return A byte from the buffer. - */ - int __getc(bool); - - /** - * Put a character from the TX buffer - * @ingroup INTERNALS - * @param bool True to block (wait for space in the TX buffer if full) - * @return 0 on success - */ - int __putc(int c, bool); - - /** - * Function: _putc - * Overloaded virtual function. - */ - virtual int _putc(int c) { return __putc(c, true); } - - /** - * Function: _getc - * Overloaded virtual function. - */ - virtual int _getc() { return __getc(true); } - - /** - * Function: init - * Initialize the MODSERIAL object - * @ingroup INTERNALS - */ - void init(int txSize, int rxSize); - - /** - * Function: flushBuffer - * @ingroup INTERNALS - */ - void flushBuffer(IrqType type); - - /** - * Function: resizeBuffer - * @ingroup INTERNALS - */ - int resizeBuffer(int size, IrqType type = RxIrq, bool memory_check = true); - - /** - * Function: downSizeBuffer - * @ingroup INTERNALS - */ - int downSizeBuffer(int size, IrqType type, bool memory_check); - - /** - * Function: upSizeBuffer - * @ingroup INTERNALS - */ - int upSizeBuffer(int size, IrqType type, bool memory_check); - - /* - * If MODDMA is available the compile in code to handle sending - * an arbitary char buffer. Note, the parts before teh #ifdef - * are declared so that MODSERIAL can access then even if MODDMA - * isn't avaiable. Since MODDMA.h is only available at this point - * all DMA functionality must be declared inline in the class - * definition. - */ -public: - - int dmaSendChannel; - void *moddma_p; - -#ifdef MODDMA_H - - /** - * Set the "void pointer" moddma_p to be a pointer to a - * MODDMA controller class instance. Used to manage the - * data transfer of DMA configurations. - * - * @ingroup API - * @param p A pointer to "the" instance of MODDMA. - */ - void MODDMA(MODDMA *p) { moddma_p = p; } - - /** - * Send a char buffer to the Uarts TX system - * using DMA. This blocks regular library - * sending. - * - * @param buffer A char buffer of bytes to send. - * @param len The length of the buffer to send. - * @param dmaChannel The DMA channel to use, defaults to 7 - * @return MODDMA::Status MODDMA::ok if all went ok - */ - int dmaSend(char *buffer, int len, int dmaChannel = 7) - { - if (moddma_p == (void *)NULL) return -2; - class MODDMA *dma = (class MODDMA *)moddma_p; - - dmaSendChannel = dmaChannel & 0x7; - - uint32_t conn = MODDMA::UART0_Tx; - switch(_uidx) { - case 0: conn = MODDMA::UART0_Tx; break; - case 1: conn = MODDMA::UART1_Tx; break; - case 2: conn = MODDMA::UART2_Tx; break; - case 3: conn = MODDMA::UART3_Tx; break; - } - - MODDMA_Config *config = new MODDMA_Config; - config - ->channelNum ( (MODDMA::CHANNELS)(dmaSendChannel & 0x7) ) - ->srcMemAddr ( (uint32_t) buffer ) - ->transferSize ( len ) - ->transferType ( MODDMA::m2p ) - ->dstConn ( conn ) - ->attach_tc ( this, &MODSERIAL::dmaSendCallback ) - ->attach_err ( this, &MODSERIAL::dmaSendCallback ) - ; // config end - - // Setup the configuration. - if (dma->Setup(config) != MODDMA::Ok) { - return -1; - } - - //dma.Enable( MODDMA::Channel_0 ); - dma->Enable( config->channelNum() ); - return MODDMA::Ok; - } - - /** - * Attach a callback to the DMA completion. - * - * @ingroup API - * @param fptr A function pointer to call - * @return this - */ - void attach_dmaSendComplete(void (*fptr)(void)) { - _isrDmaSendComplete.attach(fptr); - } - - /** - * Attach a callback to the DMA completion. - * - * @ingroup API - * @param tptr A template pointer to the calling object - * @param mptr A method pointer within the object to call. - * @return this - */ - template<typename T> - void attach_dmaSendComplete(T* tptr, void (T::*mptr)(void)) { - if((mptr != NULL) && (tptr != NULL)) { - _isrDmaSendComplete.attach(tptr, mptr); - } - } - - FunctionPointer _isrDmaSendComplete; - -protected: - /** - * Callback for dmaSend(). - */ - void dmaSendCallback(void) - { - if (moddma_p == (void *)NULL) return; - class MODDMA *dma = (class MODDMA *)moddma_p; - - MODDMA_Config *config = dma->getConfig(); - dma->haltAndWaitChannelComplete( (MODDMA::CHANNELS)config->channelNum()); - dma->Disable( (MODDMA::CHANNELS)config->channelNum() ); - if (dma->irqType() == MODDMA::TcIrq) dma->clearTcIrq(); - if (dma->irqType() == MODDMA::ErrIrq) dma->clearErrIrq(); - dmaSendChannel = -1; - _isrDmaSendComplete.call(); - } - -#endif // MODDMA_H - -}; - -}; // namespace AjK ends - -using namespace AjK; - -#endif +/* + Copyright (c) 2010 Andy Kirkham + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. + + @file MODSERIAL.h + @purpose Extends Serial to provide fully buffered IO + @version see ChangeLog.c + @date Nov 2010 + @author Andy Kirkham +*/ + +#ifndef MODSERIAL_H +#define MODSERIAL_H + +/** @defgroup API The MODSERIAL API */ +/** @defgroup MISC Misc MODSERIAL functions */ +/** @defgroup INTERNALS MODSERIAL Internals */ + +#ifndef MODSERIAL_DEFAULT_RX_BUFFER_SIZE +#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256 +#endif + +#ifndef MODSERIAL_DEFAULT_TX_BUFFER_SIZE +#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 256 +#endif + +#include "mbed.h" + +namespace AjK { + +/** + * @author Andy Kirkham + * @see http://mbed.org/cookbook/MODSERIAL + * @see http://mbed.org/handbook/Serial + * @see example.cpp + * @see API + * + * <b>MODSERIAL</b> extends the Mbed library <a href="/handbook/Serial">Serial</a> to provide fully buffered + * TX and RX streams. Buffer length is fully customisable. + * + * Before using MODSERIAL users should be familar with Mbed's standard <a href="/handbook/Serial">Serial</a> + * library object. MODSERIAL is a direct "drop in" replacement for <a href="/handbook/Serial">Serial</a>. Where + * previously Serial was used, MODSERIAL can be used as adirect replacement instantly offering standard + * TX and RX buffering. By default, both TX and RX buffers are 256 bytes in length. + * + * @image html /media/uploads/mbedofficial/serial_interfaces.png + * + * Standard example: + * @code + * #include "mbed.h" + * #include "MODSERIAL.h" + * + * MODSERIAL pc(USBTX, USBRX); // tx, rx + * + * int main() { + * pc.printf("Hello World!"); + * while(1) { + * pc.putc(pc.getc() + 1); + * } + * } + * @endcode + * + * Example with alternate buffer length: + * @code + * #include "mbed.h" + * #include "MODSERIAL.h" + * + * // Make TX and RX buffers 512byes in length + * MODSERIAL pc(USBTX, USBRX, 512); // tx, rx + * + * int main() { + * pc.printf("Hello World!"); + * while(1) { + * pc.putc(pc.getc() + 1); + * } + * } + * @endcode + * + * Example with alternate buffer length: + * @code + * #include "mbed.h" + * #include "MODSERIAL.h" + * + * // Make TX 1024bytes and RX 512byes in length + * MODSERIAL pc(USBTX, USBRX, 1024, 512); // tx, rx + * + * int main() { + * pc.printf("Hello World!"); + * while(1) { + * pc.putc(pc.getc() + 1); + * } + * } + * @endcode + */ +class MODSERIAL : public Serial +{ +public: + + //! A copy of the Serial parity enum + /** @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format */ + enum Parity { + None = 0 + , Odd + , Even + , Forced1 + , Forced0 + }; + + //! A copy of the Serial IrqType enum + enum IrqType { + RxIrq = 0 + , TxIrq + , RxOvIrq + , TxOvIrq + , TxEmpty + , RxAutoDetect + , NumOfIrqTypes + }; + + //! Non-blocking functions return code. + enum Result { + Ok = 0 /*!< Ok. */ + , NoMemory = -1 /*!< Memory allocation failed. */ + , NoChar = -1 /*!< No character in buffer. */ + , BufferOversize = -2 /*!