Gan likun / The prosthetic control

The prosthetic control（MIT）

drivers/SerialBase.cpp@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

Who changed what in which revision?

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ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #include "drivers/SerialBase.h"
ganlikun 0:20e0c61e0684 17 #include "platform/mbed_wait_api.h"
ganlikun 0:20e0c61e0684 18 #include "platform/mbed_critical.h"
ganlikun 0:20e0c61e0684 19 #include "platform/mbed_sleep.h"
ganlikun 0:20e0c61e0684 20
ganlikun 0:20e0c61e0684 21 #if DEVICE_SERIAL
ganlikun 0:20e0c61e0684 22
ganlikun 0:20e0c61e0684 23 namespace mbed {
ganlikun 0:20e0c61e0684 24
ganlikun 0:20e0c61e0684 25 SerialBase::SerialBase(PinName tx, PinName rx, int baud) :
ganlikun 0:20e0c61e0684 26 #if DEVICE_SERIAL_ASYNCH
ganlikun 0:20e0c61e0684 27 _thunk_irq(this), _tx_usage(DMA_USAGE_NEVER),
ganlikun 0:20e0c61e0684 28 _rx_usage(DMA_USAGE_NEVER), _tx_callback(NULL),
ganlikun 0:20e0c61e0684 29 _rx_callback(NULL),
ganlikun 0:20e0c61e0684 30 #endif
ganlikun 0:20e0c61e0684 31 _serial(), _baud(baud) {
ganlikun 0:20e0c61e0684 32 // No lock needed in the constructor
ganlikun 0:20e0c61e0684 33
ganlikun 0:20e0c61e0684 34 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:20e0c61e0684 35 _irq[i] = NULL;
ganlikun 0:20e0c61e0684 36 }
ganlikun 0:20e0c61e0684 37
ganlikun 0:20e0c61e0684 38 serial_init(&_serial, tx, rx);
ganlikun 0:20e0c61e0684 39 serial_baud(&_serial, _baud);
ganlikun 0:20e0c61e0684 40 serial_irq_handler(&_serial, SerialBase::_irq_handler, (uint32_t)this);
ganlikun 0:20e0c61e0684 41 }
ganlikun 0:20e0c61e0684 42
ganlikun 0:20e0c61e0684 43 void SerialBase::baud(int baudrate) {
ganlikun 0:20e0c61e0684 44 lock();
ganlikun 0:20e0c61e0684 45 serial_baud(&_serial, baudrate);
ganlikun 0:20e0c61e0684 46 _baud = baudrate;
ganlikun 0:20e0c61e0684 47 unlock();
ganlikun 0:20e0c61e0684 48 }
ganlikun 0:20e0c61e0684 49
ganlikun 0:20e0c61e0684 50 void SerialBase::format(int bits, Parity parity, int stop_bits) {
ganlikun 0:20e0c61e0684 51 lock();
ganlikun 0:20e0c61e0684 52 serial_format(&_serial, bits, (SerialParity)parity, stop_bits);
ganlikun 0:20e0c61e0684 53 unlock();
ganlikun 0:20e0c61e0684 54 }
ganlikun 0:20e0c61e0684 55
ganlikun 0:20e0c61e0684 56 int SerialBase::readable() {
ganlikun 0:20e0c61e0684 57 lock();
ganlikun 0:20e0c61e0684 58 int ret = serial_readable(&_serial);
ganlikun 0:20e0c61e0684 59 unlock();
ganlikun 0:20e0c61e0684 60 return ret;
ganlikun 0:20e0c61e0684 61 }
ganlikun 0:20e0c61e0684 62
ganlikun 0:20e0c61e0684 63
ganlikun 0:20e0c61e0684 64 int SerialBase::writeable() {
ganlikun 0:20e0c61e0684 65 lock();
ganlikun 0:20e0c61e0684 66 int ret = serial_writable(&_serial);
