mirror of https://github.com/ArduPilot/ardupilot
Added APM_FastSerial library for fast serial output
git-svn-id: https://arducopter.googlecode.com/svn/trunk@74 f9c3cf11-9bcb-44bc-f272-b75c42450872
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jjulio1234
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/*
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APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (Atmega1280)
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Interrupt driven Serial output with intermediate buffer
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Code Jose Julio and Jordi Muñoz. DIYDrones.com
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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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This library works as a complement of the standard Arduino Serial
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library. So user must initialize Standard Serial Arduino library first.
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This library works in Serial port 0 and Serial port3 (telemetry port)
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Methods: (the same as standard arduino library)
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write() for bytes or array of bytes (binary output)
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print() for chars, strings, numbers and floats
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println()
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*/
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//#include "WProgram.h"
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#include "APM_FastSerial.h"
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extern "C" {
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// AVR LibC Includes
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#include <inttypes.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include "WConstants.h"
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}
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#define TX_BUFFER_SIZE 80 // Serial output buffer size
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// Serial0 buffer
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uint8_t tx_buffer0[TX_BUFFER_SIZE];
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volatile int tx_buffer0_head=0;
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volatile int tx_buffer0_tail=0;
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// Serial3 buffer
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uint8_t tx_buffer3[TX_BUFFER_SIZE];
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volatile int tx_buffer3_head=0;
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volatile int tx_buffer3_tail=0;
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// Serial0 interrupt
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ISR(SIG_USART0_DATA)
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{
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uint8_t data;
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if (tx_buffer0_tail == tx_buffer0_head)
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UCSR0B &= ~(_BV(UDRIE0)); // Disable interrupt
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else {
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data = tx_buffer0[tx_buffer0_tail];
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tx_buffer0_tail = (tx_buffer0_tail + 1) % TX_BUFFER_SIZE;
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UDR0 = data;
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}
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}
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// Serial3 interrupt
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ISR(SIG_USART3_DATA)
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{
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uint8_t data;
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if (tx_buffer3_tail == tx_buffer3_head)
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UCSR3B &= ~(_BV(UDRIE3)); // Disable interrupt
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else {
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data = tx_buffer3[tx_buffer3_tail];
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tx_buffer3_tail = (tx_buffer3_tail + 1) % TX_BUFFER_SIZE;
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UDR3 = data;
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}
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}
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// Constructors ////////////////////////////////////////////////////////////////
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APM_FastSerial_Class::APM_FastSerial_Class(uint8_t SerialPort)
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{
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SerialPortNumber=SerialPort; // This could be serial port 0 or 3
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// This is the important function (basic funtion: send a byte)
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void APM_FastSerial_Class::write(uint8_t b)
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{
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uint8_t Enable_tx_int=0;
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uint8_t new_head;
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if (SerialPortNumber==0) // Serial Port 0
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{
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// if buffer was empty then we enable Serial TX interrupt
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if (tx_buffer0_tail == tx_buffer0_head)
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Enable_tx_int=1;
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new_head = (tx_buffer0_head + 1) % TX_BUFFER_SIZE; // Move to next position in the ring buffer
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if (new_head==tx_buffer0_tail)
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return; // This is an Error : BUFFER OVERFLOW. We lost this character!!
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tx_buffer0[tx_buffer0_head] = b; // Add data to the tx buffer
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tx_buffer0_head = new_head; // Update head pointer
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if (Enable_tx_int)
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UCSR0B |= _BV(UDRIE0); // Enable Serial TX interrupt
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}
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else // Serial Port 3
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{
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// if buffer was empty then we enable Serial TX interrupt
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if (tx_buffer3_tail == tx_buffer3_head)
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Enable_tx_int=1;
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new_head = (tx_buffer3_head + 1) % TX_BUFFER_SIZE; // Move to next position in the ring buffer
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if (new_head==tx_buffer3_tail)
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return; // This is an Error : BUFFER OVERFLOW. We lost this character!!