< Oversized buffer. */ + }; + + /** + * The MODSERIAL constructor is used to initialise the serial object. + * + * @param tx PinName of the TX pin. + * @param rx PinName of the TX pin. + * @param name An option name for RPC usage. + */ + MODSERIAL(PinName tx, PinName rx, const char *name = NULL); + + /** + * The MODSERIAL constructor is used to initialise the serial object. + * + * @param tx PinName of the TX pin. + * @param rx PinName of the TX pin. + * @param bufferSize Integer of the TX and RX buffer sizes. + * @param name An option name for RPC usage. + */ + MODSERIAL(PinName tx, PinName rx, int bufferSize, const char *name = NULL); + + /** + * The MODSERIAL constructor is used to initialise the serial object. + * + * @param tx PinName of the TX pin. + * @param rx PinName of the TX pin. + * @param txBufferSize Integer of the TX buffer sizes. + * @param rxBufferSize Integer of the RX buffer sizes. + * @param name An option name for RPC usage. + */ + MODSERIAL(PinName tx, PinName rx, int txBufferSize, int rxBufferSize, const char *name = NULL); + + virtual ~MODSERIAL(); + + /** + * Function: attach + * + * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback + * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts + * to enable it's buffering system. However, after the byte has been received/sent under interrupt control, + * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not + * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should + * be used. + * + * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty, + * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and + * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled + * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY + * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character + * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may + * never come into play. + * + * @code + * #include "mbed.h" + * #include "MODSERIAL.h" + * + * DigitalOut led1(LED1); + * DigitalOut led2(LED2); + * DigitalOut led3(LED3); + * + * // To test, connect p9 to p10 as a loopback. + * MODSERIAL pc(p9, p10); + * + * // This function is called when a character goes into the TX buffer. + * void txCallback(void) { + * led2 = !led2; + * } + * + * // This function is called when a character goes into the RX buffer. + * void rxCallback(void) { + * led3 = !led3; + * } + * + * int main() { + * pc.baud(115200); + * pc.attach(&txCallback, MODSERIAL::TxIrq); + * pc.attach(&rxCallback, MODSERIAL::RxIrq); + * + * while(1) { + * led1 = !led1; + * wait(0.5); + * pc.putc('A'); + * wait(0.5); + * } + * ] + * @endcode + * + * @ingroup API + * @param fptr A pointer to a void function, or 0 to set as none + * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) + */ + void attach(void (*fptr)(void), IrqType type = RxIrq) { _isr[type].attach(fptr); } + + /** + * Function: attach + * + * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback + * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts + * to enable it's buffering system. However, after the byte has been received/sent under interrupt control, + * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not + * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should + * be used. + * + * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty, + * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and + * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled + * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY + * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character + * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may + * never come into play. + * + * @code + * #include "mbed.h" + * #include "MODSERIAL.h" + * + * DigitalOut led1(LED1); + * DigitalOut led2(LED2); + * DigitalOut led3(LED3); + * + * // To test, connect p9 to p10 as a loopback. + * MODSERIAL pc(p9, p10); + * + * class Foo { + * public: + * // This