ganlikun 0:20e0c61e0684 67 unlock();
ganlikun 0:20e0c61e0684 68 return ret;
ganlikun 0:20e0c61e0684 69 }
ganlikun 0:20e0c61e0684 70
ganlikun 0:20e0c61e0684 71 void SerialBase::attach(Callback<void()> func, IrqType type) {
ganlikun 0:20e0c61e0684 72 lock();
ganlikun 0:20e0c61e0684 73 // Disable interrupts when attaching interrupt handler
ganlikun 0:20e0c61e0684 74 core_util_critical_section_enter();
ganlikun 0:20e0c61e0684 75 if (func) {
ganlikun 0:20e0c61e0684 76 // lock deep sleep only the first time
ganlikun 0:20e0c61e0684 77 if (!_irq[type]) {
ganlikun 0:20e0c61e0684 78 sleep_manager_lock_deep_sleep();
ganlikun 0:20e0c61e0684 79 }
ganlikun 0:20e0c61e0684 80 _irq[type] = func;
ganlikun 0:20e0c61e0684 81 serial_irq_set(&_serial, (SerialIrq)type, 1);
ganlikun 0:20e0c61e0684 82 } else {
ganlikun 0:20e0c61e0684 83 // unlock deep sleep only the first time
ganlikun 0:20e0c61e0684 84 if (_irq[type]) {
ganlikun 0:20e0c61e0684 85 sleep_manager_unlock_deep_sleep();
ganlikun 0:20e0c61e0684 86 }
ganlikun 0:20e0c61e0684 87 _irq[type] = NULL;
ganlikun 0:20e0c61e0684 88 serial_irq_set(&_serial, (SerialIrq)type, 0);
ganlikun 0:20e0c61e0684 89 }
ganlikun 0:20e0c61e0684 90 core_util_critical_section_exit();
ganlikun 0:20e0c61e0684 91 unlock();
ganlikun 0:20e0c61e0684 92 }
ganlikun 0:20e0c61e0684 93
ganlikun 0:20e0c61e0684 94 void SerialBase::_irq_handler(uint32_t id, SerialIrq irq_type) {
ganlikun 0:20e0c61e0684 95 SerialBase *handler = (SerialBase*)id;
ganlikun 0:20e0c61e0684 96 if (handler->_irq[irq_type]) {
ganlikun 0:20e0c61e0684 97 handler->_irq[irq_type]();
ganlikun 0:20e0c61e0684 98 }
ganlikun 0:20e0c61e0684 99 }
ganlikun 0:20e0c61e0684 100
ganlikun 0:20e0c61e0684 101 int SerialBase::_base_getc() {
ganlikun 0:20e0c61e0684 102 // Mutex is already held
ganlikun 0:20e0c61e0684 103 return serial_getc(&_serial);
ganlikun 0:20e0c61e0684 104 }
ganlikun 0:20e0c61e0684 105
ganlikun 0:20e0c61e0684 106 int SerialBase::_base_putc(int c) {
ganlikun 0:20e0c61e0684 107 // Mutex is already held
ganlikun 0:20e0c61e0684 108 serial_putc(&_serial, c);
ganlikun 0:20e0c61e0684 109 return c;
ganlikun 0:20e0c61e0684 110 }
ganlikun 0:20e0c61e0684 111
ganlikun 0:20e0c61e0684 112 void SerialBase::send_break() {
ganlikun 0:20e0c61e0684 113 lock();
ganlikun 0:20e0c61e0684 114 // Wait for 1.5 frames before clearing the break condition
ganlikun 0:20e0c61e0684 115 // This will have different effects on our platforms, but should
ganlikun 0:20e0c61e0684 116 // ensure that we keep the break active for at least one frame.
ganlikun 0:20e0c61e0684 117 // We consider a full frame (1 start bit + 8 data bits bits +
ganlikun 0:20e0c61e0684 118 // 1 parity bit + 2 stop bits = 12 bits) for computation.
