|
|
|
@ -30,177 +30,131 @@ |
|
|
|
|
|
|
|
#include <stdarg.h> |
|
|
|
#include <stdio.h> |
|
|
|
#include <Print.h> |
|
|
|
|
|
|
|
/**
|
|
|
|
* Generic RingBuffer |
|
|
|
* T type of the buffer array |
|
|
|
* S size of the buffer (must be power of 2) |
|
|
|
* |
|
|
|
* todo: optimise |
|
|
|
*/ |
|
|
|
|
|
|
|
template <typename T, uint32_t S> class RingBuffer { |
|
|
|
public: |
|
|
|
RingBuffer() { index_read = index_write = 0; } |
|
|
|
uint32_t available() volatile { return buffer_mask & (index_write - index_read); } |
|
|
|
uint32_t free() volatile { return buffer_size - available(); } |
|
|
|
bool empty() volatile { return (buffer_mask & index_read) == (buffer_mask & index_write); } |
|
|
|
bool full() volatile { return index_read == buffer_mask & (index_write + 1); } |
|
|
|
void clear() volatile { index_read = index_write = 0; } |
|
|
|
bool peek(T *value) volatile { |
|
|
|
if (value == 0 || available() == 0) |
|
|
|
return false; |
|
|
|
*value = buffer[buffer_mask & index_read]; |
|
|
|
RingBuffer() {index_read = index_write = 0;} |
|
|
|
|
|
|
|
uint32_t available() {return mask(index_write - index_read);} |
|
|
|
uint32_t free() {return buffer_size - available();} |
|
|
|
bool empty() {return index_read == index_write;} |
|
|
|
bool full() {return next(index_write) == index_read;} |
|
|
|
void clear() {index_read = index_write = 0;} |
|
|
|
|
|
|
|
bool peek(T *const value) { |
|
|
|
if (value == nullptr || empty()) return false; |
|
|
|
*value = buffer[index_read]; |
|
|
|
return true; |
|
|
|
} |
|
|
|
int read() volatile { |
|
|
|
if ((buffer_mask & index_read) == (buffer_mask & index_write)) return -1; |
|
|
|
T val = buffer[buffer_mask & index_read]; |
|
|
|
++index_read; |
|
|
|
return val; |
|
|
|
|
|
|
|
uint32_t read(T *const value) { |
|
|
|
if (value == nullptr || empty()) return 0; |
|
|
|
*value = buffer[index_read]; |
|
|
|
index_read = next(index_read); |
|
|
|
return 1; |
|
|
|
} |
|
|
|
bool write(T value) volatile { |
|
|
|
uint32_t next_head = buffer_mask & (index_write + 1); |
|
|
|
if (next_head != index_read) { |
|
|
|
buffer[buffer_mask & index_write] = value; |
|
|
|
index_write = next_head; |
|
|
|
return true; |
|
|
|
} |
|
|
|
return false; |
|
|
|
|
|
|
|
uint32_t write(T value) { |
|
|
|
uint32_t next_head = next(index_write); |
|
|
|
if (next_head == index_read) return 0; // buffer full
|
|
|
|
buffer[index_write] = value; |
|
|
|
index_write = next_head; |
|
|
|
return 1; |
|
|
|
} |
|
|
|
|
|
|
|
private: |
|
|
|
inline uint32_t mask(uint32_t val) { |
|
|
|
return val & buffer_mask; |
|
|
|
} |
|
|
|
|
|
|
|
inline uint32_t next(uint32_t val) { |
|
|
|
return mask(val + 1); |
|
|
|
} |
|
|
|
|
|
|
|
static const uint32_t buffer_size = S; |
|
|
|
static const uint32_t buffer_mask = buffer_size - 1; |
|
|
|
volatile T buffer[buffer_size]; |
|
|
|
T buffer[buffer_size]; |
|
|
|
volatile uint32_t index_write; |
|
|
|
volatile uint32_t index_read; |
|
|
|
}; |
|
|
|
|
|
|
|
class HalSerial { |
|
|
|
/**
|
|
|
|
* Serial Interface Class |
|
|
|
* Data is injected directly into, and consumed from, the fifo buffers |
|
|
|
*/ |
|
|
|
|
|
|
|
class HalSerial: public Print { |
|
|
|
public: |
|
|
|
|
|
|
|
#if ENABLED(EMERGENCY_PARSER) |
|
|
|
EmergencyParser::State emergency_state; |
|
|
|
#endif |
|
|
|
|
|
|
|
HalSerial() { host_connected = false; } |
|
|
|
HalSerial() : host_connected(false) { } |
|
|
|
virtual ~HalSerial() { } |
|
|
|
|
|
|
|
void begin(int32_t baud) { |
|
|
|
} |
|
|
|
operator bool() { return host_connected; } |
|
|
|
|
|
|
|
void begin(int32_t baud) { } |
|
|
|
|
|
|
|
int peek() { |
|
|
|
int16_t peek() { |
|
|
|
uint8_t value; |
|
|
|
return receive_buffer.peek(&value) ? value : -1; |
|
|
|
} |
|
|
|
|
|
|
|
int read() { return receive_buffer.read(); } |
|
|
|
|
|
|
|
size_t write(char c) { return host_connected ? transmit_buffer.write((uint8_t)c) : 0; } |
|
|
|
int16_t read() { |
|
|
|
uint8_t value; |
|
|
|
return receive_buffer.read(&value) ? value : -1; |
|
|
|
} |
|
|
|
|
|
|
|
operator bool() { return host_connected; } |
|
|
|
size_t write(const uint8_t c) { |
|
|
|
if (!host_connected) return 0; // Do not fill buffer when host disconnected
|
|
|
|
while (transmit_buffer.write(c) == 0) { // Block until there is free room in buffer
|
|
|
|
if (!host_connected) return 0; // Break infinite loop on host disconect
|
|
|
|
} |
|
|
|
return 1; |
|
|
|
} |
|
|
|
|
|
|
|
uint16_t available() { |
|
|
|
return (uint16_t)receive_buffer.available(); |
|
|
|
size_t available() { |
