mirror of https://github.com/ArduPilot/ardupilot
Change the way that we do board-to-board portability to avoid knowing about specific AVR devices; use the availability of registers/vectors instead. This lets us reduce the overall macro evil as well.
Drop some unused, old vector code. Strip the UDR pointer from the class instance, since it's never used. Fix up the comment describing RAM savings. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1145 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
48d1c18dc5
commit
363d9156d1
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@ -47,34 +47,6 @@ FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
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#define TX_BUFFER_SIZE 64
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#define BUFFER_MAX 512
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// Interrupt handlers //////////////////////////////////////////////////////////
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#if 0
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#define HANDLERS(_PORT, _RXVECTOR, _TXVECTOR, _UDR) \
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SIGNAL(_RXVECTOR) \
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{ \
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unsigned char c = _UDR; \
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ports[_PORT]->receive(c); \
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} \
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\
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SIGNAL(_TXVECTOR) \
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{ \
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ports[_PORT]->transmit(); \
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} \
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struct hack
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#if defined(__AVR_ATmega8__)
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HANDLERS(0, SIG_UART_RECV, SIG_UART_DATA, UDR);
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#else
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HANDLERS(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0);
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#if defined(__AVR_ATmega1280__)
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HANDLERS(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1);
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HANDLERS(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2);
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HANDLERS(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3);
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#endif
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#endif
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#endif
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// Constructor /////////////////////////////////////////////////////////////////
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FastSerial::FastSerial(const uint8_t portNumber,
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@ -82,7 +54,6 @@ FastSerial::FastSerial(const uint8_t portNumber,
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volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra,
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volatile uint8_t *ucsrb,
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volatile uint8_t *udr,
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const uint8_t u2x,
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const uint8_t portEnableBits,
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const uint8_t portTxBits)
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@ -91,7 +62,6 @@ FastSerial::FastSerial(const uint8_t portNumber,
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_ubrrl = ubrrl;
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_ucsra = ucsra;
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_ucsrb = ucsrb;
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_udr = udr;
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_u2x = u2x;
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_portEnableBits = portEnableBits;
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_portTxBits = portTxBits;
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@ -35,7 +35,8 @@
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// Note that this library does not pre-declare drivers for serial
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// ports; the user must explicitly create drivers for the ports they
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// wish to use. This is less friendly than the stock Arduino driver,
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// but it saves ~200 bytes for every unused port.
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// but it saves 24 bytes of RAM for every unused port and frees up
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// the vector for another driver (e.g. MSPIM on USARTs).
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//
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#ifndef FastSerial_h
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@ -49,6 +50,7 @@
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#include <inttypes.h>
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#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "BetterStream.h"
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@ -68,6 +70,8 @@
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// FastSerialPort2(<port name>) creates <port name> referencing serial port 2
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// FastSerialPort3(<port name>) creates <port name> referencing serial port 3
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//
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// Note that macros are only defined for ports that exist on the target device.
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//
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//
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// Forward declarations for clients that want to assume that the
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@ -89,7 +93,6 @@ public:
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volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra,
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volatile uint8_t *ucsrb,
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volatile uint8_t *udr,
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const uint8_t u2x,
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const uint8_t portEnableBits,
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const uint8_t portTxBits);
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@ -118,7 +121,6 @@ private:
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volatile uint8_t *_ubrrl;
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volatile uint8_t *_ucsra;
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volatile uint8_t *_ucsrb;
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volatile uint8_t *_udr;
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// register magic numbers
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uint8_t _portEnableBits; // rx, tx and rx interrupt enables
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@ -130,8 +132,8 @@ private:
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Buffer *_txBuffer;
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bool _open;
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bool _allocBuffer(Buffer *buffer, unsigned int size);
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void _freeBuffer(Buffer *buffer);
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static bool _allocBuffer(Buffer *buffer, unsigned int size);
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static void _freeBuffer(Buffer *buffer);
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};
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// Used by the per-port interrupt vectors
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@ -172,79 +174,72 @@ ISR(_TXVECTOR, ISR_BLOCK) \
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} \
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struct hack
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// Macros defining serial ports
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#if defined(__AVR_ATmega1280__)
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#define FastSerialPort0(_portName) \
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FastSerial _portName(0, \
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&UBRR0H, \
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&UBRR0L, \
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&UCSR0A, \
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&UCSR0B, \
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&UDR0, \
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U2X0, \
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(_BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0)), \
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(_BV(UDRIE0))); \
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FastSerialHandler(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0, UCSR0B, _BV(UDRIE0))
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#define FastSerialPort1(_portName) \
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FastSerial _portName(1, \
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&UBRR1H, \
