Eric Wu / Mbed 2 deprecated WifiRobot

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

WifiRobot/RoombaControl/irobot/irobotUART.h@0:2deb247ab4bd, 2014-12-09 (annotated)

Committer:
wueric
Date:
Tue Dec 09 05:06:37 2014 +0000
Revision:
0:2deb247ab4bd
sharing stuff;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wueric 0:2deb247ab4bd 1 /** \file irobotUART.h
wueric 0:2deb247ab4bd 2 *
wueric 0:2deb247ab4bd 3 * UART wrappers for the iRobot Create. This library is not architecture
wueric 0:2deb247ab4bd 4 specific, so these are only wrappers for UART functions that must
wueric 0:2deb247ab4bd 5 be defined for your architecture.
wueric 0:2deb247ab4bd 6 *
wueric 0:2deb247ab4bd 7 * \author Jeff C. Jensen
wueric 0:2deb247ab4bd 8 * \date 2013-12-09
wueric 0:2deb247ab4bd 9 * \copyright Copyright (C) 2013, Jeff C. Jensen, Edward A. Lee, and Sanjit A. Seshia.
wueric 0:2deb247ab4bd 10 * This software accompanies An Introductory Lab in Embedded and Cyber-Physical Systems
wueric 0:2deb247ab4bd 11 * and is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0
wueric 0:2deb247ab4bd 12 * Unported License. See http://leeseshia.org/lab.
wueric 0:2deb247ab4bd 13
wueric 0:2deb247ab4bd 14 * Dependencies and typedef for irobotUARTPort_t modified to
wueric 0:2deb247ab4bd 15 support implementation for mbed
wueric 0:2deb247ab4bd 16 */
wueric 0:2deb247ab4bd 17
wueric 0:2deb247ab4bd 18 #ifndef _IROBOT_UART_H
wueric 0:2deb247ab4bd 19 #define _IROBOT_UART_H
wueric 0:2deb247ab4bd 20
wueric 0:2deb247ab4bd 21 #include "irobotTypes.h"
wueric 0:2deb247ab4bd 22 #include "irobotError.h"
wueric 0:2deb247ab4bd 23 #include "xqueue.h"
wueric 0:2deb247ab4bd 24 #include "mbed.h"
wueric 0:2deb247ab4bd 25 #include "TimeoutMultipleSerial.h"
wueric 0:2deb247ab4bd 26 //#include "UART.h"
wueric 0:2deb247ab4bd 27
wueric 0:2deb247ab4bd 28 /// UART port wrapper; change for your UART API
wueric 0:2deb247ab4bd 29 //typedef MyRio_Uart * irobotUARTPort_t;
wueric 0:2deb247ab4bd 30 typedef TimeoutMultipleSerial* irobotUARTPort_t;
wueric 0:2deb247ab4bd 31
wueric 0:2deb247ab4bd 32 /// Baud rate codes
wueric 0:2deb247ab4bd 33 typedef enum{
wueric 0:2deb247ab4bd 34 IROBOT_BAUD_300 = 0, ///< UART baud rate 300bps
wueric 0:2deb247ab4bd 35 IROBOT_BAUD_600 = 1, ///< UART baud rate 600bps
wueric 0:2deb247ab4bd 36 IROBOT_BAUD_1200 = 2, ///< UART baud rate 1200bps
wueric 0:2deb247ab4bd 37 IROBOT_BAUD_2400 = 3, ///< UART baud rate 2400bps
wueric 0:2deb247ab4bd 38 IROBOT_BAUD_4800 = 4, ///< UART baud rate 4800bps
wueric 0:2deb247ab4bd 39 IROBOT_BAUD_9600 = 5, ///< UART baud rate 9600bps
wueric 0:2deb247ab4bd 40 IROBOT_BAUD_14400 = 6, ///< UART baud rate 14400bps
wueric 0:2deb247ab4bd 41 IROBOT_BAUD_19200 = 7, ///< UART baud rate 19200bps
wueric 0:2deb247ab4bd 42 IROBOT_BAUD_28800 = 8, ///< UART baud rate 28800bps
wueric 0:2deb247ab4bd 43 IROBOT_BAUD_38400 = 9, ///< UART baud rate 38400bps
wueric 0:2deb247ab4bd 44 IROBOT_BAUD_57600 = 10, ///< UART baud rate 57600bps
wueric 0:2deb247ab4bd 45 IROBOT_BAUD_115200 = 11 ///< UART baud rate 115200bps \warning UNSTABLE
wueric 0:2deb247ab4bd 46 } irobotBaud_t;
wueric 0:2deb247ab4bd 47
wueric 0:2deb247ab4bd 48 /// Opens a UART session configured for the iRobot
wueric 0:2deb247ab4bd 49 /// \return error code
wueric 0:2deb247ab4bd 50 int32_t irobotUARTOpen(
wueric 0:2deb247ab4bd 51 const irobotUARTPort_t port, ///< [in] UART port