ganlikun 0:20e0c61e0684 119 // One bit time (in us) = 1000000/_baud
ganlikun 0:20e0c61e0684 120 // Twelve bits: 12000000/baud delay
ganlikun 0:20e0c61e0684 121 // 1.5 frames: 18000000/baud delay
ganlikun 0:20e0c61e0684 122 serial_break_set(&_serial);
ganlikun 0:20e0c61e0684 123 wait_us(18000000/_baud);
ganlikun 0:20e0c61e0684 124 serial_break_clear(&_serial);
ganlikun 0:20e0c61e0684 125 unlock();
ganlikun 0:20e0c61e0684 126 }
ganlikun 0:20e0c61e0684 127
ganlikun 0:20e0c61e0684 128 void SerialBase::lock() {
ganlikun 0:20e0c61e0684 129 // Stub
ganlikun 0:20e0c61e0684 130 }
ganlikun 0:20e0c61e0684 131
ganlikun 0:20e0c61e0684 132 void SerialBase:: unlock() {
ganlikun 0:20e0c61e0684 133 // Stub
ganlikun 0:20e0c61e0684 134 }
ganlikun 0:20e0c61e0684 135
ganlikun 0:20e0c61e0684 136 SerialBase::~SerialBase()
ganlikun 0:20e0c61e0684 137 {
ganlikun 0:20e0c61e0684 138 // No lock needed in destructor
ganlikun 0:20e0c61e0684 139
ganlikun 0:20e0c61e0684 140 // Detaching interrupts releases the sleep lock if it was locked
ganlikun 0:20e0c61e0684 141 for (int irq = 0; irq < IrqCnt; irq++) {
ganlikun 0:20e0c61e0684 142 attach(NULL, (IrqType)irq);
ganlikun 0:20e0c61e0684 143 }
ganlikun 0:20e0c61e0684 144 }
ganlikun 0:20e0c61e0684 145
ganlikun 0:20e0c61e0684 146 #if DEVICE_SERIAL_FC
ganlikun 0:20e0c61e0684 147 void SerialBase::set_flow_control(Flow type, PinName flow1, PinName flow2) {
ganlikun 0:20e0c61e0684 148 lock();
ganlikun 0:20e0c61e0684 149 FlowControl flow_type = (FlowControl)type;
ganlikun 0:20e0c61e0684 150 switch(type) {
ganlikun 0:20e0c61e0684 151 case RTS:
ganlikun 0:20e0c61e0684 152 serial_set_flow_control(&_serial, flow_type, flow1, NC);
ganlikun 0:20e0c61e0684 153 break;
ganlikun 0:20e0c61e0684 154
ganlikun 0:20e0c61e0684 155 case CTS:
ganlikun 0:20e0c61e0684 156 serial_set_flow_control(&_serial, flow_type, NC, flow1);
ganlikun 0:20e0c61e0684 157 break;
ganlikun 0:20e0c61e0684 158
ganlikun 0:20e0c61e0684 159 case RTSCTS:
ganlikun 0:20e0c61e0684 160 case Disabled:
ganlikun 0:20e0c61e0684 161 serial_set_flow_control(&_serial, flow_type, flow1, flow2);
ganlikun 0:20e0c61e0684 162 break;
ganlikun 0:20e0c61e0684 163
ganlikun 0:20e0c61e0684 164 default:
ganlikun 0:20e0c61e0684 165 break;
ganlikun 0:20e0c61e0684 166 }
ganlikun 0:20e0c61e0684 167 unlock();
ganlikun 0:20e0c61e0684 168 }
ganlikun 0:20e0c61e0684 169 #endif
ganlikun 0:20e0c61e0684 170
ganlikun 0:20e0c61e0684 171 #if DEVICE_SERIAL_ASYNCH
ganlikun 0:20e0c61e0684 172
ganlikun 0:20e0c61e0684 173 int SerialBase::write(const uint8_t *buffer, int length, const event_callback_t& callback, int event)
ganlikun 0:20e0c61e0684 174 {
ganlikun 0:20e0c61e0684 175 if (serial_tx_active(&_serial)) {
ganlikun 0:20e0c61e0684 176 return -1; // transaction ongoing
ganlikun 0:20e0c61e0684 177 }
ganlikun 0:20e0c61e0684 178 start_write((void *)buffer, length, 8, callback, event);
ganlikun 0:20e0c61e0684 179 return 0;
ganlikun 0:20e0c61e0684 180 }
