hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

BufferedSerial/BufferedSerial.cpp@36:94dc027e05cd, 2015-12-07 (annotated)

Committer:
taurin
Date:
Mon Dec 07 02:11:56 2015 +0000
Revision:
36:94dc027e05cd
Parent:
34:4bda9af9a0cd 
MPU?HMC??????ver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
onaka 6:2b68f85a984a 1 /**
onaka 6:2b68f85a984a 2 * @file BufferedSerial.cpp
onaka 6:2b68f85a984a 3 * @brief Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX
onaka 6:2b68f85a984a 4 * @author sam grove
onaka 6:2b68f85a984a 5 * @version 1.0
onaka 6:2b68f85a984a 6 * @see
onaka 6:2b68f85a984a 7 *
onaka 6:2b68f85a984a 8 * Copyright (c) 2013
onaka 6:2b68f85a984a 9 *
onaka 6:2b68f85a984a 10 * Licensed under the Apache License, Version 2.0 (the "License");
onaka 6:2b68f85a984a 11 * you may not use this file except in compliance with the License.
onaka 6:2b68f85a984a 12 * You may obtain a copy of the License at
onaka 6:2b68f85a984a 13 *
onaka 6:2b68f85a984a 14 * http://www.apache.org/licenses/LICENSE-2.0
onaka 6:2b68f85a984a 15 *
onaka 6:2b68f85a984a 16 * Unless required by applicable law or agreed to in writing, software
onaka 6:2b68f85a984a 17 * distributed under the License is distributed on an "AS IS" BASIS,
onaka 6:2b68f85a984a 18 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
onaka 6:2b68f85a984a 19 * See the License for the specific language governing permissions and
onaka 6:2b68f85a984a 20 * limitations under the License.
onaka 6:2b68f85a984a 21 */
onaka 6:2b68f85a984a 22
onaka 6:2b68f85a984a 23 #include "BufferedSerial.h"
onaka 6:2b68f85a984a 24 #include <stdarg.h>
onaka 6:2b68f85a984a 25
onaka 6:2b68f85a984a 26 BufferedSerial::BufferedSerial(PinName tx, PinName rx, PinName cts, uint32_t buf_size, uint32_t tx_multiple, const char* name)
onaka 6:2b68f85a984a 27 : SERIAL_BASE(tx, rx) , _cts(cts), _rxbuf(buf_size), _txbuf((uint32_t)(tx_multiple*buf_size))
onaka 6:2b68f85a984a 28 {
onaka 6:2b68f85a984a 29 SERIAL_BASE::attach(this, &BufferedSerial::rxIrq, Serial::RxIrq);
onaka 6:2b68f85a984a 30 this->_buf_size = buf_size;
onaka 6:2b68f85a984a 31 this->_tx_multiple = tx_multiple;
onaka 6:2b68f85a984a 32
onaka 6:2b68f85a984a 33 _cts.fall(this, &BufferedSerial::ctsInterrupt);
onaka 6:2b68f85a984a 34 return;
onaka 6:2b68f85a984a 35 }
onaka 6:2b68f85a984a 36
onaka 6:2b68f85a984a 37 BufferedSerial::~BufferedSerial(void)
onaka 6:2b68f85a984a 38 {
onaka 6:2b68f85a984a 39 SERIAL_BASE::attach(NULL, SERIAL_BASE::RxIrq);
onaka 6:2b68f85a984a 40 SERIAL_BASE::attach(NULL, SERIAL_BASE::TxIrq);
onaka 6:2b68f85a984a 41
onaka 6:2b68f85a984a 42 return;
onaka 6:2b68f85a984a 43 }
onaka 6:2b68f85a984a 44
onaka 6:2b68f85a984a 45 int BufferedSerial::readable(void)
onaka 6:2b68f85a984a 46 {
onaka 6:2b68f85a984a 47 return _rxbuf.available(); // note: look if things are in the buffer
onaka 6:2b68f85a984a 48 }
onaka 6:2b68f85a984a 49
onaka 6:2b68f85a984a 50 int BufferedSerial::writeable(void)
