PikeAero::CCommunicationPacket Class Reference

#include <ccommunicationpacket.h>

Inheritance diagram for PikeAero::CCommunicationPacket:

Collaboration diagram for PikeAero::CCommunicationPacket:


Public Types
enum	tRXState
enum	tTXState { txIdle = 0, txTransmitting, txACKWaiting }
Public Member Functions
	CCommunicationPacket (CMachine::InterruptVector vector, UART_TypeDef *UARTx, CMachine::ubit32 baud=9600, bool packetMode=false)
void	event (CEvent *e)
	The CEvent listener [ inherits pointer ownership ].
virtual CMachine::ubit8	rx ()
	Receive a sinlge byte.
virtual void	rxFlush ()
	Flush receiver.
virtual CMachine::ubit8	tx (CMachine::ubit8 ch)
	transmit a single byte - may yield CPU time if transmitter ring buffer is full.
virtual void	txFlush ()
	Flush transmitter.
virtual	~CCommunicationPacket ()
Private Member Functions
void	appendData (CByteArray *buffer, CMachine::ubit8 data)
	Convinience packet access method.
CMachine::ubit8	calculateChecksum (CByteArray *buffer)
	Calculate the checksum from a buffer.
CMachine::ubit8	checksum (CByteArray *buffer)
	Convinience packet access method.
CMachine::ubit8	control (CByteArray *buffer)
	Convinience packet access method.
CMachine::ubit8	data (CByteArray *buffer, CMachine::ubit8 offset)
	Convinience packet access method.
bool	full (CByteArray *buffer)
	Convinience packet access method.
CMachine::ubit8	length (CByteArray *buffer)
	Convinience packet access method.
CMachine::ubit8	sequence (CByteArray *buffer)
	Convinience packet access method.
void	setChecksum (CByteArray *buffer, CMachine::ubit8 checksum)
	Convinience packet access method.
void	setData (CByteArray *buffer, CMachine::ubit8 data, CMachine::ubit8 offset)
	Convinience packet access method.
void	setLength (CByteArray *buffer, CMachine::ubit8 length)
	Convinience packet access method.
void	setSequence (CByteArray *buffer, CMachine::ubit8 sequence)
	Convinience packet access method.
void	setType (CByteArray *buffer, CMachine::ubit8 control)
	Convinience packet access method.
CMachine::ubit8	type (CByteArray *buffer)
	Convinience packet access method.
Private Attributes
bool	mPacketMode
tRXState	mRXState
CMachine::ubit32	mRXTimeout
tTXState	mTXState
CMachine::ubit32	mTXTimeout
CByteArray	rxBuffer
CByteArray	txBuffer

Detailed Description

base class for communications which require a ring buffer for tx and rx.

Author:: Michael Sharkey <mike@pikeaero.com>

Definition at line 36 of file ccommunicationpacket.h.

Member Enumeration Documentation

enum PikeAero::CCommunicationPacket::tRXState

Definition at line 40 of file ccommunicationpacket.h.

00040                      {
00041             
00042         } tRXState;

enum PikeAero::CCommunicationPacket::tTXState

Enumerator:

txIdle
txTransmitting
txACKWaiting

Definition at line 44 of file ccommunicationpacket.h.

00044                      {
00045             txIdle=0,               /* Nothing happening */
00046             txTransmitting,         /* At least one byte in transmit buffer -- tx timeout started */
00047             txACKWaiting            /* Waiting for ACK (i.e trasmission received) */
00048         } tTXState;

Constructor & Destructor Documentation

PikeAero::CCommunicationPacket::CCommunicationPacket	(	CMachine::InterruptVector	vector,
		UART_TypeDef *	UARTx,
		CMachine::ubit32	baud = `9600`,
		bool	packetMode = `false`
	)

Definition at line 69 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::data(), PikeAero::CEventQueue::installListener(), memset, PACKET_SIZE, PikeAero::CByteArray::resize(), rxBuffer, PikeAero::CByteArray::size(), PikeAero::CEvent::Tick, and txBuffer.