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&UBRR1L, \
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&UCSR1A, \
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&UCSR1B, \
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&UDR1, \
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U2X1, \
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(_BV(RXEN1) | _BV(TXEN1) | _BV(RXCIE1)), \
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(_BV(UDRIE1))); \
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FastSerialHandler(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1, UCSR1B, _BV(UDRIE1))
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#define FastSerialPort2(_portName) \
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FastSerial _portName(2, \
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&UBRR2H, \
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&UBRR2L, \
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&UCSR2A, \
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&UCSR2B, \
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&UDR2, \
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U2X2, \
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(_BV(RXEN2) | _BV(TXEN2) | _BV(RXCIE2)), \
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(_BV(UDRIE2))); \
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FastSerialHandler(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2, UCSR2B, _BV(UDRIE2))
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#define FastSerialPort3(_portName) \
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FastSerial _portName(3, \
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&UBRR3H, \
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&UBRR3L, \
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&UCSR3A, \
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&UCSR3B, \
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&UDR3, \
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U2X3, \
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(_BV(RXEN3) | _BV(TXEN3) | _BV(RXCIE3)), \
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(_BV(UDRIE3))); \
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FastSerialHandler(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3, UCSR3B, _BV(UDRIE3))
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#else
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#if defined(__AVR_ATmega8__)
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#define FastSerialPort0(_portName) \
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FastSerial _portName(0, \
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&UBRR0H, \
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&UBRR0L, \
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&UCSR0A, \
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&UCSR0B, \
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&UDR0, \
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U2X0, \
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(_BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0)), \
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(_BV(UDRIE0))); \
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FastSerialHandler(0, SIG_UART_RECV, SIG_UART_DATA, UDR0, UCSR0B, _BV(UDRIE0))
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#else
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// note no SIG_USART_* defines for the 168, 328, etc.
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#define FastSerialPort0(_portName) \
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FastSerial _portName(0, \
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&UBRR0H, \
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&UBRR0L, \
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&UCSR0A, \
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&UCSR0B, \
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&UDR0, \
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U2X0, \
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(_BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0)), \
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(_BV(UDRIE0))); \
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FastSerialHandler(0, USART_RX_vect, USART_UDRE_vect, UDR0, UCSR0B, _BV(UDRIE0))
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#endif
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//
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// Portability; convert various older sets of defines for U(S)ART0 up
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// to match the definitions for the 1280 and later devices.
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//
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#if !defined(USART0_RX_vect)
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# if defined(USART_RX_vect)
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# define USART0_RX_vect USART_RX_vect
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# define USART0_UDRE_vect USART_UDRE_vect
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# elif defined(UART0_RX_vect)
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# define USART0_RX_vect UART0_RX_vect
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# define USART0_UDRE_vect UART0_UDRE_vect
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# endif
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#endif
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#if !defined(USART1_RX_vect)
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# if defined(UART1_RX_vect)
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# define USART1_RX_vect UART1_RX_vect
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# define USART1_UDRE_vect UART1_UDRE_vect
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# endif
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#endif
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#if !defined(UDR0)
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# if defined(UDR)
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# define UDR0 UDR
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# define UBRR0H UBRRH
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# define UBRR0L UBRRL
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# define UCSR0A UCSRA
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# define UCSR0B UCSRB
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# define U2X0 U2X
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# define RXEN0 RXEN
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# define TXEN0 TXEN
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# define RXCIE0 RXCIE
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# define UDRIE0 UDRIE
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# endif
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#endif
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//
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// Macro defining a FastSerial port instance.
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//
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#define FastSerialPort(_name, _num) \
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FastSerial _name(_num, \
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&UBRR##_num##H, \
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&UBRR##_num##L, \
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&UCSR##_num##A, \
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&UCSR##_num##B, \
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U2X##_num, \
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(_BV(RXEN##_num) | _BV(TXEN##_num) | _BV(RXCIE##_num)), \
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(_BV(UDRIE##_num))); \
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FastSerialHandler(_num, \
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USART##_num##_RX_vect, \
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USART##_num##_UDRE_vect, \
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UDR##_num, \
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UCSR##_num##B, \
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_BV(UDRIE##_num))
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//
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// Compatibility macros for previous FastSerial versions.
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//
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// Note that these are not conditionally defined, as the errors
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// generated when using these macros for a board that does not support
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// the port are better than the errors generated for a macro that's not
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// defined at all.
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//
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#define FastSerialPort0(_portName) FastSerialPort(_portName, 0)
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#define FastSerialPort1(_portName) FastSerialPort(_portName, 1)
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#define FastSerialPort2(_portName) FastSerialPort(_portName, 2)
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#define FastSerialPort3(_portName) FastSerialPort(_portName, 3)
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#endif // FastSerial_h
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