Mike Panetta
BeaconAvoid code for AHRC competition.
Dependencies: MODSERIAL PiSlingers m3pi mbed
Revision 0:9ac4a91b71fa, committed 2012-04-04
- Comitter:
- mpanetta
- Date:
- Wed Apr 04 17:07:49 2012 +0000
- Child:
- 1:ac4eff391f12
- Commit message:
- Initial commit. Avoidance code complete, beacon code still needs to be added.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IRBehaviorController.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+
+#include "IRBehaviorController.h"
+
+
+// Public methods
+
+void
+IRBehaviorController::setActiveThreshold(float threshold)
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ activationThreshold = threshold;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+}
+
+
+void
+IRBehaviorController::runSeeking(void)
+{
+ if (debug != NULL)
+ debug->printf("IRController: Seeking Task Start.\r\n");
+
+ scanIR();
+
+ if (brightness > activationThreshold)
+ output = pid->run(centeroid);
+ else
+ output = 0;
+
+ if (debug != NULL)
+ debug->printf("IRController: Seeking Task Complete.\r\n");
+}
+
+void
+IRBehaviorController::runAvoidance(void)
+{
+ if (debug != NULL)
+ debug->printf("IRController: Avoidance Task Start.\r\n");
+
+ scanIR();
+
+ // Centeroid value needs to be split for avoidance mode.
+ if (centeroid < 0)
+ centeroid += 3;
+ else
+ centeroid -=3;
+
+ if (brightness > activationThreshold)
+ output = pid->run(centeroid);
+ else
+ output = 0;
+
+ if (debug != NULL)
+ debug->printf("IRController: Avoidance Task Complete.\r\n");
+}
+
+float
+IRBehaviorController::getPower(void)
+{
+ float tmp;
+
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ tmp = output;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+
+ return tmp;
+}
+
+void
+IRBehaviorController::dumpDebug(Serial *debug)
+{
+ if (debug != NULL)
+ {
+ debug->printf("IRController: Centeroid = %3.2f\r\n", centeroid);
+ debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
+ debug->printf("IRController: Power = %3.2f\r\n", output);
+ }
+}
+
+// Private methods
+
+void
+IRBehaviorController::scanIR(void)
+{
+ if (debug != NULL)
+ debug->printf("IRController: Scanning IR.\r\n");
+
+ ird.scan();
+
+ centeroid = ird.get_centeroid();
+ brightness = ird.get_weighted_avg_brightness();
+
+ if (debug != NULL)
+ {
+ debug->printf("IRController: Scan complete.\r\n");
+ debug->printf("IRController: Centeroid = %3.2f\r\n", centeroid);
+ debug->printf("IRController: Brightness = %3.2f\r\n", brightness);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IRBehaviorController.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,54 @@
+#ifndef __IRBEHAVIORCONTROLLER_H__
+#define __IRBEHAVIORCONTROLLER_H__
+
+#include "mbed.h"
+#include "IRObjDetector.h"
+#include "PID.h"
+
+class IRBehaviorController
+{
+public:
+ IRBehaviorController(PID *pid) : pid(pid)
+ {
+ debug = NULL;
+ activationThreshold = 0.0f;
+ brightness = 0.0f;
+ output = 0.0f;
+ };
+
+ IRBehaviorController(PID * pid, Serial * debug) : debug(debug), ird(debug), pid(pid)
+ //IRBehaviorController(PID * pid, Serial * debug) : debug(debug), pid(pid)
+ {
+ activationThreshold = 0.0f;
+ brightness = 0.0f;
+ output = 0.0f;
+ };
+
+ void setAvoidanceBehavior(float threshold);
+ void setSeekingBehavior(float threshold);
+
+ void setActiveThreshold(float threshold); // Brightness level at which behavior is active.
+
+ void runAvoidance(void); // Execute avoidance behavior
+ void runSeeking(void); // Execute seeking behavior
+
+ float getPower(void); // Returns the power value needed to execute the behavior.
+
+ void dumpDebug(Serial *debug);
+
+private:
+
+ void scanIR(void);
+
+ Serial *debug;
+
+ IRObjDetector ird;
+ PID *pid;
+
+ float activationThreshold; // Brightness threshold at which behavior is active.
+ float brightness;
+ float centeroid;
+
+ float output;
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL/.lib Wed Apr 04 17:07:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/libraries/MODSERIAL/lqybn0 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/ChangeLog.c Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,153 @@
+/* $Id:$
+
+1.21 10 May 2011
+
+ * http://mbed.org/forum/mbed/topic/2264
+
+1.20 26 April 2011
+
+ * Bug fix, not blocking on transmit
+ by Erik Petrich, http://mbed.org/forum/bugs-suggestions/topic/2200
+
+1.19 20 April 2011
+
+ * Fixed some doxygen comment bugs.
+
+1.18 20 April 2011
+
+ * All callbacks now use MODSERIAL_callback (rather than Mbed's FunctionPointer[1] type)
+ to store and invoke it's callbacks. This allows MODSERIAL to pass a parameter
+ to callbacks. The function prototype is now void func(MODSERIAL_IRQ_INFO *q).
+ * Callbacks now pass a pointer to a MODSERIAL_IRQ_INFO class type.
+ This class holds a pointer to the MODSERIAL object that invoked the callback
+ thus freeing callbacks need to use the global variable of the original
+ MODSERIAL instance.
+ * MODSERIAL_IRQ_INFO also declares public functions that are protected within MODSERIAL
+ thus allowing certain functions to be restricted to callback context only.
+ * New function MODSERIAL_IRQ_INFO::rxDiscardLastChar() allows an rxCallback function
+ to remove the character that was just placed into the RX buffer.
+
+ [1] http://mbed.org/users/AjK/libraries/FPointer/latest/docs/
+
+1.17 08/Mar/2011
+ Fixed a memory leak in the DMA code.
+
+1.16 - 12 Feb 2011
+
+ * Missed one, doh!
+
+1.15 - 12 Feb 2011
+
+ * Fixed some typos.
+
+1.14 - 7 Feb 2011
+
+ * Fixed a bug in __putc() that caused the output buffer pointer to
+ become corrupted.
+
+1.13 - 20/01/2011
+
+ * Added extra documentation.
+ * Fixed some typos.
+
+1.12 - 20/01/2011
+
+ * Added new "autoDetectChar()" function. To use:-
+ 1st: Add a callback to invoke when the char is detected:-
+ .attach(&detectedChar, MODSERIAL::RxAutoDetect);
+ 2nd: Send the char to detect.
+ .autoDectectChar('\n');
+ Whenever that char goes into the RX buffer your callback will be invoked.
+ Added example2.cpp to demo a simple messaging system using this auto feature.
+
+
+1.11 - 23/11/2010
+
+ * Fixed a minor issue with 1.10 missed an alteration of name change.
+
+1.10 - 23/11/2010
+
+ * Rename the DMA callback from attach_dma_complete() to attach_dmaSendComplete()
+
+1.9 - 23/11/2010
+
+ * Added support for DMA sending of characters. Required is
+ the MODDMA library module:-
+ http://mbed.org/users/AjK/libraries/MODDMA/latest
+ See example_dma.cpp for more information.
+
+1.8 - 22/11/2010
+
+ * Added code so that if a buffer is set to zero length then
+ MODSERIAL defaults to just using the FIFO for that stream
+ thus making the library "fall back" to teh same operation
+ that the Mbed Serial library performs.
+ * Removed dmaSend() function that should have been removed
+ at 1.7
+
+1.7 - 21/11/2010
+
+ * Remove the DMA enum from MODSERIAL.h as it's not currently
+ ready for release.
+ * Added page doxygen comments.
+
+1.6 - 21/11/2010
+
+ * Version 1.5 solved a blocking problem on putc() when called
+ from another ISR. However, isr_tx() invokes a callback of it's
+ own when a byte is tranferred from TX buffer to TX FIFO. User
+ programs may interpret that as an IRQ callback. That's an ISR
+ call from within an existing ISR which is not good. So the
+ TxIrq callback from isr_tx is now conditional. It will only
+ be called when isr_tx() is actually within it's own ISR and
+ not when called from alternate ISR handlers.
+
+1.5 - 21/11/2010
+
+ * Calling putc() (or any derived function that uses it like
+ printf()) while inside an interrupt service routine can
+ cause the system to lock up if the TX buffer is full. This
+ is because bytes are only transferred from the TX buffer to
+ the TX FIFO via the TX ISR. If we are, say in an RX ISR already,
+ then the TX ISR will never trigger. The TX buffer stays full and
+ there is never space to putc() the byte. So, while putc() blocks
+ waiting for space it calls isr_tx() to ensure if TX FIFO space
+ becomes available it will move bytes from the TX buffer to TX
+ FIFO thus removing the blocking condition within putc().
+
+1.4 - 21/11/2010
+
+ * Removed all the new DMA code. I wish mbed.org had proper SVN
+ versioning, I'm use to working in HEAD and BRANCHES after I've
+ released a project. Getting bug reports in current releases
+ while trying to dev new code is hard to manage without source
+ control of some type!
+
+1.3 - 21/11/2010
+
+ * Fixed a macro problem with txIsBusy()
+ * Started adding code to use "block data" sending using DMA
+ * Removed #include "IOMACROS.h"
+
+1.2 - 21/11/2010
+
+ * Removed unsed variables from flushBuffer()
+ * Fixed a bug where both RX AND TX fifos are cleared/reset
+ when just TX OR RX should be cleared.
+ * Fixed a bug that cleared IIR when in fact it should be left
+ alone so that any pending interrupt after flush is handled.
+ * Merged setBase() into init() as it wasn't required anywhere else.
+ * Changed init() to enforce _uidx is set by Serial to define the _base
+ address of the Uart in use.
+
+1.1 - 20/11/2010
+
+ * Added this file
+ * Removed cruft from GETC.cpp
+ * "teh" should be "the", why do my fingers do that?
+
+1.0 - 20/11/2010
+
+ * First release.
+
+*/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/FLUSH.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,47 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::flushBuffer(IrqType type)
+{
+ uint32_t ier = _IER;
+ switch(type) {
+ case TxIrq: _IER &= ~(1UL << 1); break;
+ case RxIrq: _IER &= ~(1UL << 0); break;
+ }
+ buffer_in[type] = 0;
+ buffer_out[type] = 0;
+ buffer_count[type] = 0;
+ buffer_overflow[type] = 0;
+ switch(type) {
+ case TxIrq: _FCR = MODSERIAL_FIFO_TX_RESET; break;
+ case RxIrq: _FCR = MODSERIAL_FIFO_RX_RESET; break;
+ }
+ _IER = ier;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/GETC.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,63 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::__getc(bool block)
+{
+ // If no buffer is in use fall back to standard RX FIFO usage.
