Diff: RoboClaw/UARTserial_mio/UARTSerial_mio.cpp

Revision:

4:31695331ce17

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboClaw/UARTserial_mio/UARTSerial_mio.cpp	Mon Jan 10 20:38:41 2022 +0000
@@ -0,0 +1,482 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2017 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "UARTSerial_mio.h"
+
+#if (DEVICE_SERIAL && DEVICE_INTERRUPTIN)
+
+#include "platform/mbed_poll.h"
+
+#if MBED_CONF_RTOS_PRESENT
+#include "rtos/ThisThread.h"
+#else
+#include "platform/mbed_wait_api.h"
+#endif
+
+namespace mbed {
+
+UARTSerial_mio::UARTSerial_mio(PinName tx, PinName rx, int baud) :
+    SerialBase(tx, rx, baud),
+    _blocking(true),
+    _tx_irq_enabled(false),
+    _rx_irq_enabled(false),
+    _tx_enabled(true),
+    _rx_enabled(true),
+    _dcd_irq(NULL)
+{
+    /* Attatch IRQ routines to the serial device. */
+    enable_rx_irq();
+}
+
+UARTSerial_mio::~UARTSerial_mio()
+{
+    delete _dcd_irq;
+}
+
+void UARTSerial_mio::dcd_irq()
+{
+    wake();
+}
+
+void UARTSerial_mio::set_baud(int baud)
+{
+    SerialBase::baud(baud);
+}
+
+void UARTSerial_mio::set_format(int bits, Parity parity, int stop_bits)
+{
+    api_lock();
+    SerialBase::format(bits, parity, stop_bits);
+    api_unlock();
+}
+
+#if DEVICE_SERIAL_FC
+void UARTSerial_mio::set_flow_control(Flow type, PinName flow1, PinName flow2)
+{
+    api_lock();
+    SerialBase::set_flow_control(type, flow1, flow2);
+    api_unlock();
+}
+#endif
+
+int UARTSerial_mio::close(){return 0;}
+
+int UARTSerial_mio::isatty(){return 1;}
+
+
+off_t UARTSerial_mio::seek(off_t offset, int whence)
+{
+    /*XXX lseek can be done theoratically, but is it sane to mark positions on a dynamically growing/shrinking
+     * buffer system (from an interrupt context) */
+    return -ESPIPE;
+}
+
+int UARTSerial_mio::sync()
+{
+    api_lock();
+    while (!_txbuf.empty()) {
+        api_unlock();
+        // Doing better than wait would require TxIRQ to also do wake() when becoming empty. Worth it?
+        wait_us(500);
+        api_lock();
+    }
+    
+    api_unlock();
+
+    return 0;
+}
+
+int UARTSerial_mio::flush()
+{
+    api_lock();
+    char c;
+
+    while (!_rxbuf.empty()) {
+        api_unlock();
+        // Doing better than wait would require TxIRQ to also do wake() when becoming empty. Worth it?
+        wait_us(500);
+        _rxbuf.pop(c);
+        api_lock();
+    }
+
+    api_unlock();
+
+    return 0;
+}
+
+void UARTSerial_mio::sigio(Callback<void()> func)
+{
+    core_util_critical_section_enter();
+    _sigio_cb = func;
+    if (_sigio_cb) {
+        short current_events = poll(0x7FFF);
+        if (current_events) {
+            _sigio_cb();
+        }
+    }
+    core_util_critical_section_exit();
+}
+
+/* Special synchronous write designed to work from critical section, such
+ * as in mbed_error_vprintf.
+ */
+ssize_t UARTSerial_mio::write_unbuffered(const char *buf_ptr, size_t length)
+{
+    while (!_txbuf.empty()) {
+        tx_irq();
+    }
+
+    for (size_t data_written = 0; data_written < length; data_written++) {
+        SerialBase::_base_putc(*buf_ptr++);
+    }
+
+    return length;
+}
+
+ssize_t UARTSerial_mio::write(const void *buffer, size_t length)
+{
+    size_t data_written = 0;
+    const char *buf_ptr = static_cast<const char *>(buffer);
+
+    if (length == 0) {
+        return 0;
+    }
+
+    if (core_util_in_critical_section()) {
+        return write_unbuffered(buf_ptr, length);
+    }
+
+    api_lock();
+
+    // Unlike read, we should write the whole thing if blocking. POSIX only
+    // allows partial as a side-effect of signal handling; it normally tries to
+    // write everything if blocking. Without signals we can always write all.
