Ad van der Weiden / Mbed 2 deprecated tcpft

Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.

Dependencies:   mbed ConfigFile

rs485.cpp@0:7f26f0680202, 2010-12-31 (annotated)

Committer:
networker
Date:
Fri Dec 31 14:01:14 2010 +0000
Revision:
0:7f26f0680202
initial release: comprises ftlib (no usb), ft-over-ip socket server, and the http server (the html page and java jar I still have to publish somewhere)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
networker 0:7f26f0680202 1 #include "mbed.h"
networker 0:7f26f0680202 2 #include "data.h"
networker 0:7f26f0680202 3
networker 0:7f26f0680202 4 #define TXMODE true /* level of eg. MAX485 input to switch to transmit mode */
networker 0:7f26f0680202 5 #define RXMODE (!TXMODE)
networker 0:7f26f0680202 6
networker 0:7f26f0680202 7 class rs485: public Serial, DigitalOut { //since communication is half duplex we use only one buffer for both reading and writing
networker 0:7f26f0680202 8 char *buffer;
networker 0:7f26f0680202 9 int index, length; //index is the buffer pointer, length is the length of the buffer
networker 0:7f26f0680202 10 //bool receiving;
networker 0:7f26f0680202 11 bool _done;
networker 0:7f26f0680202 12 virtual void rx() { //ISR that stashes bytes until the buffer is full and then disables itself
networker 0:7f26f0680202 13 //if (!receiving)return;
networker 0:7f26f0680202 14 if (index<length)
networker 0:7f26f0680202 15 buffer[index++] = getc();
networker 0:7f26f0680202 16 else {
networker 0:7f26f0680202 17 //receiving = false;
networker 0:7f26f0680202 18 attach(0);
networker 0:7f26f0680202 19 _done = true;
networker 0:7f26f0680202 20 }
networker 0:7f26f0680202 21 }
networker 0:7f26f0680202 22 virtual void tx() { //ISR that sends out the entire buffer and then switches to receive mode
networker 0:7f26f0680202 23 if (index<length)
networker 0:7f26f0680202 24 putc(buffer[index++]);
networker 0:7f26f0680202 25 else {
networker 0:7f26f0680202 26 DigitalOut::write(RXMODE);
networker 0:7f26f0680202 27 attach(this,&rs485::rx, RxIrq);
networker 0:7f26f0680202 28 _done = true;
networker 0:7f26f0680202 29 }
networker 0:7f26f0680202 30 }
networker 0:7f26f0680202 31 public:
networker 0:7f26f0680202 32 enum mode_t { rec, trans};
networker 0:7f26f0680202 33 rs485(PinName out, PinName in, PinName dir): Serial(out, in), DigitalOut(dir) {
networker 0:7f26f0680202 34 //attach(this, rx, RxIrq);
networker 0:7f26f0680202 35 attach(this, &rs485::tx, TxIrq);
networker 0:7f26f0680202 36 DigitalOut::write(RXMODE);
networker 0:7f26f0680202 37 buffer = 0;
networker 0:7f26f0680202 38 length = 0;
networker 0:7f26f0680202 39 //receiving = false;
networker 0:7f26f0680202 40 }
networker 0:7f26f0680202 41 //void init(int br) {}
networker 0:7f26f0680202 42 void send(char *buf, int len) {
networker 0:7f26f0680202 43 DigitalOut::write(TXMODE);
networker 0:7f26f0680202 44 buffer = buf;
networker 0:7f26f0680202 45 length = len;
networker 0:7f26f0680202 46 putc(*buffer);
networker 0:7f26f0680202 47 index = 1;
networker 0:7f26f0680202 48 }
networker 0:7f26f0680202 49 void receive(char *buf, int len) {
networker 0:7f26f0680202 50 buffer = buf;
networker 0:7f26f0680202 51 length = len;
networker 0:7f26f0680202 52 //receiving = true;
networker 0:7f26f0680202 53 attach(this,&rs485::rx, RxIrq);
networker 0:7f26f0680202 54 }
networker 0:7f26f0680202 55 bool done() {
networker 0:7f26f0680202 56 bool tmp = _done;
networker 0:7f26f0680202 57 _done=false;
networker 0:7f26f0680202 58 return tmp;
networker 0:7f26f0680202 59 }
networker 0:7f26f0680202 60 void setmode(enum mode_t m) {
networker 0:7f26f0680202 61 if (m==rec)
networker 0:7f26f0680202 62 DigitalOut::write(RXMODE);
networker 0:7f26f0680202 63 else
networker 0:7f26f0680202 64 DigitalOut::write(TXMODE);
networker 0:7f26f0680202 65 }
networker 0:7f26f0680202 66 };
networker 0:7f26f0680202 67
networker 0:7f26f0680202 68
networker 0:7f26f0680202 69 //class specialized for use with the fischertechnik TXC
networker 0:7f26f0680202 70 class TXC_rs485: public rs485 {
networker 0:7f26f0680202 71 message *msg; //pointer to a TXC message buffer
networker 0:7f26f0680202 72 char *wp; //pointer where the receiver will write the data
networker 0:7f26f0680202 73 int rpos; //index where the transmitter will read the data
networker 0:7f26f0680202 74 virtual void rx(); //ISR
networker 0:7f26f0680202 75 virtual void tx(); //ISR
networker 0:7f26f0680202 76 char state; //receiver state
networker 0:7f26f0680202 77 int rs485_timeout; // a timeout period, intended to reset the receiver when interrupts stop before the end of a message
networker 0:7f26f0680202 78 int tx_message; //the destination of a received message, i.e. the slave address
networker 0:7f26f0680202 79 public:
networker 0:7f26f0680202 80 TXC_rs485(PinName out, PinName in, PinName dir): rs485(out, in, dir) {
networker 0:7f26f0680202 81 baud(921600);
networker 0:7f26f0680202 82 }
networker 0:7f26f0680202 83 void receive(message *m) {
networker 0:7f26f0680202 84 state = 0;
networker 0:7f26f0680202 85 msg = m;
networker 0:7f26f0680202 86 wp = (char*)&msg->hdr.snd;
networker 0:7f26f0680202 87 }
networker 0:7f26f0680202 88 void send(message *m) {
networker 0:7f26f0680202 89 #if 1
networker 0:7f26f0680202 90 rs485::send((char*)m, BYTES(msg)+7);//use base class for transmission
networker 0:7f26f0680202 91 #else
networker 0:7f26f0680202 92 rpos = 0;
networker 0:7f26f0680202 93 msg = m;
networker 0:7f26f0680202 94 //set RS485 tranceiver in send mode
networker 0:7f26f0680202 95 setmode(trans);
networker 0:7f26f0680202 96 //disable rx interrupt
networker 0:7f26f0680202 97 attach(0);
networker 0:7f26f0680202 98 //enable tx interrupt, will immediately generate int
networker 0:7f26f0680202 99 attach(this, &TXC_rs485::tx, TxIrq);
networker 0:7f26f0680202 100 //kick off transmission
networker 0:7f26f0680202 101 // putc((char*)msg)[rpos++];//not necessary, will start by itself
networker 0:7f26f0680202 102 rs485_timeout = sizeof(message)/8; //just a precaution, transmit should not timeout, timeout is approx. 110% of expected time
networker 0:7f26f0680202 103 #endif
networker 0:7f26f0680202 104 }
networker 0:7f26f0680202 105
networker 0:7f26f0680202 106 int Slave(bool clear=false) {//return the destination of the received packet, functions also as reception complete flag, is <0 when not yet available
networker 0:7f26f0680202 107 int tmp = tx_message;
networker 0:7f26f0680202 108 if (clear)
networker 0:7f26f0680202 109 tx_message = -3;
networker 0:7f26f0680202 110 return tmp;
networker 0:7f26f0680202 111 }
networker 0:7f26f0680202 112 void timeout();
networker 0:7f26f0680202 113 };
networker 0:7f26f0680202 114
networker 0:7f26f0680202 115 void TXC_rs485::rx() {
networker 0:7f26f0680202 116 // SETPIN12;
networker 0:7f26f0680202 117 char data;
networker 0:7f26f0680202 118 do {
networker 0:7f26f0680202 119 data = getc();
networker 0:7f26f0680202 120 rs485_timeout = 2;//set a timeout of 100-200us equiv. to 10-20 bytes
networker 0:7f26f0680202 121 switch (state) {
