same
Fork of PixyLibrary by
iserial2.h@1:4b14159ab9bb, 2015-04-13 (annotated)
- Committer:
- johnylafleur
- Date:
- Mon Apr 13 12:32:52 2015 +0000
- Revision:
- 1:4b14159ab9bb
- Parent:
- 0:56a3009221d3
Same library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
MBM | 0:56a3009221d3 | 1 | //-------------------------------------------------------------------------------------------- |
MBM | 0:56a3009221d3 | 2 | //Original Property of: charmedlabs.com/pixystart -> arduino_pixy-x.y.z.zip |
MBM | 0:56a3009221d3 | 3 | // |
MBM | 0:56a3009221d3 | 4 | //Modifications made by: Mathieu Malone |
MBM | 0:56a3009221d3 | 5 | //Modifications: Modified Arduino code to function with mbed development platform |
MBM | 0:56a3009221d3 | 6 | //Output Method: This program uses "Serial pc(USBTX, USBRX)" in order to allow communication |
MBM | 0:56a3009221d3 | 7 | // between the mbed platform and putty terminal through USB |
MBM | 0:56a3009221d3 | 8 | // |
MBM | 0:56a3009221d3 | 9 | //Latest update by: Mathieu Malone |
MBM | 0:56a3009221d3 | 10 | //Date of last update: July 24th, 2014 |
MBM | 0:56a3009221d3 | 11 | //-------------------------------------------------------------------------------------------- |
MBM | 0:56a3009221d3 | 12 | // |
MBM | 0:56a3009221d3 | 13 | // begin license header |
MBM | 0:56a3009221d3 | 14 | // |
MBM | 0:56a3009221d3 | 15 | // This file is part of Pixy CMUcam5 or "Pixy" for short |
MBM | 0:56a3009221d3 | 16 | // |
MBM | 0:56a3009221d3 | 17 | // All Pixy source code is provided under the terms of the |
MBM | 0:56a3009221d3 | 18 | // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). |
MBM | 0:56a3009221d3 | 19 | // Those wishing to use Pixy source code, software and/or |
MBM | 0:56a3009221d3 | 20 | // technologies under different licensing terms should contact us at |
MBM | 0:56a3009221d3 | 21 | // cmucam@cs.cmu.edu. Such licensing terms are available for |
MBM | 0:56a3009221d3 | 22 | // all portions of the Pixy codebase presented here. |
MBM | 0:56a3009221d3 | 23 | // |
MBM | 0:56a3009221d3 | 24 | // end license header |
MBM | 0:56a3009221d3 | 25 | // |
MBM | 0:56a3009221d3 | 26 | |
MBM | 0:56a3009221d3 | 27 | #ifndef _ISERIAL_H2 |
MBM | 0:56a3009221d3 | 28 | #define _ISERIAL_H2 |
MBM | 0:56a3009221d3 | 29 | |
MBM | 0:56a3009221d3 | 30 | typedef uint32_t (*SerialCallback2)(uint8_t *data2, uint32_t len2); |
MBM | 0:56a3009221d3 | 31 | |
MBM | 0:56a3009221d3 | 32 | // circular queue, for receiving data |
MBM | 0:56a3009221d3 | 33 | template <class BufType2> class ReceiveQ2 |
MBM | 0:56a3009221d3 | 34 | { |
MBM | 0:56a3009221d3 | 35 | public: |
MBM | 0:56a3009221d3 | 36 | ReceiveQ2(uint32_t size2) |
MBM | 0:56a3009221d3 | 37 | { |
MBM | 0:56a3009221d3 | 38 | m_size2 = size2; |