00070  : inherited(vector,UARTx,baud)
00071  , mPacketMode(packetMode)
00072  , mTXState(txTransmitting)
00073  , mTXTimeout(0)
00074 {
00075     txBuffer.resize(PACKET_SIZE);
00076     memset(txBuffer.data(),0,rxBuffer.size());
00077 
00078     rxBuffer.resize(PACKET_SIZE);
00079     memset(rxBuffer.data(),0,rxBuffer.size());
00080 
00081     CEventQueue::installListener(this,CEvent::Tick);
00082 }

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PikeAero::CCommunicationPacket::~CCommunicationPacket ( ) [virtual]

Definition at line 85 of file ccommunicationpacket.cpp.

References PikeAero::CEventQueue::removeListener(), and PikeAero::CEvent::Tick.

00086 {
00087     CEventQueue::removeListener(this,CEvent::Tick);
00088 }

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Member Function Documentation

void PikeAero::CCommunicationPacket::appendData	(	CByteArray *	buffer,
		CMachine::ubit8	data
	)			`[private]`

Convinience packet access method.

Definition at line 135 of file ccommunicationpacket.cpp.

References length(), PACKET_OFFSET_DATA, PikeAero::CByteArray::set(), and setLength().

Referenced by tx().

00136 {
00137     buffer->set( PACKET_OFFSET_DATA+length(buffer), data );
00138     setLength(buffer,length(buffer)+1);
00139 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::calculateChecksum ( CByteArray * buffer ) [private]

Calculate the checksum from a buffer.

Definition at line 200 of file ccommunicationpacket.cpp.

References control(), data(), length(), and sequence().

Referenced by txFlush().

00201 {
00202     CMachine::ubit8 sum = 0;
00203 
00204     sum += control(buffer);
00205     sum += sequence(buffer);
00206     for( CMachine::ubit8 i=0; i < length(buffer); i++ )
00207     {
00208         sum += data(buffer,i);
00209     }
00210     return sum;
00211 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::checksum ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 176 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), and PACKET_OFFSET_CHECKSUM.

00177 {
00178     return buffer->at( PACKET_OFFSET_CHECKSUM );
00179 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::control ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 144 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), and PACKET_OFFSET_CONTROL.

Referenced by calculateChecksum().

00145 {
00146     return buffer->at( PACKET_OFFSET_CONTROL );
00147 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::data	(	CByteArray *	buffer,
		CMachine::ubit8	offset
	)			`[private]`

Convinience packet access method.

Definition at line 184 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), and PACKET_OFFSET_DATA.

Referenced by calculateChecksum().

00185 {
00186     return buffer->at( PACKET_OFFSET_DATA+offset );
00187 }

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void PikeAero::CCommunicationPacket::event ( CEvent * e ) [virtual]

The CEvent listener [ inherits pointer ownership ].

The CEvent listener.

Reimplemented from PikeAero::CObject.

Definition at line 313 of file ccommunicationpacket.cpp.

References PikeAero::CObject::dispatch(), mTXState, mTXTimeout, PikeAero::CEvent::Tick, PikeAero::CEventTimeout::TransmitBufferFilling, txACKWaiting, txIdle, txTransmitting, and PikeAero::CEvent::type().

00314 {
00315     switch( e->type() )
00316     {
00317         case CEvent::Tick:
00318             {
00319                 switch( mTXState )
00320                 {
00321                     case txIdle:
00322                         mTXTimeout = 0;
00323                         break;
00324                     case txTransmitting:
00325                         if ( ++mTXTimeout >= 2 )
00326                         {
00327                             dispatch( new CEventTimeout( this, CEventTimeout::TransmitBufferFilling) );
00328                         }
00329                         break;
00330                     case txACKWaiting:
00331                         mTXTimeout = 0;
00332                         break;
00333                 }
00334             }
00335             break;
00336         default:
00337             break;
00338     }
00339     inherited::event(e);
00340 }

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bool PikeAero::CCommunicationPacket::full ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 192 of file ccommunicationpacket.cpp.

References length(), and PACKET_DATA_SIZE.

Referenced by tx().

00193 {
00194     return length(buffer) == PACKET_DATA_SIZE;
00195 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::length ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 160 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), PACKET_LENGTH_MASK, and PACKET_OFFSET_CONTROL.

Referenced by appendData(), calculateChecksum(), and full().

00161 {
00162     return (buffer->at( PACKET_OFFSET_CONTROL ) & PACKET_LENGTH_MASK);
00163 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::rx ( ) [virtual]

Receive a sinlge byte.

Returns:: Next byte in queue of '' if queue is empty.