ganlikun 0:20e0c61e0684 181
ganlikun 0:20e0c61e0684 182 int SerialBase::write(const uint16_t *buffer, int length, const event_callback_t& callback, int event)
ganlikun 0:20e0c61e0684 183 {
ganlikun 0:20e0c61e0684 184 if (serial_tx_active(&_serial)) {
ganlikun 0:20e0c61e0684 185 return -1; // transaction ongoing
ganlikun 0:20e0c61e0684 186 }
ganlikun 0:20e0c61e0684 187 start_write((void *)buffer, length, 16, callback, event);
ganlikun 0:20e0c61e0684 188 return 0;
ganlikun 0:20e0c61e0684 189 }
ganlikun 0:20e0c61e0684 190
ganlikun 0:20e0c61e0684 191 void SerialBase::start_write(const void *buffer, int buffer_size, char buffer_width, const event_callback_t& callback, int event)
ganlikun 0:20e0c61e0684 192 {
ganlikun 0:20e0c61e0684 193 _tx_callback = callback;
ganlikun 0:20e0c61e0684 194
ganlikun 0:20e0c61e0684 195 _thunk_irq.callback(&SerialBase::interrupt_handler_asynch);
ganlikun 0:20e0c61e0684 196 sleep_manager_lock_deep_sleep();
ganlikun 0:20e0c61e0684 197 serial_tx_asynch(&_serial, buffer, buffer_size, buffer_width, _thunk_irq.entry(), event, _tx_usage);
ganlikun 0:20e0c61e0684 198 }
ganlikun 0:20e0c61e0684 199
ganlikun 0:20e0c61e0684 200 void SerialBase::abort_write(void)
ganlikun 0:20e0c61e0684 201 {
ganlikun 0:20e0c61e0684 202 // rx might still be active
ganlikun 0:20e0c61e0684 203 if (_rx_callback) {
ganlikun 0:20e0c61e0684 204 sleep_manager_unlock_deep_sleep();
ganlikun 0:20e0c61e0684 205 }
ganlikun 0:20e0c61e0684 206 _tx_callback = NULL;
ganlikun 0:20e0c61e0684 207 serial_tx_abort_asynch(&_serial);
ganlikun 0:20e0c61e0684 208 }
ganlikun 0:20e0c61e0684 209
ganlikun 0:20e0c61e0684 210 void SerialBase::abort_read(void)
ganlikun 0:20e0c61e0684 211 {
ganlikun 0:20e0c61e0684 212 // tx might still be active
ganlikun 0:20e0c61e0684 213 if (_tx_callback) {
ganlikun 0:20e0c61e0684 214 sleep_manager_unlock_deep_sleep();
ganlikun 0:20e0c61e0684 215 }
ganlikun 0:20e0c61e0684 216 _rx_callback = NULL;
ganlikun 0:20e0c61e0684 217 serial_rx_abort_asynch(&_serial);
ganlikun 0:20e0c61e0684 218 }
ganlikun 0:20e0c61e0684 219
ganlikun 0:20e0c61e0684 220 int SerialBase::set_dma_usage_tx(DMAUsage usage)
ganlikun 0:20e0c61e0684 221 {
ganlikun 0:20e0c61e0684 222 if (serial_tx_active(&_serial)) {
ganlikun 0:20e0c61e0684 223 return -1;
ganlikun 0:20e0c61e0684 224 }
ganlikun 0:20e0c61e0684 225 _tx_usage = usage;
ganlikun 0:20e0c61e0684 226 return 0;
ganlikun 0:20e0c61e0684 227 }
ganlikun 0:20e0c61e0684 228
ganlikun 0:20e0c61e0684 229 int SerialBase::set_dma_usage_rx(DMAUsage usage)
ganlikun 0:20e0c61e0684 230 {
ganlikun 0:20e0c61e0684 231 if (serial_tx_active(&_serial)) {
ganlikun 0:20e0c61e0684 232 return -1;
ganlikun 0:20e0c61e0684 233 }
ganlikun 0:20e0c61e0684 234 _rx_usage = usage;
ganlikun 0:20e0c61e0684 235 return 0;
ganlikun 0:20e0c61e0684 236 }
ganlikun 0:20e0c61e0684 237
ganlikun 0:20e0c61e0684 238 int SerialBase::read(uint8_t *buffer, int length, const event_callback_t& callback, int event, unsigned char char_match)