+ // Note, we must block in this case and ignore bool "block"
+ // so as to maintain compat with Mbed Serial.
+ if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
+ while(! MODSERIAL_RBR_HAS_DATA ) ;
+ return (int)(_RBR & 0xFF);
+ }
+
+ if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks.
+ else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1;
+
+ int c = buffer[RxIrq][buffer_out[RxIrq]];
+ buffer_out[RxIrq]++;
+ if (buffer_out[RxIrq] >= buffer_size[RxIrq]) {
+ buffer_out[RxIrq] = 0;
+ }
+
+ // If we have made space in the RX Buffer then copy over
+ // any characters in the RX FIFO that my reside there.
+ // Temporarily disable the RX IRQ so that we do not re-enter
+ // it under interrupts.
+ if ( ! MODSERIAL_RX_BUFFER_FULL ) {
+ uint32_t ier = _IER;
+ _IER &= ~(1UL << 0);
+ isr_rx();
+ _IER = ier;
+ }
+
+ buffer_count[RxIrq]--;
+ return c;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/INIT.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,74 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::init(int txSize, int rxSize)
+{
+ disableIrq();
+
+ callbackInfo.setSerial(this);
+
+ switch(_uidx) {
+ case 0: _base = LPC_UART0; break;
+ case 1: _base = LPC_UART1; break;
+ case 2: _base = LPC_UART2; break;
+ case 3: _base = LPC_UART3; break;
+ default : _base = NULL; break;
+ }
+
+ dmaSendChannel = -1;
+ moddma_p = (void *)NULL;
+
+ if (_base != NULL) {
+ buffer_size[RxIrq] = rxSize;
+ buffer[RxIrq] = rxSize > 0 ? (char *)malloc(buffer_size[RxIrq]) : (char *)NULL;
+ buffer_in[RxIrq] = 0;
+ buffer_out[RxIrq] = 0;
+ buffer_count[RxIrq] = 0;
+ buffer_overflow[RxIrq] = 0;
+ Serial::attach(this, &MODSERIAL::isr_rx, Serial::RxIrq);
+
+ buffer_size[TxIrq] = txSize;
+ buffer[TxIrq] = txSize > 0 ? (char *)malloc(buffer_size[TxIrq]) : (char *)NULL;
+ buffer_in[TxIrq] = 0;
+ buffer_out[TxIrq] = 0;
+ buffer_count[TxIrq] = 0;
+ buffer_overflow[TxIrq] = 0;
+ Serial::attach(this, &MODSERIAL::isr_tx, Serial::TxIrq);
+ }
+ else {
+ error("MODSERIAL must have a defined UART to function.");
+ }
+
+ _FCR = MODSERIAL_FIFO_ENABLE | MODSERIAL_FIFO_RX_RESET | MODSERIAL_FIFO_TX_RESET;
+
+ auto_detect_char = 0;
+
+ enableIrq();
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/ISR_RX.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,60 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::isr_rx(void)
+{
+ if (! _base || buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
+ _isr[RxIrq].call(&this->callbackInfo);
+ return;
+ }
+
+ while( MODSERIAL_RBR_HAS_DATA ) {
+ rxc = (char)(_RBR & 0xFF);
+ if ( MODSERIAL_RX_BUFFER_FULL ) {
+ buffer_overflow[RxIrq] = rxc; // Oh dear, no room in buffer.
+ _isr[RxOvIrq].call(&this->callbackInfo);
+ }
+ else {
+ if (buffer[RxIrq] != (char *)NULL) {
+ buffer[RxIrq][buffer_in[RxIrq]] = rxc;
+ buffer_count[RxIrq]++;
+ buffer_in[RxIrq]++;
+ if (buffer_in[RxIrq] >= buffer_size[RxIrq]) {
+ buffer_in[RxIrq] = 0;
+ }
+ }
+ _isr[RxIrq].call(&this->callbackInfo);
+ }
+ if (auto_detect_char == rxc) {
+ _isr[RxAutoDetect].call(&this->callbackInfo);
+ }
+ }
+}
+
+}; // namespace AjK ends
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/ISR_TX.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,54 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+void
+MODSERIAL::isr_tx(bool doCallback)
+{
+ if (! _base || buffer_size[TxIrq] == 0 || buffer[TxIrq] == (char *)NULL) {
+ _isr[TxIrq].call(&this->callbackInfo);
+ return;
+ }
+
+ while (! MODSERIAL_TX_BUFFER_EMPTY && MODSERIAL_THR_HAS_SPACE ) {
+ _THR = txc = (uint8_t)(buffer[TxIrq][buffer_out[TxIrq]]);
+ buffer_count[TxIrq]--;
+ buffer_out[TxIrq]++;
+ if (buffer_out[TxIrq] >= buffer_size[TxIrq]) {
+ buffer_out[TxIrq] = 0;
+ }
+ if (doCallback) _isr[TxIrq].call(&this->callbackInfo);
+ }
+
+ if ( MODSERIAL_TX_BUFFER_EMPTY ) {
+ _IER = 1;
+ _isr[TxEmpty].call(&this->callbackInfo);
+ }
+}
+
+}; // namespace AjK ends
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL/MACROS.h Wed Apr 04 17:07:49 2012 +0000 @@ -0,0 +1,70 @@ +/* + Copyright (c) 2010 Andy Kirkham + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. +*/ + +#ifndef MODSERIAL_MACROS_H +#define MODSERIAL_MACROS_H + +#define MODSERIAL_RBR 0x00 +#define MODSERIAL_THR 0x00 +#define MODSERIAL_DLL 0x00 +#define MODSERIAL_IER 0x04 +#define MODSERIAL_DML 0x04 +#define MODSERIAL_IIR 0x08 +#define MODSERIAL_FCR 0x08 +#define MODSERIAL_LCR 0x0C +#define MODSERIAL_LSR 0x14 +#define MODSERIAL_SCR 0x1C +#define MODSERIAL_ACR 0x20 +#define MODSERIAL_ICR 0x24 +#define MODSERIAL_FDR 0x28 +#define MODSERIAL_TER 0x30 + +#define MODSERIAL_LSR_RDR (1UL << 0) +#define MODSERIAL_LSR_OE (1UL << 1) +#define MODSERIAL_LSR_PE (1UL << 2) +#define MODSERIAL_LSR_FE (1UL << 3) +#define MODSERIAL_LSR_BR (1UL << 4) +#define MODSERIAL_LSR_THRE (1UL << 5) +#define MODSERIAL_LSR_TEMT (1UL << 6) +#define MODSERIAL_LSR_RXFE (1UL << 7) + +#define MODSERIAL_FIFO_ENABLE 1 +#define MODSERIAL_FIFO_RX_RESET 2 +#define MODSERIAL_FIFO_TX_RESET 4 + +#define _RBR *((char *)_base+MODSERIAL_RBR) +#define _THR *((char *)_base+MODSERIAL_THR) +#define _IIR *((char *)_base+MODSERIAL_IIR) +#define _IER *((char *)_base+MODSERIAL_IER) +#define _LSR *((char *)_base+MODSERIAL_LSR) +#define _FCR *((char *)_base+MODSERIAL_FCR) + +#define MODSERIAL_TX_BUFFER_EMPTY (buffer_count[TxIrq]==0) +#define MODSERIAL_RX_BUFFER_EMPTY (buffer_count[RxIrq]==0) +#define MODSERIAL_TX_BUFFER_FULL (buffer_count[TxIrq]==buffer_size[TxIrq]) +#define MODSERIAL_RX_BUFFER_FULL (buffer_count[RxIrq]==buffer_size[RxIrq]) + +#define MODSERIAL_THR_HAS_SPACE ((int)_LSR&MODSERIAL_LSR_THRE) +#define MODSERIAL_TEMT_IS_EMPTY ((int)_LSR&MODSERIAL_LSR_TEMT) +#define MODSERIAL_RBR_HAS_DATA ((int)_LSR&MODSERIAL_LSR_RDR) + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/MODSERIAL.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,128 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL.h
+ @purpose Extends Serial to provide fully buffered IO
+ @version 1.6
+ @date Nov 2010
+ @author Andy Kirkham
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+MODSERIAL::MODSERIAL(PinName tx, PinName rx, const char *name) : Serial(tx, rx, name)
+{
+ init(MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE);
+}
+
+MODSERIAL::MODSERIAL(PinName tx, PinName rx, int bufferSize, const char *name) : Serial(tx, rx, name)
+{
+ init(bufferSize, bufferSize);
+}
+
+MODSERIAL::MODSERIAL(PinName tx, PinName rx, int txSize, int rxSize, const char *name) : Serial(tx, rx, name)
+{
+ init(txSize, rxSize);
+}
+
+MODSERIAL::~MODSERIAL()
+{
+ disableIrq();
+ if (buffer[0] != NULL) free((char *)buffer[0]);
+ if (buffer[1] != NULL) free((char *)buffer[1]);
+}
+
+bool
+MODSERIAL::txBufferFull(void)
+{
+ return MODSERIAL_TX_BUFFER_FULL;
+}
+
+bool
+MODSERIAL::rxBufferFull(void)
+{
+ return MODSERIAL_RX_BUFFER_FULL;
+}
+
+bool
+MODSERIAL::txBufferEmpty(void)
+{
+ return MODSERIAL_TX_BUFFER_EMPTY;
+}
+
+bool
+MODSERIAL::rxBufferEmpty(void)
+{
+ return MODSERIAL_RX_BUFFER_EMPTY;
+}
+
+bool
+MODSERIAL::txIsBusy(void)
+{
+ return (_LSR & (3UL << 5) == 0) ? true : false;
+}
+
+void
+MODSERIAL::disableIrq(void)
+{
+ switch(_uidx) {
+ case 0: NVIC_DisableIRQ(UART0_IRQn); break;
+ case 1: NVIC_DisableIRQ(UART1_IRQn); break;
+ case 2: NVIC_DisableIRQ(UART2_IRQn); break;
+ case 3: NVIC_DisableIRQ(UART3_IRQn); break;
+ }
+}
+
+void
+MODSERIAL::enableIrq(void)
+{
+ switch(_uidx) {
+ case 0: NVIC_EnableIRQ(UART0_IRQn); break;
+ case 1: NVIC_EnableIRQ(UART1_IRQn); break;
+ case 2: NVIC_EnableIRQ(UART2_IRQn); break;
+ case 3: NVIC_EnableIRQ(UART3_IRQn); break;
+ }
+}
+
+int
+MODSERIAL::rxDiscardLastChar(void)
+{
+ // This function can only be called indirectly from
+ // an rxCallback function. Therefore, we know we
+ // just placed a char into the buffer.
