Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/MODSERIAL/MODSERIAL.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 /*
majik 0:964eb6a2ef00 2 Copyright (c) 2010 Andy Kirkham
majik 0:964eb6a2ef00 3
majik 0:964eb6a2ef00 4 Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:964eb6a2ef00 5 of this software and associated documentation files (the "Software"), to deal
majik 0:964eb6a2ef00 6 in the Software without restriction, including without limitation the rights
majik 0:964eb6a2ef00 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:964eb6a2ef00 8 copies of the Software, and to permit persons to whom the Software is
majik 0:964eb6a2ef00 9 furnished to do so, subject to the following conditions:
majik 0:964eb6a2ef00 10
majik 0:964eb6a2ef00 11 The above copyright notice and this permission notice shall be included in
majik 0:964eb6a2ef00 12 all copies or substantial portions of the Software.
majik 0:964eb6a2ef00 13
majik 0:964eb6a2ef00 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:964eb6a2ef00 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:964eb6a2ef00 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:964eb6a2ef00 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:964eb6a2ef00 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:964eb6a2ef00 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:964eb6a2ef00 20 THE SOFTWARE.
majik 0:964eb6a2ef00 21
majik 0:964eb6a2ef00 22 @file MODSERIAL.h
majik 0:964eb6a2ef00 23 @purpose Extends Serial to provide fully buffered IO
majik 0:964eb6a2ef00 24 @version 1.6
majik 0:964eb6a2ef00 25 @date Nov 2010
majik 0:964eb6a2ef00 26 @author Andy Kirkham
majik 0:964eb6a2ef00 27 */
majik 0:964eb6a2ef00 28
majik 0:964eb6a2ef00 29 #include "MODSERIAL.h"
majik 0:964eb6a2ef00 30 #include "MACROS.h"
majik 0:964eb6a2ef00 31
majik 0:964eb6a2ef00 32 namespace AjK {
majik 0:964eb6a2ef00 33
majik 0:964eb6a2ef00 34 MODSERIAL::MODSERIAL( PinName tx, PinName rx, const char* name ) : Serial( tx, rx, name )
majik 0:964eb6a2ef00 35 {
majik 0:964eb6a2ef00 36 init( MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE, rx );
majik 0:964eb6a2ef00 37 }
majik 0:964eb6a2ef00 38
majik 0:964eb6a2ef00 39 MODSERIAL::MODSERIAL( PinName tx, PinName rx, int bufferSize, const char* name ) : Serial( tx, rx, name )
majik 0:964eb6a2ef00 40 {
majik 0:964eb6a2ef00 41 init( bufferSize, bufferSize, rx );
majik 0:964eb6a2ef00 42 }
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44 MODSERIAL::MODSERIAL( PinName tx, PinName rx, int txSize, int rxSize, const char* name ) : Serial( tx, rx, name )
majik 0:964eb6a2ef00 45 {
majik 0:964eb6a2ef00 46 init( txSize, rxSize, rx );
majik 0:964eb6a2ef00 47 }
majik 0:964eb6a2ef00 48
majik 0:964eb6a2ef00 49 MODSERIAL::~MODSERIAL()
majik 0:964eb6a2ef00 50 {
majik 0:964eb6a2ef00 51 NVIC_DisableIRQ(_IRQ);
majik 0:964eb6a2ef00 52 if ( buffer[0] != NULL) free((char *)buffer[0] );
majik 0:964eb6a2ef00 53 if ( buffer[1] != NULL) free((char *)buffer[1] );
majik 0:964eb6a2ef00 54 }
majik 0:964eb6a2ef00 55
majik 0:964eb6a2ef00 56 bool MODSERIAL::txBufferFull( void )
majik 0:964eb6a2ef00 57 {
majik 0:964eb6a2ef00 58 return MODSERIAL_TX_BUFFER_FULL;
majik 0:964eb6a2ef00 59 }
majik 0:964eb6a2ef00 60
majik 0:964eb6a2ef00 61 bool MODSERIAL::rxBufferFull( void )
majik 0:964eb6a2ef00 62 {
majik 0:964eb6a2ef00 63 return MODSERIAL_RX_BUFFER_FULL;
majik 0:964eb6a2ef00 64 }
majik 0:964eb6a2ef00 65
majik 0:964eb6a2ef00 66 bool MODSERIAL::txBufferEmpty( void )
majik 0:964eb6a2ef00 67 {
majik 0:964eb6a2ef00 68 return MODSERIAL_TX_BUFFER_EMPTY;
majik 0:964eb6a2ef00 69 }
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 bool MODSERIAL::rxBufferEmpty( void )
majik 0:964eb6a2ef00 72 {
majik 0:964eb6a2ef00 73 return MODSERIAL_RX_BUFFER_EMPTY;
majik 0:964eb6a2ef00 74 }
majik 0:964eb6a2ef00 75
majik 0:964eb6a2ef00 76
majik 0:964eb6a2ef00 77 int MODSERIAL::rxDiscardLastChar( void )
majik 0:964eb6a2ef00 78 {
majik 0:964eb6a2ef00 79 // This function can only be called indirectly from
majik 0:964eb6a2ef00 80 // an rxCallback function. Therefore, we know we
majik 0:964eb6a2ef00 81 // just placed a char into the buffer.
majik 0:964eb6a2ef00 82 char c = buffer[RxIrq][buffer_in[RxIrq]];
majik 0:964eb6a2ef00 83
majik 0:964eb6a2ef00 84 if (buffer_count[RxIrq]) {
majik 0:964eb6a2ef00 85 buffer_count[RxIrq]--;
majik 0:964eb6a2ef00 86 buffer_in[RxIrq]--;
majik 0:964eb6a2ef00 87 if (buffer_in[RxIrq] < 0) {
majik 0:964eb6a2ef00 88 buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
majik 0:964eb6a2ef00 89 }
majik 0:964eb6a2ef00 90 }
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92 return (int)c;
majik 0:964eb6a2ef00 93 }
majik 0:964eb6a2ef00 94
majik 0:964eb6a2ef00 95
majik 0:964eb6a2ef00 96 bool MODSERIAL::claim (FILE *stream) {
majik 0:964eb6a2ef00 97 if ( _name == NULL) {
majik 0:964eb6a2ef00 98 error("claim requires a name to be given in the instantiator of the MODSERIAL instance!\r\n");
majik 0:964eb6a2ef00 99 }
majik 0:964eb6a2ef00 100
majik 0:964eb6a2ef00 101 //Add '/' before name:
majik 0:964eb6a2ef00 102 char *path = new char[strlen(_name) + 2];
majik 0:964eb6a2ef00 103 sprintf(path, "/%s", _name);
majik 0:964eb6a2ef00 104
majik 0:964eb6a2ef00 105 if (freopen(path, "w", stream) == NULL) {
majik 0:964eb6a2ef00 106 // Failed, should not happen
majik 0:964eb6a2ef00 107 return false;
majik 0:964eb6a2ef00 108 }
majik 0:964eb6a2ef00 109
majik 0:964eb6a2ef00 110 delete(path);
majik 0:964eb6a2ef00 111
majik 0:964eb6a2ef00 112 //No buffering
majik 0:964eb6a2ef00 113 setvbuf(stdout, NULL, _IONBF, buffer_size[TxIrq]);
majik 0:964eb6a2ef00 114 return true;
majik 0:964eb6a2ef00 115 }
majik 0:964eb6a2ef00 116
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118
majik 0:964eb6a2ef00 119 }; // namespace AjK ends