Marco De Silva
a
Diff: RoboClaw/UARTserial_mio/UARTSerial_mio.h
- Revision:
- 0:6b67f1bb9c76
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboClaw/UARTserial_mio/UARTSerial_mio.h Tue Sep 28 10:42:56 2021 +0000
@@ -0,0 +1,308 @@
+
+#ifndef MBED_UARTSERIAL_MIO_H
+#define MBED_UARTSERIAL_MIO_H
+
+#include "platform/platform.h"
+
+#if (DEVICE_SERIAL && DEVICE_INTERRUPTIN) || defined(DOXYGEN_ONLY)
+
+#include "platform/FileHandle.h"
+#include "SerialBase.h"
+#include "InterruptIn.h"
+#include "platform/PlatformMutex.h"
+#include "hal/serial_api.h"
+#include "platform/CircularBuffer.h"
+#include "platform/NonCopyable.h"
+
+#include "mbed.h"
+
+#ifndef MBED_CONF_DRIVERS_UART_SERIAL_RXBUF_SIZE
+#define MBED_CONF_DRIVERS_UART_SERIAL_RXBUF_SIZE 256
+#endif
+
+#ifndef MBED_CONF_DRIVERS_UART_SERIAL_TXBUF_SIZE
+#define MBED_CONF_DRIVERS_UART_SERIAL_TXBUF_SIZE 256
+#endif
+
+namespace mbed {
+
+/** \addtogroup drivers */
+
+/** Class providing buffered UART communication functionality using separate circular buffer for send and receive channels
+ *
+ * @ingroup drivers
+ */
+
+class UARTSerial_mio : private SerialBase, public FileHandle, private NonCopyable<UARTSerial_mio> {
+
+public:
+
+ /** Create a UARTSerial_mio port, connected to the specified transmit and receive pins, with a particular baud rate.
+ * @param tx Transmit pin
+ * @param rx Receive pin
+ * @param baud The baud rate of the serial port (optional, defaults to MBED_CONF_PLATFORM_DEFAULT_SERIAL_BAUD_RATE)
+ */
+ UARTSerial_mio(PinName tx, PinName rx, int baud = MBED_CONF_PLATFORM_DEFAULT_SERIAL_BAUD_RATE);
+ virtual ~UARTSerial_mio();
+
+ /** Equivalent to POSIX poll(). Derived from FileHandle.
+ * Provides a mechanism to multiplex input/output over a set of file handles.
+ */
+ virtual short poll(short events) const;
+
+ /* Resolve ambiguities versus our private SerialBase
+ * (for writable, spelling differs, but just in case)
+ */
+ using FileHandle::readable;
+ using FileHandle::writable;
+
+ /** Write the contents of a buffer to a file
+ *
+ * Follows POSIX semantics:
+ *
+ * * if blocking, block until all data is written
+ * * if no data can be written, and non-blocking set, return -EAGAIN
+ * * if some data can be written, and non-blocking set, write partial
+ *
+ * @param buffer The buffer to write from
+ * @param length The number of bytes to write
+ * @return The number of bytes written, negative error on failure
+ */
+ virtual ssize_t write(const void *buffer, size_t length);
+
+ /** Read the contents of a file into a buffer
+ *
+ * Follows POSIX semantics:
+ *
+ * * if no data is available, and non-blocking set return -EAGAIN
+ * * if no data is available, and blocking set, wait until data is available
+ * * If any data is available, call returns immediately
+ *
+ * @param buffer The buffer to read in to
+ * @param length The number of bytes to read
+ * @return The number of bytes read, 0 at end of file, negative error on failure
+ */
+ virtual ssize_t read(void *buffer, size_t length);
+ virtual ssize_t read_timeout(void *buffer, size_t length, double _timeOut);
+
+ /** Close a file
+ *
+ * @return 0 on success, negative error code on failure
+ */
+ virtual int close();
+
+ /** Check if the file in an interactive terminal device
+ *
+ * @return True if the file is a terminal
+ * @return False if the file is not a terminal
+ * @return Negative error code on failure
+ */
+ virtual int isatty();
+
+ /** Move the file position to a given offset from from a given location
+ *
+ * Not valid for a device type FileHandle like UARTSerial_mio.
+ * In case of UARTSerial_mio, returns ESPIPE
+ *
+ * @param offset The offset from whence to move to
+ * @param whence The start of where to seek
+ * SEEK_SET to start from beginning of file,
+ * SEEK_CUR to start from current position in file,
+ * SEEK_END to start from end of file
+ * @return The new offset of the file, negative error code on failure
+ */
+ virtual off_t seek(off_t offset, int whence);
+
+ /** Flush any buffers associated with the file
+ *
+ * @return 0 on success, negative error code on failure
+ */
+ virtual int sync();
+ virtual int flush();
+ /** Set blocking or non-blocking mode
+ * The default is blocking.
+ *
+ * @param blocking true for blocking mode, false for non-blocking mode.
+ */
+ virtual int set_blocking(bool blocking)
+ {
+ _blocking = blocking;
+ return 0;
+ }
+
+ /** Check current blocking or non-blocking mode for file operations.
+ *
+ * @return true for blocking mode, false for non-blocking mode.
+ */
+ virtual bool is_blocking() const
+ {
+ return _blocking;
+ }
+
+ /** Enable or disable input
+ *
+ * Control enabling of device for input. This is primarily intended
+ * for temporary power-saving; the overall ability of the device to operate for
+ * input and/or output may be fixed at creation time, but this call can
+ * allow input to be temporarily disabled to permit power saving without
+ * losing device state.
