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New version of APM_FastSerial library 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@89 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-08-13 16:17:08 +00:00
parent 67a19893e7
commit 4d1cbc1cca
3 changed files with 55 additions and 208 deletions
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203
libraries/APM_FastSerial/APM_FastSerial.cpp
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@ -1,5 +1,6 @@
/* /*
APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (Atmega1280) APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (atmega1280)
It´s also compatible with standard Arduino boards (atmega 168 and 328)
Interrupt driven Serial output with intermediate buffer Interrupt driven Serial output with intermediate buffer
Code Jose Julio and Jordi Muñoz. DIYDrones.com Code Jose Julio and Jordi Muñoz. DIYDrones.com
@ -10,8 +11,8 @@
This library works as a complement of the standard Arduino Serial This library works as a complement of the standard Arduino Serial
library. So user must initialize Standard Serial Arduino library first. library. So user must initialize Standard Serial Arduino library first.
This library works in Serial port 0 and Serial port3 (telemetry port) This library works in Serial port 0 and Serial port3(telemetry port)[APM]
Methods: (the same as standard arduino library) Methods: (the same as standard arduino library, inherits from Print)
write() for bytes or array of bytes (binary output) write() for bytes or array of bytes (binary output)
print() for chars, strings, numbers and floats print() for chars, strings, numbers and floats
println() println()
@ -26,7 +27,6 @@ extern "C" {
#include <avr/io.h> #include <avr/io.h>
#include "WConstants.h" #include "WConstants.h"
} }
#define TX_BUFFER_SIZE 80 // Serial output buffer size #define TX_BUFFER_SIZE 80 // Serial output buffer size
// Serial0 buffer // Serial0 buffer
@ -34,12 +34,14 @@ uint8_t tx_buffer0[TX_BUFFER_SIZE];
volatile int tx_buffer0_head=0; volatile int tx_buffer0_head=0;
volatile int tx_buffer0_tail=0; volatile int tx_buffer0_tail=0;
#if defined(__AVR_ATmega1280__)
// Serial3 buffer // Serial3 buffer
uint8_t tx_buffer3[TX_BUFFER_SIZE]; uint8_t tx_buffer3[TX_BUFFER_SIZE];
volatile int tx_buffer3_head=0; volatile int tx_buffer3_head=0;
volatile int tx_buffer3_tail=0; volatile int tx_buffer3_tail=0;
#endif
#if defined(__AVR_ATmega1280__) // For atmega1280 we use Serial port 0 and 3
// Serial0 interrupt // Serial0 interrupt
ISR(SIG_USART0_DATA) ISR(SIG_USART0_DATA)
{ {
@ -67,6 +69,22 @@ ISR(SIG_USART3_DATA)
UDR3 = data; UDR3 = data;
} }
} }
#else
// Serial interrupt
ISR(USART_UDRE_vect)
{
uint8_t data;
if (tx_buffer0_tail == tx_buffer0_head)
UCSR0B &= ~(_BV(UDRIE0)); // Disable interrupt
else {
data = tx_buffer0[tx_buffer0_tail];
tx_buffer0_tail = (tx_buffer0_tail + 1) % TX_BUFFER_SIZE;
UDR0 = data;
}
}
#endif
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
APM_FastSerial_Class::APM_FastSerial_Class(uint8_t SerialPort) APM_FastSerial_Class::APM_FastSerial_Class(uint8_t SerialPort)
@ -98,6 +116,7 @@ void APM_FastSerial_Class::write(uint8_t b)
if (Enable_tx_int) if (Enable_tx_int)
UCSR0B |= _BV(UDRIE0); // Enable Serial TX interrupt UCSR0B |= _BV(UDRIE0); // Enable Serial TX interrupt
} }
#if defined(__AVR_ATmega1280__)
else // Serial Port 3 else // Serial Port 3
{ {
// if buffer was empty then we enable Serial TX interrupt // if buffer was empty then we enable Serial TX interrupt
@ -114,180 +133,18 @@ void APM_FastSerial_Class::write(uint8_t b)
if (Enable_tx_int) if (Enable_tx_int)
UCSR3B |= _BV(UDRIE3); // Enable Serial TX interrupt UCSR3B |= _BV(UDRIE3); // Enable Serial TX interrupt
} }
#endif
} }
// Send a buffer of bytes (this is util for binary protocols) // Send a buffer of bytes (this is util for binary protocols)
void APM_FastSerial_Class::write(const uint8_t *buffer, int size) void APM_FastSerial_Class::write(const uint8_t *buffer, int size)
{ {
while (size--) while (size--)
