mirror of https://github.com/ArduPilot/ardupilot
"Fast" serial driver that fully overrides the Arduino-provided HardwareSerial/Serial* driver.
The receive side is basically a copy of the HardwareSerial driver, whilst the transmit side uses the same algorithm as the APM_FastSerial driver. See the example sketch for usage details. git-svn-id: https://arducopter.googlecode.com/svn/trunk@276 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
f711db0e0a
commit
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// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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//
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// Interrupt-driven serial transmit/receive library.
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//
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// Copyright (c) 2010 Michael Smith. All rights reserved.
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//
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// Receive and baudrate calculations derived from the Arduino
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// HardwareSerial driver:
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//
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// Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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//
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// Transmit algorithm inspired by work:
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//
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// Code Jose Julio and Jordi Munoz. DIYDrones.com
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//
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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//
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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||||||
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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#include <wiring.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include "FastSerial.h"
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#if defined(__AVR_ATmega1280__)
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# define FS_MAX_PORTS 4
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#else
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# define FS_MAX_PORTS 1
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#endif
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static FastSerial *ports[FS_MAX_PORTS];
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#define RX_BUFFER_SIZE sizeof(((FastSerial::RXBuffer *)1)->bytes)
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#define TX_BUFFER_SIZE sizeof(((FastSerial::TXBuffer *)1)->bytes)
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// Interrupt handlers //////////////////////////////////////////////////////////
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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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// Constructor /////////////////////////////////////////////////////////////////
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FastSerial::FastSerial(uint8_t portNumber)
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{
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switch(portNumber) {
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#if defined(__AVR_ATmega8__)
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case 0:
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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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_udr = &UDR;
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_u2x = U2X;
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_portEnableBits = _BV(RXEN) | _BV(TXEN) | _BV(RXCIE);
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_portTxBits = _BV(UDRIE);
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break;
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#else
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case 0:
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_ubrrh = &UBRR0H;
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_ubrrl = &UBRR0L;
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_ucsra = &UCSR0A;
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_ucsrb = &UCSR0B;
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_udr = &UDR0;
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_u2x = U2X0;
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_portEnableBits = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0);
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_portTxBits = _BV(UDRIE0);
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break;
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#if defined(__AVR_ATmega1280__)
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case 1:
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_ubrrh = &UBRR1H;
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_ubrrl = &UBRR1L;
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_ucsra = &UCSR1A;
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_ucsrb = &UCSR1B;
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_udr = &UDR1;
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_u2x = U2X1;
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_portEnableBits = _BV(RXEN1) | _BV(TXEN1) | _BV(RXCIE1);
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_portTxBits = _BV(UDRIE1);
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break;
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case 2:
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_ubrrh = &UBRR2H;
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_ubrrl = &UBRR2L;
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_ucsra = &UCSR2A;
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_ucsrb = &UCSR2B;
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_udr = &UDR2;
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_u2x = U2X2;
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_portEnableBits = _BV(RXEN2) | _BV(TXEN2) | _BV(RXCIE2);
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_portTxBits = _BV(UDRIE2);
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break;
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case 3:
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_ubrrh = &UBRR3H;
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_ubrrl = &UBRR3L;
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_ucsra = &UCSR3A;
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_ucsrb = &UCSR3B;
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_udr = &UDR3;
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_u2x = U2X3;
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_portEnableBits = _BV(RXEN3) | _BV(TXEN3) | _BV(RXCIE3);
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_portTxBits = _BV(UDRIE3);
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break;
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#endif
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#endif
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default:
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return;
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};
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_txBuffer.head = _txBuffer.tail = 0;
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_rxBuffer.head = _rxBuffer.tail = 0;
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// claim the port
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ports[portNumber] = this;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void FastSerial::begin(long baud)
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{
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uint16_t baud_setting;
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bool use_u2x;
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// U2X mode is needed for baud rates higher than (CPU Hz / 16)
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if (baud > F_CPU / 16) {
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use_u2x = true;
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} else {
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// figure out if U2X mode would allow for a better connection
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// calculate the percent difference between the baud-rate specified and
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// the real baud rate for both U2X and non-U2X mode (0-255 error percent)
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uint8_t nonu2x_baud_error = abs((int)(255-((F_CPU/(16*(((F_CPU/8/baud-1)/2)+1))*255)/baud)));
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uint8_t u2x_baud_error = abs((int)(255-((F_CPU/(8*(((F_CPU/4/baud-1)/2)+1))*255)/baud)));
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// prefer non-U2X mode because it handles clock skew better
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use_u2x = (nonu2x_baud_error > u2x_baud_error);
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}
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if (use_u2x) {
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*_ucsra = _BV(_u2x);
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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*_ucsra = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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*_ubrrh = baud_setting >> 8;
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*_ubrrl = baud_setting;
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*_ucsrb |= _portEnableBits;
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}
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void FastSerial::end()
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{
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*_ucsrb &= ~(_portEnableBits | _portTxBits);
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}
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uint8_t
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FastSerial::available(void)
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{
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return((RX_BUFFER_SIZE + _rxBuffer.head - _rxBuffer.tail) % RX_BUFFER_SIZE);
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}
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int
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FastSerial::read(void)
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{
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uint8_t c;
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// if the head and tail are equal, the buffer is empty
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if (_rxBuffer.head == _rxBuffer.tail)
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return(-1);
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// pull character from tail
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c = _rxBuffer.bytes[_rxBuffer.tail];
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_rxBuffer.tail = (_rxBuffer.tail + 1) % RX_BUFFER_SIZE;
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return(c);
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}
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void
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FastSerial::flush(void)
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{
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of _rxBuffer.head but before writing
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// the value to _rxBuffer.tail; the previous value of head
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// may be written to tail, making it appear as if the buffer
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of head but before writing
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// the value to tail; the previous value of rx_buffer_head
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// may be written to tail, making it appear as if the buffer
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// were full, not empty.
