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Commented out AP_Common, which is not implemented yet. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@443 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
analoguedevices 2010-09-08 22:18:58 +00:00
parent b918f21567
commit 63ae72648e
1 changed files with 358 additions and 358 deletions
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716
libraries/FastSerial/FastSerial.cpp
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@ -1,358 +1,358 @@
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
//
// Interrupt-driven serial transmit/receive library.
//
// 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
//
#include "../AP_Common/AP_Common.h"
#include "FastSerial.h"
#include "WProgram.h"
#if defined(__AVR_ATmega1280__)
# define FS_MAX_PORTS 4
#else
# define FS_MAX_PORTS 1
#endif
FastSerial *__FastSerial__ports[FS_MAX_PORTS];
// Default buffer sizes
#define RX_BUFFER_SIZE 128
#define TX_BUFFER_SIZE 64
#define BUFFER_MAX 512
// Interrupt handlers //////////////////////////////////////////////////////////
#if 0
#define HANDLERS(_PORT, _RXVECTOR, _TXVECTOR, _UDR) \
SIGNAL(_RXVECTOR) \
{ \
unsigned char c = _UDR; \
ports[_PORT]->receive(c); \
} \
\
SIGNAL(_TXVECTOR) \
{ \
ports[_PORT]->transmit(); \
} \
struct hack
#if defined(__AVR_ATmega8__)
HANDLERS(0, SIG_UART_RECV, SIG_UART_DATA, UDR);
#else
HANDLERS(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0);
#if defined(__AVR_ATmega1280__)
HANDLERS(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1);
HANDLERS(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2);
HANDLERS(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3);
#endif
#endif
#endif
// Constructor /////////////////////////////////////////////////////////////////
FastSerial::FastSerial(const uint8_t portNumber,
volatile uint8_t *ubrrh,
volatile uint8_t *ubrrl,
volatile uint8_t *ucsra,
volatile uint8_t *ucsrb,
volatile uint8_t *udr,
const uint8_t u2x,
const uint8_t portEnableBits,
const uint8_t portTxBits)
{
_ubrrh = ubrrh;
_ubrrl = ubrrl;
_ucsra = ucsra;
_ucsrb = ucsrb;
_udr = udr;
_u2x = u2x;
_portEnableBits = portEnableBits;
_portTxBits = portTxBits;
// init buffers
_txBuffer.head = _txBuffer.tail = 0;
_rxBuffer.head = _rxBuffer.tail = 0;
// claim the port
__FastSerial__ports[portNumber] = this;
// init stdio
fdev_setup_stream(&_fd, &FastSerial::_putchar, NULL, _FDEV_SETUP_WRITE);
fdev_set_udata(&_fd, this);
if (0 == portNumber)
stdout = &_fd; // serial port 0 is always the default console
}
// Public Methods //////////////////////////////////////////////////////////////
void FastSerial::begin(long baud)
{
begin(baud, RX_BUFFER_SIZE, TX_BUFFER_SIZE);
}
void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
{
uint16_t baud_setting;
bool use_u2x;
// if we are currently open, close and restart
if (_open)
end();
// allocate buffers
if (!_allocBuffer(&_rxBuffer, rxSpace ? : RX_BUFFER_SIZE) ||
!_allocBuffer(&_txBuffer, txSpace ? : TX_BUFFER_SIZE)) {
end();
return; // couldn't allocate buffers - fatal
}
_open = true;
// U2X mode is needed for baud rates higher than (CPU Hz / 16)
if (baud > F_CPU / 16) {
use_u2x = true;
} else {
// figure out if U2X mode would allow for a better connection
// calculate the percent difference between the baud-rate specified and
// the real baud rate for both U2X and non-U2X mode (0-255 error percent)
uint8_t nonu2x_baud_error = abs((int)(255-((F_CPU/(16*(((F_CPU/8/baud-1)/2)+1))*255)/baud)));
uint8_t u2x_baud_error = abs((int)(255-((F_CPU/(8*(((F_CPU/4/baud-1)/2)+1))*255)/baud)));
// prefer non-U2X mode because it handles clock skew better
use_u2x = (nonu2x_baud_error > u2x_baud_error);
}
if (use_u2x) {
*_ucsra = _BV(_u2x);
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
*_ucsra = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
*_ubrrh = baud_setting >> 8;
*_ubrrl = baud_setting;
*_ucsrb |= _portEnableBits;
}
void FastSerial::end()
{
*_ucsrb &= ~(_portEnableBits | _portTxBits);
_freeBuffer(&_rxBuffer);
_freeBuffer(&_txBuffer);
_open = false;
}
int
FastSerial::available(void)
{
if (!_open)
return(-1);
return((_rxBuffer.head - _rxBuffer.tail) & _rxBuffer.mask);
}
int
FastSerial::read(void)
{
uint8_t c;
// if the head and tail are equal, the buffer is empty
if (!_open || (_rxBuffer.head == _rxBuffer.tail))
return(-1);
// pull character from tail
c = _rxBuffer.bytes[_rxBuffer.tail];
_rxBuffer.tail = (_rxBuffer.tail + 1) & _rxBuffer.mask;
return(c);
}
void
FastSerial::flush(void)
{
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of _rxBuffer.head but before writing
// the value to _rxBuffer.tail; the previous value of head
// may be written to tail, making it appear as if the buffer
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of head but before writing
// the value to tail; the previous value of rx_buffer_head
// may be written to tail, making it appear as if the buffer
// were full, not empty.
