For YRL Robot Arm
Dependents: PR_RobotArm_Show_Positions
Fork of PR-RobotArmController by
SerialHalfDuplex.h@1:aa92ba95a4bb, 2017-03-03 (annotated)
- Committer:
- jah128
- Date:
- Fri Mar 03 13:37:44 2017 +0000
- Revision:
- 1:aa92ba95a4bb
fixed wrist bug;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 1:aa92ba95a4bb | 1 | /* NB This is part of an older MBED library, included so the older code runs on the |
jah128 | 1:aa92ba95a4bb | 2 | * newer MBED library. There is probably a better implementation.... - jah */ |
jah128 | 1:aa92ba95a4bb | 3 | |
jah128 | 1:aa92ba95a4bb | 4 | /* mbed Microcontroller Library |
jah128 | 1:aa92ba95a4bb | 5 | * Copyright (c) 2006-2012 ARM Limited |
jah128 | 1:aa92ba95a4bb | 6 | * |
jah128 | 1:aa92ba95a4bb | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jah128 | 1:aa92ba95a4bb | 8 | * of this software and associated documentation files (the "Software"), to deal |
jah128 | 1:aa92ba95a4bb | 9 | * in the Software without restriction, including without limitation the rights |
jah128 | 1:aa92ba95a4bb | 10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jah128 | 1:aa92ba95a4bb | 11 | * copies of the Software, and to permit persons to whom the Software is |
jah128 | 1:aa92ba95a4bb | 12 | * furnished to do so, subject to the following conditions: |
jah128 | 1:aa92ba95a4bb | 13 | * |
jah128 | 1:aa92ba95a4bb | 14 | * The above copyright notice and this permission notice shall be included in |
jah128 | 1:aa92ba95a4bb | 15 | * all copies or substantial portions of the Software. |
jah128 | 1:aa92ba95a4bb | 16 | * |
jah128 | 1:aa92ba95a4bb | 17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jah128 | 1:aa92ba95a4bb | 18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jah128 | 1:aa92ba95a4bb | 19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jah128 | 1:aa92ba95a4bb | 20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jah128 | 1:aa92ba95a4bb | 21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jah128 | 1:aa92ba95a4bb | 22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
jah128 | 1:aa92ba95a4bb | 23 | * SOFTWARE. |
jah128 | 1:aa92ba95a4bb | 24 | * |
jah128 | 1:aa92ba95a4bb | 25 | * NOTE: This is an unsupported legacy untested library. |
jah128 | 1:aa92ba95a4bb | 26 | */ |
jah128 | 1:aa92ba95a4bb | 27 | #ifndef MBED_SERIALHALFDUPLEX_H |
jah128 | 1:aa92ba95a4bb | 28 | #define MBED_SERIALHALFDUPLEX_H |
jah128 | 1:aa92ba95a4bb | 29 | |
jah128 | 1:aa92ba95a4bb | 30 | #include "device.h" |
jah128 | 1:aa92ba95a4bb | 31 | |
jah128 | 1:aa92ba95a4bb | 32 | #if DEVICE_SERIAL |
jah128 | 1:aa92ba95a4bb | 33 | |
jah128 | 1:aa92ba95a4bb | 34 | #include "Serial.h" |
jah128 | 1:aa92ba95a4bb | 35 | #include "PinNames.h" |
jah128 | 1:aa92ba95a4bb | 36 | #include "PeripheralNames.h" |
jah128 | 1:aa92ba95a4bb | 37 | |
jah128 | 1:aa92ba95a4bb | 38 | namespace mbed { |
jah128 | 1:aa92ba95a4bb | 39 | |
jah128 | 1:aa92ba95a4bb | 40 | /* Class: SerialHalfDuplex |
jah128 | 1:aa92ba95a4bb | 41 | * A serial port (UART) for communication with other devices using |
jah128 | 1:aa92ba95a4bb | 42 | * Half-Duplex, allowing transmit and receive on a single |
