mirror of https://github.com/ArduPilot/ardupilot
Add documentation and reformat closer to our current code standard.
Add support for re-opening a port without changing the baudrate or buffer sizes. By passing zero for the parameters that aren't to be changed, code can reconfigure a port without needing to know how it was originally configured. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1462 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
2c0e8515d5
commit
8c9a5d36d8
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@ -1,4 +1,4 @@
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// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Interrupt-driven serial transmit/receive library.
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//
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@ -43,217 +43,201 @@
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# define FS_MAX_PORTS 1
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#endif
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FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS];
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FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
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// Default buffer sizes
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#define RX_BUFFER_SIZE 128
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#define TX_BUFFER_SIZE 64
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#define BUFFER_MAX 512
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FastSerial::Buffer __FastSerial__rxBuffer[FS_MAX_PORTS];
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FastSerial::Buffer __FastSerial__txBuffer[FS_MAX_PORTS];
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// Constructor /////////////////////////////////////////////////////////////////
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FastSerial::FastSerial(const uint8_t portNumber,
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volatile uint8_t *ubrrh,
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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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const uint8_t u2x,
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const uint8_t portEnableBits,
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const uint8_t portTxBits)
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FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb, const uint8_t u2x,
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const uint8_t portEnableBits, const uint8_t portTxBits) :
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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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_u2x(u2x),
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_portEnableBits(portEnableBits),
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_portTxBits(portTxBits),
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_rxBuffer(&__FastSerial__rxBuffer[portNumber]),
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_txBuffer(&__FastSerial__txBuffer[portNumber])
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{
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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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_u2x = u2x;
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_portEnableBits = portEnableBits;
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_portTxBits = portTxBits;
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// init buffers
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_rxBuffer = &__FastSerial__rxBuffer[portNumber];
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_txBuffer->head = _txBuffer->tail = 0;
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_txBuffer = &__FastSerial__txBuffer[portNumber];
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_rxBuffer->head = _rxBuffer->tail = 0;
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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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unsigned int rxb, txb;
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// If we are re-configuring an already-open port, preserve the
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// existing buffer sizes.
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if (_open) {
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rxb = _rxBuffer->mask + 1;
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txb = _txBuffer->mask + 1;
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} else {
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rxb = RX_BUFFER_SIZE;
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txb = TX_BUFFER_SIZE;
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}
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begin(baud, RX_BUFFER_SIZE, TX_BUFFER_SIZE);
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begin(baud, 0, 0);
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}
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void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
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{
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uint16_t ubrr;
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bool use_u2x = true;
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int ureg, u2;
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long breg, b2, dreg, d2;
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uint16_t ubrr;
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bool use_u2x = true;
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// if we are currently open, close and restart
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if (_open)
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end();
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// if we are currently open...
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if (_open) {
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// If the caller wants to preserve the buffer sizing, work out what
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// it currently is...
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if (0 == rxSpace)
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rxSpace = _rxBuffer->mask + 1;
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if (0 == txSpace)
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txSpace = _txBuffer->mask + 1;
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// allocate buffers
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if (!_allocBuffer(_rxBuffer, rxSpace ? : RX_BUFFER_SIZE) ||
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!_allocBuffer(_txBuffer, txSpace ? : TX_BUFFER_SIZE)) {
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end();
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return; // couldn't allocate buffers - fatal
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}
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_open = true;
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// close the port in its current configuration, clears _open
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end();
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}
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// allocate buffers
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if (!_allocBuffer(_rxBuffer, rxSpace ? : _default_rx_buffer_size) || !_allocBuffer(_txBuffer, txSpace ? : _default_tx_buffer_size)) {
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end();
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return; // couldn't allocate buffers - fatal
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}
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// reset buffer pointers
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_txBuffer->head = _txBuffer->tail = 0;
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_rxBuffer->head = _rxBuffer->tail = 0;
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// mark the port as open
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_open = true;
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// If the user has supplied a new baud rate, compute the new UBRR value.
