Diff: Node/Observer/BufferedOutput/BufferedOutput.cpp

Revision:

0:99928431bb44

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Node/Observer/BufferedOutput/BufferedOutput.cpp	Tue Jul 07 09:36:12 2015 +0000
@@ -0,0 +1,86 @@
+#include "BufferedOutput.h"
+
+BufferedOutput::BufferedOutput( Serial& serial ) : framesOut( serial )
+{
+    // Debug startup message
+    debugprintf("Initializing Buffered Output object\r\n") ;
+    
+    // Attaching the serial interrupt callbacks
+    framesOut.attach(this, &BufferedOutput::framesOutCallback, Serial::TxIrq ) ;
+    
+    // Initializing the buffer pointers
+    framesBufferIn = 0 ;
+    framesBufferOut = 0 ;
+    
+    // Initializing frame transfer state
+    frameTransferInProgress = false ;
+
+}
+
+void BufferedOutput::executeBackgroundTask()
+{
+    // Checking if the Frame buffer is non empty
+    if( !(framesBufferOut == framesBufferIn) && !frameTransferInProgress )
+    {
+        //debugprintf("Starting frames Tx\r\n") ;
+        // Moving characters from the mavlink buffer to the USART device buffer
+        // while there are still chars in the MAVLink Buffer
+        if( framesOut.writeable() )
+        {
+            // Disabling interrupts while interacting with UART device
+            __disable_irq();
+            // Putting character to the USART device buffer
+            framesOut.putc( framesBuffer[ framesBufferOut ] ) ;
+            // Disabling interrupts while modifying buffers
+            __enable_irq();
+            // Incrementing the output pointer
+            framesBufferOut = ( framesBufferOut + 1 ) % framesBufferSize ;
+            // Indicating that the frame transfer has started
+            frameTransferInProgress = true ;
+        }
+    }
+}
+
+/*
+void BufferedOutput::addFrame( char* frame, char length )
+{
+    // Disabling interrupt while modifying global buffers
+    __disable_irq() ;
+    // Looping over all characters in the frame
+    for( char index = 0 ; index < length ; index++ )
+    {
+        // Placing char output buffer
+        framesBuffer[ framesBufferIn ] = frame[index] ;
+        // Incrementing the input pointer
+        framesBufferIn = ( framesBufferIn + 1 ) % framesBufferSize ;
+    }
+    // Re-enabling interrupts
+    __enable_irq() ;
+}
+*/
+
+void BufferedOutput::addChar( char c )
+{
+    // Placing char output buffer
+    framesBuffer[ framesBufferIn ] = c ;
+    // Incrementing the input pointer
+    framesBufferIn = ( framesBufferIn + 1 ) % framesBufferSize ;
+}
+
+void BufferedOutput::framesOutCallback()
+{
+    // Moving characters from the mavlink buffer to the USART device buffer
+    // while there are still chars in the MAVLink Buffer
+    while( framesOut.writeable() && !( framesBufferOut == framesBufferIn ) )
+    {
+        // Putting character to the USART device buffer
+        framesOut.putc( framesBuffer[ framesBufferOut ] ) ;
+        // Incrementing the output pointer
+        framesBufferOut = ( framesBufferOut + 1 ) % framesBufferSize ;
+    }
+    // If buffer emptied indicate that tx interrupts are over
+    if( ( framesBufferOut == framesBufferIn ) )
+    {
+        frameTransferInProgress = false ;
+    }
+}
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