ganlikun 0:20e0c61e0684 239 {
ganlikun 0:20e0c61e0684 240 if (serial_rx_active(&_serial)) {
ganlikun 0:20e0c61e0684 241 return -1; // transaction ongoing
ganlikun 0:20e0c61e0684 242 }
ganlikun 0:20e0c61e0684 243 start_read((void*)buffer, length, 8, callback, event, char_match);
ganlikun 0:20e0c61e0684 244 return 0;
ganlikun 0:20e0c61e0684 245 }
ganlikun 0:20e0c61e0684 246
ganlikun 0:20e0c61e0684 247
ganlikun 0:20e0c61e0684 248 int SerialBase::read(uint16_t *buffer, int length, const event_callback_t& callback, int event, unsigned char char_match)
ganlikun 0:20e0c61e0684 249 {
ganlikun 0:20e0c61e0684 250 if (serial_rx_active(&_serial)) {
ganlikun 0:20e0c61e0684 251 return -1; // transaction ongoing
ganlikun 0:20e0c61e0684 252 }
ganlikun 0:20e0c61e0684 253 start_read((void*)buffer, length, 16, callback, event, char_match);
ganlikun 0:20e0c61e0684 254 return 0;
ganlikun 0:20e0c61e0684 255 }
ganlikun 0:20e0c61e0684 256
ganlikun 0:20e0c61e0684 257
ganlikun 0:20e0c61e0684 258 void SerialBase::start_read(void *buffer, int buffer_size, char buffer_width, const event_callback_t& callback, int event, unsigned char char_match)
ganlikun 0:20e0c61e0684 259 {
ganlikun 0:20e0c61e0684 260 _rx_callback = callback;
ganlikun 0:20e0c61e0684 261 _thunk_irq.callback(&SerialBase::interrupt_handler_asynch);
ganlikun 0:20e0c61e0684 262 sleep_manager_lock_deep_sleep();
ganlikun 0:20e0c61e0684 263 serial_rx_asynch(&_serial, buffer, buffer_size, buffer_width, _thunk_irq.entry(), event, char_match, _rx_usage);
ganlikun 0:20e0c61e0684 264 }
ganlikun 0:20e0c61e0684 265
ganlikun 0:20e0c61e0684 266 void SerialBase::interrupt_handler_asynch(void)
ganlikun 0:20e0c61e0684 267 {
ganlikun 0:20e0c61e0684 268 int event = serial_irq_handler_asynch(&_serial);
ganlikun 0:20e0c61e0684 269 int rx_event = event & SERIAL_EVENT_RX_MASK;
ganlikun 0:20e0c61e0684 270 bool unlock_deepsleep = false;
ganlikun 0:20e0c61e0684 271
ganlikun 0:20e0c61e0684 272 if (_rx_callback && rx_event) {
ganlikun 0:20e0c61e0684 273 unlock_deepsleep = true;
ganlikun 0:20e0c61e0684 274 _rx_callback.call(rx_event);
ganlikun 0:20e0c61e0684 275 }
ganlikun 0:20e0c61e0684 276
ganlikun 0:20e0c61e0684 277 int tx_event = event & SERIAL_EVENT_TX_MASK;
ganlikun 0:20e0c61e0684 278 if (_tx_callback && tx_event) {
ganlikun 0:20e0c61e0684 279 unlock_deepsleep = true;
ganlikun 0:20e0c61e0684 280 _tx_callback.call(tx_event);
ganlikun 0:20e0c61e0684 281 }
ganlikun 0:20e0c61e0684 282 // unlock if tx or rx events are generated
ganlikun 0:20e0c61e0684 283 if (unlock_deepsleep) {
ganlikun 0:20e0c61e0684 284 sleep_manager_unlock_deep_sleep();
ganlikun 0:20e0c61e0684 285 }
ganlikun 0:20e0c61e0684 286 }
ganlikun 0:20e0c61e0684 287
ganlikun 0:20e0c61e0684 288 #endif
ganlikun 0:20e0c61e0684 289
ganlikun 0:20e0c61e0684 290 } // namespace mbed
ganlikun 0:20e0c61e0684 291
ganlikun 0:20e0c61e0684 292 #endif