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if (baud > 0) {
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#if F_CPU == 16000000UL
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// hardcoded exception for compatibility with the bootloader shipped
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600)
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use_u2x = false;
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// hardcoded exception for compatibility with the bootloader shipped
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600)
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use_u2x = false;
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#endif
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if (use_u2x) {
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ubrr = (F_CPU / 4 / baud - 1) / 2;
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} else {
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ubrr = (F_CPU / 8 / baud - 1) / 2;
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}
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if (use_u2x) {
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ubrr = (F_CPU / 4 / baud - 1) / 2;
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} else {
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ubrr = (F_CPU / 8 / baud - 1) / 2;
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}
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*_ucsra = use_u2x ? _BV(_u2x) : 0;
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*_ubrrh = ubrr >> 8;
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*_ubrrl = ubrr;
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*_ucsrb |= _portEnableBits;
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*_ucsra = use_u2x ? _BV(_u2x) : 0;
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*_ubrrh = ubrr >> 8;
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*_ubrrl = ubrr;
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}
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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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*_ucsrb &= ~(_portEnableBits | _portTxBits);
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_freeBuffer(_rxBuffer);
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_freeBuffer(_txBuffer);
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_open = false;
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_freeBuffer(_rxBuffer);
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_freeBuffer(_txBuffer);
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_open = false;
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}
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int
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FastSerial::available(void)
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int FastSerial::available(void)
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{
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if (!_open)
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return(-1);
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return((_rxBuffer->head - _rxBuffer->tail) & _rxBuffer->mask);
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if (!_open)
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return (-1);
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return ((_rxBuffer->head - _rxBuffer->tail) & _rxBuffer->mask);
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}
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int
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FastSerial::read(void)
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int FastSerial::read(void)
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{
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uint8_t c;
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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 (!_open || (_rxBuffer->head == _rxBuffer->tail))
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return(-1);
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// if the head and tail are equal, the buffer is empty
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if (!_open || (_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) & _rxBuffer->mask;
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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) & _rxBuffer->mask;
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return(c);
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return (c);
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}
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int
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FastSerial::peek(void)
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int FastSerial::peek(void)
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{
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// if the head and tail are equal, the buffer is empty
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if (!_open || (_rxBuffer->head == _rxBuffer->tail))
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return(-1);
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// if the head and tail are equal, the buffer is empty
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if (!_open || (_rxBuffer->head == _rxBuffer->tail))
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return (-1);
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// pull character from tail
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return(_rxBuffer->bytes[_rxBuffer->tail]);
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// pull character from tail
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return (_rxBuffer->bytes[_rxBuffer->tail]);
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}
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void
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FastSerial::flush(void)
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void 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 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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// 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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void FastSerial::write(uint8_t c)
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{
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int16_t i;
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int16_t i;
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if (!_open) // drop bytes if not open
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return;
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if (!_open) // drop bytes if not open
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return;
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// wait for room in the tx buffer
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i = (_txBuffer->head + 1) & _txBuffer->mask;
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while (i == _txBuffer->tail)
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;
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// wait for room in the tx buffer
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i = (_txBuffer->head + 1) & _txBuffer->mask;
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while (i == _txBuffer->tail)
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;
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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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// 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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// 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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// Buffer management ///////////////////////////////////////////////////////////
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bool
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FastSerial::_allocBuffer(Buffer *buffer, unsigned int size)
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bool FastSerial::_allocBuffer(Buffer *buffer, unsigned int size)
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{
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uint8_t shift;
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uint8_t shift;
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// init buffer state
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buffer->head = buffer->tail = 0;
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// init buffer state
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buffer->head = buffer->tail = 0;
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// Compute the power of 2 greater or equal to the requested buffer size
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// and then a mask to simplify wrapping operations. Using __builtin_clz
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// would seem to make sense, but it uses a 256(!) byte table.
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// Note that we ignore requests for more than BUFFER_MAX space.
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for (shift = 1; (1U << shift) < min(BUFFER_MAX, size); shift++)
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;
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buffer->mask = (1 << shift) - 1;
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// Compute the power of 2 greater or equal to the requested buffer size
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// and then a mask to simplify wrapping operations. Using __builtin_clz
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// would seem to make sense, but it uses a 256(!) byte table.
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// Note that we ignore requests for more than BUFFER_MAX space.