method is called when a character goes into the TX buffer. + * void txCallback(void) { led2 = !led2; } + * + * // This method is called when a character goes into the RX buffer. + * void rxCallback(void) { led3 = !led3; } + * }; + * + * Foo foo; + * + * int main() { + * pc.baud(115200); + * pc.attach(&foo, &Foo::txCallback, MODSERIAL::TxIrq); + * pc.attach(&foo, &Foo::rxCallback, MODSERIAL::RxIrq); + * + * while(1) { + * led1 = !led1; + * wait(0.5); + * pc.putc('A'); + * wait(0.5); + * } + * ] + * @endcode + * + * @ingroup API + * @param tptr A pointer to the object to call the member function on + * @param mptr A pointer to the member function to be called + * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty) + */ + template<typename T> + void attach(T* tptr, void (T::*mptr)(void), IrqType type = RxIrq) { + if((mptr != NULL) && (tptr != NULL)) { + _isr[type].attach(tptr, mptr); + } + } + + /** + * @see attach + * @ingroup API + */ + void connect(void (*fptr)(void), IrqType type = RxIrq) { _isr[RxIrq].attach(fptr); } + + /** + * @see attach + * @ingroup API + */ + template<typename T> + void connect(T* tptr, void (T::*mptr)(void), IrqType type = RxIrq) { + if((mptr != NULL) && (tptr != NULL)) { + _isr[type].attach(tptr, mptr); + } + } + + /** + * Function: writeable + * + * Determine if there is space available to write a byte + * + * @ingroup API + * @return 1 if there is space to write a character, else 0 + */ + int writeable() { return txBufferFull() ? 0 : 1; } + + /** + * Function: readable + * + * Determine if there is a byte available to read + * + * @ingroup API + * @return 1 if there is a character available to read, else 0 + */ + int readable() { return rxBufferEmpty() ? 0 : 1; } + + /** + * Function: txBufferSane + * + * Determine if the TX buffer has been initialized. + * + * @ingroup API + * @return true if the buffer is initialized, else false + */ + bool txBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; } + + /** + * Function: rxBufferSane + * + * Determine if the RX buffer has been initialized. + * + * @ingroup API + * @return true if the buffer is initialized, else false + */ + bool rxBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; } + + /** + * Function: txBufferGetCount + * + * Returns how many bytes are in the TX buffer + * + * @ingroup API + * @return The number of bytes in the TX buffer + */ + int txBufferGetCount(void) { return buffer_count[TxIrq]; } + + /** + * Function: rxBufferGetCount + * + * Returns how many bytes are in the RX buffer + * + * @ingroup API + * @return The number of bytes in the RX buffer + */ + int rxBufferGetCount(void) { return buffer_count[RxIrq]; } + + /** + * Function: txBufferGetSize + * + * Returns the current size of the TX buffer + * + * @ingroup API + * @return The length iof the TX buffer in bytes + */ + int txBufferGetSize(int size) { return buffer_size[TxIrq]; } + + /** + * Function: rxBufferGetSize + * + * Returns the current size of the RX buffer + * + * @ingroup API + * @return The length iof the RX buffer in bytes + */ + int rxBufferGetSize(int size) { return buffer_size[RxIrq]; } + + /** + * Function: txBufferFull + * + * Is the TX buffer full? + * + * @ingroup API + * @return true if the TX buffer is full, otherwise false + */ + bool txBufferFull(void); + + /** + * Function: rxBufferFull + * + * Is the RX buffer full? + * + * @ingroup API + * @return true if the RX buffer is full, otherwise false + */ + bool rxBufferFull(void); + + /** + * Function: txBufferEmpty + * + * Is the TX buffer empty? + * + * @ingroup API + * @return true if the TX buffer is empty, otherwise false + */ + bool txBufferEmpty(void); + + /** + * Function: rxBufferEmpty + * + * Is the RX buffer empty? + * + * @ingroup API + * @return true