FIXME - do stuff here

Reimplemented from PikeAero::CCommunication.

Definition at line 294 of file ccommunicationpacket.cpp.

References mPacketMode.

Referenced by tx().

00295 {
00296     if ( mPacketMode )
00297     {
00298         if ( inherited::rxReady() )
00299         {
00300             CMachine::ubit8 ch = inherited::rx();
00301             /** FIXME - do stuff here */
00302         }
00303     }
00304     else
00305     {
00306         return inherited::rx();
00307     }
00308 }

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void PikeAero::CCommunicationPacket::rxFlush ( ) [virtual]

Flush receiver.

Flush the receiver buffer.

FIXME - do stuff here.

Reimplemented from PikeAero::CCommunication.

Definition at line 236 of file ccommunicationpacket.cpp.

00237 {
00238     /** FIXME - do stuff here. */
00239     inherited::rxFlush();
00240 }

CMachine::ubit8 PikeAero::CCommunicationPacket::sequence ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 168 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), and PACKET_OFFSET_SEQUENCE.

Referenced by calculateChecksum(), and tx().

00169 {
00170     return buffer->at( PACKET_OFFSET_SEQUENCE );
00171 }

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void PikeAero::CCommunicationPacket::setChecksum	(	CByteArray *	buffer,
		CMachine::ubit8	checksum
	)			`[private]`

Convinience packet access method.

Definition at line 119 of file ccommunicationpacket.cpp.

References PACKET_OFFSET_CHECKSUM, and PikeAero::CByteArray::set().

Referenced by txFlush().

00120 {
00121     buffer->set( PACKET_OFFSET_CHECKSUM, checksum );
00122 }

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void PikeAero::CCommunicationPacket::setData	(	CByteArray *	buffer,
		CMachine::ubit8	data,
		CMachine::ubit8	offset
	)			`[private]`

Convinience packet access method.

Definition at line 127 of file ccommunicationpacket.cpp.

References PACKET_OFFSET_DATA, and PikeAero::CByteArray::set().

00128 {
00129     buffer->set( PACKET_OFFSET_DATA+offset, data );
00130 }

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void PikeAero::CCommunicationPacket::setLength	(	CByteArray *	buffer,
		CMachine::ubit8	length
	)			`[private]`

Convinience packet access method.

Definition at line 102 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), PACKET_LENGTH_MASK, PACKET_OFFSET_CONTROL, and PikeAero::CByteArray::set().

Referenced by appendData(), and tx().

00103 {
00104     buffer->set( PACKET_OFFSET_CONTROL, buffer->at( PACKET_OFFSET_CONTROL ) & ~PACKET_LENGTH_MASK );
00105     buffer->set( PACKET_OFFSET_CONTROL, buffer->at( PACKET_OFFSET_CONTROL ) | (length & PACKET_LENGTH_MASK) );
00106 }

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void PikeAero::CCommunicationPacket::setSequence	(	CByteArray *	buffer,
		CMachine::ubit8	sequence
	)			`[private]`

Convinience packet access method.

Definition at line 111 of file ccommunicationpacket.cpp.

References PACKET_OFFSET_SEQUENCE, and PikeAero::CByteArray::set().

Referenced by tx().

00112 {
00113     buffer->set( PACKET_OFFSET_SEQUENCE, sequence );
00114 }

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void PikeAero::CCommunicationPacket::setType	(	CByteArray *	buffer,
		CMachine::ubit8	control
	)			`[private]`

Convinience packet access method.

Definition at line 93 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), PACKET_OFFSET_CONTROL, PACKET_TYPE_MASK, and PikeAero::CByteArray::set().

Referenced by tx().

00094 {
00095     buffer->set( PACKET_OFFSET_CONTROL, buffer->at( PACKET_OFFSET_CONTROL ) & ~PACKET_TYPE_MASK );
00096     buffer->set( PACKET_OFFSET_CONTROL, buffer->at( PACKET_OFFSET_CONTROL ) | (type & PACKET_TYPE_MASK) );
00097 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::tx ( CMachine::ubit8 ch ) [virtual]

transmit a single byte - may yield CPU time if transmitter ring buffer is full.

Returns:: The same byte.

append the char to the packet buffer data field

wait to go back to transmitting mode (i.e. got acknowledgement)

increment sequence number

reset data length

Reimplemented from PikeAero::CCommunicationUART.