MBM | 0:56a3009221d3 | 39 | m_buf2 = new BufType2[m_size2]; |
MBM | 0:56a3009221d3 | 40 | m_read2 = 0; |
MBM | 0:56a3009221d3 | 41 | m_write2 = 0; |
MBM | 0:56a3009221d3 | 42 | m_produced2 = 0; |
MBM | 0:56a3009221d3 | 43 | m_consumed2 = 0; |
MBM | 0:56a3009221d3 | 44 | } |
MBM | 0:56a3009221d3 | 45 | |
MBM | 0:56a3009221d3 | 46 | ~ReceiveQ2() |
MBM | 0:56a3009221d3 | 47 | { |
MBM | 0:56a3009221d3 | 48 | delete [] m_buf2; |
MBM | 0:56a3009221d3 | 49 | } |
MBM | 0:56a3009221d3 | 50 | |
MBM | 0:56a3009221d3 | 51 | inline int32_t receiveLen2() |
MBM | 0:56a3009221d3 | 52 | { |
MBM | 0:56a3009221d3 | 53 | return m_produced2 - m_consumed2; |
MBM | 0:56a3009221d3 | 54 | } |
MBM | 0:56a3009221d3 | 55 | |
MBM | 0:56a3009221d3 | 56 | inline int32_t freeLen2() |
MBM | 0:56a3009221d3 | 57 | { |
MBM | 0:56a3009221d3 | 58 | return m_size2 - receiveLen2(); |
MBM | 0:56a3009221d3 | 59 | } |
MBM | 0:56a3009221d3 | 60 | |
MBM | 0:56a3009221d3 | 61 | inline int read(BufType2 *data2) |
MBM | 0:56a3009221d3 | 62 | { |
MBM | 0:56a3009221d3 | 63 | if (receiveLen2()<=0) |
MBM | 0:56a3009221d3 | 64 | return 0; |
MBM | 0:56a3009221d3 | 65 | *data2 = m_buf2[m_read2++]; |
MBM | 0:56a3009221d3 | 66 | m_consumed2++; |
MBM | 0:56a3009221d3 | 67 | |
MBM | 0:56a3009221d3 | 68 | if (m_read2==m_size2) |
MBM | 0:56a3009221d3 | 69 | m_read2 = 0; |
MBM | 0:56a3009221d3 | 70 | |
MBM | 0:56a3009221d3 | 71 | return 1; |
MBM | 0:56a3009221d3 | 72 | } |
MBM | 0:56a3009221d3 | 73 | |
MBM | 0:56a3009221d3 | 74 | inline int write(BufType2 data2) |
MBM | 0:56a3009221d3 | 75 | { |
MBM | 0:56a3009221d3 | 76 | if (freeLen2()<=0) |
MBM | 0:56a3009221d3 | 77 | return 0; |
MBM | 0:56a3009221d3 | 78 | |
MBM | 0:56a3009221d3 | 79 | m_buf2[m_write2++] = data2; |
MBM | 0:56a3009221d3 | 80 | m_produced2++; |
MBM | 0:56a3009221d3 | 81 | |
MBM | 0:56a3009221d3 | 82 | if (m_write2==m_size2) |
MBM | 0:56a3009221d3 | 83 | m_write2 = 0; |
MBM | 0:56a3009221d3 | 84 | |
MBM | 0:56a3009221d3 | 85 | return 1; |
MBM | 0:56a3009221d3 | 86 | } |
MBM | 0:56a3009221d3 | 87 | |
MBM | 0:56a3009221d3 | 88 | uint32_t m_size2; |
MBM | 0:56a3009221d3 | 89 | BufType2 *m_buf2; |
MBM | 0:56a3009221d3 | 90 | uint32_t m_read2; |
MBM | 0:56a3009221d3 | 91 | uint32_t m_write2; |
MBM | 0:56a3009221d3 | 92 | uint32_t m_produced2; |
MBM | 0:56a3009221d3 | 93 | uint32_t m_consumed2; |
MBM | 0:56a3009221d3 | 94 | }; |
MBM | 0:56a3009221d3 | 95 | |
MBM | 0:56a3009221d3 | 96 | |
MBM | 0:56a3009221d3 | 97 | // linear queue, to buffer a chunk and dispense it out |
MBM | 0:56a3009221d3 | 98 | template <class BufType2> class TransmitQ2 |
MBM | 0:56a3009221d3 | 99 | { |
MBM | 0:56a3009221d3 | 100 | public: |