_rxBuffer.head = _rxBuffer.tail;
// don't reverse this or there may be problems if the TX interrupt
// occurs after reading the value of _txBuffer.tail but before writing
// the value to _txBuffer.head.
_txBuffer.tail = _rxBuffer.head;
}
void
FastSerial::write(uint8_t c)
{
int16_t i;
if (!_open) // drop bytes if not open
return;
// wait for room in the tx buffer
i = (_txBuffer.head + 1) & _txBuffer.mask;
while (i == _txBuffer.tail)
;
// add byte to the buffer
_txBuffer.bytes[_txBuffer.head] = c;
_txBuffer.head = i;
// enable the data-ready interrupt, as it may be off if the buffer is empty
*_ucsrb |= _portTxBits;
}
// STDIO emulation /////////////////////////////////////////////////////////////
int
FastSerial::_putchar(char c, FILE *stream)
{
FastSerial *fs;
fs = (FastSerial *)fdev_get_udata(stream);
fs->write(c);
return(0);
}
int
FastSerial::_getchar(FILE *stream)
{
FastSerial *fs;
fs = (FastSerial *)fdev_get_udata(stream);
// We return -1 if there is nothing to read, which the library interprets
// as an error, which our clients will need to deal with.
return(fs->read());
}
int
FastSerial::printf(const char *fmt, ...)
{
va_list ap;
int i;
va_start(ap, fmt);
i = vfprintf(&_fd, fmt, ap);
va_end(ap);
return(i);
}
int
FastSerial::printf_P(const char *fmt, ...)
{
va_list ap;
int i;
va_start(ap, fmt);
i = vfprintf_P(stdout, fmt, ap);
va_end(ap);
return(i);
}
// Interrupt methods ///////////////////////////////////////////////////////////
void
FastSerial::receive(uint8_t c)
{
uint8_t i;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
i = (_rxBuffer.head + 1) & _rxBuffer.mask;
if (i != _rxBuffer.tail) {
_rxBuffer.bytes[_rxBuffer.head] = c;
_rxBuffer.head = i;
}
}
void
FastSerial::transmit(void)
{
// if the buffer is not empty, send the next byte
if (_txBuffer.head != _txBuffer.tail) {
*_udr = _txBuffer.bytes[_txBuffer.tail];
_txBuffer.tail = (_txBuffer.tail + 1) & _txBuffer.mask;
}
// if the buffer is (now) empty, disable the interrupt
if (_txBuffer.head == _txBuffer.tail)
*_ucsrb &= ~_portTxBits;
}
// Buffer management ///////////////////////////////////////////////////////////
bool
FastSerial::_allocBuffer(Buffer *buffer, unsigned int size)
{
uint8_t shift;
// init buffer state
buffer->head = buffer->tail = 0;
// cap the buffer size
if (size > BUFFER_MAX)
size = BUFFER_MAX;
// compute the power of 2 greater or equal to the requested buffer size
// and then a mask to simplify wrapping operations
shift = 16 - __builtin_clz(size - 1);
buffer->mask = (1 << shift) - 1;
// allocate memory for the buffer - if this fails, we fail
buffer->bytes = (uint8_t *)malloc(buffer->mask + 1);
return(buffer->bytes != NULL);
}
void
FastSerial::_freeBuffer(Buffer *buffer)
{
buffer->head = buffer->tail = 0;
buffer->mask = 0;
if (NULL != buffer->bytes) {
free(buffer->bytes);
buffer->bytes = NULL;
}
}
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
//
// Interrupt-driven serial transmit/receive library.