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tx_buffer3[tx_buffer3_head] = b; // Add data to the tx buffer
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tx_buffer3_head = new_head; // Update head pointer
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if (Enable_tx_int)
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UCSR3B |= _BV(UDRIE3); // Enable Serial TX interrupt
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}
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}
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// Send a buffer of bytes (this is util for binary protocols)
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void APM_FastSerial_Class::write(const uint8_t *buffer, int size)
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{
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while (size--)
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write(*buffer++);
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}
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void APM_FastSerial_Class::print(uint8_t b)
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{
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write(b);
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}
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void APM_FastSerial_Class::print(const char *s)
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{
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while (*s)
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print(*s++);
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}
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void APM_FastSerial_Class::print(char c)
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{
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write((uint8_t) c);
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}
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void APM_FastSerial_Class::print(int n)
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{
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print((long) n);
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}
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void APM_FastSerial_Class::print(unsigned int n)
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{
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print((unsigned long) n);
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}
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void APM_FastSerial_Class::print(long n)
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{
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if (n < 0) {
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print('-');
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n = -n;
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}
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printNumber(n, 10);
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}
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void APM_FastSerial_Class::print(unsigned long n)
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{
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printNumber(n, 10);
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}
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void APM_FastSerial_Class::print(long n, int base)
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{
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if (base == 0)
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print((char) n);
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else if (base == 10)
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print(n);
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else
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printNumber(n, base);
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}
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void APM_FastSerial_Class::println(void)
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{
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print('\r');
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print('\n');
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}
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void APM_FastSerial_Class::println(char c)
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{
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print(c);
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println();
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}
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void APM_FastSerial_Class::println(const char c[])
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{
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print(c);
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println();
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}
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void APM_FastSerial_Class::println(uint8_t b)
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{
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print(b);
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println();
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}
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void APM_FastSerial_Class::println(int n)
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{
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print(n);
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println();
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}
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void APM_FastSerial_Class::println(long n)
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{
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print(n);
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println();
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}
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void APM_FastSerial_Class::println(unsigned long n)
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{
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print(n);
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println();
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}
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void APM_FastSerial_Class::println(long n, int base)
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{
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print(n, base);
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println();
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}
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// To print floats
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void APM_FastSerial_Class::print(double n, int digits)
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{
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printFloat(n, digits);
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}
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void APM_FastSerial_Class::println(double n, int digits)
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{
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print(n, digits);
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println();
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}
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// Private Methods /////////////////////////////////////////////////////////////
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void APM_FastSerial_Class::printNumber(unsigned long n, uint8_t base)
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{
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unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
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unsigned long i = 0;
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if (n == 0) {
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print('0');
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return;
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}
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while (n > 0) {
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buf[i++] = n % base;
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n /= base;
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}
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for (; i > 0; i--)
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print((char) (buf[i - 1] < 10 ? '0' + buf[i - 1] : 'A' + buf[i - 1] - 10));
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}
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void APM_FastSerial_Class::printFloat(double number, uint8_t digits)
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{
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// Handle negative numbers
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if (number < 0.0)
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{
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print('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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for (uint8_t i=0; i<digits; ++i)
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rounding /= 10.0;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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print(int_part);
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// Print the decimal point, but only if there are digits beyond
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if (digits > 0)
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print(".");
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// Extract digits from the remainder one at a time
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while (digits-- > 0)
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{
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remainder *= 10.0;
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int toPrint = int(remainder);
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print(toPrint);
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remainder -= toPrint;
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}
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}
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// We create this two instances
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APM_FastSerial_Class APM_FastSerial(0); // For Serial port 0
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APM_FastSerial_Class APM_FastSerial3(3); // For Serial port 3
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#ifndef APM_FastSerial_h
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#define APM_FastSerial_h
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#include <inttypes.h>
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class APM_FastSerial_Class
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{
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private:
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void printNumber(unsigned long, uint8_t);
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void printFloat(double number, uint8_t digits);
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uint8_t SerialPortNumber;
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public:
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APM_FastSerial_Class(uint8_t SerialPort); // Constructor
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void write(uint8_t b); // basic funtion : send a byte
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void write(const uint8_t *buffer, int size);
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void print(char);
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void print(const char[]);
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void print(uint8_t);
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void print(int);
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void print(unsigned int);
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void print(long);
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void print(unsigned long);
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void print(long, int);
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void print(double, int=2);
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void println(void);
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void println(char);
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void println(const char[]);
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void println(uint8_t);
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void println(int);
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void println(long);
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void println(unsigned long);
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void println(long, int);
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void println(double, int=2);
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};
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extern APM_FastSerial_Class APM_FastSerial;
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extern APM_FastSerial_Class APM_FastSerial3;
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#endif
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/*
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Example of APM_FastSerial library.