if the RX buffer is empty, otherwise false + */ + bool rxBufferEmpty(void); + + /** + * Function: txBufferSetSize + * + * Change the TX buffer size. + * + * @see Result + * @ingroup API + * @param size The new TX buffer size in bytes. + * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails. + * @return Result Ok on success. + */ + int txBufferSetSize(int size, bool m) { return resizeBuffer(size, TxIrq, m); } + + /** + * Function: rxBufferSetSize + * + * Change the RX buffer size. + * + * @see Result + * @ingroup API + * @param size The new RX buffer size in bytes. + * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails. + * @return Result Ok on success. + */ + int rxBufferSetSize(int size, bool m) { return resizeBuffer(size, RxIrq, m); } + + /** + * Function: txBufferSetSize + * + * Change the TX buffer size. + * Always performs a memory sanity check, halting the Mbed on failure. + * + * @see Result + * @ingroup API + * @param size The new TX buffer size in bytes. + * @return Result Ok on success. + */ + int txBufferSetSize(int size) { return resizeBuffer(size, TxIrq, true); } + + /** + * Function: rxBufferSetSize + * + * Change the RX buffer size. + * Always performs a memory sanity check, halting the Mbed on failure. + * + * @see Result + * @ingroup API + * @param size The new RX buffer size in bytes. + * @return Result Ok on success. + */ + int rxBufferSetSize(int size) { return resizeBuffer(size, RxIrq, true); } + + /** + * Function: txBufferFlush + * + * Remove all bytes from the TX buffer. + * @ingroup API + */ + void txBufferFlush(void) { flushBuffer(TxIrq); } + + /** + * Function: rxBufferFlush + * + * Remove all bytes from the RX buffer. + * @ingroup API + */ + void rxBufferFlush(void) { flushBuffer(RxIrq); } + + /** + * Function: getcNb + * + * Like getc() but is non-blocking. If no bytes are in the RX buffer this + * function returns Result::NoChar (-1) + * + * @ingroup API + * @return A byte from the RX buffer or Result::NoChar (-1) if bufer empty. + */ + int getcNb() { return __getc(false); } + + /** + * Function: getc + * + * Overloaded version of Serial::getc() + * + * This function blocks (if the RX buffer is empty the function will wait for a + * character to arrive and then return that character). + * + * @ingroup API + * @return A byte from the RX buffer + */ + int getc() { return __getc(true); } + + /** + * Function: txGetLastChar + * + * Rteurn the last byte to pass through the TX interrupt handler. + * + * @ingroup MISC + * @return The byte + */ + char txGetLastChar(void) { return txc; } + + /** + * Function: rxGetLastChar + * + * Return the last byte to pass through the RX interrupt handler. + * + * @ingroup MISC + * @return The byte + */ + char rxGetLastChar(void) { return rxc; } + + /** + * Function: txIsBusy + * + * If the Uart is still actively sending characters this + * function will return true. + * + * @ingroup API + * @return bool + */ + bool txIsBusy(void); + + /** + * Function: autoDectectChar + * + * Set the char that, if seen incoming, invokes the AutoDetectChar callback. + * + * @ingroup API + * @param int c The character to detect. + */ + void autoDectectChar(char c) { auto_detect_char = c; } + + /** + * Function: move + * + * Move contents of RX buffer to external buffer. Stops if "end" detected. + * + * @ingroup API + * @param char *s The destination buffer address + * @param int max The maximum number of chars to move. + * @param char end If this char is detected stop moving. + */ + int move(char *s, int max, char end) { + int counter = 0; + char c; + while(readable()) { + c = getc(); + if (c == end) break; + *(s++) = c; + counter++; + if (counter == max) break; + } + return counter; + } + + /** + * Function: move (overloaded) + * + * Move contents of