jah128 | 1:aa92ba95a4bb | 43 | * shared transmit and receive line. Only one end should be transmitting |
jah128 | 1:aa92ba95a4bb | 44 | * at a time. |
jah128 | 1:aa92ba95a4bb | 45 | * |
jah128 | 1:aa92ba95a4bb | 46 | * Both the tx and rx pin should be defined, and wired together. |
jah128 | 1:aa92ba95a4bb | 47 | * This is in addition to them being wired to the other serial |
jah128 | 1:aa92ba95a4bb | 48 | * device to allow both read and write functions to operate. |
jah128 | 1:aa92ba95a4bb | 49 | * |
jah128 | 1:aa92ba95a4bb | 50 | * Example: |
jah128 | 1:aa92ba95a4bb | 51 | * > // Send a byte to a second HalfDuplex device, and read the response |
jah128 | 1:aa92ba95a4bb | 52 | * > |
jah128 | 1:aa92ba95a4bb | 53 | * > #include "mbed.h" |
jah128 | 1:aa92ba95a4bb | 54 | * > |
jah128 | 1:aa92ba95a4bb | 55 | * > // p9 and p10 should be wired together to form "a" |
jah128 | 1:aa92ba95a4bb | 56 | * > // p28 and p27 should be wired together to form "b" |
jah128 | 1:aa92ba95a4bb | 57 | * > // p9/p10 should be wired to p28/p27 as the Half Duplex connection |
jah128 | 1:aa92ba95a4bb | 58 | * > |
jah128 | 1:aa92ba95a4bb | 59 | * > SerialHalfDuplex a(p9, p10); |
jah128 | 1:aa92ba95a4bb | 60 | * > SerialHalfDuplex b(p28, p27); |
jah128 | 1:aa92ba95a4bb | 61 | * > |
jah128 | 1:aa92ba95a4bb | 62 | * > void b_rx() { // second device response |
jah128 | 1:aa92ba95a4bb | 63 | * > b.putc(b.getc() + 4); |
jah128 | 1:aa92ba95a4bb | 64 | * > } |
jah128 | 1:aa92ba95a4bb | 65 | * > |
jah128 | 1:aa92ba95a4bb | 66 | * > int main() { |
jah128 | 1:aa92ba95a4bb | 67 | * > b.attach(&b_rx); |
jah128 | 1:aa92ba95a4bb | 68 | * > for(int c = 'A'; c < 'Z'; c++) { |
jah128 | 1:aa92ba95a4bb | 69 | * > a.putc(c); |
jah128 | 1:aa92ba95a4bb | 70 | * > printf("sent [%c]\n", c); |
jah128 | 1:aa92ba95a4bb | 71 | * > wait(0.5); // b should respond |
jah128 | 1:aa92ba95a4bb | 72 | * > if(a.readable()) { |
jah128 | 1:aa92ba95a4bb | 73 | * > printf("received [%c]\n", a.getc()); |
jah128 | 1:aa92ba95a4bb | 74 | * > } |
jah128 | 1:aa92ba95a4bb | 75 | * > } |
jah128 | 1:aa92ba95a4bb | 76 | * > } |
jah128 | 1:aa92ba95a4bb | 77 | * |
jah128 | 1:aa92ba95a4bb | 78 | * For Simplex and Full-Duplex Serial communication, see <Serial> |
jah128 | 1:aa92ba95a4bb | 79 | */ |
jah128 | 1:aa92ba95a4bb | 80 | class SerialHalfDuplex : public Serial { |
jah128 | 1:aa92ba95a4bb | 81 | |
jah128 | 1:aa92ba95a4bb | 82 | public: |
jah128 | 1:aa92ba95a4bb | 83 | /* Constructor: SerialHalfDuplex |
jah128 | 1:aa92ba95a4bb | 84 | * Create a half-duplex serial port, connected to the specified transmit |
jah128 | 1:aa92ba95a4bb | 85 | * and receive pins. |
jah128 | 1:aa92ba95a4bb | 86 | * |
jah128 | 1:aa92ba95a4bb | 87 | * These pins should be wired together, as well as to the target device |
jah128 | 1:aa92ba95a4bb | 88 | * |
jah128 | 1:aa92ba95a4bb | 89 | * Variables: |
jah128 | 1:aa92ba95a4bb | 90 | * tx - Transmit pin |
jah128 | 1:aa92ba95a4bb | 91 | * rx - Receive pin |
jah128 | 1:aa92ba95a4bb | 92 | */ |
jah128 | 1:aa92ba95a4bb | 93 | SerialHalfDuplex(PinName tx, PinName rx, const char *name = NULL); |
jah128 | 1:aa92ba95a4bb | 94 | |
jah128 | 1:aa92ba95a4bb | 95 | #if 0 // Inherited from Serial class, for documentation |
