mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.9 KiB
C++
79 lines
1.9 KiB
C++
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// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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//
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// Copyright (c) 2010 Michael Smith. All rights reserved.
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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//
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//
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// Enhancements to the Arduino Stream class.
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//
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#include <limits.h>
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#include <AP_Common.h>
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#include <avr/pgmspace.h>
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#include <AP_HAL.h>
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#include "UARTDriver.h"
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using namespace AP_HAL_AVR;
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#define FS_MAX_PORTS 4
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AVRUARTDriver::Buffer __AVRUARTDriver__rxBuffer[FS_MAX_PORTS];
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AVRUARTDriver::Buffer __AVRUARTDriver__txBuffer[FS_MAX_PORTS];
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AVRUARTDriver::AVRUARTDriver(
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const uint8_t portNumber, volatile uint8_t *ubrrh,
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volatile uint8_t *ubrrl, volatile uint8_t *ucsra,
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volatile uint8_t *ucsrb, const uint8_t u2x,
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const uint8_t portEnableBits, const uint8_t portTxBits) :
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_ubrrh(ubrrh),
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_ubrrl(ubrrl),
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_ucsra(ucsra),
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_ucsrb(ucsrb),
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_u2x(u2x),
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_portEnableBits(portEnableBits),
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_portTxBits(portTxBits),
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_rxBuffer(&__AVRUARTDriver__rxBuffer[portNumber]),
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_txBuffer(&__AVRUARTDriver__txBuffer[portNumber])
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{
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_initialized = true;
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begin(57600);
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}
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/* */
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/* BetterStream implementations */
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void AVRUARTDriver::print_P(const prog_char_t *s)
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{
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char c;
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while ('\0' != (c = pgm_read_byte((const prog_char *)s++)))
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write(c);
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}
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void AVRUARTDriver::println_P(const prog_char_t *s)
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{
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print_P(s);
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println();
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}
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void AVRUARTDriver::printf(const char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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_vprintf(0, fmt, ap);
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va_end(ap);
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}
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void AVRUARTDriver::_printf_P(const prog_char *fmt, ...)
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{
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va_list ap;
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va_start(ap, fmt);
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_vprintf(1, fmt, ap);
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va_end(ap);
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}
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