wueric 0:2deb247ab4bd 52 const irobotBaud_t baud ///< [in] baud rate of the port
wueric 0:2deb247ab4bd 53 );
wueric 0:2deb247ab4bd 54
wueric 0:2deb247ab4bd 55 /// Closes the UART port connected to iRobot. The port must be reinitialized before reuse.
wueric 0:2deb247ab4bd 56 /// \return error code
wueric 0:2deb247ab4bd 57 int32_t irobotUARTClose(
wueric 0:2deb247ab4bd 58 const irobotUARTPort_t port ///< [in] UART port
wueric 0:2deb247ab4bd 59 );
wueric 0:2deb247ab4bd 60
wueric 0:2deb247ab4bd 61 /// Read data from the UART receive buffer until # have been
wueric 0:2deb247ab4bd 62 /// received, or until a timeout occurs. A negative timeout means wait indefinitely.
wueric 0:2deb247ab4bd 63 /// Read bytes are pushed to the queue; if the queue is full, its oldest bytes are dropped.
wueric 0:2deb247ab4bd 64 /// \return error code
wueric 0:2deb247ab4bd 65 int32_t irobotUARTRead(
wueric 0:2deb247ab4bd 66 const irobotUARTPort_t port, ///< [in] UART port
wueric 0:2deb247ab4bd 67 xqueue_t * const queue, ///< [out]Queue to receive read data
wueric 0:2deb247ab4bd 68 size_t nData ///< [in] Number of bytes to read
wueric 0:2deb247ab4bd 69 );
wueric 0:2deb247ab4bd 70
wueric 0:2deb247ab4bd 71 /// Read data from the UART receive buffer until # have been
wueric 0:2deb247ab4bd 72 /// received, or until a timeout occurs. A negative timeout means wait indefinitely.
wueric 0:2deb247ab4bd 73 /// \return error code
wueric 0:2deb247ab4bd 74 int32_t irobotUARTReadRaw(
wueric 0:2deb247ab4bd 75 const irobotUARTPort_t port, ///< [in] UART port
wueric 0:2deb247ab4bd 76 uint8_t * const data, ///< [out]Buffer to receive read data
wueric 0:2deb247ab4bd 77 const size_t nData ///< [in] Number of bytes to read
wueric 0:2deb247ab4bd 78 );
wueric 0:2deb247ab4bd 79
wueric 0:2deb247ab4bd 80 /// Writes a queue to the UART port. If not enough space is available in the FIFO,
wueric 0:2deb247ab4bd 81 /// this function blocks until sufficient space is available or a timeout occurs.
wueric 0:2deb247ab4bd 82 /// Elements written are popped from the queue.
wueric 0:2deb247ab4bd 83 /// \return error code
wueric 0:2deb247ab4bd 84 int32_t irobotUARTWrite(
wueric 0:2deb247ab4bd 85 const irobotUARTPort_t port, ///< [in] UART port to access
wueric 0:2deb247ab4bd 86 xqueue_t * const queue ///< [in] Queue data to write; all will be written
wueric 0:2deb247ab4bd 87 );
wueric 0:2deb247ab4bd 88
wueric 0:2deb247ab4bd 89 /// Writes data to the UART port. If not enough space is available in the FIFO,
wueric 0:2deb247ab4bd 90 /// this function blocks until sufficient space is available or a timeout occurs.
wueric 0:2deb247ab4bd 91 /// \return error code
wueric 0:2deb247ab4bd 92 int32_t irobotUARTWriteRaw(
wueric 0:2deb247ab4bd 93 const irobotUARTPort_t port, ///< [in] UART port to access
wueric 0:2deb247ab4bd 94 const uint8_t * const data, ///< [in] Array of data to write
wueric 0:2deb247ab4bd 95 const size_t nData ///< [in] Size of data array
wueric 0:2deb247ab4bd 96 );
wueric 0:2deb247ab4bd 97
wueric 0:2deb247ab4bd 98 /// Clears the UART receive buffer.
wueric 0:2deb247ab4bd 99 /// \return error code
wueric 0:2deb247ab4bd 100 int32_t irobotUARTClear(
wueric 0:2deb247ab4bd 101 const irobotUARTPort_t port ///< [in] UART port to access
wueric 0:2deb247ab4bd 102 );
wueric 0:2deb247ab4bd 103
wueric 0:2deb247ab4bd 104 #endif // _IROBOT_UART_H