mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_AVR: UARTDriver impl uses only sized int types
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@ -44,7 +44,7 @@ AVRUARTDriver::AVRUARTDriver(
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}
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/* UARTDriver method implementations */
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void AVRUARTDriver::begin(long baud, unsigned int rxSpace, unsigned int txSpace) {
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void AVRUARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace) {
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uint16_t ubrr;
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bool use_u2x = true;
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bool need_allocate = true;
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@ -71,7 +71,8 @@ void AVRUARTDriver::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
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if (need_allocate) {
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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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if (!_allocBuffer(_rxBuffer, rxSpace ? : _default_rx_buffer_size)
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|| !_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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@ -118,7 +119,7 @@ void AVRUARTDriver::end() {
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_open = false;
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}
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int AVRUARTDriver::available(void) {
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int16_t AVRUARTDriver::available(void) {
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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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@ -126,13 +127,13 @@ int AVRUARTDriver::available(void) {
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int AVRUARTDriver::txspace(void) {
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int16_t AVRUARTDriver::txspace(void) {
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if (!_open)
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return (-1);
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return ((_txBuffer->mask+1) - ((_txBuffer->head - _txBuffer->tail) & _txBuffer->mask));
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}
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int AVRUARTDriver::read(void) {
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int16_t AVRUARTDriver::read(void) {
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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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@ -146,7 +147,7 @@ int AVRUARTDriver::read(void) {
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return (c);
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}
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int AVRUARTDriver::peek(void) {
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int16_t AVRUARTDriver::peek(void) {
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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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@ -204,14 +205,12 @@ size_t AVRUARTDriver::write(uint8_t c) {
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}
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// Buffer management ///////////////////////////////////////////////////////////
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static inline unsigned int min (unsigned int a, unsigned int b) {
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return (a>b)?b:a;
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}
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bool AVRUARTDriver::_allocBuffer(Buffer *buffer, unsigned int size)
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bool AVRUARTDriver::_allocBuffer(Buffer *buffer, uint16_t size)
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{
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uint16_t mask;
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uint8_t shift;
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uint16_t mask;
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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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@ -220,6 +219,7 @@ bool AVRUARTDriver::_allocBuffer(Buffer *buffer, unsigned int 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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#define min(a,b) ((a>b)?b:a)
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for (shift = 1; (1U << shift) < min(_max_buffer_size, size); shift++)
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;
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mask = (1 << shift) - 1;
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@ -24,8 +24,8 @@ public:
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const uint8_t portEnableBits, const uint8_t portTxBits);
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/* Implementations of UARTDriver virtual methods */
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void begin(long b) { begin(b, 0, 0); }
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void begin(long b, unsigned int rxS, unsigned int txS);
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void begin(uint32_t b) { begin(b, 0, 0); }
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized() { return _initialized; }
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@ -47,10 +47,10 @@ public:
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__attribute__ ((format(__printf__, 2, 3)));
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/* Implementations of Stream virtual methods */
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int available();
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int txspace();
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int read();
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int peek();
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int16_t available();
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int16_t txspace();
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int16_t read();
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int16_t peek();
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/* Implementations of Print virtual methods */
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size_t write(uint8_t c);
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@ -96,7 +96,7 @@ private:
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/// @param size The desired buffer size.
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/// @returns True if the buffer was allocated successfully.
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///
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static bool _allocBuffer(Buffer *buffer, unsigned int size);
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static bool _allocBuffer(Buffer *buffer, uint16_t size);
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/// Frees the allocated buffer in a descriptor
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///
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@ -105,16 +105,16 @@ private:
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static void _freeBuffer(Buffer *buffer);
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/// default receive buffer size
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static const unsigned int _default_rx_buffer_size = 128;
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static const uint16_t _default_rx_buffer_size = 128;
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/// default transmit buffer size
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static const unsigned int _default_tx_buffer_size = 16;
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static const uint16_t _default_tx_buffer_size = 16;
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/// maxium tx/rx buffer size
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/// @note if we could bring the max size down to 256, the mask and head/tail
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/// pointers in the buffer could become uint8_t.
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///
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static const unsigned int _max_buffer_size = 512;
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static const uint16_t _max_buffer_size = 512;
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};
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extern AP_HAL_AVR::AVRUARTDriver::Buffer __AVRUARTDriver__rxBuffer[];
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