RX buffer to external buffer. Stops if auto_detect_char detected. + * + * @ingroup API + * @param int max The maximum number of chars to move. + * @param char *s The destination buffer address + */ + int move(char *s, int max) { + return move(s, max, auto_detect_char); + } + + #if 0 // Inhereted from Serial/Stream, for documentation only + /** + * Function: putc + * + * Write a character + * Inhereted from Serial/Stream + * + * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.putc + * @ingroup API + * @param c The character to write to the serial port + */ + int putc(int c); + #endif + + #if 0 // Inhereted from Serial/Stream, for documentation only + /** + * Function: printf + * + * Write a formated string + * Inhereted from Serial/Stream + * + * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.printf + * @ingroup API + * @param format A printf-style format string, followed by the variables to use in formating the string. + */ + int printf(const char* format, ...); + #endif + + #if 0 // Inhereted from Serial/Stream, for documentation only + /** + * Function: scanf + * + * Read a formated string + * Inhereted from Serial/Stream + * + * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.scanf + * @ingroup API + * @param format - A scanf-style format string, followed by the pointers to variables to store the results. + */ + int scanf(const char* format, ...); + #endif + +protected: + + /** + * A pointer to the UART peripheral base address being used. + * @ingroup INTERNALS + */ + void *_base; + + /** + * The last byte to pass through the TX IRQ handler. + * @ingroup INTERNALS + */ + volatile char txc; + + /** + * The last byte to pass through the RX IRQ handler. + * @ingroup INTERNALS + */ + volatile char rxc; + + /** + * Pointers to the TX and RX buffers. + * @ingroup INTERNALS + */ + volatile char *buffer[2]; + + /** + * Buffer in pointers. + * @ingroup INTERNALS + */ + volatile int buffer_in[2]; + + /** + * Buffer out pointers. + * @ingroup INTERNALS + */ + volatile int buffer_out[2]; + + /** + * Buffer lengths. + * @ingroup INTERNALS + */ + volatile int buffer_size[2]; + + /** + * Buffer content counters. + * @ingroup INTERNALS + */ + volatile int buffer_count[2]; + + /** + * Buffer overflow. + * @ingroup INTERNALS + */ + volatile int buffer_overflow[2]; + + /** + * Auto-detect character. + * @ingroup INTERNALS + */ + volatile char auto_detect_char; + + /** + * Callback system. + * @ingroup INTERNALS + */ + FunctionPointer _isr[NumOfIrqTypes]; + + /** + * TX Interrupt Service Routine. + * @ingroup INTERNALS + */ + void isr_tx(bool doCallback); + + /** + * TX Interrupt Service Routine stub version. + * @ingroup INTERNALS + */ + void isr_tx(void) { isr_tx(true); } + + + /** + * RX Interrupt Service Routine. + * @ingroup INTERNALS + */ + void isr_rx(void); + + /** + * Disable the interrupts for this Uart. + * @ingroup INTERNALS + */ + void disableIrq(void); + + /** + * Enable the interrupts for this Uart. + * @ingroup INTERNALS + */ + void enableIrq(void); + + /** + * Get a character from the RX buffer + * @ingroup INTERNALS + * @param bool True to block (wait for input) + * @return A byte from the buffer. + */ + int __getc(bool); + + /** + * Put a character from the TX buffer + * @ingroup INTERNALS + * @param bool True to block (wait for space in the TX buffer if full) + * @return 0 on success + */ + int __putc(int c, bool); + + /** + * Function: _putc + * Overloaded virtual function. + */ + virtual int _putc(int c) { return __putc(c, true); } + + /** + * Function: _getc + * Overloaded virtual function. + */ + virtual int _getc() { return __getc(true); } + + /** + * Function: init + * Initialize the MODSERIAL object + * @ingroup INTERNALS + */ + void init(int txSize, int rxSize); + + /** + * Function: flushBuffer + * @ingroup INTERNALS + */ + void flushBuffer(IrqType type); + + /** + * Function: resizeBuffer + * @ingroup INTERNALS + */ + int resizeBuffer(int size, IrqType type = RxIrq, bool memory_check = true); + + /** + * Function: downSizeBuffer + * @ingroup INTERNALS + */ + int downSizeBuffer(int size, IrqType type, bool memory_check); + + /** + * Function: upSizeBuffer + * @ingroup INTERNALS + */ + int upSizeBuffer(int size, IrqType type, bool memory_check); + + /* + * If MODDMA is available the compile in code to handle sending + * an arbitary char buffer. Note, the parts before teh #ifdef + * are declared so that MODSERIAL can access then even if MODDMA + * isn't avaiable. Since MODDMA.h is only available at this point + * all DMA functionality must be declared inline in the class + * definition. + */ +public: + + int dmaSendChannel; + void *moddma_p; + +#ifdef MODDMA_H + + /** + * Set the "void pointer" moddma_p to be a pointer to a + * MODDMA controller class instance. Used to manage the + * data transfer of DMA configurations. + * + * @ingroup API + * @param p A pointer to "the" instance of MODDMA. + */ + void MODDMA(MODDMA *p) { moddma_p = p; } + + /** + * Send a char buffer to the Uarts TX system + * using DMA. This blocks regular library + * sending. + * + * @param buffer A char buffer of bytes to send. + * @param len The length of the buffer to send. + * @param dmaChannel The DMA channel to use, defaults to 7 + * @return MODDMA::Status MODDMA::ok if all went ok + */ + int dmaSend(char *buffer, int len, int dmaChannel = 7) + { + if (moddma_p == (void *)NULL) return -2; + class MODDMA *dma = (class MODDMA *)moddma_p; + + dmaSendChannel = dmaChannel & 0x7; + + uint32_t conn = MODDMA::UART0_Tx; + switch(_uidx) { + case 0: conn = MODDMA::UART0_Tx; break; + case 1: conn = MODDMA::UART1_Tx; break; + case 2: conn = MODDMA::UART2_Tx; break; + case 3: conn = MODDMA::UART3_Tx; break; + } + + MODDMA_Config *config = new MODDMA_Config; + config + ->channelNum ( (MODDMA::CHANNELS)(dmaSendChannel & 0x7) ) + ->srcMemAddr ( (uint32_t) buffer ) + ->transferSize ( len ) + ->transferType ( MODDMA::m2p ) + ->dstConn ( conn ) + ->attach_tc ( this, &MODSERIAL::dmaSendCallback ) + ->attach_err ( this, &MODSERIAL::dmaSendCallback ) + ; // config end + + // Setup the configuration. + if (dma->Setup(config) != MODDMA::Ok) { + return -1; + } + + //dma.Enable( MODDMA::Channel_0 ); + dma->Enable( config->channelNum() ); + return MODDMA::Ok; + } + + /** + * Attach a callback to the DMA completion. + * + * @ingroup API + * @param fptr A function pointer to call + * @return this + */ + void attach_dmaSendComplete(void (*fptr)(void)) { + _isrDmaSendComplete.attach(fptr); + } + + /** + * Attach a callback to the DMA completion. + * + * @ingroup API + * @param tptr A template pointer to the calling object + * @param mptr A method pointer within the object to call. + * @return this + */ + template<typename T> + void attach_dmaSendComplete(T* tptr, void (T::*mptr)(void)) { + if((mptr != NULL) && (tptr != NULL)) { + _isrDmaSendComplete.attach(tptr, mptr); + } + } + + FunctionPointer _isrDmaSendComplete; + +protected: + /** + * Callback for dmaSend(). + */ + void dmaSendCallback(void) + { + if (moddma_p == (void *)NULL) return; + class MODDMA *dma = (class MODDMA *)moddma_p; + + MODDMA_Config *config = dma->getConfig(); + dma->haltAndWaitChannelComplete( (MODDMA::CHANNELS)config->channelNum()); + dma->Disable( (MODDMA::CHANNELS)config->channelNum() ); + if (dma->irqType() == MODDMA::TcIrq) dma->clearTcIrq(); + if (dma->irqType() == MODDMA::ErrIrq) dma->clearErrIrq(); + dmaSendChannel = -1; + _isrDmaSendComplete.call(); + } + +#endif // MODDMA_H + +}; + +}; // namespace AjK ends + +using namespace AjK; + +#endif