onaka 6:2b68f85a984a 51 {
onaka 6:2b68f85a984a 52 return 1; // buffer allows overwriting by design, always true
onaka 6:2b68f85a984a 53 }
onaka 6:2b68f85a984a 54
onaka 6:2b68f85a984a 55 int BufferedSerial::getc(void)
onaka 6:2b68f85a984a 56 {
onaka 6:2b68f85a984a 57 return _rxbuf;
onaka 6:2b68f85a984a 58 }
onaka 6:2b68f85a984a 59
onaka 6:2b68f85a984a 60 int BufferedSerial::putc(int c)
onaka 6:2b68f85a984a 61 {
onaka 6:2b68f85a984a 62 _txbuf = (char)c;
onaka 6:2b68f85a984a 63 BufferedSerial::prime();
onaka 6:2b68f85a984a 64
onaka 6:2b68f85a984a 65 return c;
onaka 6:2b68f85a984a 66 }
onaka 6:2b68f85a984a 67
onaka 6:2b68f85a984a 68 int BufferedSerial::puts(const char *s)
onaka 6:2b68f85a984a 69 {
onaka 6:2b68f85a984a 70 if (s != NULL) {
onaka 6:2b68f85a984a 71 const char* ptr = s;
onaka 6:2b68f85a984a 72
onaka 6:2b68f85a984a 73 while(*(ptr) != 0) {
onaka 6:2b68f85a984a 74 _txbuf = *(ptr++);
onaka 6:2b68f85a984a 75 }
onaka 6:2b68f85a984a 76 _txbuf = '\n'; // done per puts definition
onaka 6:2b68f85a984a 77 BufferedSerial::prime();
onaka 6:2b68f85a984a 78
onaka 6:2b68f85a984a 79 return (ptr - s) + 1;
onaka 6:2b68f85a984a 80 }
onaka 6:2b68f85a984a 81 return 0;
onaka 6:2b68f85a984a 82 }
onaka 6:2b68f85a984a 83
onaka 6:2b68f85a984a 84 int BufferedSerial::printf(const char* format, ...)
onaka 6:2b68f85a984a 85 {
onaka 6:2b68f85a984a 86 char buffer[this->_buf_size];
onaka 6:2b68f85a984a 87 memset(buffer,0,this->_buf_size);
onaka 6:2b68f85a984a 88 int r = 0;
onaka 6:2b68f85a984a 89
onaka 6:2b68f85a984a 90 va_list arg;
onaka 6:2b68f85a984a 91 va_start(arg, format);
onaka 6:2b68f85a984a 92 r = vsprintf(buffer, format, arg);
onaka 6:2b68f85a984a 93 // this may not hit the heap but should alert the user anyways
onaka 6:2b68f85a984a 94 if(r > this->_buf_size) {
onaka 6:2b68f85a984a 95 error("%s %d buffer overwrite (max_buf_size: %d exceeded: %d)!\r\n", __FILE__, __LINE__,this->_buf_size,r);
onaka 6:2b68f85a984a 96 va_end(arg);
onaka 6:2b68f85a984a 97 return 0;
onaka 6:2b68f85a984a 98 }
onaka 6:2b68f85a984a 99 va_end(arg);
onaka 6:2b68f85a984a 100 r = BufferedSerial::write(buffer, r);
onaka 6:2b68f85a984a 101
onaka 6:2b68f85a984a 102 return r;
onaka 6:2b68f85a984a 103 }
onaka 6:2b68f85a984a 104
onaka 6:2b68f85a984a 105 ssize_t BufferedSerial::write(const void *s, size_t length)
onaka 6:2b68f85a984a 106 {
onaka 6:2b68f85a984a 107 if (s != NULL && length > 0) {
onaka 6:2b68f85a984a 108 const char* ptr = (const char*)s;
onaka 6:2b68f85a984a 109 const char* end = ptr + length;
onaka 6:2b68f85a984a 110
onaka 6:2b68f85a984a 111 while (ptr != end) {
onaka 6:2b68f85a984a 112 _txbuf = *(ptr++);
onaka 6:2b68f85a984a 113 }
onaka 6:2b68f85a984a 114 BufferedSerial::prime();
onaka 6:2b68f85a984a 115
onaka 6:2b68f85a984a 116 return ptr - (const char*)s;
onaka 6:2b68f85a984a 117 }
onaka 6:2b68f85a984a 118 return 0;
onaka 6:2b68f85a984a 119 }
onaka 6:2b68f85a984a 120
onaka 6:2b68f85a984a 121