//
// 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
//
//#include "../AP_Common/AP_Common.h"
#include "FastSerial.h"
#include "WProgram.h"
#if defined(__AVR_ATmega1280__)
# define FS_MAX_PORTS 4
#else
# define FS_MAX_PORTS 1
#endif
FastSerial *__FastSerial__ports[FS_MAX_PORTS];
// Default buffer sizes
#define RX_BUFFER_SIZE 128
#define TX_BUFFER_SIZE 64
#define BUFFER_MAX 512
// Interrupt handlers //////////////////////////////////////////////////////////
#if 0
#define HANDLERS(_PORT, _RXVECTOR, _TXVECTOR, _UDR) \
SIGNAL(_RXVECTOR) \
{ \
unsigned char c = _UDR; \
ports[_PORT]->receive(c); \
} \
\
SIGNAL(_TXVECTOR) \
{ \
ports[_PORT]->transmit(); \
} \
struct hack
#if defined(__AVR_ATmega8__)
HANDLERS(0, SIG_UART_RECV, SIG_UART_DATA, UDR);
#else
HANDLERS(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0);
#if defined(__AVR_ATmega1280__)
HANDLERS(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1);
HANDLERS(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2);
HANDLERS(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3);
#endif
#endif
#endif
// Constructor /////////////////////////////////////////////////////////////////
FastSerial::FastSerial(const uint8_t portNumber,
volatile uint8_t *ubrrh,
volatile uint8_t *ubrrl,
volatile uint8_t *ucsra,
volatile uint8_t *ucsrb,
volatile uint8_t *udr,
const uint8_t u2x,
const uint8_t portEnableBits,
const uint8_t portTxBits)
{
_ubrrh = ubrrh;
_ubrrl = ubrrl;
_ucsra = ucsra;
_ucsrb = ucsrb;
_udr = udr;
_u2x = u2x;
_portEnableBits = portEnableBits;
_portTxBits = portTxBits;
// init buffers
_txBuffer.head = _txBuffer.tail = 0;
_rxBuffer.head = _rxBuffer.tail = 0;
// claim the port
__FastSerial__ports[portNumber] = this;
// init stdio
fdev_setup_stream(&_fd, &FastSerial::_putchar, NULL, _FDEV_SETUP_WRITE);
fdev_set_udata(&_fd, this);
if (0 == portNumber)
stdout = &_fd; // serial port 0 is always the default console
}
// Public Methods //////////////////////////////////////////////////////////////
void FastSerial::begin(long baud)
{
begin(baud, RX_BUFFER_SIZE, TX_BUFFER_SIZE);
}
void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
{
uint16_t baud_setting;
bool use_u2x;
// if we are currently open, close and restart
if (_open)
end();
// allocate buffers
if (!_allocBuffer(&_rxBuffer, rxSpace ? : RX_BUFFER_SIZE) ||
!_allocBuffer(&_txBuffer, txSpace ? : TX_BUFFER_SIZE)) {
end();
return; // couldn't allocate buffers - fatal
}
_open = true;
// U2X mode is needed for baud rates higher than (CPU Hz / 16)
if (baud > F_CPU / 16) {
use_u2x = true;
} else {
// figure out if U2X mode would allow for a better connection
// calculate the percent difference between the baud-rate specified and
// the real baud rate for both U2X and non-U2X mode (0-255 error percent)
uint8_t nonu2x_baud_error = abs((int)(255-((F_CPU/(16*(((F_CPU/8/baud-1)/2)+1))*255)/baud)));
uint8_t u2x_baud_error = abs((int)(255-((F_CPU/(8*(((F_CPU/4/baud-1)/2)+1))*255)/baud)));
// prefer non-U2X mode because it handles clock skew better
use_u2x = (nonu2x_baud_error > u2x_baud_error);
}
if (use_u2x) {
*_ucsra = _BV(_u2x);
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
*_ucsra = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
*_ubrrh = baud_setting >> 8;
*_ubrrl = baud_setting;
*_ucsrb |= _portEnableBits;
}
void FastSerial::end()
{
*_ucsrb &= ~(_portEnableBits | _portTxBits);
_freeBuffer(&_rxBuffer);
_freeBuffer(&_txBuffer);
_open = false;
}
int
FastSerial::available(void)
{
if (!_open)
return(-1);
return((_rxBuffer.head - _rxBuffer.tail) & _rxBuffer.mask);
}
int
FastSerial::read(void)
{
uint8_t c;
// if the head and tail are equal, the buffer is empty
if (!_open || (_rxBuffer.head == _rxBuffer.tail))
return(-1);
// pull character from tail
c = _rxBuffer.bytes[_rxBuffer.tail];
_rxBuffer.tail = (_rxBuffer.tail + 1) & _rxBuffer.mask;
return(c);
}
void
FastSerial::flush(void)
{
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of _rxBuffer.head but before writing
// the value to _rxBuffer.tail; the previous value of head
// may be written to tail, making it appear as if the buffer
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of head but before writing
// the value to tail; the previous value of rx_buffer_head
// may be written to tail, making it appear as if the buffer
// were full, not empty.