MBM | 0:56a3009221d3 | 101 | TransmitQ2(uint32_t size2, SerialCallback2 callback2) |
MBM | 0:56a3009221d3 | 102 | { |
MBM | 0:56a3009221d3 | 103 | m_size2 = size2; |
MBM | 0:56a3009221d3 | 104 | m_buf2 = new BufType1[m_size1]; |
MBM | 0:56a3009221d3 | 105 | m_read2 = 0; |
MBM | 0:56a3009221d3 | 106 | m_len2 = 0; |
MBM | 0:56a3009221d3 | 107 | m_callback2= callback2; |
MBM | 0:56a3009221d3 | 108 | } |
MBM | 0:56a3009221d3 | 109 | |
MBM | 0:56a3009221d3 | 110 | ~TransmitQ2() |
MBM | 0:56a3009221d3 | 111 | { |
MBM | 0:56a3009221d3 | 112 | delete [] m_buf2; |
MBM | 0:56a3009221d3 | 113 | } |
MBM | 0:56a3009221d3 | 114 | |
MBM | 0:56a3009221d3 | 115 | int read(BufType2 *data2) |
MBM | 0:56a3009221d3 | 116 | { |
MBM | 0:56a3009221d3 | 117 | if (m_len2==0) |
MBM | 0:56a3009221d3 | 118 | { |
MBM | 0:56a3009221d3 | 119 | m_len2 = (*m_callback2)((uint8_t *)m_buf2, m_size2*sizeof(BufType2))/sizeof(BufType2); |
MBM | 0:56a3009221d3 | 120 | if (m_len2==0) |
MBM | 0:56a3009221d3 | 121 | return 0; |
MBM | 0:56a3009221d3 | 122 | m_read2 = 0; |
MBM | 0:56a3009221d3 | 123 | } |
MBM | 0:56a3009221d3 | 124 | *data2 = m_buf2[m_read2++]; |
MBM | 0:56a3009221d3 | 125 | m_len2--; |
MBM | 0:56a3009221d3 | 126 | |
MBM | 0:56a3009221d3 | 127 | return 1; |
MBM | 0:56a3009221d3 | 128 | } |
MBM | 0:56a3009221d3 | 129 | |
MBM | 0:56a3009221d3 | 130 | uint32_t m_size2; |
MBM | 0:56a3009221d3 | 131 | BufType2 *m_buf2; |
MBM | 0:56a3009221d3 | 132 | uint32_t m_read2; |
MBM | 0:56a3009221d3 | 133 | uint32_t m_len2; |
MBM | 0:56a3009221d3 | 134 | SerialCallback2 m_callback2; |
MBM | 0:56a3009221d3 | 135 | }; |
MBM | 0:56a3009221d3 | 136 | |
MBM | 0:56a3009221d3 | 137 | // virtual interface to a serial device |
MBM | 0:56a3009221d3 | 138 | class Iserial2 |
MBM | 0:56a3009221d3 | 139 | { |
MBM | 0:56a3009221d3 | 140 | public: |
MBM | 0:56a3009221d3 | 141 | virtual int open() |
MBM | 0:56a3009221d3 | 142 | { |
MBM | 0:56a3009221d3 | 143 | return 0; |
MBM | 0:56a3009221d3 | 144 | } |
MBM | 0:56a3009221d3 | 145 | virtual int close() |
MBM | 0:56a3009221d3 | 146 | { |
MBM | 0:56a3009221d3 | 147 | return 0; |
MBM | 0:56a3009221d3 | 148 | } |
MBM | 0:56a3009221d3 | 149 | virtual int receive(uint8_t *buf2, uint32_t len2) |
MBM | 0:56a3009221d3 | 150 | { |
MBM | 0:56a3009221d3 | 151 | return 0; |
MBM | 0:56a3009221d3 | 152 | } |
MBM | 0:56a3009221d3 | 153 | virtual int receiveLen2() |
MBM | 0:56a3009221d3 | 154 | { |
MBM | 0:56a3009221d3 | 155 | return 0; |
MBM | 0:56a3009221d3 | 156 | } |
MBM | 0:56a3009221d3 | 157 | virtual int update2() |
MBM | 0:56a3009221d3 | 158 | { |
MBM | 0:56a3009221d3 | 159 | return 0; |
MBM | 0:56a3009221d3 | 160 | } |
MBM | 0:56a3009221d3 | 161 | }; |
MBM | 0:56a3009221d3 | 162 | |
MBM | 0:56a3009221d3 | 163 | #endif |