+    while (data_written < length) {
+
+        if (_txbuf.full()) {
+            if (!_blocking) {
+                break;
+            }
+            do {
+                api_unlock();
+                wait_ms(1); // XXX todo - proper wait, WFE for non-rtos ?
+                api_lock();
+            } while (_txbuf.full());
+        }
+
+        while (data_written < length && !_txbuf.full()) {
+            _txbuf.push(*buf_ptr++);
+            data_written++;
+        }
+
+        core_util_critical_section_enter();
+        if (_tx_enabled && !_tx_irq_enabled) {
+            UARTSerial_mio::tx_irq();                // only write to hardware in one place
+            if (!_txbuf.empty()) {
+                enable_tx_irq();
+            }
+        }
+        core_util_critical_section_exit();
+    }
+
+    api_unlock();
+
+    return data_written != 0 ? (ssize_t) data_written : (ssize_t) - EAGAIN;
+}
+
+ssize_t UARTSerial_mio::read(void *buffer, size_t length)
+{
+    size_t data_read = 0;
+    
+    float timeout = 1.0; //ms
+    float tm = 0.0;
+
+    char *ptr = static_cast<char *>(buffer);
+
+    if (length == 0) {
+        return 0;
+    }
+
+    api_lock();
+
+    while (_rxbuf.size()!=length && tm <= timeout) {
+        if (!_blocking) {
+            api_unlock();
+            return -EAGAIN;
+        }
+        api_unlock();
+        wait_us(10);  // XXX todo - proper wait, WFE for non-rtos ?
+        api_lock();
+        tm = tm + 0.01; //10/1000
+    }
+
+    while (data_read < length && !_rxbuf.empty()) {
+        _rxbuf.pop(*ptr++);
+        data_read++;
+    }
+
+    core_util_critical_section_enter();
+    if (_rx_enabled && !_rx_irq_enabled) {
+        UARTSerial_mio::rx_irq();               // only read from hardware in one place
+        if (!_rxbuf.full()) {
+            enable_rx_irq();
+        }
+    }
+    core_util_critical_section_exit();
+
+    api_unlock();
+
+    return data_read;
+}
+
+ssize_t UARTSerial_mio::read_timeout(void *buffer, size_t length, double _timeOut)
+{
+    size_t data_read = 0;
+    
+    double timeout = _timeOut; //ms
+    double tm = 0.0;
+
+    char *ptr = static_cast<char *>(buffer);
+
+    if (length == 0) {
+        return 0;
+    }
+
+    api_lock();
+
+    while (_rxbuf.size()!=length && tm<=timeout) {
+        if (!_blocking) {
+            api_unlock();
+            return -EAGAIN;
+        }
+        api_unlock();
+        wait_us(1);  // XXX todo - proper wait, WFE for non-rtos ?
+        api_lock();
+        tm = tm + 0.001; //10/1000
+        
+    }
+    
+    //printf("tm: %f\r\n",tm);
+    tm = 0.0;
+    while (data_read < length && !_rxbuf.empty()  && tm<=timeout) {
+        _rxbuf.pop(*ptr++);
+        data_read++;
+        tm = tm + 0.001; //10/1000
+    }
+
+    core_util_critical_section_enter();
+    if (_rx_enabled && !_rx_irq_enabled) {
+        UARTSerial_mio::rx_irq();               // only read from hardware in one place
+        if (!_rxbuf.full()) {
+            enable_rx_irq();
+        }
+    }
+    core_util_critical_section_exit();
+
+    api_unlock();
+
+    return data_read;
+}
+
+bool UARTSerial_mio::hup() const
+{
+    return _dcd_irq && _dcd_irq->read() != 0;
+}
+
+void UARTSerial_mio::wake()
+{
+    if (_sigio_cb) {
+        _sigio_cb();
+    }
+}
+
+short UARTSerial_mio::poll(short events) const
+{
+
+    short revents = 0;
+    /* Check the Circular Buffer if space available for writing out */
+
+
+    if (!_rxbuf.empty()) {
+        revents |= POLLIN;
+    }
+
+    /* POLLHUP and POLLOUT are mutually exclusive */
+    if (hup()) {
+        revents |= POLLHUP;
+    } else if (!_txbuf.full()) {
+        revents |= POLLOUT;
+    }
+
+    /*TODO Handle other event types */
+
+    return revents;
+}
+
+void UARTSerial_mio::lock()
+{
+    // This is the override for SerialBase.