Definition at line 246 of file ccommunicationpacket.cpp.

References appendData(), full(), mPacketMode, mTXState, mTXTimeout, PACKET_TYPE_DATA, rx(), sequence(), setLength(), setSequence(), setType(), txACKWaiting, txBuffer, txFlush(), txIdle, txTransmitting, and PikeAero::CTaskScheduler::yield().

Referenced by txFlush().

00247 {
00248     if ( mPacketMode )
00249     {
00250         switch( mTXState )
00251         {
00252             case txIdle:
00253                 mTXTimeout=0;
00254                 mTXState = txTransmitting;
00255             case txTransmitting:
00256                 {
00257                     /** append the char to the packet buffer data field */
00258                     appendData( &txBuffer, ch );
00259                     if ( full( &txBuffer ) )
00260                     {
00261                         mTXState = txACKWaiting;
00262                         setType( &txBuffer, PACKET_TYPE_DATA );
00263                         txFlush();
00264                     }
00265                 }
00266                 break;
00267             case txACKWaiting:
00268                 {
00269                     /** wait to go back to transmitting mode (i.e. got acknowledgement) */
00270                     while( mTXState == txACKWaiting )
00271                     {
00272                         CTaskScheduler::yield();
00273                         rx();
00274                     }
00275                     /** increment sequence number */
00276                     setSequence( &txBuffer, sequence( &txBuffer ) + 1 );
00277                     /** reset data length */
00278                     setLength( &txBuffer, 0 );
00279                 }
00280                 break;
00281         }
00282         return ch;
00283     }
00284     else
00285     {
00286         return inherited::tx( ch );
00287     }
00288 }

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void PikeAero::CCommunicationPacket::txFlush ( ) [virtual]

Flush transmitter.

Flush the transmitter buffer.

Reimplemented from PikeAero::CCommunication.

Definition at line 216 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), calculateChecksum(), mPacketMode, PACKET_SIZE, setChecksum(), tx(), and txBuffer.

Referenced by tx().

00217 {
00218     if ( mPacketMode )
00219     {
00220         CByteArray* buffer = &txBuffer;
00221         setChecksum( buffer, calculateChecksum( buffer ) );
00222         for( CMachine::ubit32 i=0; i < PACKET_SIZE; i++ )
00223         {
00224             inherited::tx( buffer->at(i) );
00225         }
00226     }
00227     else
00228     {
00229         inherited::txFlush();
00230     }
00231 }

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CMachine::ubit8 PikeAero::CCommunicationPacket::type ( CByteArray * buffer ) [private]

Convinience packet access method.

Definition at line 152 of file ccommunicationpacket.cpp.

References PikeAero::CByteArray::at(), PACKET_OFFSET_CONTROL, and PACKET_TYPE_MASK.

00153 {
00154     return (buffer->at( PACKET_OFFSET_CONTROL ) & PACKET_TYPE_MASK);
00155 }

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Field Documentation

bool PikeAero::CCommunicationPacket::mPacketMode [private]

Definition at line 97 of file ccommunicationpacket.h.

Referenced by rx(), tx(), and txFlush().

tRXState PikeAero::CCommunicationPacket::mRXState [private]

Definition at line 102 of file ccommunicationpacket.h.

CMachine::ubit32 PikeAero::CCommunicationPacket::mRXTimeout [private]

Definition at line 103 of file ccommunicationpacket.h.

tTXState PikeAero::CCommunicationPacket::mTXState [private]

Definition at line 99 of file ccommunicationpacket.h.

Referenced by event(), and tx().

CMachine::ubit32 PikeAero::CCommunicationPacket::mTXTimeout [private]

Definition at line 100 of file ccommunicationpacket.h.

Referenced by event(), and tx().

CByteArray PikeAero::CCommunicationPacket::rxBuffer [private]

reciever

Definition at line 109 of file ccommunicationpacket.h.

Referenced by CCommunicationPacket().

CByteArray PikeAero::CCommunicationPacket::txBuffer [private]

transmitter

Definition at line 114 of file ccommunicationpacket.h.

Referenced by CCommunicationPacket(), tx(), and txFlush().

The documentation for this class was generated from the following files:

PikeAero::CCommunicationPacket Class Reference

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation