Dave Lu / FYDP_Final2

Only imu output

Dependencies:   Servo mbed

Fork of FYDP_Final2 by Mark Vandermeulen

mbed/MODSERIAL/MODSERIAL.cpp@5:d2e955a94940, 2015-03-25 (annotated)

Committer:
tntmarket
Date:
Wed Mar 25 09:58:50 2015 +0000
Revision:
5:d2e955a94940
Parent:
0:21019d94ad33 
only imu output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 /*
majik 0:21019d94ad33 2 Copyright (c) 2010 Andy Kirkham
majik 0:21019d94ad33 3
majik 0:21019d94ad33 4 Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:21019d94ad33 5 of this software and associated documentation files (the "Software"), to deal
majik 0:21019d94ad33 6 in the Software without restriction, including without limitation the rights
majik 0:21019d94ad33 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:21019d94ad33 8 copies of the Software, and to permit persons to whom the Software is
majik 0:21019d94ad33 9 furnished to do so, subject to the following conditions:
majik 0:21019d94ad33 10
majik 0:21019d94ad33 11 The above copyright notice and this permission notice shall be included in
majik 0:21019d94ad33 12 all copies or substantial portions of the Software.
majik 0:21019d94ad33 13
majik 0:21019d94ad33 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:21019d94ad33 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:21019d94ad33 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:21019d94ad33 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:21019d94ad33 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:21019d94ad33 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:21019d94ad33 20 THE SOFTWARE.
majik 0:21019d94ad33 21
majik 0:21019d94ad33 22 @file MODSERIAL.h
majik 0:21019d94ad33 23 @purpose Extends Serial to provide fully buffered IO
majik 0:21019d94ad33 24 @version 1.6
majik 0:21019d94ad33 25 @date Nov 2010
majik 0:21019d94ad33 26 @author Andy Kirkham
majik 0:21019d94ad33 27 */
majik 0:21019d94ad33 28
majik 0:21019d94ad33 29 #include "MODSERIAL.h"
majik 0:21019d94ad33 30 #include "MACROS.h"
majik 0:21019d94ad33 31
majik 0:21019d94ad33 32 namespace AjK {
majik 0:21019d94ad33 33
majik 0:21019d94ad33 34 MODSERIAL::MODSERIAL( PinName tx, PinName rx, const char* name ) : Serial( tx, rx, name )
majik 0:21019d94ad33 35 {
majik 0:21019d94ad33 36 init( MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE, rx );
majik 0:21019d94ad33 37 }
majik 0:21019d94ad33 38
majik 0:21019d94ad33 39 MODSERIAL::MODSERIAL( PinName tx, PinName rx, int bufferSize, const char* name ) : Serial( tx, rx, name )
majik 0:21019d94ad33 40 {
majik 0:21019d94ad33 41 init( bufferSize, bufferSize, rx );
majik 0:21019d94ad33 42 }
majik 0:21019d94ad33 43
majik 0:21019d94ad33 44 MODSERIAL::MODSERIAL( PinName tx, PinName rx, int txSize, int rxSize, const char* name ) : Serial( tx, rx, name )
majik 0:21019d94ad33 45 {
majik 0:21019d94ad33 46 init( txSize, rxSize, rx );
majik 0:21019d94ad33 47 }
majik 0:21019d94ad33 48
majik 0:21019d94ad33 49 MODSERIAL::~MODSERIAL()
majik 0:21019d94ad33 50 {
majik 0:21019d94ad33 51 NVIC_DisableIRQ(_IRQ);
majik 0:21019d94ad33 52 if ( buffer[0] != NULL) free((char *)buffer[0] );
majik 0:21019d94ad33 53 if ( buffer[1] != NULL) free((char *)buffer[1] );
majik 0:21019d94ad33 54 }
majik 0:21019d94ad33 55
majik 0:21019d94ad33 56 bool MODSERIAL::txBufferFull( void )
majik 0:21019d94ad33 57 {
majik 0:21019d94ad33 58 return MODSERIAL_TX_BUFFER_FULL;
majik 0:21019d94ad33 59 }
majik 0:21019d94ad33 60
majik 0:21019d94ad33 61 bool MODSERIAL::rxBufferFull( void )
majik 0:21019d94ad33 62 {
majik 0:21019d94ad33 63 return MODSERIAL_RX_BUFFER_FULL;
majik 0:21019d94ad33 64 }
majik 0:21019d94ad33 65
majik 0:21019d94ad33 66 bool MODSERIAL::txBufferEmpty( void )
majik 0:21019d94ad33 67 {
majik 0:21019d94ad33 68 return MODSERIAL_TX_BUFFER_EMPTY;
majik 0:21019d94ad33 69 }
majik 0:21019d94ad33 70
majik 0:21019d94ad33 71 bool MODSERIAL::rxBufferEmpty( void )
majik 0:21019d94ad33 72 {
majik 0:21019d94ad33 73 return MODSERIAL_RX_BUFFER_EMPTY;
majik 0:21019d94ad33 74 }
majik 0:21019d94ad33 75
majik 0:21019d94ad33 76
majik 0:21019d94ad33 77 int MODSERIAL::rxDiscardLastChar( void )
majik 0:21019d94ad33 78 {
majik 0:21019d94ad33 79 // This function can only be called indirectly from
majik 0:21019d94ad33 80 // an rxCallback function. Therefore, we know we
majik 0:21019d94ad33 81 // just placed a char into the buffer.
majik 0:21019d94ad33 82 char c = buffer[RxIrq][buffer_in[RxIrq]];
majik 0:21019d94ad33 83
majik 0:21019d94ad33 84 if (buffer_count[RxIrq]) {
majik 0:21019d94ad33 85 buffer_count[RxIrq]--;
majik 0:21019d94ad33 86 buffer_in[RxIrq]--;
majik 0:21019d94ad33 87 if (buffer_in[RxIrq] < 0) {
majik 0:21019d94ad33 88 buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
majik 0:21019d94ad33 89 }
majik 0:21019d94ad33 90 }
majik 0:21019d94ad33 91
majik 0:21019d94ad33 92 return (int)c;
majik 0:21019d94ad33 93 }
majik 0:21019d94ad33 94
majik 0:21019d94ad33 95
majik 0:21019d94ad33 96 bool MODSERIAL::claim (FILE *stream) {
majik 0:21019d94ad33 97 if ( _name == NULL) {
majik 0:21019d94ad33 98 error("claim requires a name to be given in the instantiator of the MODSERIAL instance!\r\n");
majik 0:21019d94ad33 99 }
majik 0:21019d94ad33 100
majik 0:21019d94ad33 101 //Add '/' before name:
majik 0:21019d94ad33 102 char *path = new char[strlen(_name) + 2];
majik 0:21019d94ad33 103 sprintf(path, "/%s", _name);
majik 0:21019d94ad33 104
majik 0:21019d94ad33 105 if (freopen(path, "w", stream) == NULL) {
majik 0:21019d94ad33 106 // Failed, should not happen
majik 0:21019d94ad33 107 return false;
majik 0:21019d94ad33 108 }
majik 0:21019d94ad33 109
majik 0:21019d94ad33 110 delete(path);
majik 0:21019d94ad33 111
majik 0:21019d94ad33 112 //No buffering
majik 0:21019d94ad33 113 setvbuf(stdout, NULL, _IONBF, buffer_size[TxIrq]);
majik 0:21019d94ad33 114 return true;
majik 0:21019d94ad33 115 }
majik 0:21019d94ad33 116
majik 0:21019d94ad33 117
majik 0:21019d94ad33 118
majik 0:21019d94ad33 119 }; // namespace AjK ends