Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

mbed/MODSERIAL/example1.cpp@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 #ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
majik 0:964eb6a2ef00 2
majik 0:964eb6a2ef00 3 /*
majik 0:964eb6a2ef00 4 * To run this test program, link p9 to p10 so the Serial loops
majik 0:964eb6a2ef00 5 * back and receives characters it sends.
majik 0:964eb6a2ef00 6 */
majik 0:964eb6a2ef00 7
majik 0:964eb6a2ef00 8 #include "mbed.h"
majik 0:964eb6a2ef00 9 #include "MODSERIAL.h"
majik 0:964eb6a2ef00 10
majik 0:964eb6a2ef00 11 DigitalOut led1(LED1);
majik 0:964eb6a2ef00 12 DigitalOut led2(LED2);
majik 0:964eb6a2ef00 13 DigitalOut led3(LED3);
majik 0:964eb6a2ef00 14 DigitalOut led4(LED4);
majik 0:964eb6a2ef00 15
majik 0:964eb6a2ef00 16 MODSERIAL pc(USBTX, USBRX);
majik 0:964eb6a2ef00 17
majik 0:964eb6a2ef00 18 /*
majik 0:964eb6a2ef00 19 * As experiement, you can define MODSERIAL as show here and see what
majik 0:964eb6a2ef00 20 * effects it has on the LEDs.
majik 0:964eb6a2ef00 21 *
majik 0:964eb6a2ef00 22 * MODSERIAL uart(TX_PIN, RX_PIN, 512);
majik 0:964eb6a2ef00 23 * With this, the 512 characters sent can straight into the buffer
majik 0:964eb6a2ef00 24 * vary quickly. This means LED1 is only on briefly as the TX buffer
majik 0:964eb6a2ef00 25 * fills.
majik 0:964eb6a2ef00 26 *
majik 0:964eb6a2ef00 27 * MODSERIAL uart(TX_PIN, RX_PIN, 32);
majik 0:964eb6a2ef00 28 * With this, the buffer is smaller than the default 256 bytes and
majik 0:964eb6a2ef00 29 * therefore LED1 stays on much longer while the system waits for
majik 0:964eb6a2ef00 30 * room in the TX buffer.
majik 0:964eb6a2ef00 31 */
majik 0:964eb6a2ef00 32 MODSERIAL uart(TX_PIN, RX_PIN);
majik 0:964eb6a2ef00 33
majik 0:964eb6a2ef00 34 // This function is called when a character goes from the TX buffer
majik 0:964eb6a2ef00 35 // to the Uart THR FIFO register.
majik 0:964eb6a2ef00 36 void txCallback(MODSERIAL_IRQ_INFO *q) {
majik 0:964eb6a2ef00 37 led2 = !led2;
majik 0:964eb6a2ef00 38 }
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40 // This function is called when TX buffer goes empty
majik 0:964eb6a2ef00 41 void txEmpty(MODSERIAL_IRQ_INFO *q) {
majik 0:964eb6a2ef00 42 led2 = 0;
majik 0:964eb6a2ef00 43 pc.puts(" Done. ");
majik 0:964eb6a2ef00 44 }
majik 0:964eb6a2ef00 45
majik 0:964eb6a2ef00 46 // This function is called when a character goes into the RX buffer.
majik 0:964eb6a2ef00 47 void rxCallback(MODSERIAL_IRQ_INFO *q) {
majik 0:964eb6a2ef00 48 led3 = !led3;
majik 0:964eb6a2ef00 49 pc.putc(uart.getc());
majik 0:964eb6a2ef00 50 }
majik 0:964eb6a2ef00 51
majik 0:964eb6a2ef00 52 int main() {
majik 0:964eb6a2ef00 53 int c = 'A';
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 // Ensure the baud rate for the PC "USB" serial is much
majik 0:964eb6a2ef00 56 // higher than "uart" baud rate below.
majik 0:964eb6a2ef00 57 pc.baud(PC_BAUD);
majik 0:964eb6a2ef00 58
majik 0:964eb6a2ef00 59 // Use a deliberatly slow baud to fill up the TX buffer
majik 0:964eb6a2ef00 60 uart.baud(1200);
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 uart.attach(&txCallback, MODSERIAL::TxIrq);
majik 0:964eb6a2ef00 63 uart.attach(&rxCallback, MODSERIAL::RxIrq);
majik 0:964eb6a2ef00 64 uart.attach(&txEmpty, MODSERIAL::TxEmpty);
majik 0:964eb6a2ef00 65
majik 0:964eb6a2ef00 66 // Loop sending characters. We send 512
majik 0:964eb6a2ef00 67 // which is twice the default TX/RX buffer size.
majik 0:964eb6a2ef00 68
majik 0:964eb6a2ef00 69 led1 = 1; // Show start of sending with LED1.