+ char c = buffer[RxIrq][buffer_in[RxIrq]];
+
+ if (buffer_count[RxIrq]) {
+ buffer_count[RxIrq]--;
+ buffer_in[RxIrq]--;
+ if (buffer_in[RxIrq] < 0) {
+ buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
+ }
+ }
+
+ return (int)c;
+}
+
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/MODSERIAL.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,1091 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL.h
+ @purpose Extends Serial to provide fully buffered IO
+ @version see ChangeLog.c
+ @date Nov 2010
+ @author Andy Kirkham
+*/
+
+#ifndef MODSERIAL_H
+#define MODSERIAL_H
+
+/** @defgroup API The MODSERIAL API */
+/** @defgroup MISC Misc MODSERIAL functions */
+/** @defgroup INTERNALS MODSERIAL Internals */
+
+#ifndef MODSERIAL_DEFAULT_RX_BUFFER_SIZE
+#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
+#endif
+
+#ifndef MODSERIAL_DEFAULT_TX_BUFFER_SIZE
+#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 256
+#endif
+
+#include "mbed.h"
+
+namespace AjK {
+
+// Forward reference.
+class MODSERIAL;
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see API
+ *
+ * <b>MODSERIAL_IRQ_INFO</b> is a class used to pass information (and access to protected
+ * MODSERIAL functions) to IRQ callbacks.
+ */
+class MODSERIAL_IRQ_INFO
+{
+public:
+ friend class MODSERIAL;
+
+ MODSERIAL *serial;
+
+ MODSERIAL_IRQ_INFO() { serial = 0; }
+
+ /** rxDiscardLastChar()
+ *
+ * Remove the last char placed into the rx buffer.
+ * This is an operation that can only be performed
+ * by an rxCallback function.
+ * @ingroup API
+ * @return The byte removed from the buffer.
+ */
+ int rxDiscardLastChar(void);
+
+protected:
+
+ /** setSerial()
+ *
+ * Used internally by MODSERIAL to set the "this" pointer
+ * of the MODSERIAL that created this object.
+ * @ingroup INTERNAL
+ * @param A pointer to a MODSERIAL object instance.
+ */
+ void setSerial(MODSERIAL *s) { serial = s; }
+};
+
+// Forward reference dummy class.
+class MODSERIAL_callback_dummy;
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see API
+ *
+ * <b>MODSERIAL_callback</b> is a class used to hold application callbacks that
+ * MODSERIAL can invoke on certain events.
+ */
+class MODSERIAL_callback
+{
+protected:
+
+ //! C callback function pointer.
+ void (*c_callback)(MODSERIAL_IRQ_INFO *);
+
+ //! C++ callback object/method pointer (the object part).
+ MODSERIAL_callback_dummy *obj_callback;
+
+ //! C++ callback object/method pointer (the method part).
+ void (MODSERIAL_callback_dummy::*method_callback)(MODSERIAL_IRQ_INFO *);
+
+public:
+
+ /** Constructor
+ */
+ MODSERIAL_callback() {
+ c_callback = 0;
+ obj_callback = 0;
+ method_callback = 0;
+ }
+
+ /** attach - Overloaded attachment function.
+ *
+ * Attach a C type function pointer as the callback.
+ *
+ * Note, the callback function prototype must be:-
+ * @code
+ * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
+ * @endcode
+ * @param A C function pointer to call.
+ */
+ void attach(void (*function)(MODSERIAL_IRQ_INFO *) = 0) { c_callback = function; }
+
+ /** attach - Overloaded attachment function.
+ *
+ * Attach a C++ type object/method pointer as the callback.
+ *
+ * Note, the callback method prototype must be:-
+ * @code
+ * public:
+ * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
+ * @endcode
+ * @param A C++ object pointer.
+ * @param A C++ method within the object to call.
+ */
+ template<class T>
+ void attach(T* item, void (T::*method)(MODSERIAL_IRQ_INFO *)) {
+ obj_callback = (MODSERIAL_callback_dummy *)item;
+ method_callback = (void (MODSERIAL_callback_dummy::*)(MODSERIAL_IRQ_INFO *))method;
+ }
+
+ /** call - Overloaded callback initiator.
+ *
+ * call the callback function.
+ *
+ * @param A pointer to a MODSERIAL_IRQ_INFO object.
+ */
+ void call(MODSERIAL_IRQ_INFO *arg) {
+ if (c_callback != 0) {
+ (*c_callback)(arg);
+ }
+ else {
+ if (obj_callback != 0 && method_callback != 0) {
+ (obj_callback->*method_callback)(arg);
+ }
+ }
+ }
+};
+
+/**
+ * @author Andy Kirkham
+ * @see http://mbed.org/cookbook/MODSERIAL
+ * @see http://mbed.org/handbook/Serial
+ * @see example1.cpp
+ * @see example2.cpp
+ * @see example3a.cpp
+ * @see example3b.cpp
+ * @see example_dma.cpp
+ * @see API
+ *
+ * <b>MODSERIAL</b> extends the Mbed library <a href="/handbook/Serial">Serial</a> to provide fully buffered
+ * TX and RX streams. Buffer length is fully customisable.
+ *
+ * Before using MODSERIAL users should be familar with Mbed's standard <a href="/handbook/Serial">Serial</a>
+ * library object. MODSERIAL is a direct "drop in" replacement for <a href="/handbook/Serial">Serial</a>. Where
+ * previously Serial was used, MODSERIAL can be used as adirect replacement instantly offering standard
+ * TX and RX buffering. By default, both TX and RX buffers are 256 bytes in length.
+ *
+ * @image html /media/uploads/mbedofficial/serial_interfaces.png
+ *
+ * Standard example:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * MODSERIAL pc(USBTX, USBRX); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ *
+ * Example with alternate buffer length:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * // Make TX and RX buffers 512byes in length
+ * MODSERIAL pc(USBTX, USBRX, 512); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ *
+ * Example with alternate buffer length:
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * // Make TX 1024bytes and RX 512byes in length
+ * MODSERIAL pc(USBTX, USBRX, 1024, 512); // tx, rx
+ *
+ * int main() {
+ * pc.printf("Hello World!");
+ * while(1) {
+ * pc.putc(pc.getc() + 1);
+ * }
+ * }
+ * @endcode
+ */
+class MODSERIAL : public Serial
+{
+public:
+
+ // Allow instances of MODSERIAL_IRQ_INFO to use protected properties and methods.
+ friend class MODSERIAL_IRQ_INFO;
+
+ //! A copy of the Serial parity enum
+ /** @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format */
+ enum Parity {
+ None = 0
+ , Odd
+ , Even
+ , Forced1
+ , Forced0
+ };
+
+ //! A copy of the Serial IrqType enum
+ enum IrqType {
+ RxIrq = 0
+ , TxIrq
+ , RxOvIrq
+ , TxOvIrq
+ , TxEmpty
+ , RxAutoDetect
+ , NumOfIrqTypes
+ };
+
+ //! Non-blocking functions return code.
+ enum Result {
+ Ok = 0 /*!< Ok. */
+ , NoMemory = -1 /*!< Memory allocation failed. */
+ , NoChar = -1 /*!< No character in buffer. */
+ , BufferOversize = -2 /*!< Oversized buffer. */
+ };
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ * @param name An option name for RPC usage.
+ */
+ MODSERIAL(PinName tx, PinName rx, const char *name = NULL);
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ * @param bufferSize Integer of the TX and RX buffer sizes.
+ * @param name An option name for RPC usage.
+ */
+ MODSERIAL(PinName tx, PinName rx, int bufferSize, const char *name = NULL);
+
+ /**
+ * The MODSERIAL constructor is used to initialise the serial object.
+ *
+ * @param tx PinName of the TX pin.
+ * @param rx PinName of the TX pin.
+ * @param txBufferSize Integer of the TX buffer sizes.
+ * @param rxBufferSize Integer of the RX buffer sizes.
+ * @param name An option name for RPC usage.
+ */
+ MODSERIAL(PinName tx, PinName rx, int txBufferSize, int rxBufferSize, const char *name = NULL);
+
+ virtual ~MODSERIAL();
+
+ /**
+ * Function: attach
+ *
+ * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
+ * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
+ * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
+ * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
+ * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
+ * be used.
+ *
+ * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
+ * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
+ * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
+ * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
+ * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
+ * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
+ * never come into play.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * DigitalOut led1(LED1);
+ * DigitalOut led2(LED2);
+ * DigitalOut led3(LED3);
+ *
+ * // To test, connect p9 to p10 as a loopback.
+ * MODSERIAL pc(p9, p10);
+ *
+ * // This function is called when a character goes into the TX buffer.
+ * void txCallback(void) {
+ * led2 = !led2;
+ * }
+ *
+ * // This function is called when a character goes into the RX buffer.
+ * void rxCallback(void) {
+ * led3 = !led3;
+ * }
+ *
+ * int main() {
+ * pc.baud(115200);
+ * pc.attach(&txCallback, MODSERIAL::TxIrq);
+ * pc.attach(&rxCallback, MODSERIAL::RxIrq);
+ *
+ * while(1) {
+ * led1 = !led1;
+ * wait(0.5);
+ * pc.putc('A');
+ * wait(0.5);
+ * }
+ * ]
+ * @endcode
+ *
+ * @ingroup API
+ * @param fptr A pointer to a void function, or 0 to set as none
+ * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+ */
+ void attach(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[type].attach(fptr); }
+
+ /**
+ * Function: attach
+ *
+ * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
+ * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
+ * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
+ * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
+ * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
+ * be used.
+ *
+ * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
+ * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
+ * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
+ * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
+ * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
+ * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
+ * never come into play.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "MODSERIAL.h"
+ *
+ * DigitalOut led1(LED1);
+ * DigitalOut led2(LED2);
+ * DigitalOut led3(LED3);
+ *
+ * // To test, connect p9 to p10 as a loopback.
+ * MODSERIAL pc(p9, p10);
+ *
+ * class Foo {
+ * public:
+ * // This method is called when a character goes into the TX buffer.
+ * void txCallback(void) { led2 = !led2; }
+ *
+ * // This method is called when a character goes into the RX buffer.