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for (shift = 1; (1U << shift) < min(_max_buffer_size, size); shift++)
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;
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buffer->mask = (1 << shift) - 1;
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// allocate memory for the buffer - if this fails, we fail
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buffer->bytes = (uint8_t *)malloc(buffer->mask + 1);
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// allocate memory for the buffer - if this fails, we fail
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if (buffer->bytes)
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free(buffer->bytes);
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buffer->bytes = (uint8_t *) malloc(buffer->mask + 1);
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return(buffer->bytes != NULL);
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return (buffer->bytes != NULL);
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}
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void
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FastSerial::_freeBuffer(Buffer *buffer)
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void FastSerial::_freeBuffer(Buffer *buffer)
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{
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buffer->head = buffer->tail = 0;
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buffer->mask = 0;
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if (NULL != buffer->bytes) {
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free(buffer->bytes);
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buffer->bytes = NULL;
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}
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buffer->head = buffer->tail = 0;
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buffer->mask = 0;
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if (NULL != buffer->bytes) {
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free(buffer->bytes);
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buffer->bytes = NULL;
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}
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}
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@ -1,10 +1,10 @@
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// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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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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// 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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@ -35,7 +35,7 @@
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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 24 bytes of RAM for every unused port and frees up
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// but it saves a few 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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@ -55,97 +55,150 @@
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#include "BetterStream.h"
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//
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// Because Arduino libraries aren't really libraries, but we want to
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// only define interrupt handlers for serial ports that are actually
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// used, we have to force our users to define them using a macro.
|
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//
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// FastSerialPort(<port name>, <port number>)
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//
|
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// <port name> is the name of the object that will be created by the
|
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// macro. <port number> is the 0-based number of the port that will
|
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// be managed by the object.
|
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//
|
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// Previously ports were defined with a different macro for each port,
|
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// and these macros are retained for compatibility:
|
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//
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// FastSerialPort0(<port name>) creates <port name> referencing serial port 0
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// FastSerialPort1(<port name>) creates <port name> referencing serial port 1
|
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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 compatibility macros are only defined for ports that
|
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// exist on the target device.
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//
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/// @file FastSerial.h
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/// @brief An enhanced version of the Arduino HardwareSerial class
|
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/// implementing interrupt-driven transmission and flexible
|
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/// buffer management.
|
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///
|
||||
/// Because Arduino libraries aren't really libraries, but we want to
|
||||
/// only define interrupt handlers for serial ports that are actually
|
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/// used, we have to force our users to define them using a macro.
|
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///
|
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/// FastSerialPort(<port name>, <port number>)
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///
|
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/// <port name> is the name of the object that will be created by the
|
||||
/// macro. <port number> is the 0-based number of the port that will
|
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/// be managed by the object.
|
||||
///
|
||||
/// Previously ports were defined with a different macro for each port,
|
||||
/// and these macros are retained for compatibility:
|
||||
///
|
||||
/// FastSerialPort0(<port name>) creates <port name> referencing serial port 0
|
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/// FastSerialPort1(<port name>) creates <port name> referencing serial port 1
|
||||
/// FastSerialPort2(<port name>) creates <port name> referencing serial port 2
|
||||
/// FastSerialPort3(<port name>) creates <port name> referencing serial port 3
|
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///
|
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/// Note that compatibility macros are only defined for ports that
|
||||
/// exist on the target device.
|
||||
///
|
||||
|
||||
//
|
||||
// Forward declarations for clients that want to assume that the
|
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// default Serial* objects exist.
|
||||
//
|
||||
// Note that the application is responsible for ensuring that these
|
||||
// actually get defined, otherwise Arduino will suck in the
|
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// HardwareSerial library and linking will fail.
|
||||
//
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/// @name Compatibility
|
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///
|
||||
/// Forward declarations for clients that want to assume that the
|
||||
/// default Serial* objects exist.
|
||||
///
|
||||
/// Note that the application is responsible for ensuring that these
|
||||
/// actually get defined, otherwise Arduino will suck in the
|
||||
/// HardwareSerial library and linking will fail.
|
||||
//@{
|
||||
extern class FastSerial Serial;
|
||||
extern class FastSerial Serial1;
|
||||
extern class FastSerial Serial2;
|
||||
extern class FastSerial Serial3;
|
||||
//@}
|
||||
|
||||
class FastSerial : public BetterStream {
|
||||
/// The FastSerial class definition
|
||||
///
|
||||
class FastSerial: public BetterStream {
|
||||
public:
|
||||
FastSerial(const uint8_t portNumber,
|
||||
volatile uint8_t *ubrrh,
|
||||
volatile uint8_t *ubrrl,
|
||||
volatile uint8_t *ucsra,
|
||||
volatile uint8_t *ucsrb,
|
||||
const uint8_t u2x,
|
||||
const uint8_t portEnableBits,
|
||||
const uint8_t portTxBits);
|
||||
/// Constructor
|
||||
FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra,
|
||||
volatile uint8_t *ucsrb, const uint8_t u2x, const uint8_t portEnableBits, const uint8_t portTxBits);
|
||||
|
||||
// Serial API
|
||||
virtual void begin(long baud);
|
||||
virtual void begin(long baud, unsigned int rxSpace, unsigned int txSpace);
|
||||
virtual void end(void);
|
||||
virtual int available(void);
|
||||
virtual int read(void);
|
||||
virtual int peek(void);
|
||||
virtual void flush(void);
|
||||
virtual void write(uint8_t c);
|
||||
using BetterStream::write;
|
||||
/// @name Serial API
|
||||
//@{
|
||||
virtual void begin(long baud);
|
||||
virtual void end(void);
|
||||
virtual int available(void);
|
||||
virtual int read(void);
|
||||
virtual int peek(void);
|
||||
virtual void flush(void);
|
||||
virtual void write(uint8_t c);
|
||||
using BetterStream::write;
|
||||
//@}
|
||||
|
||||
// public so the interrupt handlers can see it
|
||||
struct Buffer {
|
||||
volatile uint16_t head, tail;
|
||||
uint16_t mask;
|
||||
uint8_t *bytes;
|
||||
};
|
||||
/// Extended port open method
|
||||
///
|
||||
/// Allows for both opening with specified buffer sizes, and re-opening
|
||||
/// to adjust a subset of the port's settings.
|
||||
///
|
||||
/// @note Buffer sizes greater than ::_max_buffer_size will be rounded
|
||||
/// down.
|
||||
///
|
||||
/// @param baud Selects the speed that the port will be
|
||||
/// configured to. If zero, the port speed is left
|
||||
/// unchanged.
|
||||
/// @param rxSpace Sets the receive buffer size for the port. If zero
|
||||
/// then the buffer size is left unchanged if the port
|
||||
/// is open, or set to ::_default_rx_buffer_size if it is
|
||||
/// currently closed.
|
||||
/// @param txSpace Sets the transmit buffer size for the port. If zero
|
||||
/// then the buffer size is left unchanged if the port
|
||||
/// is open, or set to ::_default_tx_buffer_size if it
|
||||
/// is currently closed.
|
||||
///
|
||||
virtual void begin(long baud, unsigned int rxSpace, unsigned int txSpace);
|
||||
|
||||
/// Transmit/receive buffer descriptor.
|
||||
///
|
||||
/// Public so the interrupt handlers can see it
|
||||
struct Buffer {
|
||||
volatile uint16_t head, tail; ///< head and tail pointers
|
||||
uint16_t mask; ///< buffer size mask for pointer wrap
|
||||
uint8_t *bytes; ///< pointer to allocated buffer
|
||||
};
|
||||
|
||||
private:
|
||||
// register accessors
|
||||
volatile uint8_t *_ubrrh;
|
||||
volatile uint8_t *_ubrrl;
|
||||
volatile uint8_t *_ucsra;
|
||||
volatile uint8_t *_ucsrb;
|
||||
// register accessors
|
||||
volatile uint8_t * const _ubrrh;
|
||||
volatile uint8_t * const _ubrrl;
|
||||
volatile uint8_t * const _ucsra;
|
||||
volatile uint8_t * const _ucsrb;
|
||||
|
||||
// register magic numbers
|
||||
uint8_t _portEnableBits; // rx, tx and rx interrupt enables
|
||||
uint8_t _portTxBits; // tx data and completion interrupt enables
|
||||
uint8_t _u2x;
|
||||
// register magic numbers
|
||||
const uint8_t _portEnableBits; ///< rx, tx and rx interrupt enables
|
||||
const uint8_t _portTxBits; ///< tx data and completion interrupt enables
|
||||
const uint8_t _u2x;
|
||||
|
||||
// ring buffers
|
||||
Buffer *_rxBuffer;
|
||||
Buffer *_txBuffer;
|
||||
bool _open;
|
||||
// ring buffers
|
||||
Buffer * const _rxBuffer;
|
||||
Buffer * const _txBuffer;
|
||||
bool _open;
|
||||
|
||||
static bool _allocBuffer(Buffer *buffer, unsigned int size);
|
||||
static void _freeBuffer(Buffer *buffer);
|
||||
/// Allocates a buffer of the given size
|
||||
///
|
||||
/// @param buffer The buffer descriptor for which the buffer will
|
||||
/// will be allocated.