|
|
|
return (size_t)receive_buffer.available(); |
|
|
|
} |
|
|
|
|
|
|
|
void flush() { receive_buffer.clear(); } |
|
|
|
void flush() { |
|
|
|
receive_buffer.clear(); |
|
|
|
} |
|
|
|
|
|
|
|
uint8_t availableForWrite(void){ |
|
|
|
uint8_t availableForWrite(void) { |
|
|
|
return transmit_buffer.free() > 255 ? 255 : (uint8_t)transmit_buffer.free(); |
|
|
|
} |
|
|
|
|
|
|
|
void flushTX(void){ |
|
|
|
if (host_connected) |
|
|
|
while (transmit_buffer.available()) { /* nada */ } |
|
|
|
void flushTX(void) { |
|
|
|
while (transmit_buffer.available() && host_connected) { /* nada */} |
|
|
|
} |
|
|
|
|
|
|
|
void printf(const char *format, ...) { |
|
|
|
size_t printf(const char *format, ...) { |
|
|
|
static char buffer[256]; |
|
|
|
va_list vArgs; |
|
|
|
va_start(vArgs, format); |
|
|
|
int length = vsnprintf((char *) buffer, 256, (char const *) format, vArgs); |
|
|
|
va_end(vArgs); |
|
|
|
size_t i = 0; |
|
|
|
if (length > 0 && length < 256) { |
|
|
|
if (host_connected) { |
|
|
|
for (int i = 0; i < length;) { |
|
|
|
if (transmit_buffer.write(buffer[i])) { |
|
|
|
++i; |
|
|
|
} |
|
|
|
} |
|
|
|
while (i < (size_t)length && host_connected) { |
|
|
|
i += transmit_buffer.write(buffer[i]); |
|
|
|
} |
|
|
|
} |
|
|
|
return i; |
|
|
|
} |
|
|
|
|
|
|
|
#define DEC 10 |
|
|
|
#define HEX 16 |
|
|
|
#define OCT 8 |
|
|
|
#define BIN 2 |
|
|
|
|
|
|
|
void print_bin(uint32_t value, uint8_t num_digits) { |
|
|
|
uint32_t mask = 1 << (num_digits -1); |
|
|
|
for (uint8_t i = 0; i < num_digits; i++) { |
|
|
|
if (!(i % 4) && i) write(' '); |
|
|
|
if (!(i % 16) && i) write(' '); |
|
|
|
if (value & mask) write('1'); |
|
|
|
else write('0'); |
|
|
|
value <<= 1; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
void print(const char value[]) { printf("%s" , value); } |
|
|
|
void print(char value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 8); |
|
|
|
else if (nbase == OCT) printf("%3o", value); |
|
|
|
else if (nbase == HEX) printf("%2X", value); |
|
|
|
else if (nbase == DEC ) printf("%d", value); |
|
|
|
else printf("%c" , value); |
|
|
|
} |
|
|
|
void print(unsigned char value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 8); |
|
|
|
else if (nbase == OCT) printf("%3o", value); |
|
|
|
else if (nbase == HEX) printf("%2X", value); |
|
|
|
else printf("%u" , value); |
|
|
|
} |
|
|
|
void print(int value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 16); |
|
|
|
else if (nbase == OCT) printf("%6o", value); |
|
|
|
else if (nbase == HEX) printf("%4X", value); |
|
|
|
else printf("%d", value); |
|
|
|
} |
|
|
|
void print(unsigned int value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 16); |
|
|
|
else if (nbase == OCT) printf("%6o", value); |
|
|
|
else if (nbase == HEX) printf("%4X", value); |
|
|
|
else printf("%u" , value); |
|
|
|
} |
|
|
|
void print(long value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 32); |
|
|
|
else if (nbase == OCT) printf("%11o", value); |
|
|
|
else if (nbase == HEX) printf("%8X", value); |
|
|
|
else printf("%ld" , value); |
|
|
|
} |
|
|
|
void print(unsigned long value, int nbase = 0) { |
|
|
|
if (nbase == BIN) print_bin(value, 32); |
|
|
|
else if (nbase == OCT) printf("%11o", value); |
|
|
|
else if (nbase == HEX) printf("%8X", value); |
|
|
|
else printf("%lu" , value); |
|
|
|
} |
|
|
|
void print(float value, int round = 6) { printf("%f" , value); } |
|
|
|
void print(double value, int round = 6) { printf("%f" , value); } |
|
|
|
|
|
|
|
void println(const char value[]) { printf("%s\n" , value); } |
|
|
|
void println(char value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(unsigned char value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(int value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(unsigned int value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(long value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(unsigned long value, int nbase = 0) { print(value, nbase); println(); } |
|
|
|
void println(float value, int round = 6) { printf("%f\n" , value); } |
|
|
|
void println(double value, int round = 6) { printf("%f\n" , value); } |
|
|
|
void println(void) { print('\n'); } |
|
|
|
|
|
|
|
volatile RingBuffer<uint8_t, 128> receive_buffer; |
|
|
|
volatile RingBuffer<uint8_t, 128> transmit_buffer; |
|
|
|
RingBuffer<uint8_t, 128> receive_buffer; |
|
|
|
RingBuffer<uint8_t, 128> transmit_buffer; |
|
|
|
volatile bool host_connected; |
|
|
|
}; |
|
|
|
|
|
|
|
|
Chris Pepper
7 years ago
Scott Lahteine