+ * void rxCallback(void) { led3 = !led3; }
+ * };
+ *
+ * Foo foo;
+ *
+ * int main() {
+ * pc.baud(115200);
+ * pc.attach(&foo, &Foo::txCallback, MODSERIAL::TxIrq);
+ * pc.attach(&foo, &Foo::rxCallback, MODSERIAL::RxIrq);
+ *
+ * while(1) {
+ * led1 = !led1;
+ * wait(0.5);
+ * pc.putc('A');
+ * wait(0.5);
+ * }
+ * ]
+ * @endcode
+ *
+ * @ingroup API
+ * @param tptr A pointer to the object to call the member function on
+ * @param mptr A pointer to the member function to be called
+ * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
+ */
+ template<typename T>
+ void attach(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
+ if((mptr != 0) && (tptr != 0)) {
+ _isr[type].attach(tptr, mptr);
+ }
+ }
+
+ /**
+ * @see attach
+ * @ingroup API
+ */
+ void connect(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[RxIrq].attach(fptr); }
+
+ /**
+ * @see attach
+ * @ingroup API
+ */
+ template<typename T>
+ void connect(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
+ if((mptr != 0) && (tptr != 0)) {
+ _isr[type].attach(tptr, mptr);
+ }
+ }
+
+ /**
+ * Function: writeable
+ *
+ * Determine if there is space available to write a byte
+ *
+ * @ingroup API
+ * @return 1 if there is space to write a character, else 0
+ */
+ int writeable() { return txBufferFull() ? 0 : 1; }
+
+ /**
+ * Function: readable
+ *
+ * Determine if there is a byte available to read
+ *
+ * @ingroup API
+ * @return 1 if there is a character available to read, else 0
+ */
+ int readable() { return rxBufferEmpty() ? 0 : 1; }
+
+ /**
+ * Function: txBufferSane
+ *
+ * Determine if the TX buffer has been initialized.
+ *
+ * @ingroup API
+ * @return true if the buffer is initialized, else false
+ */
+ bool txBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
+
+ /**
+ * Function: rxBufferSane
+ *
+ * Determine if the RX buffer has been initialized.
+ *
+ * @ingroup API
+ * @return true if the buffer is initialized, else false
+ */
+ bool rxBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
+
+ /**
+ * Function: txBufferGetCount
+ *
+ * Returns how many bytes are in the TX buffer
+ *
+ * @ingroup API
+ * @return The number of bytes in the TX buffer
+ */
+ int txBufferGetCount(void) { return buffer_count[TxIrq]; }
+
+ /**
+ * Function: rxBufferGetCount
+ *
+ * Returns how many bytes are in the RX buffer
+ *
+ * @ingroup API
+ * @return The number of bytes in the RX buffer
+ */
+ int rxBufferGetCount(void) { return buffer_count[RxIrq]; }
+
+ /**
+ * Function: txBufferGetSize
+ *
+ * Returns the current size of the TX buffer
+ *
+ * @ingroup API
+ * @return The length iof the TX buffer in bytes
+ */
+ int txBufferGetSize(int size) { return buffer_size[TxIrq]; }
+
+ /**
+ * Function: rxBufferGetSize
+ *
+ * Returns the current size of the RX buffer
+ *
+ * @ingroup API
+ * @return The length iof the RX buffer in bytes
+ */
+ int rxBufferGetSize(int size) { return buffer_size[RxIrq]; }
+
+ /**
+ * Function: txBufferFull
+ *
+ * Is the TX buffer full?
+ *
+ * @ingroup API
+ * @return true if the TX buffer is full, otherwise false
+ */
+ bool txBufferFull(void);
+
+ /**
+ * Function: rxBufferFull
+ *
+ * Is the RX buffer full?
+ *
+ * @ingroup API
+ * @return true if the RX buffer is full, otherwise false
+ */
+ bool rxBufferFull(void);
+
+ /**
+ * Function: txBufferEmpty
+ *
+ * Is the TX buffer empty?
+ *
+ * @ingroup API
+ * @return true if the TX buffer is empty, otherwise false
+ */
+ bool txBufferEmpty(void);
+
+ /**
+ * Function: rxBufferEmpty
+ *
+ * Is the RX buffer empty?
+ *
+ * @ingroup API
+ * @return true if the RX buffer is empty, otherwise false
+ */
+ bool rxBufferEmpty(void);
+
+ /**
+ * Function: txBufferSetSize
+ *
+ * Change the TX buffer size.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new TX buffer size in bytes.
+ * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
+ * @return Result Ok on success.
+ */
+ int txBufferSetSize(int size, bool m) { return resizeBuffer(size, TxIrq, m); }
+
+ /**
+ * Function: rxBufferSetSize
+ *
+ * Change the RX buffer size.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new RX buffer size in bytes.
+ * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
+ * @return Result Ok on success.
+ */
+ int rxBufferSetSize(int size, bool m) { return resizeBuffer(size, RxIrq, m); }
+
+ /**
+ * Function: txBufferSetSize
+ *
+ * Change the TX buffer size.
+ * Always performs a memory sanity check, halting the Mbed on failure.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new TX buffer size in bytes.
+ * @return Result Ok on success.
+ */
+ int txBufferSetSize(int size) { return resizeBuffer(size, TxIrq, true); }
+
+ /**
+ * Function: rxBufferSetSize
+ *
+ * Change the RX buffer size.
+ * Always performs a memory sanity check, halting the Mbed on failure.
+ *
+ * @see Result
+ * @ingroup API
+ * @param size The new RX buffer size in bytes.
+ * @return Result Ok on success.
+ */
+ int rxBufferSetSize(int size) { return resizeBuffer(size, RxIrq, true); }
+
+ /**
+ * Function: txBufferFlush
+ *
+ * Remove all bytes from the TX buffer.
+ * @ingroup API
+ */
+ void txBufferFlush(void) { flushBuffer(TxIrq); }
+
+ /**
+ * Function: rxBufferFlush
+ *
+ * Remove all bytes from the RX buffer.
+ * @ingroup API
+ */
+ void rxBufferFlush(void) { flushBuffer(RxIrq); }
+
+ /**
+ * Function: getcNb
+ *
+ * Like getc() but is non-blocking. If no bytes are in the RX buffer this
+ * function returns Result::NoChar (-1)
+ *
+ * @ingroup API
+ * @return A byte from the RX buffer or Result::NoChar (-1) if bufer empty.
+ */
+ int getcNb() { return __getc(false); }
+
+ /**
+ * Function: getc
+ *
+ * Overloaded version of Serial::getc()
+ *
+ * This function blocks (if the RX buffer is empty the function will wait for a
+ * character to arrive and then return that character).
+ *
+ * @ingroup API
+ * @return A byte from the RX buffer
+ */
+ int getc() { return __getc(true); }
+
+ /**
+ * Function: txGetLastChar
+ *
+ * Rteurn the last byte to pass through the TX interrupt handler.
+ *
+ * @ingroup MISC
+ * @return The byte
+ */
+ char txGetLastChar(void) { return txc; }
+
+ /**
+ * Function: rxGetLastChar
+ *
+ * Return the last byte to pass through the RX interrupt handler.
+ *
+ * @ingroup MISC
+ * @return The byte
+ */
+ char rxGetLastChar(void) { return rxc; }
+
+ /**
+ * Function: txIsBusy
+ *
+ * If the Uart is still actively sending characters this
+ * function will return true.
+ *
+ * @ingroup API
+ * @return bool
+ */
+ bool txIsBusy(void);
+
+ /**
+ * Function: autoDetectChar
+ *
+ * Set the char that, if seen incoming, invokes the AutoDetectChar callback.
+ *
+ * @ingroup API
+ * @param int c The character to detect.
+ */
+ void autoDetectChar(char c) { auto_detect_char = c; }
+
+ /**
+ * Function: move
+ *
+ * Move contents of RX buffer to external buffer. Stops if "end" detected.
+ *
+ * @ingroup API
+ * @param char *s The destination buffer address
+ * @param int max The maximum number of chars to move.
+ * @param char end If this char is detected stop moving.
+ */
+ int move(char *s, int max, char end) {
+ int counter = 0;
+ char c;
+ while(readable()) {
+ c = getc();
+ if (c == end) break;
+ *(s++) = c;
+ counter++;
+ if (counter == max) break;
+ }
+ return counter;
+ }
+
+ /**
+ * Function: move (overloaded)
+ *
+ * Move contents of RX buffer to external buffer. Stops if auto_detect_char detected.
+ *
+ * @ingroup API
+ * @param int max The maximum number of chars to move.
+ * @param char *s The destination buffer address
+ */
+ int move(char *s, int max) {
+ return move(s, max, auto_detect_char);
+ }
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: putc
+ *
+ * Write a character
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.putc
+ * @ingroup API
+ * @param c The character to write to the serial port
+ */
+ int putc(int c);
+ #endif
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: printf
+ *
+ * Write a formated string
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.printf
+ * @ingroup API
+ * @param format A printf-style format string, followed by the variables to use in formating the string.
+ */
+ int printf(const char* format, ...);
+ #endif
+
+ #if 0 // Inhereted from Serial/Stream, for documentation only
+ /**
+ * Function: scanf
+ *
+ * Read a formated string
+ * Inhereted from Serial/Stream
+ *
+ * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.scanf
+ * @ingroup API
+ * @param format - A scanf-style format string, followed by the pointers to variables to store the results.
+ */
+ int scanf(const char* format, ...);
+ #endif
+
+protected:
+ /**
+ * Used to pass information to callbacks.
+ * @ingroup INTERNALS
+ */
+ MODSERIAL_IRQ_INFO callbackInfo;
+
+ /**
+ * Remove the last char placed into the rx buffer.
+ * This is an operation that can only be performed
+ * by an rxCallback function. To protect the buffers
+ * this function is defined protected so that a
+ * regular application cannot call it directly. It
+ * can only be called by the public version within a
+ * MODSERIAL_IRQ_INFO class.
+ * @ingroup INTERNALS
+ * @return The byte removed from the buffer.
+ */
+ int rxDiscardLastChar(void);
+
+private:
+
+ /**
+ * A pointer to the UART peripheral base address being used.
+ * @ingroup INTERNALS
+ */
+ void *_base;
+
+ /**
+ * The last byte to pass through the TX IRQ handler.
+ * @ingroup INTERNALS
+ */
+ volatile char txc;
+
+ /**
+ * The last byte to pass through the RX IRQ handler.
+ * @ingroup INTERNALS
+ */
+ volatile char rxc;
+
+ /**
+ * Pointers to the TX and RX buffers.