write(*buffer++); write(*buffer++);
} }
void APM_FastSerial_Class::print(uint8_t b)
{
write(b);
}
void APM_FastSerial_Class::print(const char *s)
{
while (*s)
print(*s++);
}
void APM_FastSerial_Class::print(char c)
{
write((uint8_t) c);
}
void APM_FastSerial_Class::print(int n)
{
print((long) n);
}
void APM_FastSerial_Class::print(unsigned int n)
{
print((unsigned long) n);
}
void APM_FastSerial_Class::print(long n)
{
if (n < 0) {
print('-');
n = -n;
}
printNumber(n, 10);
}
void APM_FastSerial_Class::print(unsigned long n)
{
printNumber(n, 10);
}
void APM_FastSerial_Class::print(long n, int base)
{
if (base == 0)
print((char) n);
else if (base == 10)
print(n);
else
printNumber(n, base);
}
void APM_FastSerial_Class::println(void)
{
print('\r');
print('\n');
}
void APM_FastSerial_Class::println(char c)
{
print(c);
println();
}
void APM_FastSerial_Class::println(const char c[])
{
print(c);
println();
}
void APM_FastSerial_Class::println(uint8_t b)
{
print(b);
println();
}
void APM_FastSerial_Class::println(int n)
{
print(n);
println();
}
void APM_FastSerial_Class::println(long n)
{
print(n);
println();
}
void APM_FastSerial_Class::println(unsigned long n)
{
print(n);
println();
}
void APM_FastSerial_Class::println(long n, int base)
{
print(n, base);
println();
}
// To print floats
void APM_FastSerial_Class::print(double n, int digits)
{
printFloat(n, digits);
}
void APM_FastSerial_Class::println(double n, int digits)
{
print(n, digits);
println();
}
// Private Methods /////////////////////////////////////////////////////////////
void APM_FastSerial_Class::printNumber(unsigned long n, uint8_t base)
{
unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
unsigned long i = 0;
if (n == 0) {
print('0');
return;
}
while (n > 0) {
buf[i++] = n % base;
n /= base;
}
for (; i > 0; i--)
print((char) (buf[i - 1] < 10 ? '0' + buf[i - 1] : 'A' + buf[i - 1] - 10));
}
void APM_FastSerial_Class::printFloat(double number, uint8_t digits)
{
// Handle negative numbers
if (number < 0.0)
{
print('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i=0; i<digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
double remainder = number - (double)int_part;
print(int_part);
// Print the decimal point, but only if there are digits beyond
if (digits > 0)
print(".");
// Extract digits from the remainder one at a time
while (digits-- > 0)
{
remainder *= 10.0;
int toPrint = int(remainder);
print(toPrint);
remainder -= toPrint;
}
}
// We create this two instances // We create this two instances
APM_FastSerial_Class APM_FastSerial(0); // For Serial port 0 APM_FastSerial_Class APM_FastSerial(0); // For Serial port 0
APM_FastSerial_Class APM_FastSerial3(3); // For Serial port 3 #if defined(__AVR_ATmega1280__)
APM_FastSerial_Class APM_FastSerial3(3); // For Serial port 3 (only Atmega1280)
#endif

32
libraries/APM_FastSerial/APM_FastSerial.h
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@ -3,37 +3,23 @@
#include <inttypes.h> #include <inttypes.h>
class APM_FastSerial_Class #include "Print.h"
class APM_FastSerial_Class : public Print // Inherit from Print
{ {
private: private:
void printNumber(unsigned long, uint8_t);
void printFloat(double number, uint8_t digits);
uint8_t SerialPortNumber; uint8_t SerialPortNumber;
public: public:
APM_FastSerial_Class(uint8_t SerialPort); // Constructor APM_FastSerial_Class(uint8_t SerialPort); // Constructor
void write(uint8_t b); // basic funtion : send a byte // we overwrite the write methods
void write(uint8_t b); // basic funtion : send a byte
void write(const uint8_t *buffer, int size); void write(const uint8_t *buffer, int size);
void print(char);
void print(const char[]);
void print(uint8_t);
void print(int);
void print(unsigned int);
void print(long);
void print(unsigned long);
void print(long, int);
void print(double, int=2);
void println(void);
void println(char);
void println(const char[]);
void println(uint8_t);
void println(int);
void println(long);
void println(unsigned long);
void println(long, int);