jah128 | 1:aa92ba95a4bb | 96 | /* Function: baud |
jah128 | 1:aa92ba95a4bb | 97 | * Set the baud rate of the serial port |
jah128 | 1:aa92ba95a4bb | 98 | * |
jah128 | 1:aa92ba95a4bb | 99 | * Variables: |
jah128 | 1:aa92ba95a4bb | 100 | * baudrate - The baudrate of the serial port (default = 9600). |
jah128 | 1:aa92ba95a4bb | 101 | */ |
jah128 | 1:aa92ba95a4bb | 102 | void baud(int baudrate); |
jah128 | 1:aa92ba95a4bb | 103 | |
jah128 | 1:aa92ba95a4bb | 104 | enum Parity { |
jah128 | 1:aa92ba95a4bb | 105 | None = 0 |
jah128 | 1:aa92ba95a4bb | 106 | , Odd |
jah128 | 1:aa92ba95a4bb | 107 | , Even |
jah128 | 1:aa92ba95a4bb | 108 | , Forced1 |
jah128 | 1:aa92ba95a4bb | 109 | , Forced0 |
jah128 | 1:aa92ba95a4bb | 110 | }; |
jah128 | 1:aa92ba95a4bb | 111 | |
jah128 | 1:aa92ba95a4bb | 112 | /* Function: format |
jah128 | 1:aa92ba95a4bb | 113 | * Set the transmission format used by the Serial port |
jah128 | 1:aa92ba95a4bb | 114 | * |
jah128 | 1:aa92ba95a4bb | 115 | * Variables: |
jah128 | 1:aa92ba95a4bb | 116 | * bits - The number of bits in a word (5-8; default = 8) |
jah128 | 1:aa92ba95a4bb | 117 | * parity - The parity used (Serial::None, Serial::Odd, |
jah128 | 1:aa92ba95a4bb | 118 | Serial::Even, Serial::Forced1, Serial::Forced0; default = Serial::None) |
jah128 | 1:aa92ba95a4bb | 119 | * stop - The number of stop bits (1 or 2; default = 1) |
jah128 | 1:aa92ba95a4bb | 120 | */ |
jah128 | 1:aa92ba95a4bb | 121 | void format(int bits = 8, Parity parity = Serial::None, int stop_bits |
jah128 | 1:aa92ba95a4bb | 122 | = 1); |
jah128 | 1:aa92ba95a4bb | 123 | |
jah128 | 1:aa92ba95a4bb | 124 | /* Function: putc |
jah128 | 1:aa92ba95a4bb | 125 | * Write a character |
jah128 | 1:aa92ba95a4bb | 126 | * |
jah128 | 1:aa92ba95a4bb | 127 | * Variables: |
jah128 | 1:aa92ba95a4bb | 128 | * c - The character to write to the serial port |
jah128 | 1:aa92ba95a4bb | 129 | */ |
jah128 | 1:aa92ba95a4bb | 130 | int putc(int c); |
jah128 | 1:aa92ba95a4bb | 131 | |
jah128 | 1:aa92ba95a4bb | 132 | /* Function: getc |
jah128 | 1:aa92ba95a4bb | 133 | * Read a character |
jah128 | 1:aa92ba95a4bb | 134 | * |
jah128 | 1:aa92ba95a4bb | 135 | * Read a character from the serial port. This call will block |
jah128 | 1:aa92ba95a4bb | 136 | * until a character is available. For testing if a character is |
jah128 | 1:aa92ba95a4bb | 137 | * available for reading, see <readable>. |
jah128 | 1:aa92ba95a4bb | 138 | * |
jah128 | 1:aa92ba95a4bb | 139 | * Variables: |
jah128 | 1:aa92ba95a4bb | 140 | * returns - The character read from the serial port |
jah128 | 1:aa92ba95a4bb | 141 | */ |
jah128 | 1:aa92ba95a4bb | 142 | int getc(); |
jah128 | 1:aa92ba95a4bb | 143 | |
jah128 | 1:aa92ba95a4bb | 144 | /* Function: printf |
jah128 | 1:aa92ba95a4bb | 145 | * Write a formated string |
jah128 | 1:aa92ba95a4bb | 146 | * |
jah128 | 1:aa92ba95a4bb | 147 | * Variables: |
jah128 | 1:aa92ba95a4bb | 148 | * format - A printf-style format string, followed by the |
jah128 | 1:aa92ba95a4bb | 149 | * variables to use in formating the string. |
jah128 | 1:aa92ba95a4bb | 150 | */ |
jah128 | 1:aa92ba95a4bb | 151 | int printf(const char* format, ...); |
jah128 | 1:aa92ba95a4bb | 152 | |