+ * @ingroup INTERNALS
+ */
+ volatile char *buffer[2];
+
+ /**
+ * Buffer in pointers.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_in[2];
+
+ /**
+ * Buffer out pointers.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_out[2];
+
+ /**
+ * Buffer lengths.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_size[2];
+
+ /**
+ * Buffer content counters.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_count[2];
+
+ /**
+ * Buffer overflow.
+ * @ingroup INTERNALS
+ */
+ volatile int buffer_overflow[2];
+
+ /**
+ * Auto-detect character.
+ * @ingroup INTERNALS
+ */
+ volatile char auto_detect_char;
+
+ /**
+ * Callback system.
+ * @ingroup INTERNALS
+ */
+ MODSERIAL_callback _isr[NumOfIrqTypes];
+
+ /**
+ * TX Interrupt Service Routine.
+ * @ingroup INTERNALS
+ */
+ void isr_tx(bool doCallback);
+
+ /**
+ * TX Interrupt Service Routine stub version.
+ * @ingroup INTERNALS
+ */
+ void isr_tx(void) { isr_tx(true); }
+
+
+ /**
+ * RX Interrupt Service Routine.
+ * @ingroup INTERNALS
+ */
+ void isr_rx(void);
+
+ /**
+ * Disable the interrupts for this Uart.
+ * @ingroup INTERNALS
+ */
+ void disableIrq(void);
+
+ /**
+ * Enable the interrupts for this Uart.
+ * @ingroup INTERNALS
+ */
+ void enableIrq(void);
+
+ /**
+ * Get a character from the RX buffer
+ * @ingroup INTERNALS
+ * @param bool True to block (wait for input)
+ * @return A byte from the buffer.
+ */
+ int __getc(bool);
+
+ /**
+ * Put a character from the TX buffer
+ * @ingroup INTERNALS
+ * @param bool True to block (wait for space in the TX buffer if full)
+ * @return 0 on success
+ */
+ int __putc(int c, bool);
+
+ /**
+ * Function: _putc
+ * Overloaded virtual function.
+ */
+ virtual int _putc(int c) { return __putc(c, true); }
+
+ /**
+ * Function: _getc
+ * Overloaded virtual function.
+ */
+ virtual int _getc() { return __getc(true); }
+
+ /**
+ * Function: init
+ * Initialize the MODSERIAL object
+ * @ingroup INTERNALS
+ */
+ void init(int txSize, int rxSize);
+
+ /**
+ * Function: flushBuffer
+ * @ingroup INTERNALS
+ */
+ void flushBuffer(IrqType type);
+
+ /**
+ * Function: resizeBuffer
+ * @ingroup INTERNALS
+ */
+ int resizeBuffer(int size, IrqType type = RxIrq, bool memory_check = true);
+
+ /**
+ * Function: downSizeBuffer
+ * @ingroup INTERNALS
+ */
+ int downSizeBuffer(int size, IrqType type, bool memory_check);
+
+ /**
+ * Function: upSizeBuffer
+ * @ingroup INTERNALS
+ */
+ int upSizeBuffer(int size, IrqType type, bool memory_check);
+
+ /*
+ * If MODDMA is available the compile in code to handle sending
+ * an arbitary char buffer. Note, the parts before teh #ifdef
+ * are declared so that MODSERIAL can access then even if MODDMA
+ * isn't avaiable. Since MODDMA.h is only available at this point
+ * all DMA functionality must be declared inline in the class
+ * definition.
+ */
+public:
+
+ int dmaSendChannel;
+ void *moddma_p;
+
+#ifdef MODDMA_H
+
+ MODDMA_Config *config;
+
+ /**
+ * Set the "void pointer" moddma_p to be a pointer to a
+ * MODDMA controller class instance. Used to manage the
+ * data transfer of DMA configurations.
+ *
+ * @ingroup API
+ * @param p A pointer to "the" instance of MODDMA.
+ */
+ void MODDMA(MODDMA *p) { moddma_p = p; }
+
+ /**
+ * Send a char buffer to the Uarts TX system
+ * using DMA. This blocks regular library
+ * sending.
+ *
+ * @param buffer A char buffer of bytes to send.
+ * @param len The length of the buffer to send.
+ * @param dmaChannel The DMA channel to use, defaults to 7
+ * @return MODDMA::Status MODDMA::ok if all went ok
+ */
+ int dmaSend(char *buffer, int len, int dmaChannel = 7)
+ {
+ if (moddma_p == (void *)NULL) return -2;
+ class MODDMA *dma = (class MODDMA *)moddma_p;
+
+ dmaSendChannel = dmaChannel & 0x7;
+
+ uint32_t conn = MODDMA::UART0_Tx;
+ switch(_uidx) {
+ case 0: conn = MODDMA::UART0_Tx; break;
+ case 1: conn = MODDMA::UART1_Tx; break;
+ case 2: conn = MODDMA::UART2_Tx; break;
+ case 3: conn = MODDMA::UART3_Tx; break;
+ }
+
+ config = new MODDMA_Config;
+ config
+ ->channelNum ( (MODDMA::CHANNELS)(dmaSendChannel & 0x7) )
+ ->srcMemAddr ( (uint32_t) buffer )
+ ->transferSize ( len )
+ ->transferType ( MODDMA::m2p )
+ ->dstConn ( conn )
+ ->attach_tc ( this, &MODSERIAL::dmaSendCallback )
+ ->attach_err ( this, &MODSERIAL::dmaSendCallback )
+ ; // config end
+
+ // Setup the configuration.
+ if (dma->Setup(config) == 0) {
+ return -1;
+ }
+
+ //dma.Enable( MODDMA::Channel_0 );
+ dma->Enable( config->channelNum() );
+ return MODDMA::Ok;
+ }
+
+ /**
+ * Attach a callback to the DMA completion.
+ *
+ * @ingroup API
+ * @param fptr A function pointer to call
+ * @return this
+ */
+ void attach_dmaSendComplete(void (*fptr)(MODSERIAL_IRQ_INFO *)) {
+ _isrDmaSendComplete.attach(fptr);
+ }
+
+ /**
+ * Attach a callback to the DMA completion.
+ *
+ * @ingroup API
+ * @param tptr A template pointer to the calling object
+ * @param mptr A method pointer within the object to call.
+ * @return this
+ */
+ template<typename T>
+ void attach_dmaSendComplete(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *)) {
+ if((mptr != NULL) && (tptr != NULL)) {
+ _isrDmaSendComplete.attach(tptr, mptr);
+ }
+ }
+
+ MODSERIAL_callback _isrDmaSendComplete;
+
+protected:
+ /**
+ * Callback for dmaSend().
+ */
+ void dmaSendCallback(void)
+ {
+ if (moddma_p == (void *)NULL) return;
+ class MODDMA *dma = (class MODDMA *)moddma_p;
+
+ MODDMA_Config *config = dma->getConfig();
+ dma->haltAndWaitChannelComplete( (MODDMA::CHANNELS)config->channelNum());
+ dma->Disable( (MODDMA::CHANNELS)config->channelNum() );
+ if (dma->irqType() == MODDMA::TcIrq) dma->clearTcIrq();
+ if (dma->irqType() == MODDMA::ErrIrq) dma->clearErrIrq();
+ dmaSendChannel = -1;
+ _isrDmaSendComplete.call(&this->callbackInfo);
+ delete(config);
+ }
+
+#endif // MODDMA_H
+
+};
+
+}; // namespace AjK ends
+
+using namespace AjK;
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/MODSERIAL_IRQ_INFO.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,38 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+
+ @file MODSERIAL_IRQ_INFO.cpp
+ @author Andy Kirkham
+*/
+
+#include "MODSERIAL.h"
+
+namespace AjK {
+
+int
+MODSERIAL_IRQ_INFO::rxDiscardLastChar(void)
+{
+ if (!serial) return -1;
+
+ return serial->rxDiscardLastChar();
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/PUTC.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,79 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::__putc(int c, bool block) {
+
+ // If no buffer is in use fall back to standard TX FIFO usage.
+ // Note, we must block in this case and ignore bool "block"
+ // so as to maintain compat with Mbed Serial.
+ if (buffer[TxIrq] == (char *)NULL || buffer_size[TxIrq] == 0) {
+ while (! MODSERIAL_THR_HAS_SPACE) ; // Wait for space in the TX FIFO.
+ _THR = (uint32_t)c;
+ return 0;
+ }
+
+ if ( MODSERIAL_THR_HAS_SPACE && MODSERIAL_TX_BUFFER_EMPTY && dmaSendChannel == -1 ) {
+ _THR = (uint32_t)c;
+ }
+ else {
+ if (block) {
+ uint32_t ier = _IER; _IER = 1;
+ while ( MODSERIAL_TX_BUFFER_FULL ) { // Blocks!
+ // If putc() is called from an ISR then we are stuffed
+ // because in an ISR no bytes from the TX buffer will
+ // get transferred to teh TX FIFOs while we block here.
+ // So, to work around this, instead of sitting in a
+ // loop waiting for space in the TX buffer (which will
+ // never happen in IRQ context), check to see if the
+ // TX FIFO has space available to move bytes from the
+ // TX buffer to TX FIFO to make space. The easiest way
+ // to do this is to poll the isr_tx() function while we
+ // are blocking.
+ isr_tx(false);
+ }
+ _IER = ier;
+ }
+ else if( MODSERIAL_TX_BUFFER_FULL ) {
+ buffer_overflow[TxIrq] = c; // Oh dear, no room in buffer.
+ _isr[TxOvIrq].call(&this->callbackInfo);
+ return -1;
+ }
+ _IER &= ~2;
+ buffer[TxIrq][buffer_in[TxIrq]] = c;
+ buffer_count[TxIrq]++;
+ buffer_in[TxIrq]++;
+ if (buffer_in[TxIrq] >= buffer_size[TxIrq]) {
+ buffer_in[TxIrq] = 0;
+ }
+ _IER |= 2;
+ }
+
+ return 0;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL/RESIZE.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,123 @@
+/*
+ Copyright (c) 2010 Andy Kirkham
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "MODSERIAL.h"
+#include "MACROS.h"
+
+namespace AjK {
+
+int
+MODSERIAL::resizeBuffer(int size, IrqType type, bool memory_check)
+{
+ int rval = Ok;
+
+ // If the requested size is the same as the current size there's nothing to do,
+ // just continue to use the same buffer as it's fine as it is.
+ if (buffer_size[type] == size) return rval;
+
+ // Make sure the ISR cannot use the buffers while we are manipulating them.
+ disableIrq();
+
+ // If the requested buffer size is larger than the current size,
+ // attempt to create a new buffer and use it.
