diff --git a/libraries/APM_FastSerial/APM_FastSerial.cpp b/libraries/APM_FastSerial/APM_FastSerial.cpp deleted file mode 100644 index 9080abf7e4..0000000000 --- a/libraries/APM_FastSerial/APM_FastSerial.cpp +++ /dev/null @@ -1,150 +0,0 @@ -/* - APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (atmega1280) - Itīs also compatible with standard Arduino boards (atmega 168 and 328) - Interrupt driven Serial output with intermediate buffer - Code Jose Julio and Jordi Muņoz. 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 works as a complement of the standard Arduino Serial - library. So user must initialize Standard Serial Arduino library first. - This library works in Serial port 0 and Serial port3(telemetry port)[APM] - Methods: (the same as standard arduino library, inherits from Print) - write() for bytes or array of bytes (binary output) - print() for chars, strings, numbers and floats - println() -*/ - -//#include "WProgram.h" -#include "APM_FastSerial.h" -extern "C" { - // AVR LibC Includes - #include - #include - #include - #include "WConstants.h" -} -#define TX_BUFFER_SIZE 80 // Serial output buffer size - -// Serial0 buffer -uint8_t tx_buffer0[TX_BUFFER_SIZE]; -volatile int tx_buffer0_head=0; -volatile int tx_buffer0_tail=0; - -#if defined(__AVR_ATmega1280__) -// Serial3 buffer -uint8_t tx_buffer3[TX_BUFFER_SIZE]; -volatile int tx_buffer3_head=0; -volatile int tx_buffer3_tail=0; -#endif - -#if defined(__AVR_ATmega1280__) // For atmega1280 we use Serial port 0 and 3 -// Serial0 interrupt -ISR(SIG_USART0_DATA) -{ - uint8_t data; - - if (tx_buffer0_tail == tx_buffer0_head) - UCSR0B &= ~(_BV(UDRIE0)); // Disable interrupt - else { - data = tx_buffer0[tx_buffer0_tail]; - tx_buffer0_tail = (tx_buffer0_tail + 1) % TX_BUFFER_SIZE; - UDR0 = data; - } -} - -// Serial3 interrupt -ISR(SIG_USART3_DATA) -{ - uint8_t data; - - if (tx_buffer3_tail == tx_buffer3_head) - UCSR3B &= ~(_BV(UDRIE3)); // Disable interrupt - else { - data = tx_buffer3[tx_buffer3_tail]; - tx_buffer3_tail = (tx_buffer3_tail + 1) % TX_BUFFER_SIZE; - UDR3 = data; - } -} -#else - -// Serial interrupt -ISR(USART_UDRE_vect) -{ - uint8_t data; - - if (tx_buffer0_tail == tx_buffer0_head) - UCSR0B &= ~(_BV(UDRIE0)); // Disable interrupt - else { - data = tx_buffer0[tx_buffer0_tail]; - tx_buffer0_tail = (tx_buffer0_tail + 1) % TX_BUFFER_SIZE; - UDR0 = data; - } -} -#endif - -// Constructors //////////////////////////////////////////////////////////////// -APM_FastSerial_Class::APM_FastSerial_Class(uint8_t SerialPort) -{ - SerialPortNumber=SerialPort; // This could be serial port 0 or 3 -} - -// Public Methods ////////////////////////////////////////////////////////////// - -// This is the important function (basic funtion: send a byte) -void APM_FastSerial_Class::write(uint8_t b) -{ - uint8_t Enable_tx_int=0; - uint8_t new_head; - - if (SerialPortNumber==0) // Serial Port 0 - { - // if buffer was empty then we enable Serial TX interrupt - if (tx_buffer0_tail == tx_buffer0_head) - Enable_tx_int=1; - - new_head = (tx_buffer0_head + 1) % TX_BUFFER_SIZE; // Move to next position in the ring buffer - if (new_head==tx_buffer0_tail) - return; // This is an Error : BUFFER OVERFLOW. We lost this character!! - - tx_buffer0[tx_buffer0_head] = b; // Add data to the tx buffer - tx_buffer0_head = new_head; // Update head pointer - - if (Enable_tx_int) - UCSR0B |= _BV(UDRIE0); // Enable Serial TX interrupt - } -#if defined(__AVR_ATmega1280__) - else // Serial Port 3 - { - // if buffer was empty then we enable Serial TX interrupt - if (tx_buffer3_tail == tx_buffer3_head) - Enable_tx_int=1; - - new_head = (tx_buffer3_head + 1) % TX_BUFFER_SIZE; // Move to next position in the ring buffer - if (new_head==tx_buffer3_tail) - return; // This is an Error : BUFFER OVERFLOW. We lost this character!! - - tx_buffer3[tx_buffer3_head] = b; // Add data to the tx buffer - tx_buffer3_head = new_head; // Update head pointer - - if (Enable_tx_int) - UCSR3B |= _BV(UDRIE3); // Enable Serial TX interrupt - } -#endif -} - -// Send a buffer of bytes (this is util for binary protocols) -void APM_FastSerial_Class::write(const uint8_t *buffer, int size) -{ - while (size--) - write(*buffer++); -} - -// We