jah128 | 1:aa92ba95a4bb | 153 | /* Function: scanf |
jah128 | 1:aa92ba95a4bb | 154 | * Read a formated string |
jah128 | 1:aa92ba95a4bb | 155 | * |
jah128 | 1:aa92ba95a4bb | 156 | * Variables: |
jah128 | 1:aa92ba95a4bb | 157 | * format - A scanf-style format string, |
jah128 | 1:aa92ba95a4bb | 158 | * followed by the pointers to variables to store the results. |
jah128 | 1:aa92ba95a4bb | 159 | */ |
jah128 | 1:aa92ba95a4bb | 160 | int scanf(const char* format, ...); |
jah128 | 1:aa92ba95a4bb | 161 | |
jah128 | 1:aa92ba95a4bb | 162 | /* Function: readable |
jah128 | 1:aa92ba95a4bb | 163 | * Determine if there is a character available to read |
jah128 | 1:aa92ba95a4bb | 164 | * |
jah128 | 1:aa92ba95a4bb | 165 | * Variables: |
jah128 | 1:aa92ba95a4bb | 166 | * returns - 1 if there is a character available to read, else 0 |
jah128 | 1:aa92ba95a4bb | 167 | */ |
jah128 | 1:aa92ba95a4bb | 168 | int readable(); |
jah128 | 1:aa92ba95a4bb | 169 | |
jah128 | 1:aa92ba95a4bb | 170 | /* Function: writeable |
jah128 | 1:aa92ba95a4bb | 171 | * Determine if there is space available to write a character |
jah128 | 1:aa92ba95a4bb | 172 | * |
jah128 | 1:aa92ba95a4bb | 173 | * Variables: |
jah128 | 1:aa92ba95a4bb | 174 | * returns - 1 if there is space to write a character, else 0 |
jah128 | 1:aa92ba95a4bb | 175 | */ |
jah128 | 1:aa92ba95a4bb | 176 | int writeable(); |
jah128 | 1:aa92ba95a4bb | 177 | |
jah128 | 1:aa92ba95a4bb | 178 | /* Function: attach |
jah128 | 1:aa92ba95a4bb | 179 | * Attach a function to call whenever a serial interrupt is generated |
jah128 | 1:aa92ba95a4bb | 180 | * |
jah128 | 1:aa92ba95a4bb | 181 | * Variables: |
jah128 | 1:aa92ba95a4bb | 182 | * fptr - A pointer to a void function, or 0 to set as none |
jah128 | 1:aa92ba95a4bb | 183 | */ |
jah128 | 1:aa92ba95a4bb | 184 | void attach(void (*fptr)(void)); |
jah128 | 1:aa92ba95a4bb | 185 | |
jah128 | 1:aa92ba95a4bb | 186 | /* Function: attach |
jah128 | 1:aa92ba95a4bb | 187 | * Attach a member function to call whenever a serial interrupt is generated |
jah128 | 1:aa92ba95a4bb | 188 | * |
jah128 | 1:aa92ba95a4bb | 189 | * Variables: |
jah128 | 1:aa92ba95a4bb | 190 | * tptr - pointer to the object to call the member function on |
jah128 | 1:aa92ba95a4bb | 191 | * mptr - pointer to the member function to be called |
jah128 | 1:aa92ba95a4bb | 192 | */ |
jah128 | 1:aa92ba95a4bb | 193 | template<typename T> |
jah128 | 1:aa92ba95a4bb | 194 | void attach(T* tptr, void (T::*mptr)(void)); |
jah128 | 1:aa92ba95a4bb | 195 | |
jah128 | 1:aa92ba95a4bb | 196 | #endif |
jah128 | 1:aa92ba95a4bb | 197 | |
jah128 | 1:aa92ba95a4bb | 198 | protected: |
jah128 | 1:aa92ba95a4bb | 199 | PinName _txpin; |
jah128 | 1:aa92ba95a4bb | 200 | |
jah128 | 1:aa92ba95a4bb | 201 | virtual int _putc(int c); |
jah128 | 1:aa92ba95a4bb | 202 | virtual int _getc(void); |
jah128 | 1:aa92ba95a4bb | 203 | |
jah128 | 1:aa92ba95a4bb | 204 | }; // End class SerialHalfDuplex |
jah128 | 1:aa92ba95a4bb | 205 | |
jah128 | 1:aa92ba95a4bb | 206 | } // End namespace |
jah128 | 1:aa92ba95a4bb | 207 | |
jah128 | 1:aa92ba95a4bb | 208 | #endif |
jah128 | 1:aa92ba95a4bb | 209 | |
jah128 | 1:aa92ba95a4bb | 210 | #endif |