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_rxBuffer.head = _rxBuffer.tail;
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// don't reverse this or there may be problems if the TX interrupt
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// occurs after reading the value of _txBuffer.tail but before writing
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// the value to _txBuffer.head.
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_txBuffer.tail = _rxBuffer.head;
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}
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void
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FastSerial::write(uint8_t c)
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{
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uint8_t i;
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// wait for room in the tx buffer
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do {
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i = (_txBuffer.head + 1) % RX_BUFFER_SIZE;
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} while (i == _txBuffer.tail);
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// add byte to the buffer
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_txBuffer.bytes[_txBuffer.head] = c;
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_txBuffer.head = i;
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// enable the data-ready interrupt, as it may be off if the buffer is empty
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*_ucsrb |= _portTxBits;
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}
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void
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FastSerial::write(const uint8_t *buffer, int count)
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{
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|
while (count--)
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write(*buffer++);
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|
}
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// Interrupt methods ///////////////////////////////////////////////////////////
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void
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FastSerial::receive(uint8_t c)
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|
{
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|
uint8_t i;
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// if we should be storing the received character into the location
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|
// just before the tail (meaning that the head would advance to the
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||||||
|
// current location of the tail), we're about to overflow the buffer
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|
// and so we don't write the character or advance the head.
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|
i = (_rxBuffer.head + 1) % RX_BUFFER_SIZE;
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|
if (i != _rxBuffer.tail) {
|
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|
_rxBuffer.bytes[_rxBuffer.head] = c;
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|
_rxBuffer.head = i;
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|
}
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|
}
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|
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|
void
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|
FastSerial::transmit(void)
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|
{
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// if the buffer is not empty, send the next byte
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|
if (_txBuffer.head != _txBuffer.tail) {
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*_udr = _txBuffer.bytes[_txBuffer.tail];
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_txBuffer.tail = (_txBuffer.tail + 1) % TX_BUFFER_SIZE;
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|
}
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// if the buffer is (now) empty, disable the interrupt
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|
if (_txBuffer.head == _txBuffer.tail)
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|
*_ucsrb &= ~_portTxBits;
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|
}
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@ -0,0 +1,99 @@
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|
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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|
//
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|
// Interrupt-driven serial transmit/receive library.
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|
//
|
||||||
|
// Copyright (c) 2010 Michael Smith. All rights reserved.
|
||||||
|
//
|
||||||
|
// Receive and baudrate calculations derived from the Arduino
|
||||||
|
// HardwareSerial driver:
|
||||||
|
//
|
||||||
|
// Copyright (c) 2006 Nicholas Zambetti. All right reserved.
|
||||||
|
//
|
||||||
|
// Transmit algorithm inspired by work:
|
||||||
|
//
|
||||||
|
// Code Jose Julio and Jordi Munoz. DIYDrones.com
|
||||||
|
//
|
||||||
|
// 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., 51 Franklin St, Fifth Floor,
|
||||||
|
// Boston, MA 02110-1301 USA
|
||||||
|
//
|
||||||
|
|
||||||
|
//
|
||||||
|
// Note that this library does not pre-declare drivers for serial
|
||||||
|
// ports; the user must explicitly create drivers for the ports they
|
||||||
|
// wish to use. This is less friendly than the stock Arduino driver,
|
||||||
|
// but it saves 256 bytes for every unused port.