+ if (buffer_size[type] < size) {
+ rval = upSizeBuffer(size, type, memory_check);
+ }
+ else if (buffer_size[type] > size) {
+ rval = downSizeBuffer(size, type, memory_check);
+ }
+
+ // Start the ISR system again with the new buffers.
+ enableIrq();
+
+ return rval;
+}
+
+int
+MODSERIAL::downSizeBuffer(int size, IrqType type, bool memory_check)
+{
+ if (size >= buffer_count[type]) {
+ return BufferOversize;
+ }
+
+ char *s = (char *)malloc(size);
+
+ if (s == (char *)NULL) {
+ if (memory_check) {
+ error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
+ }
+ return NoMemory;
+ }
+
+ int c, new_in = 0;
+
+ do {
+ c = __getc(false);
+ if (c != -1) s[new_in++] = (char)c;
+ if (new_in >= size) new_in = 0;
+ }
+ while (c != -1);
+
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = new_in;
+ buffer_out[type] = 0;
+ return Ok;
+}
+
+int
+MODSERIAL::upSizeBuffer(int size, IrqType type, bool memory_check)
+{
+ char *s = (char *)malloc(size);
+
+ if (s == (char *)NULL) {
+ if (memory_check) {
+ error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
+ }
+ return NoMemory;
+ }
+
+ if (buffer_count[type] == 0) { // Current buffer empty?
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = 0;
+ buffer_out[type] = 0;
+ }
+ else { // Copy the current contents into the new buffer.
+ int c, new_in = 0;
+ do {
+ c = __getc(false);
+ if (c != -1) s[new_in++] = (char)c;
+ if (new_in >= size) new_in = 0; // Shouldn't happen, but be sure.
+ }
+ while (c != -1);
+ free((char *)buffer[type]);
+ buffer[type] = s;
+ buffer_in[type] = new_in;
+ buffer_out[type] = 0;
+ }
+
+ buffer_size[type] = size;
+ return Ok;
+}
+
+}; // namespace AjK ends
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,103 @@
+#include "PID.h"
+
+void
+PID::setP(float p)
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ k_p = p;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+}
+
+void
+PID::setI(float i)
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ k_i = i;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+}
+
+void
+PID::setD(float d)
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ k_d = d;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+}
+
+void
+PID::setClip(float clip)
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ this->clip = clip;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+}
+
+void
+PID::setPV(float pv) // Set process variable
+{
+ NVIC_DisableIRQ(TIMER3_IRQn); // Disable Ticker IRQ for atomicity
+ error = pv;
+ NVIC_EnableIRQ(TIMER3_IRQn); // Enable Ticker IRQ
+
+}
+
+void
+PID::dumpDebug(Serial *debug)
+{
+ if (debug != NULL)
+ {
+ debug->printf("PID Debug: v_p = %3.2f\r\n", v_p);
+ debug->printf("PID Debug: v_i = %3.2f\r\n", v_i);
+ debug->printf("PID Debug: v_d = %3.2f\r\n", v_d);
+ debug->printf("PID Debug: k_p = %3.2f\r\n", k_p);
+ debug->printf("PID Debug: k_i = %3.2f\r\n", k_i);
+ debug->printf("PID Debug: k_d = %3.2f\r\n", k_d);
+ debug->printf("PID Debug: clip = %3.2f\r\n", clip);
+ debug->printf("PID Debug: error = %3.2f\r\n", error);
+ debug->printf("PID Debug: prev_error = %3.2f\r\n", prev_error);
+ debug->printf("PID Debug: output = %3.2f\r\n", output);
+ }
+}
+
+float
+PID::run(float in)
+{
+ if (debug != NULL)
+ debug->printf("PID Debug: in = %3.2f\r\n", in);
+ error = in;
+
+ v_p = error;
+ v_i += v_p;
+ v_d = error - prev_error;
+
+ if (v_i > clip)
+ v_i = clip;
+ if (v_i < clip)
+ v_i = -clip;
+ if (v_i != v_i) // NAN check...
+ v_i = 0;
+
+ if (debug != NULL)
+ {
+ debug->printf("PID Debug: v_p = %3.2f\r\n", v_p);
+ debug->printf("PID Debug: v_i = %3.2f\r\n", v_i);
+ debug->printf("PID Debug: v_d = %3.2f\r\n", v_d);
+ debug->printf("PID Debug: k_p = %3.2f\r\n", k_p);
+ debug->printf("PID Debug: k_i = %3.2f\r\n", k_i);
+ debug->printf("PID Debug: k_d = %3.2f\r\n", k_d);
+ debug->printf("PID Debug: clip = %3.2f\r\n", clip);
+ }
+
+ output = (v_p * k_p) + (v_i * k_i) + (v_d * k_d);
+
+ if (debug != NULL)
+ {
+ debug->printf("PID Debug: error = %3.2f\r\n", error);
+ debug->printf("PID Debug: prev_error = %3.2f\r\n", prev_error);
+ debug->printf("PID Debug: output = %3.2f\r\n", output);
+ }
+
+ prev_error = error;
+
+ return output;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,59 @@
+#ifndef __PID_H__
+#define __PID_H__
+
+#include "mbed.h"
+
+class PID
+{
+public:
+ PID(float i_p, float i_i, float i_d) :
+ k_p(i_p), k_i(i_i), k_d(i_d)
+ {
+ debug = NULL;
+
+ v_p = 0.0f;
+ v_i = 0.0f;
+ v_d = 0.0f;
+
+ clip = 1.0f;
+ error = 0.0f;
+ prev_error = 0.0f;
+ }
+
+ PID(float i_p, float i_i, float i_d, Serial *debug) :
+ debug(debug), k_p(i_p), k_i(i_i), k_d(i_d)
+ {
+ v_p = 0.0f;
+ v_i = 0.0f;
+ v_d = 0.0f;
+
+ clip = 1.0f;
+ error = 0.0f;
+ prev_error = 0.0f;
+ }
+
+ void setP(float p); // set k_p
+ void setI(float i); // set k_i
+ void setD(float d); // set k_d
+ void setClip(float clip);
+ void setPV(float pv); // Set process variable (PID input)
+ float getOutput(void); // Get PID output.
+
+ void run(void); // Callback to be called via Ticker to execute the PID algo.
+ float run(float in); // Version to run PID in place (not via timer or interrupt)
+
+ void dumpDebug(Serial *debug);
+
+private:
+ Serial *debug;
+
+ float k_p, k_i, k_d; // PID constants
+ float v_p, v_i, v_d; // PID variables
+ float clip; // Integral clip value (absolute)
+ float error;
+ float prev_error;
+ float output;
+
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PiSlingers/.lib Wed Apr 04 17:07:49 2012 +0000 @@ -0,0 +1,1 @@ + \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/Beacon.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,49 @@
+#include "Beacon.h"
+
+void
+Beacon::scan(void)
+{
+ valL = ainL.read_u16() >> 8;
+ valR = ainR.read_u16() >> 8;
+// valR = ainL.read_u16() >> 8;
+// valL = ainR.read_u16() >> 8;
+
+ valL > valR ? max = valL : max = valR;
+
+ calc_centeroid();
+}
+
+void
+Beacon::calc_centeroid(void)
+{
+ float sumA, sumB;
+
+ sumB = (valL * 1) + (valR * 2);
+ sumA = valL + valR;
+
+ centeroid = sumB / sumA - 1.5f;
+}
+
+float
+Beacon::get_centeroid(void)
+{
+ return centeroid;
+}
+
+uint8_t
+Beacon::get_max_rssi(void)
+{
+ return max;
+}
+
+uint8_t
+Beacon::getL(void)
+{
+ return valL;
+}
+
+uint8_t
+Beacon::getR(void)
+{
+ return valR;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/Beacon.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,32 @@
+#ifndef _BEACON_H_
+#define _BEACON_H_
+
+#include "mbed.h"
+
+class Beacon
+{
+public:
+ Beacon(void) : ainL(p19), ainR(p20) {};
+
+ void scan(void);
+ uint8_t get_max_rssi(void);
+ float get_centeroid(void);
+
+ uint8_t getL(void);
+ uint8_t getR(void);
+
+private:
+ void calc_centeroid(void);
+
+ AnalogIn ainL;
+ AnalogIn ainR;
+
+ uint8_t valL;
+ uint8_t valR;
+
+ uint8_t max;
+ float centeroid;
+
+};
+
+#endif //_BEACON_H_
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/IRObjDetector.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,132 @@
+#include "IRObjDetector.h"
+#include "tlc5916.h"
+
+#define DWELL_TIME 25 // Time to wait between enabling IR transmitter LED and reading ADC result, in us.
+
+void
+IRObjDetector::scan(void)
+{
+ int i;
+ uint32_t max = 0;
+ int32_t tmp;
+
+ //data[7] = ain.read_u16() >> 8; // Read the ambient level and store in last data slot.
+ data[7] = ain.read_u16(); // Read the ambient level and store in last data slot.
+
+ // Set the IR leds one at a time and read the reflection.
+ for (i = 0; i < 7; i++)
+ {
+ // Write the value to enable the LED
+ tlc5916.write_reg(1 << i);
+ // Enable the selected LED.
+ tlc5916.enable();
+ // Wait for output to stabilize
+ wait_us(DWELL_TIME);
+ // Read ADC value and subtract off ambient.
+ //tmp = (ain.read_u16() >> 8) - data[7];
+ tmp = ain.read_u16() - data[7];
+ if (tmp < 0)
+ data[i] = 0;
+ else
+ data[i] = tmp >> 8;
+ // Disable the selected LED.
+ tlc5916.disable();
+
+ if (tmp > max) max = tmp;
+ }
+
+ calc_centeroid();
+
+ brightness = max;
+
+ brightnessBins[currentBin++] = brightness;
+
+ // Calculate running average over BRIGHTNESS_BINS bins.