+    // No lock required as we only use SerialBase from interrupt or from
+    // inside our own critical section.
+}
+
+void UARTSerial_mio::unlock()
+{
+    // This is the override for SerialBase.
+}
+
+void UARTSerial_mio::api_lock(void)
+{
+    //_mutex.lock();
+}
+
+void UARTSerial_mio::api_unlock(void)
+{
+    //_mutex.unlock();
+}
+
+void UARTSerial_mio::rx_irq(void)
+{
+    bool was_empty = _rxbuf.empty();
+
+    /* Fill in the receive buffer if the peripheral is readable
+     * and receive buffer is not full. */
+    while (!_rxbuf.full() && SerialBase::readable()) {
+        char data = SerialBase::_base_getc();
+        _rxbuf.push(data);
+    }
+
+    if (_rx_irq_enabled && _rxbuf.full()) {
+        disable_rx_irq();
+    }
+
+    /* Report the File handler that data is ready to be read from the buffer. */
+    if (was_empty && !_rxbuf.empty()) {
+        wake();
+    }
+}
+
+// Also called from write to start transfer
+void UARTSerial_mio::tx_irq(void)
+{
+    bool was_full = _txbuf.full();
+    char data;
+
+    /* Write to the peripheral if there is something to write
+     * and if the peripheral is available to write. */
+    while (SerialBase::writeable() && _txbuf.pop(data)) {
+        SerialBase::_base_putc(data);
+    }
+
+    if (_tx_irq_enabled && _txbuf.empty()) {
+        disable_tx_irq();
+    }
+
+    /* Report the File handler that data can be written to peripheral. */
+    if (was_full && !_txbuf.full() && !hup()) {
+        wake();
+    }
+}
+
+/* These are all called from critical section */
+void UARTSerial_mio::enable_rx_irq()
+{
+    SerialBase::attach(callback(this, &UARTSerial_mio::rx_irq), RxIrq);
+    _rx_irq_enabled = true;
+}
+
+void UARTSerial_mio::disable_rx_irq()
+{
+    SerialBase::attach(NULL, RxIrq);
+    _rx_irq_enabled = false;
+}
+
+void UARTSerial_mio::enable_tx_irq()
+{
+    SerialBase::attach(callback(this, &UARTSerial_mio::tx_irq), TxIrq);
+    _tx_irq_enabled = true;
+}
+
+void UARTSerial_mio::disable_tx_irq()
+{
+    SerialBase::attach(NULL, TxIrq);
+    _tx_irq_enabled = false;
+}
+
+int UARTSerial_mio::enable_input(bool enabled)
+{
+    core_util_critical_section_enter();
+    if (_rx_enabled != enabled) {
+        if (enabled) {
+            UARTSerial_mio::rx_irq();
+            if (!_rxbuf.full()) {
+                enable_rx_irq();
+            }
+        } else {
+            disable_rx_irq();
+        }
+        _rx_enabled = enabled;
+    }
+    core_util_critical_section_exit();
+
+    return 0;
+}
+
+int UARTSerial_mio::enable_output(bool enabled)
+{
+    core_util_critical_section_enter();
+    if (_tx_enabled != enabled) {
+        if (enabled) {
+            UARTSerial_mio::tx_irq();
+            if (!_txbuf.empty()) {
+                enable_tx_irq();
+            }
+        } else {
+            disable_tx_irq();
+        }
+        _tx_enabled = enabled;
+    }
+    core_util_critical_section_exit();
+
+    return 0;
+}
+
+void UARTSerial_mio::wait_ms(uint32_t millisec)
+{
+    /* wait_ms implementation for RTOS spins until exact microseconds - we
+     * want to just sleep until next tick.
+     */
+#if MBED_CONF_RTOS_PRESENT
+    rtos::ThisThread::sleep_for(millisec);
+#else
+    ::wait_ms(millisec);
+#endif
+}
+
+void UARTSerial_mio::wait_us(uint32_t microseconds)
+{
+    /* wait_ms implementation for RTOS spins until exact microseconds - we
+     * want to just sleep until next tick.
+     */
+#if MBED_CONF_RTOS_PRESENT
+    rtos::ThisThread::sleep_for(microseconds/1000);
+#else
+    ::wait_us(microseconds);
+#endif
+}
+} //namespace mbed
+
+#endif //(DEVICE_SERIAL && DEVICE_INTERRUPTIN)
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