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Diffstat (limited to 'arduino_libs/SerialManager/SerialManager.cpp')
| -rwxr-xr-x | arduino_libs/SerialManager/SerialManager.cpp | 193 |
1 files changed, 0 insertions, 193 deletions
diff --git a/arduino_libs/SerialManager/SerialManager.cpp b/arduino_libs/SerialManager/SerialManager.cpp deleted file mode 100755 index 2e2d306..0000000 --- a/arduino_libs/SerialManager/SerialManager.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/* - SerialManager.cpp - Library for doing packetized serial comm with Arduinos. - Created by Sigurdur Orn, May 23, 2010. - siggi@mit.edu - */ - -#include "WProgram.h" -#include "SerialManager.h" -#include "ByteBuffer.h" - - -SerialManager::SerialManager(unsigned int in_buf_size, unsigned int out_buf_size){ - serial_in_checksum = 0; - - incoming_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); - outgoing_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); - temp_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); - - incoming_buffer->init(in_buf_size); - outgoing_buffer->init(out_buf_size); - temp_buffer->init(10); - - byte1 = 0; - byte2 = 0; - byte3 = 0; - byte4 = 0; - - handlePacketFunction = 0; -} - -void SerialManager::init(int serial_port, int baud_rate){ - _serial_port = serial_port; - - if( serial_port == 0) - Serial.begin(baud_rate); -#if defined(__AVR_ATmega1280__) - else if( serial_port == 1) - Serial1.begin(baud_rate); - else if( serial_port == 2) - Serial2.begin(baud_rate); - else if( serial_port == 3) - Serial3.begin(baud_rate); -#endif -} - - - -bool SerialManager::isBusySending(){ - return ( outgoing_buffer->getSize() > 0 ); -} - -// Sends a single byte -int SerialManager::sendSerialByte(byte b){ - return outgoing_buffer->put(b); -} - -// Sends a packet with a header and a checksum -int SerialManager::sendSerialPacket(ByteBuffer* packet_buffer){ - // Copy buffer and calc checksum - byte checksum = 0; - while( packet_buffer->getSize() > 0 ){ - byte b = packet_buffer->get(); - outgoing_buffer->put(b); - checksum += b; - } - - outgoing_buffer->put( checksum ); - outgoing_buffer->put( 1 ); - outgoing_buffer->put( 2 ); - outgoing_buffer->put( 3 ); - outgoing_buffer->put( 4 ); - - return 0; -} - -// Sends a raw packet with no header or checksum -int SerialManager::sendRawSerial(ByteBuffer* packet_buffer){ - while( packet_buffer->getSize() > 0 ){ - byte b = packet_buffer->get(); - outgoing_buffer->put(b); - } - - return 0; -} - -void SerialManager::update(){ - - // If we have received stuff - if( _serial_port == 0 ){ - while( Serial.available() != 0 ) { - byte incoming = Serial.read(); - handleIncomingByte(incoming); - } - } - -#if defined(__AVR_ATmega1280__) - else if( _serial_port == 1 ){ - while( Serial1.available() != 0 ) { - byte incoming = Serial1.read(); - handleIncomingByte(incoming); - } - } - else if( _serial_port == 2 ){ - while( Serial2.available() != 0 ) { - byte incoming = Serial2.read(); - handleIncomingByte(incoming); - } - } - else if( _serial_port == 3 ){ - while( Serial3.available() != 0 ) { - byte incoming = Serial3.read(); - handleIncomingByte(incoming); - } - } -#endif - - - // If we should be sending stuff - if( outgoing_buffer->getSize() > 0 ){ - // If serial port not currently busy - if( _serial_port == 0 ) - if(((UCSRA) & (1 << UDRE)) ) Serial.write( outgoing_buffer->get() ); - -#if defined(__AVR_ATmega1280__) - else if( _serial_port == 1 ) - if(((UCSR1A) & (1 << UDRE1)) ) Serial1.write( outgoing_buffer->get() ); - else if( _serial_port == 2 ) - if(((UCSR2A) & (1 << UDRE2)) ) Serial2.write( outgoing_buffer->get() ); - else if( _serial_port == 3 ) - if(((UCSR3A) & (1 << UDRE3)) ) Serial3.write( outgoing_buffer->get() ); -#endif - } -} - -void SerialManager::setPacketHandler(void (*packetHandlerFunction)(ByteBuffer*)){ - handlePacketFunction = packetHandlerFunction; -} - - -void SerialManager::handleIncomingByte(byte incoming){ - - // If buffer overflows then reset (we could do something smarter here) - if( incoming_buffer->getSize() == incoming_buffer->getCapacity() ){ - incoming_buffer->clear(); - } - - incoming_buffer->put( incoming ); - serial_in_checksum += incoming; - - byte1 = byte2; - byte2 = byte3; - byte3 = byte4; - byte4 = incoming; - - // If we have a full packet ready - if( byte1==1 && byte2==2 && byte3==3 && byte4==4 ){ - // Remove header from buffer - incoming_buffer->getFromBack(); - incoming_buffer->getFromBack(); - incoming_buffer->getFromBack(); - incoming_buffer->getFromBack(); - - byte checksum_received = incoming_buffer->getFromBack(); - - // Remove the whole header from the calculated checksum - serial_in_checksum -= checksum_received + 10; - - // If checksums don't match, then do something () - if( checksum_received != serial_in_checksum ){ - ; // We could do something about this here - } - - // We have a successful packet - else{ - - if( handlePacketFunction != 0 ) - handlePacketFunction(incoming_buffer); - else - handlePacketDefault(incoming_buffer); - } - - // Clear variables - incoming_buffer->clear(); - serial_in_checksum = 0; - } - -} - -void SerialManager::handlePacketDefault(ByteBuffer* packet){ - // We could do something here like send the data to the host again for debug - // Or just do nothing - return; -} |