onaka 6:2b68f85a984a 122 void BufferedSerial::rxIrq(void)
onaka 6:2b68f85a984a 123 {
onaka 6:2b68f85a984a 124 // read from the peripheral and make sure something is available
onaka 6:2b68f85a984a 125 if(serial_readable(&_serial)) {
onaka 6:2b68f85a984a 126 _rxbuf = serial_getc(&_serial); // if so load them into a buffer
onaka 6:2b68f85a984a 127 }
onaka 6:2b68f85a984a 128
onaka 6:2b68f85a984a 129 return;
onaka 6:2b68f85a984a 130 }
onaka 6:2b68f85a984a 131
onaka 6:2b68f85a984a 132 void BufferedSerial::txIrq(void)
onaka 6:2b68f85a984a 133 {
onaka 6:2b68f85a984a 134 // see if there is room in the hardware fifo and if something is in the software fifo
onaka 28:d993f3bbe302 135 while(serial_writable(&_serial) && checkCTS()) {
onaka 6:2b68f85a984a 136 if(_txbuf.available()) {
onaka 6:2b68f85a984a 137 serial_putc(&_serial, (int)_txbuf.get());
onaka 6:2b68f85a984a 138 } else {
onaka 6:2b68f85a984a 139 // disable the TX interrupt when there is nothing left to send
onaka 6:2b68f85a984a 140 SERIAL_BASE::attach(NULL, SERIAL_BASE::TxIrq);
onaka 6:2b68f85a984a 141 break;
onaka 6:2b68f85a984a 142 }
onaka 6:2b68f85a984a 143 }
onaka 6:2b68f85a984a 144
onaka 6:2b68f85a984a 145 return;
onaka 6:2b68f85a984a 146 }
onaka 6:2b68f85a984a 147
onaka 6:2b68f85a984a 148 void BufferedSerial::prime(void)
onaka 6:2b68f85a984a 149 {
onaka 6:2b68f85a984a 150 // if already busy then the irq will pick this up
onaka 28:d993f3bbe302 151 if(serial_writable(&_serial) && checkCTS()) {
onaka 6:2b68f85a984a 152 SERIAL_BASE::attach(NULL, SERIAL_BASE::TxIrq); // make sure not to cause contention in the irq
onaka 6:2b68f85a984a 153 BufferedSerial::txIrq(); // only write to hardware in one place
onaka 6:2b68f85a984a 154 SERIAL_BASE::attach(this, &BufferedSerial::txIrq, SERIAL_BASE::TxIrq);
onaka 6:2b68f85a984a 155 }
onaka 6:2b68f85a984a 156
onaka 6:2b68f85a984a 157 return;
onaka 6:2b68f85a984a 158 }
onaka 6:2b68f85a984a 159
onaka 28:d993f3bbe302 160 bool BufferedSerial::checkCTS(void)
onaka 28:d993f3bbe302 161 {
ojan 34:4bda9af9a0cd 162 volatile static bool _send_flg=true;
onaka 28:d993f3bbe302 163 if(_send_flg) {
onaka 28:d993f3bbe302 164 _send_flg=!_cts;
onaka 28:d993f3bbe302 165 } else {
onaka 28:d993f3bbe302 166 if(_cts) {
onaka 28:d993f3bbe302 167 _cts_timer.reset();
onaka 28:d993f3bbe302 168 } else {
onaka 28:d993f3bbe302 169 if(_cts_timer.read_ms()>XBEE_WAIT_TIME) {
onaka 28:d993f3bbe302 170 _cts_timer.stop();
onaka 28:d993f3bbe302 171 _send_flg=true;
onaka 28:d993f3bbe302 172 }
onaka 28:d993f3bbe302 173 }
onaka 28:d993f3bbe302 174 }
onaka 28:d993f3bbe302 175 return _send_flg;
onaka 28:d993f3bbe302 176 }
onaka 28:d993f3bbe302 177
onaka 6:2b68f85a984a 178 void BufferedSerial::ctsInterrupt(void)
onaka 6:2b68f85a984a 179 {
onaka 28:d993f3bbe302 180 _cts_timer.reset();
onaka 28:d993f3bbe302 181 _cts_timer.start();
onaka 6:2b68f85a984a 182 BufferedSerial::prime();
onaka 6:2b68f85a984a 183 return;
onaka 6:2b68f85a984a 184 }
onaka 6:2b68f85a984a 185