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Code by Jose Julio and Jordi Muñoz. DIYDrones.com
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*/
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// FastSerial is implemented for Serial port 0 (connection to PC) and 3 (telemetry)
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#include <APM_FastSerial.h> // ArduPilot Mega Fast Serial Output Library
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#define LED_RED 35
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unsigned long timer;
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unsigned long counter;
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void setup()
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{
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int myint=14235; // Examples of data tytpes
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long mylong=-23456432;
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float myfloat=-26.669;
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byte mybyte=0xD1;
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byte bc_bufIn[50];
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for (int i=0;i<10;i++)
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bc_bufIn[i]=i*10+30; // we fill the byte array
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pinMode(LED_RED,OUTPUT);
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// We use the standard serial port initialization
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Serial.begin(57600);
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Serial3.begin(57600); // if we want to use port3 also...
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delay(100);
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// We can use both methods to write to serial port:
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Serial.println("ArduPilot Mega FastSerial library test"); // Standard serial output
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APM_FastSerial.println("FAST_SERIAL : ArduPilot Mega FastSerial library test"); // Fast serial output
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// We can use the same on serial port3 (telemetry)
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APM_FastSerial3.println("Serial Port3 : ArduPilot Mega FastSerial library test");
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delay(1000);
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// Examples of data types (same result as standard arduino library)
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APM_FastSerial.println("Numbers:");
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APM_FastSerial.println(myint);
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APM_FastSerial.println(mylong);
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APM_FastSerial.println(myfloat);
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APM_FastSerial.println("Byte:");
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APM_FastSerial.write(mybyte);
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APM_FastSerial.println();
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APM_FastSerial.println("Bytes:");
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APM_FastSerial.write(bc_bufIn,10);
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APM_FastSerial.println();
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delay(4000);
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}
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void loop()
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{
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if((millis()- timer) > 20) // 50Hz loop
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{
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timer = millis();
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if (counter < 250) // we use the Normal Serial output for 5 seconds
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{
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// Example of typical telemetry output
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digitalWrite(LED_RED,HIGH);
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Serial.println("!ATT:14.2;-5.5;-26.8"); // 20 bytes
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digitalWrite(LED_RED,LOW);
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if ((counter%5)==0) // GPS INFO at 5Hz
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{
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digitalWrite(LED_RED,HIGH);
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Serial.println("!LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes
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digitalWrite(LED_RED,LOW);
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}
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}
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else // and Fast Serial Output for other 5 seconds
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{
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// The same info...
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digitalWrite(LED_RED,HIGH);
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APM_FastSerial.println("#ATT:14.2;-5.5;-26.8"); // 20 bytes
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digitalWrite(LED_RED,LOW);
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if ((counter%5)==0) // GPS INFO at 5Hz
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{
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digitalWrite(LED_RED,HIGH);
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APM_FastSerial.println("#LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes
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digitalWrite(LED_RED,LOW);
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}
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if (counter>500) // Counter reset
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counter=0;
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}
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counter++;
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}
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}
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@ -0,0 +1,2 @@
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APM_FastSerial KEYWORD1
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APM_FastSerial3 KEYWORD1
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