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/*
SerialManager.cpp - Library for doing packetized serial comm with Arduinos.
Created by Sigurdur Orn, May 23, 2010.
*/
#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(((UCSRA1) & (1 << UDRE1)) ) Serial1.write( outgoing_buffer->get() );
else if( _serial_port == 2 )
if(((UCSRA2) & (1 << UDRE2)) ) Serial2.write( outgoing_buffer->get() );
else if( _serial_port == 3 )
if(((UCSRA3) & (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 ){
temp_buffer->clear();
temp_buffer->put(123);
temp_buffer->put(234);
temp_buffer->put( checksum_received );
temp_buffer->put( serial_in_checksum );
sendSerialPacket(temp_buffer);
}
// 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;
}
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