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 for (int loop = 0; loop < 512; loop++) {
majik 0:964eb6a2ef00 72 uart.printf("%c", c);
majik 0:964eb6a2ef00 73 c++;
majik 0:964eb6a2ef00 74 if (c > 'Z') c = 'A';
majik 0:964eb6a2ef00 75 }
majik 0:964eb6a2ef00 76
majik 0:964eb6a2ef00 77 led1 = 0; // Show the end of sending by switching off LED1.
majik 0:964eb6a2ef00 78
majik 0:964eb6a2ef00 79 // End program. Flash LED4. Notice how LED 2 and 3 continue
majik 0:964eb6a2ef00 80 // to flash for a short period while the interrupt system
majik 0:964eb6a2ef00 81 // continues to send the characters left in the TX buffer.
majik 0:964eb6a2ef00 82
majik 0:964eb6a2ef00 83 while(1) {
majik 0:964eb6a2ef00 84 led4 = !led4;
majik 0:964eb6a2ef00 85 wait(0.25);
majik 0:964eb6a2ef00 86 }
majik 0:964eb6a2ef00 87 }
majik 0:964eb6a2ef00 88
majik 0:964eb6a2ef00 89 /*
majik 0:964eb6a2ef00 90 * Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
majik 0:964eb6a2ef00 91 * machine that is connected to the "pc" USB serial port.
majik 0:964eb6a2ef00 92 *
majik 0:964eb6a2ef00 93 * ABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUV
majik 0:964eb6a2ef00 94 * WXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQR
majik 0:964eb6a2ef00 95 * STUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMN
majik 0:964eb6a2ef00 96 * OPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJ
majik 0:964eb6a2ef00 97 * KLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEF
majik 0:964eb6a2ef00 98 * GHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZAB
majik 0:964eb6a2ef00 99 * CDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
majik 0:964eb6a2ef00 100 *
majik 0:964eb6a2ef00 101 * Of interest is that last "R" character after the system has said "Done."
majik 0:964eb6a2ef00 102 * This comes from the fact that the TxEmpty callback is made when the TX buffer
majik 0:964eb6a2ef00 103 * becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
majik 0:964eb6a2ef00 104 * LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
majik 0:964eb6a2ef00 105 * when the TxEmpty callback is made, the TX buffer is empty, but that just means
majik 0:964eb6a2ef00 106 * the "last few characters" were written to the TX FIFO. So although the TX
majik 0:964eb6a2ef00 107 * buffer has gone empty, the Uart's transmit system is still sending any remaining
majik 0:964eb6a2ef00 108 * characters from it's TX FIFO. If you want to be truely sure all the characters
majik 0:964eb6a2ef00 109 * you have sent have left the Mbed then call txIsBusy(); This function will
majik 0:964eb6a2ef00 110 * return true if characters are still being sent. If it returns false after
majik 0:964eb6a2ef00 111 * the Tx buffer is empty then all your characters have been sent.
majik 0:964eb6a2ef00 112 *
majik 0:964eb6a2ef00 113 * In a similar way, when characters are received into the RX FIFO, the entire
majik 0:964eb6a2ef00 114 * FIFO contents is moved to the RX buffer, assuming there is room left in the
majik 0:964eb6a2ef00 115 * RX buffer. If there is not, any remaining characters are left in the RX FIFO
majik 0:964eb6a2ef00 116 * and will be moved to the RX buffer on the next interrupt or when the running
majik 0:964eb6a2ef00 117 * program removes a character(s) from the RX buffer with the getc() method.
majik 0:964eb6a2ef00 118 */
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120 #endif