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ouart.h

/* 
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2007  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA

$Id: ouart.h,v 1.5 2007/09/26 05:12:58 derek Exp $
*/
#ifndef _OOMRM_UART_H
#define _OOMRM_UART_H
#include <hardware/oomrm.h>
#include <shared.h>


// For eb500 Uart buffer size.
#define EBBUFF_SIZE 1024
// Optimization for eb500
#define EB500_RX_CHANNEL 10

#ifdef __cplusplus
extern "C" {
// Provide an alternative UART receive callback function
void set_uart_callback(fooshort f);
}
#endif
  
extern volatile word* _uart_RTX_buffer[]; // pointer to buffer for each channel (starts as NULL). [UART_IN_BUFF_SIZE]; 
extern volatile word *ptrRTXCharHead[];   // pointer to head of input buffer on channel n.
extern volatile word *ptrRTXCharTail[];   // pinter to tail of input buffer on channel n.
extern uint16 RTX_buffer_max[];  // = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; // maximum number of characters in buffer for this channel (65K max)

/* Macros for moving character buffer pointers */
#define INC_CIRC_BUFFER_PTR(ptr, Addr, Length)      ((ptr >= Addr + Length - 1) ? Addr : ptr+1)

enum  UART_MODE  { UART_NONE0=0, UART_NONE1=1, UART_RECEIVER=2,  UART_TRANSMITTER=3 };
//enum UART_DEVICE { UART_GENERIC_DEVICE=0, UART_KEYPAD, UART_EB500 };
// This defines when to signal (semaphore/mailbox if RTOS) otherwise flag that a complete packet has been received.
enum UART_SIGNAL { UART_GENERIC_SIGNAL, UART_ESCAPE_SIGNAL, UART_PACKETLENGTH_SIGNAL, UART_JAUSLENGTH_SIGNAL };

enum PARITY_TYPE { OOMRM_PARITY_NONE=0, OOMRM_PARITY_EVEN=2, OOMRM_PARITY_ODD=3 }; // DO NOT CHANGE (UART HSQR)

#ifdef __cplusplus


class oUART : public virtual OOMRM
{
public:
  oUART();
  oUART(IOLINE channel, UART_MODE imode, int dsize, PARITY_TYPE parity, int BAUD_RATE);
//  friend void uart_handler(void);
  void init(IOLINE channel, UART_MODE mode, int dsize, PARITY_TYPE parity, int BAUD_RATE); 
  void priority(PRIORITY p);
  bool havebyte();//  {  return (ptrRTXCharHead[_uart_channel] != ptrRTXCharTail[_uart_channel]); }
  word inbyte(void);
/*
    {
    static word ReturnVal;
      ReturnVal = *ptrRTXCharTail[_uart_channel];
      // Move pointer to next character 
      ptrRTXCharTail[_uart_channel] = INC_CIRC_BUFFER_PTR(ptrRTXCharTail[_uart_channel], _uart_RTX_buffer[_uart_channel], RTX_buffer_max[_uart_channel]);
      return ReturnVal;
    }
*/
  void outbyte(word txbyte);
  int sendingbyte(void);
  int send(const char* const buf, int nbytes);
  void buffer(volatile word* inbuffer, uint16 ilen);
  // The OS_Event has "C" declaration and causes all sorts of pain by putting it into a class structure--thus using void*.
  void config(uint8 isig, uint16 imod, void* semaphore, WSIM_IO_ID ihw);
  // Allows dynamically reconfiguring size of receive buffer before semaphore posts. 
  void reconfig(uint16 imod);
  bool active(uint8 r = FALSE);
  void dump(void);
  uint16 byte_count(void); 
  void baud_rate(int dsize, PARITY_TYPE parity, int BAUD_RATE);
protected:
  IOLINE _uart_channel; // should be private--fix later. FLTK callback needs this.
private:
  void ioline(IOLINE channel, UART_MODE mode, int dsize, PARITY_TYPE parity, int BAUD_RATE); 
  UART_MODE _mode;
  // NOTE: most data had to be outside class for uart_handler
};
#endif
#endif

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