Paul Paterson / Mbed 2 deprecated ppCANOpen_Example

I am no longer actively working on the ppCANOpen library, however, I want to publish this project so that anyone who wants to pick up any of the pieces can have a good example. This is a a project I was working on using the ppCANOpen library. It has a pretty in deep use of the object dictionary structure. And a number of functions to control high voltage pinball drivers, if you're into that sort of thing.

Dependencies:   CANnucleo mbed ppCANOpen

Application/source/SerialBuffered.cpp@10:ec59d628ebdc, 2016-03-19 (annotated)

Committer:
ptpaterson
Date:
Sat Mar 19 01:44:35 2016 +0000
Revision:
10:ec59d628ebdc
Final Submission (probs)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ptpaterson 10:ec59d628ebdc 1 #include "mbed.h"
ptpaterson 10:ec59d628ebdc 2 #include "SerialBuffered.h"
ptpaterson 10:ec59d628ebdc 3
ptpaterson 10:ec59d628ebdc 4 /**
ptpaterson 10:ec59d628ebdc 5 * Create a buffered serial class.
ptpaterson 10:ec59d628ebdc 6 *
ptpaterson 10:ec59d628ebdc 7 * @param tx A pin for transmit.
ptpaterson 10:ec59d628ebdc 8 * @param rx A pin for receive.
ptpaterson 10:ec59d628ebdc 9 */
ptpaterson 10:ec59d628ebdc 10 SerialBuffered::SerialBuffered(PinName tx, PinName rx) : Serial(tx, rx) {
ptpaterson 10:ec59d628ebdc 11 indexContentStart = 0;
ptpaterson 10:ec59d628ebdc 12 indexContentEnd = 0;
ptpaterson 10:ec59d628ebdc 13 timeout = 1;
ptpaterson 10:ec59d628ebdc 14 attach(this, &SerialBuffered::handleInterrupt);
ptpaterson 10:ec59d628ebdc 15 }
ptpaterson 10:ec59d628ebdc 16
ptpaterson 10:ec59d628ebdc 17 /**
ptpaterson 10:ec59d628ebdc 18 * Destroy.
ptpaterson 10:ec59d628ebdc 19 */
ptpaterson 10:ec59d628ebdc 20 SerialBuffered::~SerialBuffered() {
ptpaterson 10:ec59d628ebdc 21 }
ptpaterson 10:ec59d628ebdc 22
ptpaterson 10:ec59d628ebdc 23 /**
ptpaterson 10:ec59d628ebdc 24 * Set timeout for getc().
ptpaterson 10:ec59d628ebdc 25 *
ptpaterson 10:ec59d628ebdc 26 * @param ms milliseconds. (-1:Disable timeout)
ptpaterson 10:ec59d628ebdc 27 */
ptpaterson 10:ec59d628ebdc 28 void SerialBuffered::setTimeout(int ms) {
ptpaterson 10:ec59d628ebdc 29 timeout = ms;
ptpaterson 10:ec59d628ebdc 30 }
ptpaterson 10:ec59d628ebdc 31
ptpaterson 10:ec59d628ebdc 32 /**
ptpaterson 10:ec59d628ebdc 33 * Read requested bytes.
ptpaterson 10:ec59d628ebdc 34 *
ptpaterson 10:ec59d628ebdc 35 * @param bytes A pointer to a buffer.
ptpaterson 10:ec59d628ebdc 36 * @param requested Length.
ptpaterson 10:ec59d628ebdc 37 *
ptpaterson 10:ec59d628ebdc 38 * @return Readed byte length.
ptpaterson 10:ec59d628ebdc 39 */
ptpaterson 10:ec59d628ebdc 40 size_t SerialBuffered::readBytes(uint8_t *bytes, size_t requested) {
ptpaterson 10:ec59d628ebdc 41 int i = 0;