create this two instances -APM_FastSerial_Class APM_FastSerial(0); // For Serial port 0 -#if defined(__AVR_ATmega1280__) - APM_FastSerial_Class APM_FastSerial3(3); // For Serial port 3 (only Atmega1280) -#endif \ No newline at end of file diff --git a/libraries/APM_FastSerial/APM_FastSerial.h b/libraries/APM_FastSerial/APM_FastSerial.h deleted file mode 100644 index 2e01d319dd..0000000000 --- a/libraries/APM_FastSerial/APM_FastSerial.h +++ /dev/null @@ -1,25 +0,0 @@ -#ifndef APM_FastSerial_h -#define APM_FastSerial_h - -#include - -#include "Print.h" - -class APM_FastSerial_Class : public Print // Inherit from Print -{ - private: - uint8_t SerialPortNumber; - - public: - APM_FastSerial_Class(uint8_t SerialPort); // Constructor - // we overwrite the write methods - void write(uint8_t b); // basic funtion : send a byte - void write(const uint8_t *buffer, int size); -}; - -extern APM_FastSerial_Class APM_FastSerial; -#if defined(__AVR_ATmega1280__) - extern APM_FastSerial_Class APM_FastSerial3; -#endif -#endif - diff --git a/libraries/APM_FastSerial/examples/APM_FastSerial/APM_FastSerial.pde b/libraries/APM_FastSerial/examples/APM_FastSerial/APM_FastSerial.pde deleted file mode 100644 index f47a0cbb03..0000000000 --- a/libraries/APM_FastSerial/examples/APM_FastSerial/APM_FastSerial.pde +++ /dev/null @@ -1,91 +0,0 @@ -/* - Example of APM_FastSerial library. - Code by Jose Julio and Jordi Muņoz. DIYDrones.com -*/ - -// FastSerial is implemented for Serial port 0 (connection to PC) and 3 (telemetry) -#include // ArduPilot Mega Fast Serial Output Library - -#if defined(__AVR_ATmega1280__) - #define LED 35 -#else - #define LED 13 -#endif - -unsigned long timer; -unsigned long counter; - -void setup() -{ - int myint=14235; // Examples of data tytpes - long mylong=-23456432; - float myfloat=-26.669; - byte mybyte=0xD1; - byte bc_bufIn[50]; - - for (int i=0;i<10;i++) - bc_bufIn[i]=i*10+30; // we fill the byte array - - pinMode(LED,OUTPUT); - - // We use the standard serial port initialization - Serial.begin(57600); - //Serial3.begin(57600); // if we want to use port3 also (Mega boards)... - delay(100); - // We can use both methods to write to serial port: - Serial.println("ArduPilot Mega FastSerial library test"); // Standard serial output - APM_FastSerial.println("FAST_SERIAL : ArduPilot Mega FastSerial library test"); // Fast serial output - // We can use the same on serial port3 (telemetry) - // APM_FastSerial3.println("Serial Port3 : ArduPilot Mega FastSerial library test"); - delay(1000); - // Examples of data types (same result as standard arduino library) - APM_FastSerial.println("Numbers:"); - APM_FastSerial.println(myint); - APM_FastSerial.println(mylong); - APM_FastSerial.println(myfloat); - APM_FastSerial.println("Byte:"); - APM_FastSerial.write(mybyte); - APM_FastSerial.println(); - APM_FastSerial.println("Bytes:"); - APM_FastSerial.write(bc_bufIn,10); - APM_FastSerial.println(); - delay(4000); -} - -void loop() -{ - if((millis()- timer) > 20) // 50Hz loop - { - timer = millis(); - if (counter < 250) // we use the Normal Serial output for 5 seconds - { - // Example of typical telemetry output - digitalWrite(LED,HIGH); - Serial.println("!ATT:14.2;-5.5;-26.8"); // 20 bytes - digitalWrite(LED,LOW); - if ((counter%5)==0) // GPS INFO at 5Hz - { - digitalWrite(LED,HIGH); - Serial.println("!LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes - digitalWrite(LED,LOW); - } - } - else // and Fast Serial Output for other 5 seconds - { - // The same info... - digitalWrite(LED,HIGH); - APM_FastSerial.println("#ATT:14.2;-5.5;-26.8"); // 20 bytes - digitalWrite(LED,LOW); - if ((counter%5)==0) // GPS INFO at 5Hz - { - digitalWrite(LED,HIGH); - - APM_FastSerial.println("#LAT:26.345324;LON:-57.372638;ALT:46.7;GC:121.3;GS:23.1"); // 54 bytes - digitalWrite(LED,LOW); - } - if (counter>500) // Counter reset - counter=0; - } - counter++; - } -} \ No newline at end of file diff --git a/libraries/APM_FastSerial/keywords.txt b/libraries/APM_FastSerial/keywords.txt deleted file mode 100644 index c95eae578b..0000000000 --- a/libraries/APM_FastSerial/keywords.txt +++ /dev/null @@ -1,2 +0,0 @@ -APM_FastSerial KEYWORD1 -APM_FastSerial3 KEYWORD1