void println(double, int=2);
}; };
extern APM_FastSerial_Class APM_FastSerial; extern APM_FastSerial_Class APM_FastSerial;
extern APM_FastSerial_Class APM_FastSerial3; #if defined(__AVR_ATmega1280__)
extern APM_FastSerial_Class APM_FastSerial3;
#endif
#endif #endif

28
libraries/APM_FastSerial/examples/APM_FastSerial/APM_FastSerial.pde
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@ -6,7 +6,11 @@
// FastSerial is implemented for Serial port 0 (connection to PC) and 3 (telemetry) // FastSerial is implemented for Serial port 0 (connection to PC) and 3 (telemetry)
#include <APM_FastSerial.h> // ArduPilot Mega Fast Serial Output Library #include <APM_FastSerial.h> // ArduPilot Mega Fast Serial Output Library
#define LED_RED 35 #if defined(__AVR_ATmega1280__)
#define LED 35
#else
#define LED 13
#endif
unsigned long timer; unsigned long timer;
unsigned long counter; unsigned long counter;
@ -22,17 +26,17 @@ void setup()
for (int i=0;i<10;i++) for (int i=0;i<10;i++)
bc_bufIn[i]=i*10+30; // we fill the byte array bc_bufIn[i]=i*10+30; // we fill the byte array
pinMode(LED_RED,OUTPUT); pinMode(LED,OUTPUT);
// We use the standard serial port initialization // We use the standard serial port initialization
Serial.begin(57600); Serial.begin(57600);
Serial3.begin(57600); // if we want to use port3 also... //Serial3.begin(57600); // if we want to use port3 also (Mega boards)...
delay(100); delay(100);
// We can use both methods to write to serial port: // We can use both methods to write to serial port:
Serial.println("ArduPilot Mega FastSerial library test"); // Standard serial output Serial.println("ArduPilot Mega FastSerial library test"); // Standard serial output
APM_FastSerial.println("FAST_SERIAL : ArduPilot Mega FastSerial library test"); // Fast serial output APM_FastSerial.println("FAST_SERIAL : ArduPilot Mega FastSerial library test"); // Fast serial output
// We can use the same on serial port3 (telemetry) // We can use the same on serial port3 (telemetry)
APM_FastSerial3.println("Serial Port3 : ArduPilot Mega FastSerial library test"); // APM_FastSerial3.println("Serial Port3 : ArduPilot Mega FastSerial library test");
delay(1000); delay(1000);
// Examples of data types (same result as standard arduino library) // Examples of data types (same result as standard arduino library)
APM_FastSerial.println("Numbers:"); APM_FastSerial.println("Numbers:");
@ -56,28 +60,28 @@ void loop()
if (counter < 250) // we use the Normal Serial output for 5 seconds if (counter < 250) // we use the Normal Serial output for 5 seconds
{ {
// Example of typical telemetry output // Example of typical telemetry output
digitalWrite(LED_RED,HIGH); digitalWrite(LED,HIGH);
Serial.println("!ATT:14.2;-5.5;-26.8"); // 20 bytes Serial.println("!ATT:14.2;-5.5;-26.8"); // 20 bytes
digitalWrite(LED_RED,LOW); digitalWrite(LED,LOW);
if ((counter%5)==0) // GPS INFO at 5Hz if ((counter%5)==0) // GPS INFO at 5Hz
{ {
digitalWrite(LED_RED,HIGH); digitalWrite(LED,HIGH);
Serial.println("!LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes Serial.println("!LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes
digitalWrite(LED_RED,LOW); digitalWrite(LED,LOW);
} }
} }
else // and Fast Serial Output for other 5 seconds else // and Fast Serial Output for other 5 seconds
{ {
// The same info... // The same info...
digitalWrite(LED_RED,HIGH); digitalWrite(LED,HIGH);
APM_FastSerial.println("#ATT:14.2;-5.5;-26.8"); // 20 bytes APM_FastSerial.println("#ATT:14.2;-5.5;-26.8"); // 20 bytes
digitalWrite(LED_RED,LOW); digitalWrite(LED,LOW);
if ((counter%5)==0) // GPS INFO at 5Hz if ((counter%5)==0) // GPS INFO at 5Hz
{ {
digitalWrite(LED_RED,HIGH); digitalWrite(LED,HIGH);
APM_FastSerial.println("#LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes APM_FastSerial.println("#LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes
digitalWrite(LED_RED,LOW); digitalWrite(LED,LOW);
} }
if (counter>500) // Counter reset if (counter>500) // Counter reset
counter=0; counter=0;