|
||||||
|
//
|
||||||
|
// To adjust the transmit/receive buffer sizes, change the size of the
|
||||||
|
// 'bytes' member in the RXBuffer and TXBuffer structures.
|
||||||
|
//
|
||||||
|
|
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|
#ifndef FastSerial_h
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||||||
|
#define FastSerial_h
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include <Print.h>
|
||||||
|
|
||||||
|
// disable the stock Arduino serial driver
|
||||||
|
#define HardwareSerial_h
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||||||
|
|
||||||
|
class FastSerial : public Print {
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||||||
|
public:
|
||||||
|
FastSerial(uint8_t portNumber = 0);
|
||||||
|
|
||||||
|
// Serial API
|
||||||
|
void begin(long baud);
|
||||||
|
void end(void);
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||||||
|
uint8_t available(void);
|
||||||
|
int read(void);
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||||||
|
void flush(void);
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||||||
|
void write(uint8_t c);
|
||||||
|
void write(const uint8_t *buffer, int count);
|
||||||
|
using Print::write;
|
||||||
|
|
||||||
|
// Interrupt methods
|
||||||
|
void receive(uint8_t c);
|
||||||
|
void transmit(void);
|
||||||
|
|
||||||
|
private:
|
||||||
|
// register accessors
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||||||
|
volatile uint8_t *_ubrrh;
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||||||
|
volatile uint8_t *_ubrrl;
|
||||||
|
volatile uint8_t *_ucsra;
|
||||||
|
volatile uint8_t *_ucsrb;
|
||||||
|
volatile uint8_t *_udr;
|
||||||
|
|
||||||
|
// register magic numbers
|
||||||
|
uint8_t _portEnableBits; // rx, tx and rx interrupt enables
|
||||||
|
uint8_t _portTxBits; // tx data and completion interrupt enables
|
||||||
|
uint8_t _u2x;
|
||||||
|
|
||||||
|
// ring buffers
|
||||||
|
struct RXBuffer {
|
||||||
|
volatile uint8_t head;
|
||||||
|
uint8_t tail;
|
||||||
|
uint8_t bytes[128]; // size must be power of 2 for best results
|
||||||
|
};
|
||||||
|
struct TXBuffer {
|
||||||
|
uint8_t head;
|
||||||
|
volatile uint8_t tail;
|
||||||
|
uint8_t bytes[64]; // size must be power of 2 for best results
|
||||||
|
};
|
||||||
|
RXBuffer _rxBuffer;
|
||||||
|
TXBuffer _txBuffer;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // FastSerial_h
|
||||||
|
|
@ -0,0 +1,55 @@
|
||||||
|
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
|
||||||
|
|
||||||
|
//
|
||||||
|
// Example code for the FastSerial driver.
|
||||||
|
//
|
||||||
|
// This code is placed into the public domain.
|
||||||
|
//
|
||||||
|
|
||||||
|
//
|
||||||
|
// Include the FastSerial library header.
|
||||||
|
//
|
||||||
|
// Note that this causes the standard Arduino Serial* driver to be
|
||||||
|
// disabled.
|
||||||
|
//
|
||||||
|
#include <FastSerial.h>
|
||||||
|
|
||||||
|
//
|
||||||
|
// Create a FastSerial driver that looks just like the stock Arduino
|
||||||
|
// driver.
|
||||||
|
//
|
||||||
|
FastSerial Serial;
|
||||||
|
|
||||||
|
//
|
||||||
|
// To create a driver for a different serial port, on a board that
|
||||||
|
// supports more than one, pass an argument to the constructor:
|
||||||
|
//
|
||||||
|
//FastSerial Serial2(2);
|
||||||
|
|
||||||
|
|
||||||
|
void setup(void)
|
||||||
|
{
|
||||||
|
//
|
||||||
|
// Set the speed for our replacement serial port.
|
||||||
|
//
|
||||||
|
Serial.begin(38400);
|
||||||
|
|
||||||
|
//
|
||||||
|
// And send a message.
|
||||||
|
//
|
||||||
|
Serial.println("begin");
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
loop(void)
|
||||||
|
{
|
||||||
|
int c;
|
||||||
|
|
||||||
|
//
|
||||||
|
// Perform a simple loopback operation.
|
||||||
|
//
|
||||||
|
c = Serial.read();
|
||||||
|
if (-1 != c)
|
||||||
|
Serial.write(c);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
FastSerial KEYWORD1
|
||||||
|
begin KEYWORD2
|
||||||
|
end KEYWORD2
|
||||||
|
available KEYWORD2
|
||||||
|
read KEYWORD2
|
||||||
|
flush KEYWORD2
|
||||||
|
write KEYWORD2
|
||||||
Loading…
Reference in New Issue