networker 0:7f26f0680202 122 case 0: //idle
networker 0:7f26f0680202 123 if (data == 0x02)//stx
networker 0:7f26f0680202 124 state = 1;
networker 0:7f26f0680202 125 break;
networker 0:7f26f0680202 126 case 1: //stx
networker 0:7f26f0680202 127 if (data == 0x55)
networker 0:7f26f0680202 128 state = 2;
networker 0:7f26f0680202 129 else
networker 0:7f26f0680202 130 state = 0;
networker 0:7f26f0680202 131 break;
networker 0:7f26f0680202 132 case 2://length H, high byte comes first
networker 0:7f26f0680202 133 msg->hdr.bytesL = data;
networker 0:7f26f0680202 134 //length = (unsigned)data<<8;
networker 0:7f26f0680202 135 state = 3;
networker 0:7f26f0680202 136 break;
networker 0:7f26f0680202 137 case 3://length L, low byte
networker 0:7f26f0680202 138 msg->hdr.bytesH = data;
networker 0:7f26f0680202 139 //length += data;
networker 0:7f26f0680202 140 if (msg->hdr.bytes > sizeof(msg)-7)
networker 0:7f26f0680202 141 state = 0; //message structure cannot accomodate message this size
networker 0:7f26f0680202 142 else
networker 0:7f26f0680202 143 state = 4;
networker 0:7f26f0680202 144 break;
networker 0:7f26f0680202 145 case 4://store
networker 0:7f26f0680202 146 *wp++ = data;
networker 0:7f26f0680202 147 if (wp >= ((char*)&msg->hdr.snd + sizeof(trailer)) + msg->hdr.bytes
networker 0:7f26f0680202 148 && wp <= (char*)msg + sizeof(message) + 1
networker 0:7f26f0680202 149 ) { //message complete
networker 0:7f26f0680202 150 wp = (char*)&msg->hdr.snd;//ready for next message to receive
networker 0:7f26f0680202 151 rs485_timeout = 0;
networker 0:7f26f0680202 152 tx_message = msg->hdr.rec - 3;//slave address tx_message==0 means Ext.1 etc
networker 0:7f26f0680202 153 if (tx_message >= 0) {
networker 0:7f26f0680202 154 attach(0); //disable rec to avoid corruption by new messages
networker 0:7f26f0680202 155 }
networker 0:7f26f0680202 156 state = 0;
networker 0:7f26f0680202 157 }
networker 0:7f26f0680202 158 break;
networker 0:7f26f0680202 159 default:
networker 0:7f26f0680202 160 break;
networker 0:7f26f0680202 161 }
networker 0:7f26f0680202 162 } while (readable()); //see if another char is available, now it is fast enough so this is normally not the case
networker 0:7f26f0680202 163 // CLRPIN12;
networker 0:7f26f0680202 164 }
networker 0:7f26f0680202 165
networker 0:7f26f0680202 166 void TXC_rs485::tx() {// SETPIN12;
networker 0:7f26f0680202 167 if (rpos > BYTES(msg)+7) { //last byte was sent
networker 0:7f26f0680202 168 attach(0, TxIrq); //disable tx int
networker 0:7f26f0680202 169 attach(this,&TXC_rs485::rx, RxIrq); //re-enable rx int
networker 0:7f26f0680202 170 rs485_timeout = 0;
networker 0:7f26f0680202 171 } else//send 1 byte too many in order to detect that the etx char was sent
networker 0:7f26f0680202 172 putc(((char*)msg)[rpos++]);
networker 0:7f26f0680202 173 // CLRPIN12;
networker 0:7f26f0680202 174 }
networker 0:7f26f0680202 175
networker 0:7f26f0680202 176 void TXC_rs485::timeout() {
networker 0:7f26f0680202 177 //SETPIN12;
networker 0:7f26f0680202 178 //reset receiver
networker 0:7f26f0680202 179 wp = (char*)&msg->hdr.snd;
networker 0:7f26f0680202 180 state = 0;
networker 0:7f26f0680202 181 //reset transmitter
networker 0:7f26f0680202 182 rpos = 0;
networker 0:7f26f0680202 183 setmode(rec);
networker 0:7f26f0680202 184 attach(0, TxIrq); //disable tx int
networker 0:7f26f0680202 185 attach(this,&TXC_rs485::rx, RxIrq); //re-enable rx int
networker 0:7f26f0680202 186 //CLRPIN12;
networker 0:7f26f0680202 187 }