ptpaterson 10:ec59d628ebdc 42 while (i < requested) {
ptpaterson 10:ec59d628ebdc 43 int c = getc();
ptpaterson 10:ec59d628ebdc 44 if (c < 0) {
ptpaterson 10:ec59d628ebdc 45 break;
ptpaterson 10:ec59d628ebdc 46 }
ptpaterson 10:ec59d628ebdc 47 bytes[i] = c;
ptpaterson 10:ec59d628ebdc 48 i++;
ptpaterson 10:ec59d628ebdc 49 }
ptpaterson 10:ec59d628ebdc 50 return i;
ptpaterson 10:ec59d628ebdc 51 }
ptpaterson 10:ec59d628ebdc 52
ptpaterson 10:ec59d628ebdc 53 /**
ptpaterson 10:ec59d628ebdc 54 * Get a character.
ptpaterson 10:ec59d628ebdc 55 *
ptpaterson 10:ec59d628ebdc 56 * @return A character. (-1:timeout)
ptpaterson 10:ec59d628ebdc 57 */
ptpaterson 10:ec59d628ebdc 58 int SerialBuffered::getc() {
ptpaterson 10:ec59d628ebdc 59 timer.reset();
ptpaterson 10:ec59d628ebdc 60 timer.start();
ptpaterson 10:ec59d628ebdc 61 while (indexContentStart == indexContentEnd) {
ptpaterson 10:ec59d628ebdc 62 wait_ms(1);
ptpaterson 10:ec59d628ebdc 63 if ((timeout > 0) && (timer.read_ms() > timeout)) {
ptpaterson 10:ec59d628ebdc 64 /*
ptpaterson 10:ec59d628ebdc 65 * Timeout occured.
ptpaterson 10:ec59d628ebdc 66 */
ptpaterson 10:ec59d628ebdc 67 // printf("Timeout occured.\n");
ptpaterson 10:ec59d628ebdc 68 return EOF;
ptpaterson 10:ec59d628ebdc 69 }
ptpaterson 10:ec59d628ebdc 70 }
ptpaterson 10:ec59d628ebdc 71 timer.stop();
ptpaterson 10:ec59d628ebdc 72
ptpaterson 10:ec59d628ebdc 73 uint8_t result = buffer[indexContentStart++];
ptpaterson 10:ec59d628ebdc 74 indexContentStart = indexContentStart % BUFFERSIZE;
ptpaterson 10:ec59d628ebdc 75
ptpaterson 10:ec59d628ebdc 76 return result;
ptpaterson 10:ec59d628ebdc 77 }
ptpaterson 10:ec59d628ebdc 78
ptpaterson 10:ec59d628ebdc 79 /**
ptpaterson 10:ec59d628ebdc 80 * Returns 1 if there is a character available to read, 0 otherwise.
ptpaterson 10:ec59d628ebdc 81 */
ptpaterson 10:ec59d628ebdc 82 int SerialBuffered::readable() {
ptpaterson 10:ec59d628ebdc 83 return indexContentStart != indexContentEnd;
ptpaterson 10:ec59d628ebdc 84 }
ptpaterson 10:ec59d628ebdc 85
ptpaterson 10:ec59d628ebdc 86 void SerialBuffered::handleInterrupt() {
ptpaterson 10:ec59d628ebdc 87 while (Serial::readable()) {
ptpaterson 10:ec59d628ebdc 88 if (indexContentStart == ((indexContentEnd + 1) % BUFFERSIZE)) {
ptpaterson 10:ec59d628ebdc 89 /*
ptpaterson 10:ec59d628ebdc 90 * Buffer overrun occured.
ptpaterson 10:ec59d628ebdc 91 */
ptpaterson 10:ec59d628ebdc 92 // printf("Buffer overrun occured.\n");
ptpaterson 10:ec59d628ebdc 93 Serial::getc();
ptpaterson 10:ec59d628ebdc 94 } else {
ptpaterson 10:ec59d628ebdc 95 buffer[indexContentEnd++] = Serial::getc();
ptpaterson 10:ec59d628ebdc 96 indexContentEnd = indexContentEnd % BUFFERSIZE;
ptpaterson 10:ec59d628ebdc 97 }
ptpaterson 10:ec59d628ebdc 98 }
ptpaterson 10:ec59d628ebdc 99 }