_rxBuffer.head = _rxBuffer.tail;
// don't reverse this or there may be problems if the TX interrupt
// occurs after reading the value of _txBuffer.tail but before writing
// the value to _txBuffer.head.
_txBuffer.tail = _rxBuffer.head;
}
void
FastSerial::write(uint8_t c)
{
int16_t i;
if (!_open) // drop bytes if not open
return;
// wait for room in the tx buffer
i = (_txBuffer.head + 1) & _txBuffer.mask;
while (i == _txBuffer.tail)
;
// add byte to the buffer
_txBuffer.bytes[_txBuffer.head] = c;
_txBuffer.head = i;
// enable the data-ready interrupt, as it may be off if the buffer is empty
*_ucsrb |= _portTxBits;
}
// STDIO emulation /////////////////////////////////////////////////////////////
int
FastSerial::_putchar(char c, FILE *stream)
{
FastSerial *fs;
fs = (FastSerial *)fdev_get_udata(stream);
fs->write(c);
return(0);
}
int
FastSerial::_getchar(FILE *stream)
{
FastSerial *fs;
fs = (FastSerial *)fdev_get_udata(stream);
// We return -1 if there is nothing to read, which the library interprets
// as an error, which our clients will need to deal with.
return(fs->read());
}
int
FastSerial::printf(const char *fmt, ...)
{
va_list ap;
int i;
va_start(ap, fmt);
i = vfprintf(&_fd, fmt, ap);
va_end(ap);
return(i);
}
int
FastSerial::printf_P(const char *fmt, ...)
{
va_list ap;
int i;
va_start(ap, fmt);
i = vfprintf_P(stdout, fmt, ap);
va_end(ap);
return(i);
}
// Interrupt methods ///////////////////////////////////////////////////////////
void
FastSerial::receive(uint8_t c)
{
uint8_t i;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
i = (_rxBuffer.head + 1) & _rxBuffer.mask;
if (i != _rxBuffer.tail) {
_rxBuffer.bytes[_rxBuffer.head] = c;
_rxBuffer.head = i;
}
}
void
FastSerial::transmit(void)
{
// if the buffer is not empty, send the next byte
if (_txBuffer.head != _txBuffer.tail) {
*_udr = _txBuffer.bytes[_txBuffer.tail];
_txBuffer.tail = (_txBuffer.tail + 1) & _txBuffer.mask;
}
// if the buffer is (now) empty, disable the interrupt
if (_txBuffer.head == _txBuffer.tail)
*_ucsrb &= ~_portTxBits;
}
// Buffer management ///////////////////////////////////////////////////////////
bool
FastSerial::_allocBuffer(Buffer *buffer, unsigned int size)
{
uint8_t shift;
// init buffer state
buffer->head = buffer->tail = 0;
// cap the buffer size
if (size > BUFFER_MAX)
size = BUFFER_MAX;
// compute the power of 2 greater or equal to the requested buffer size
// and then a mask to simplify wrapping operations
shift = 16 - __builtin_clz(size - 1);
buffer->mask = (1 << shift) - 1;
// allocate memory for the buffer - if this fails, we fail
buffer->bytes = (uint8_t *)malloc(buffer->mask + 1);
return(buffer->bytes != NULL);
}
void
FastSerial::_freeBuffer(Buffer *buffer)
{
buffer->head = buffer->tail = 0;
buffer->mask = 0;
if (NULL != buffer->bytes) {
free(buffer->bytes);
buffer->bytes = NULL;
}
}