+ minBrightness = 0xFFFF;
+ avgBrightness = 0;
+ maxBrightness = 0;
+ for (int i = 0; i < BRIGHTNESS_BINS; i++)
+ {
+ tmp = brightnessBins[i];
+ if (minBrightness > tmp) minBrightness = tmp;
+ avgBrightness += tmp;
+ if (maxBrightness < tmp) maxBrightness = tmp;
+ }
+ avgBrightness = avgBrightness / BRIGHTNESS_BINS;
+
+ if (currentBin >= BRIGHTNESS_BINS)
+ currentBin = 0;
+}
+
+float
+IRObjDetector::get_weighted_avg_brightness(void)
+{
+ if (debug != NULL)
+ {
+ debug->printf("IRObjDetector: Calculating weighted average.\r\n");
+ debug->printf("IRObjDetector: minBrightness = 0x%4.4x\r\n", minBrightness);
+ debug->printf("IRObjDetector: avgBrightness = 0x%4.4x\r\n", avgBrightness);
+ debug->printf("IRObjDetector: minBrightness = 0x%4.4x\r\n", maxBrightness);
+ }
+ return (float)(avgBrightness) / (float)0xffff;
+}
+
+void
+IRObjDetector::calc_centeroid(void)
+{
+ int i;
+
+ uint32_t low;
+ float sumA, sumB;
+
+ low = 0xffff;
+ for (i = 0; i < 7; i++)
+ {
+ if (data[i] < low) low = data[i];
+ }
+
+ sumA = sumB = 0;
+
+ // Generate sums for centeroid data
+ for (i = 0; i < 7; i++)
+ {
+ sumB += (data[i] - low) * (i + 1);
+ sumA += data[i] - low;
+ }
+
+ // Get 'center' bin by taking the highest bin count and dividing by number of bins.
+ float offset = 28/7;
+
+ centeroid = sumB / sumA; // Generate centroid (approximate location of object) which is a number between 1 an nBins (7 in our case)
+ centeroid -= offset; // Offset the centeroid around center bin, now the centeroid is a number between 1-offset and offset-1 (-3 to 3 in our case)
+}
+
+float
+IRObjDetector::get_centeroid(void)
+{
+ return centeroid;
+}
+
+uint16_t
+IRObjDetector::get_raw_brightness(void)
+{
+ return brightness;
+}
+
+uint16_t
+IRObjDetector::get_min_brightness(void)
+{
+ return minBrightness;
+}
+
+uint16_t
+IRObjDetector::get_avg_brightness(void)
+{
+ return avgBrightness;
+}
+
+uint16_t
+IRObjDetector::get_max_brightness(void)
+{
+ return maxBrightness;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/IRObjDetector.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,79 @@
+#ifndef _IROBJDETECTOR_H_
+#define _IROBJDETECTOR_H_
+
+#include "mbed.h"
+#include "tlc5916.h"
+
+#define BRIGHTNESS_BINS 16
+
+class IRObjDetector
+{
+public:
+ IRObjDetector(void) : tlc5916(p6, p5, p7, p11), ain(p18)
+ {
+ debug = NULL;
+ minBrightness = 0;
+ avgBrightness = 0;
+ maxBrightness = 0;
+ for (currentBin = 0; currentBin < BRIGHTNESS_BINS; currentBin++)
+ {
+ brightnessBins[currentBin] = 0;
+ }
+ currentBin = 0;
+ };
+
+ IRObjDetector(Serial *debug) : debug(debug), tlc5916(p6, p5, p7, p11), ain(p18)
+ {
+ debug = NULL;
+ minBrightness = 0;
+ avgBrightness = 0;
+ maxBrightness = 0;
+ for (currentBin = 0; currentBin < BRIGHTNESS_BINS; currentBin++)
+ {
+ brightnessBins[currentBin] = 0;
+ }
+ currentBin = 0;
+ };
+
+ /**
+ * Scan through all 7 LED's and store the values.
+ */
+ void scan(void);
+
+ /**
+ * Get the centeroid value of the scaned field.
+ */
+ float get_centeroid(void);
+
+ /**
+ * Get the 'raw' brightness value.
+ */
+ uint16_t get_raw_brightness(void);
+ uint16_t get_min_brightness(void);
+ uint16_t get_avg_brightness(void);
+ uint16_t get_max_brightness(void);
+ float get_weighted_avg_brightness(void);
+
+private:
+
+ void calc_centeroid(void);
+ void calc_contrast(void);
+
+ Serial *debug;
+ TLC5916 tlc5916;
+ AnalogIn ain;
+ uint16_t data[8]; //Bin 7 is the 'all off' bin.
+ float centeroid;
+ uint16_t brightness;
+ uint16_t brightnessBins[BRIGHTNESS_BINS]; // Used to calculate average brightness
+ uint8_t currentBin;
+ uint32_t avgBrightness;
+ uint16_t maxBrightness;
+ uint16_t minBrightness;
+
+
+ float mean;
+ float map;
+};
+
+#endif //_IROBJDETECTOR_H_
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/tlc5916.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,26 @@
+
+#include "mbed.h"
+#include "tlc5916.h"
+
+void
+TLC5916::write_reg(uint8_t byte)
+{
+ pinLE = 0;
+ spi.write(byte);
+ wait_us(1);
+ pinLE = 1;
+ wait_us(1);
+ pinLE = 0;
+}
+
+void
+TLC5916::enable(void)
+{
+ pinnOE = 0;
+}
+
+void
+TLC5916::disable(void)
+{
+ pinnOE = 1;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PiSlingers/tlc5916.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,28 @@
+#ifndef _TLC5916_H_
+#define _TLC5916_H_
+
+class TLC5916 {
+
+public:
+ TLC5916(PinName le, PinName sin, PinName clk, PinName nOE) : pinLE(le), pinnOE(nOE), spi(sin, NC, clk)
+ {
+ pinLE = 0;
+ pinnOE = 1;
+
+ spi.format(8,0);
+ spi.frequency(1000000);
+ };
+
+ void write_reg(uint8_t byte);
+ void enable(void);
+ void disable(void);
+
+private:
+
+ DigitalOut pinLE;
+ DigitalOut pinnOE;
+ SPI spi;
+
+};
+
+#endif //_TLC5916_H_
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi/.lib Wed Apr 04 17:07:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/libraries/m3pi/lr20a4 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,238 @@
+/* m3pi Library
+ *
+ * Copyright (c) 2007-2010 cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "m3pi.h"
+
+m3pi::m3pi(PinName nrst, PinName tx, PinName rx) : Stream("m3pi"), _nrst(nrst), _ser(tx, rx) {
+ _ser.baud(115200);
+ reset();
+}
+
+m3pi::m3pi() : Stream("m3pi"), _nrst(p23), _ser(p9, p10) {
+ _ser.baud(115200);
+ reset();
+}
+
+
+void m3pi::reset () {
+ _nrst = 0;
+ wait (0.01);
+ _nrst = 1;
+ wait (0.1);
+}
+
+void m3pi::left_motor (float speed) {
+ motor(0,speed);
+}
+
+void m3pi::right_motor (float speed) {
+ motor(1,speed);
+}
+
+void m3pi::forward (float speed) {
+ motor(0,speed);
+ motor(1,speed);
+}
+
+void m3pi::backward (float speed) {
+ motor(0,-1.0*speed);
+ motor(1,-1.0*speed);
+}
+
+void m3pi::left (float speed) {
+ motor(0,speed);
+ motor(1,-1.0*speed);
+}
+
+void m3pi::right (float speed) {
+ motor(0,-1.0*speed);
+ motor(1,speed);
+}
+
+void m3pi::stop (void) {
+ motor(0,0.0);
+ motor(1,0.0);
+}
+
+void m3pi::motor (int motor, float speed) {
+ char opcode = 0x0;
+ if (speed > 0.0) {
+ if (motor==1)
+ opcode = M1_FORWARD;
+ else
+ opcode = M2_FORWARD;
+ } else {
+ if (motor==1)
+ opcode = M1_BACKWARD;
+ else
+ opcode = M2_BACKWARD;
+ }
+ unsigned char arg = 0x7f * abs(speed);
+
+ _ser.putc(opcode);
+ _ser.putc(arg);
+}
+
+float m3pi::battery() {
+ _ser.putc(SEND_BATTERY_MILLIVOLTS);
+ char lowbyte = _ser.getc();
+ char hibyte = _ser.getc();
+ float v = ((lowbyte + (hibyte << 8))/1000.0);
+ return(v);
+}
+
+float m3pi::line_position() {
+ int pos = 0;
+ _ser.putc(SEND_LINE_POSITION);
+ pos = _ser.getc();
+ pos += _ser.getc() << 8;
+
+ float fpos = ((float)pos - 2048.0)/2048.0;
+ return(fpos);
+}
+
+const m3pi::LineSensors m3pi::get_raw_sensors(void) {
+ static LineSensors sensors;
+
+ _ser.putc(SEND_RAW_SENSOR_VALUES);
+
+ sensors.sensor1 = _ser.getc();
+ sensors.sensor1 |= _ser.getc() << 8;
+ sensors.sensor2 = _ser.getc();
+ sensors.sensor2 |= _ser.getc() << 8;
+ sensors.sensor3 = _ser.getc();
+ sensors.sensor3 |= _ser.getc() << 8;
+ sensors.sensor4 = _ser.getc();
+ sensors.sensor4 |= _ser.getc() << 8;
+ sensors.sensor5 = _ser.getc();
+ sensors.sensor5 |= _ser.getc() << 8;
+
+ return sensors;
+}
+
+char m3pi::sensor_auto_calibrate() {
+ _ser.putc(AUTO_CALIBRATE);
+ return(_ser.getc());
+}
+
+
+void m3pi::calibrate(void) {
+ _ser.putc(PI_CALIBRATE);
+}
+
+void m3pi::reset_calibration() {
+ _ser.putc(LINE_SENSORS_RESET_CALIBRATION);
+}
+
+void m3pi::PID_start(int max_speed, int a, int b, int c, int d) {
+ _ser.putc(max_speed);
+ _ser.putc(a);
+ _ser.putc(b);
+ _ser.putc(c);
+ _ser.putc(d);
+}
+
+void m3pi::PID_stop() {
+ _ser.putc(STOP_PID);
+}
+
+float m3pi::pot_voltage(void) {
+ int volt = 0;
+ _ser.putc(SEND_TRIMPOT);
+ volt = _ser.getc();
+ volt += _ser.getc() << 8;
+ return(volt);
+}
+
+
+void m3pi::leds(int val) {
+
+ BusOut _leds(p20,p19,p18,p17,p16,p15,p14,p13);
+ _leds = val;
+}
+
+
+void m3pi::locate(int x, int y) {
+ _ser.putc(DO_LCD_GOTO_XY);
+ _ser.putc(x);
+ _ser.putc(y);
+}
+
+void m3pi::cls(void) {
+ _ser.putc(DO_CLEAR);
+}
+
+int m3pi::print (char* text, int length) {
+ _ser.putc(DO_PRINT);
+ _ser.putc(length);
+ for (int i = 0 ; i < length ; i++) {
+ _ser.putc(text[i]);
+ }
+ return(0);
+}
+
+int m3pi::_putc (int c) {
+ _ser.putc(DO_PRINT);
+ _ser.putc(0x1);
+ _ser.putc(c);
+ wait (0.001);
+ return(c);
+}
+
+int m3pi::_getc (void) {
+ char r = 0;
+ return(r);
+}
+
+int m3pi::putc (int c) {
+ return(_ser.putc(c));
+}
+
+int m3pi::getc (void) {
+ return(_ser.getc());
+}
+
+
+
+
+
+#ifdef MBED_RPC