|
||||
/// @param size The desired buffer size.
|
||||
/// @returns True if the buffer was allocated successfully.
|
||||
///
|
||||
static bool _allocBuffer(Buffer *buffer, unsigned int size);
|
||||
|
||||
/// Frees the allocated buffer in a descriptor
|
||||
///
|
||||
/// @param buffer The descriptor whose buffer should be freed.
|
||||
///
|
||||
static void _freeBuffer(Buffer *buffer);
|
||||
|
||||
/// default receive buffer size
|
||||
static const unsigned int _default_rx_buffer_size = 128;
|
||||
|
||||
/// default transmit buffer size
|
||||
static const unsigned int _default_tx_buffer_size = 16;
|
||||
|
||||
/// maxium tx/rx buffer size
|
||||
/// @note if we could bring the max size down to 256, the mask and head/tail
|
||||
/// pointers in the buffer could become uint8_t.
|
||||
///
|
||||
static const unsigned int _max_buffer_size = 512;
|
||||
};
|
||||
|
||||
// Used by the per-port interrupt vectors
|
||||
extern FastSerial::Buffer __FastSerial__rxBuffer[];
|
||||
extern FastSerial::Buffer __FastSerial__txBuffer[];
|
||||
extern FastSerial::Buffer __FastSerial__rxBuffer[];
|
||||
extern FastSerial::Buffer __FastSerial__txBuffer[];
|
||||
|
||||
// Generic Rx/Tx vectors for a serial port - needs to know magic numbers
|
||||
/// Generic Rx/Tx vectors for a serial port - needs to know magic numbers
|
||||
///
|
||||
#define FastSerialHandler(_PORT, _RXVECTOR, _TXVECTOR, _UDR, _UCSRB, _TXBITS) \
|
||||
ISR(_RXVECTOR, ISR_BLOCK) \
|
||||
{ \
|
||||
|
|
@ -215,9 +268,9 @@ struct hack
|
|||
# endif
|
||||
#endif
|
||||
|
||||
//
|
||||
// Macro defining a FastSerial port instance.
|
||||
//
|
||||
///
|
||||
/// Macro defining a FastSerial port instance.
|
||||
///
|
||||
#define FastSerialPort(_name, _num) \
|
||||
FastSerial _name(_num, \
|
||||
&UBRR##_num##H, \
|
||||
|
|
@ -234,14 +287,14 @@ struct hack
|
|||
UCSR##_num##B, \
|
||||
_BV(UDRIE##_num))
|
||||
|
||||
//
|
||||
// Compatibility macros for previous FastSerial versions.
|
||||
//
|
||||
// Note that these are not conditionally defined, as the errors
|
||||
// generated when using these macros for a board that does not support
|
||||
// the port are better than the errors generated for a macro that's not
|
||||
// defined at all.
|
||||
//
|
||||
///
|
||||
/// Compatibility macros for previous FastSerial versions.
|
||||
///
|
||||
/// Note that these are not conditionally defined, as the errors
|
||||
/// generated when using these macros for a board that does not support
|
||||
/// the port are better than the errors generated for a macro that's not
|
||||
/// defined at all.
|
||||
///
|
||||
#define FastSerialPort0(_portName) FastSerialPort(_portName, 0)
|
||||
#define FastSerialPort1(_portName) FastSerialPort(_portName, 1)
|
||||
#define FastSerialPort2(_portName) FastSerialPort(_portName, 2)
|
||||
|
|
|
|||
Loading…
Reference in New Issue