+ *
+ * @param enabled true to enable input, false to disable.
+ *
+ * @return 0 on success
+ * @return Negative error code on failure
+ */
+ virtual int enable_input(bool enabled);
+
+ /** Enable or disable output
+ *
+ * Control enabling of device for output. This is primarily intended
+ * for temporary power-saving; the overall ability of the device to operate for
+ * input and/or output may be fixed at creation time, but this call can
+ * allow output to be temporarily disabled to permit power saving without
+ * losing device state.
+ *
+ * @param enabled true to enable output, false to disable.
+ *
+ * @return 0 on success
+ * @return Negative error code on failure
+ */
+ virtual int enable_output(bool enabled);
+
+ /** Register a callback on state change of the file.
+ *
+ * The specified callback will be called on state changes such as when
+ * the file can be written to or read from.
+ *
+ * The callback may be called in an interrupt context and should not
+ * perform expensive operations.
+ *
+ * Note! This is not intended as an attach-like asynchronous api, but rather
+ * as a building block for constructing such functionality.
+ *
+ * The exact timing of when the registered function
+ * is called is not guaranteed and susceptible to change. It should be used
+ * as a cue to make read/write/poll calls to find the current state.
+ *
+ * @param func Function to call on state change
+ */
+ virtual void sigio(Callback<void()> func);
+
+ /** Setup interrupt handler for DCD line
+ *
+ * If DCD line is connected, an IRQ handler will be setup.
+ * Does nothing if DCD is NC, i.e., not connected.
+ *
+ * @param dcd_pin Pin-name for DCD
+ * @param active_high a boolean set to true if DCD polarity is active low
+ */
+ void set_data_carrier_detect(PinName dcd_pin, bool active_high = false);
+
+ /** Set the baud rate
+ *
+ * @param baud The baud rate
+ */
+ void set_baud(int baud);
+
+ // Expose private SerialBase::Parity as UARTSerial_mio::Parity
+ using SerialBase::Parity;
+ // In C++11, we wouldn't need to also have using directives for each value
+ using SerialBase::None;
+ using SerialBase::Odd;
+ using SerialBase::Even;
+ using SerialBase::Forced1;
+ using SerialBase::Forced0;
+
+ /** Set the transmission format used by the serial port
+ *
+ * @param bits The number of bits in a word (5-8; default = 8)
+ * @param parity The parity used (None, Odd, Even, Forced1, Forced0; default = None)
+ * @param stop_bits The number of stop bits (1 or 2; default = 1)
+ */
+ void set_format(int bits = 8, Parity parity = UARTSerial_mio::None, int stop_bits = 1);
+
+#if DEVICE_SERIAL_FC
+ // For now use the base enum - but in future we may have extra options
+ // such as XON/XOFF or manual GPIO RTSCTS.
+ using SerialBase::Flow;
+ // In C++11, we wouldn't need to also have using directives for each value
+ using SerialBase::Disabled;
+ using SerialBase::RTS;
+ using SerialBase::CTS;
+ using SerialBase::RTSCTS;
+
+ /** Set the flow control type on the serial port
+ *
+ * @param type the flow control type (Disabled, RTS, CTS, RTSCTS)
+ * @param flow1 the first flow control pin (RTS for RTS or RTSCTS, CTS for CTS)
+ * @param flow2 the second flow control pin (CTS for RTSCTS)
+ */
+ void set_flow_control(Flow type, PinName flow1 = NC, PinName flow2 = NC);
+#endif
+
+private:
+
+ void wait_ms(uint32_t millisec);
+ void wait_us(uint32_t microsec);
+
+ /** SerialBase lock override */
+ virtual void lock(void);
+
+ /** SerialBase unlock override */
+ virtual void unlock(void);
+
+ /** Acquire mutex */
+ virtual void api_lock(void);
+
+ /** Release mutex */
+ virtual void api_unlock(void);
+
+ /** Unbuffered write - invoked when write called from critical section */
+ ssize_t write_unbuffered(const char *buf_ptr, size_t length);
+
+ void enable_rx_irq();
+ void disable_rx_irq();
+ void enable_tx_irq();
+ void disable_tx_irq();
+
+ /** Software serial buffers
+ * By default buffer size is 256 for TX and 256 for RX. Configurable through mbed_app.json
+ */
+ CircularBuffer<char, MBED_CONF_DRIVERS_UART_SERIAL_RXBUF_SIZE> _rxbuf;
+ CircularBuffer<char, MBED_CONF_DRIVERS_UART_SERIAL_TXBUF_SIZE> _txbuf;
+
+ PlatformMutex _mutex;
+
+ Callback<void()> _sigio_cb;
+
+ bool _blocking;
+ bool _tx_irq_enabled;
+ bool _rx_irq_enabled;
+ bool _tx_enabled;
+ bool _rx_enabled;
+ InterruptIn *_dcd_irq;
+
+ /** Device Hanged up
+ * Determines if the device hanged up on us.
+ *
+ * @return True, if hanged up
+ */
+ bool hup() const;
+
+ /** ISRs for serial
+ * Routines to handle interrupts on serial pins.
+ * Copies data into Circular Buffer.
+ * Reports the state change to File handle.
+ */
+ void tx_irq(void);
+ void rx_irq(void);
+
+ void wake(void);
+
+ void dcd_irq(void);
+
+};
+} //namespace mbed
+
+#endif //(DEVICE_SERIAL && DEVICE_INTERRUPTIN) || defined(DOXYGEN_ONLY)
+#endif //MBED_UARTSERIAL_H
\ No newline at end of file