+const rpc_method *m3pi::get_rpc_methods() {
+ static const rpc_method rpc_methods[] = {{ "forward", rpc_method_caller<m3pi, float, &m3pi::forward> },
+ { "backward", rpc_method_caller<m3pi, float, &m3pi::backward> },
+ { "left", rpc_method_caller<m3pi, float, &m3pi::left> },
+ { "right", rpc_method_caller<m3pi, float, &m3pi::right> },
+ { "stop", rpc_method_caller<m3pi, &m3pi::stop> },
+ { "left_motor", rpc_method_caller<m3pi, float, &m3pi::left_motor> },
+ { "right_motor", rpc_method_caller<m3pi, float, &m3pi::right_motor> },
+ { "battery", rpc_method_caller<float, m3pi, &m3pi::battery> },
+ { "line_position", rpc_method_caller<float, m3pi, &m3pi::line_position> },
+ { "sensor_auto_calibrate", rpc_method_caller<char, m3pi, &m3pi::sensor_auto_calibrate> },
+
+
+ RPC_METHOD_SUPER(Base)
+ };
+ return rpc_methods;
+}
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/m3pi/m3pi.h Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,247 @@
+/* mbed m3pi Library
+ * Copyright (c) 2007-2010 cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef M3PI_H
+#define M3PI_H
+
+#include "mbed.h"
+#include "platform.h"
+
+#ifdef MBED_RPC
+#include "rpc.h"
+#endif
+
+#define SEND_SIGNATURE 0x81
+#define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_TRIMPOT 0xB0
+#define SEND_BATTERY_MILLIVOLTS 0xB1
+#define DO_PLAY 0xB3
+#define PI_CALIBRATE 0xB4
+#define DO_CLEAR 0xB7
+#define DO_PRINT 0xB8
+#define DO_LCD_GOTO_XY 0xB9
+#define LINE_SENSORS_RESET_CALIBRATION 0xB5
+#define SEND_LINE_POSITION 0xB6
+#define AUTO_CALIBRATE 0xBA
+#define SET_PID 0xBB
+#define STOP_PID 0xBC
+#define M1_FORWARD 0xC1
+#define M1_BACKWARD 0xC2
+#define M2_FORWARD 0xC5
+#define M2_BACKWARD 0xC6
+
+
+
+/** m3pi control class
+ *
+ * Example:
+ * @code
+ * // Drive the m3pi forward, turn left, back, turn right, at half speed for half a second
+
+ #include "mbed.h"
+ #include "m3pi.h"
+
+ m3pi pi;
+
+ int main() {
+
+ wait(0.5);
+
+ pi.forward(0.5);
+ wait (0.5);
+ pi.left(0.5);
+ wait (0.5);
+ pi.backward(0.5);
+ wait (0.5);
+ pi.right(0.5);
+ wait (0.5);
+
+ pi.stop();
+
+ }
+ * @endcode
+ */
+class m3pi : public Stream {
+
+ // Public functions
+public:
+
+ /** Create the m3pi object connected to the default pins
+ *
+ * @param nrst GPIO pin used for reset. Default is p23
+ * @param tx Serial transmit pin. Default is p9
+ * @param rx Serial receive pin. Default is p10
+ */
+ m3pi();
+
+
+ /** Create the m3pi object connected to specific pins
+ *
+ */
+ m3pi(PinName nrst, PinName tx, PinName rx);
+
+
+
+ /** Force a hardware reset of the 3pi
+ */
+ void reset (void);
+
+ /** Directly control the speed and direction of the left motor
+ *
+ * @param speed A normalised number -1.0 - 1.0 represents the full range.
+ */
+ void left_motor (float speed);
+
+ /** Directly control the speed and direction of the right motor
+ *
+ * @param speed A normalised number -1.0 - 1.0 represents the full range.
+ */
+ void right_motor (float speed);
+
+ /** Drive both motors forward as the same speed
+ *
+ * @param speed A normalised number 0 - 1.0 represents the full range.
+ */
+ void forward (float speed);
+
+ /** Drive both motors backward as the same speed
+ *
+ * @param speed A normalised number 0 - 1.0 represents the full range.
+ */
+ void backward (float speed);
+
+ /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
+ *
+ * @param speed A normalised number 0 - 1.0 represents the full range.
+ */
+ void left (float speed);
+
+ /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
+ * @param speed A normalised number 0 - 1.0 represents the full range.
+ */
+ void right (float speed);
+
+ /** Stop both motors
+ *
+ */
+ void stop (void);
+
+ /** Read the voltage of the potentiometer on the 3pi
+ * @returns voltage as a float
+ *
+ */
+ float pot_voltage(void);
+
+ /** Read the battery voltage on the 3pi
+ * @returns battery voltage as a float
+ */
+ float battery(void);
+
+ /** Read the position of the detected line
+ * @returns position as A normalised number -1.0 - 1.0 represents the full range.
+ * -1.0 means line is on the left, or the line has been lost
+ * 0.0 means the line is in the middle
+ * 1.0 means the line is on the right
+ */
+ float line_position (void);
+
+
+ /** Calibrate the sensors. This turns the robot left then right, looking for a line
+ *
+ */
+ char sensor_auto_calibrate (void);
+
+ /** Set calibration manually to the current settings.
+ *
+ */
+ void calibrate(void);
+
+ /** Clear the current calibration settings
+ *
+ */
+ void reset_calibration (void);
+
+ void PID_start(int max_speed, int a, int b, int c, int d);
+
+ void PID_stop();
+
+ /** Write to the 8 LEDs
+ *
+ * @param leds An 8 bit value to put on the LEDs
+ */
+ void leds(int val);
+
+ /** Locate the cursor on the 8x2 LCD
+ *
+ * @param x The horizontal position, from 0 to 7
+ * @param y The vertical position, from 0 to 1
+ */
+ void locate(int x, int y);
+
+ /** Clear the LCD
+ *
+ */
+ void cls(void);
+
+ /** Send a character directly to the 3pi serial interface
+ * @param c The character to send to the 3pi
+ */
+ int putc(int c);
+
+ /** Receive a character directly to the 3pi serial interface
+ * @returns c The character received from the 3pi
+ */
+ int getc();
+
+ /** Send a string buffer to the 3pi serial interface
+ * @param text A pointer to a char array
+ * @param int The character to send to the 3pi
+ */
+ int print(char* text, int length);
+
+ struct LineSensors {
+ uint16_t sensor1;
+ uint16_t sensor2;
+ uint16_t sensor3;
+ uint16_t sensor4;
+ uint16_t sensor5;
+ };
+
+ const LineSensors get_raw_sensors(void);
+
+
+#ifdef MBED_RPC
+ virtual const struct rpc_method *get_rpc_methods();
+#endif
+
+private :
+
+ DigitalOut _nrst;
+ Serial _ser;
+
+ void motor (int motor, float speed);
+ virtual int _putc(int c);
+ virtual int _getc();
+
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 04 17:07:49 2012 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "MODSERIAL.h"
+
+#include "tlc5916.h"
+#include "IRObjDetector.h"
+#include "IRBehaviorController.h"
+#include "Beacon.h"
+#include "PID.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+//Serial blueTooth(p13, p14);
+MODSERIAL blueTooth(p13, p14);
+Ticker taskTimer;
+m3pi base;
+
+// PID terms
+#define P_TERM 0.04f
+#define I_TERM 0.00f
+#define D_TERM 0.00f
+#define THRESHOLD 0.30f
+//PID pid(P_TERM, I_TERM, D_TERM, &blueTooth);
+PID pid(P_TERM, I_TERM, D_TERM);
+//IRObjDetector ird(&blueTooth);
+//IRBehaviorController irController(&pid, &blueTooth);
+IRBehaviorController irController(&pid);
+Beacon beacon;
+
+
+void
+taskFunc(void)
+{
+// blueTooth.printf("\e[1J"); // Clear terminal screen
+// blueTooth.printf("\e[H"); // Home terminal screen
+// blueTooth.printf("Task exec.\r\n");
+ //irController.runSeeking();
+ irController.runAvoidance();
+ led1 = !led1;
+}
+
+int
+main()
+{
+ float power = 0.00f;
+ float speed = 0.20f;
+ float max = 1.00f;
+ float right, left;
+
+ //FunctionPointer ird_scan(&ird, &IRObjDetector::scan);
+
+
+ base.reset();
+ base.locate(0, 0);
+ base.printf("IR Track");
+ wait(10);
+
+ blueTooth.baud(115200);
+ blueTooth.printf("\r\nSystem start!\r\n");
+
+ irController.setActiveThreshold(THRESHOLD);
+
+ //taskTimer.attach(&irController, &IRBehaviorController::runSeeking, 0.1);
+ taskTimer.attach(&taskFunc, 0.01);
+
+ while(1)
+ {
+ blueTooth.printf("\e[1J"); // Clear terminal screen
+ blueTooth.printf("\e[H"); // Home terminal screen
+ blueTooth.printf("Main Loop Start.\r\n");
+ blueTooth.printf("MAIN: Battery Voltage:\t%1.2f\r\n", base.battery());
+
+ pid.dumpDebug(&blueTooth);
+ irController.dumpDebug(&blueTooth);
+
+ power = irController.getPower();
+
+
+ right = speed - power;
+ left = speed + power;
+
+ if (right < -max)
+ right = -max;
+ if (right > max)
+ right = max;
+
+ if (left < -max)
+ left = -max;
+ if (left > max)
+ left = max;
+
+ blueTooth.printf("MAIN: power = %3.2f\r\n", power);
+ blueTooth.printf("MAIN: speed = %3.2f\r\n", speed);
+ blueTooth.printf("MAIN: left = %3.2f\r\n", left);
+ blueTooth.printf("MAIN: right = %3.2f\r\n", right);
+
+ base.left_motor(left);
+ base.right_motor(right);
+
+ blueTooth.printf("Main Loop End.\r\n");
+ wait(0.1);
+ };
+
+// testIRObjDet();
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.lib Wed Apr 04 17:07:49 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/projects/libraries/svn/mbed/trunk@43 \ No newline at end of file