1 files changed, 84 insertions, 18 deletions

diff --git a/hal/uart.tpp b/hal/uart.tpp
index 44d9315..8c120ec 100644
--- a/hal/uart.tpp
+++ b/hal/uart.tpp
@@ -1,14 +1,23 @@
 /* 
- * File:   uart.cpp
+ * File:   uart.tpp
  * Author: naopross
  *
  * Created on May 2, 2018, 7:05 PM
+ * 
+ * Note: Templated functions cannot be created outside of a namespace definition
+ *       because of a g++ bug in version 4.8.0 on which xc++ is based.
+ *       See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=56480
  */
 
+#ifndef UART_TPP
+#define UART_TPP
+
+#include "hwconfig.hpp"
 #include "uart.hpp"
 
 extern "C" {
-#include <proc/p32mx470f512h.h>
+// #include <proc/p32mx470f512h.h>
+#include <xc.h>
 #include <sys/attribs.h>
 }
 
@@ -17,36 +26,81 @@ extern "C" {
 namespace uart
 {
     template<unsigned dev>
-    uint8_t peek<dev>(uint16_t offset)
+    bool rx_buffer_empty()
+    {
+        return rx_buffer[dev -1].empty();
+    }
+
+    template<unsigned dev>
+    bool tx_buffer_full()
     {
-        if (offset >= rx_buffer[dev -1].size())
-            return 0;
-        else 
-            return rx_buffer[dev -1].at(offset);
+        return !tx_buffer[dev -1].empty();
     }
 
     template<unsigned dev>
-    bool rx_buffer_empty<dev>()
+    uint8_t read()
     {
-        return rx_buffer[0].empty();
+        uint8_t byte = rx_buffer[dev -1].front();
+        rx_buffer[dev -1].pop();
+
+        return byte;
+    }
+
+    template<unsigned dev>
+    unsigned read(uint8_t *buffer, const unsigned numbytes)
+    {
+        uint8_t *bptr = buffer;
+        unsigned len = numbytes;
+        
+        while (len--) {
+            *(bptr++) = read<dev>();
+        }
+    }
+
+    template<unsigned dev>
+    void write(const uint8_t byte)
+    {
+
     }
 
     template<unsigned dev>
-    bool tx_buffer_full<dev>()
+    void write(const std::string &str)
     {
-        return !tx_buffer[0].empty();
+        for (const char &c : str) {
+            write<dev>(c);
+        }
+    }
+
+    template<unsigned dev>
+    unsigned write(const uint8_t *buffer, const unsigned numbytes)
+    {
+
     }
 }
 
 
-/* specialization for UART1 */
+/* specializations for UART1 */
+
+// debug
+#include "pin.tpp"
+pin<2> led_blue(&LATBbits, &TRISBbits, &PORTEbits);
+
 void __ISR(_UART_1_VECTOR, IPL1AUTO) usart_1_isr()
 {
     if (IFS1bits.U1RXIF) {
-        uart::rx_buffer[0].push_back(static_cast<uint8_t>(U1RXREG));
+        // debug
+        led_blue.toggle();
+        while (U1STAbits.URXDA) {
+            uart::rx_buffer[0].push(static_cast<uint8_t>(U1RXREG));
+        }
 
         IFS1bits.U1RXIF = 0;
     } else if (IFS1bits.U1TXIF) {
+        IFS1bits.U1TXIF = 0;
+    } else {
+        if (U1STAbits.OERR == 1) {
+            U1STAbits.OERR = 0;
+        }
 
         IFS1bits.U1TXIF = 0;
     }
@@ -93,13 +147,25 @@ namespace uart
         U1STAbits.UTXEN = 1;
         U1STAbits.URXEN = 1;
 
-        //Enabling  UART
+        // Enabling  UART
         U1MODEbits.ON = 1;
-    }
 
-    template<>
-    uint8_t read<1>()
-    {
+        // UERI: UART1 Error
+        // Priority: 1
+        // SubPriority: 0
+        IPC7bits.U1IP = 1;
+        IPC7bits.U1IS = 0;
 
+        // map uart pins to port F
+        hw::regunlock(); // unlock PPS
+        CFGCONbits.IOLOCK = 0;
+
+        U1RXRbits.U1RXR = 0x0004;   //RF1->UART1:U1RX;
+        RPF0Rbits.RPF0R = 0x0003;   //RF0->UART1:U1TX;
+
+        CFGCONbits.IOLOCK = 1; // lock   PPS
+        hw::reglock();
     }
 }
+
+#endif
\ No newline at end of file