mirror of https://github.com/ArduPilot/ardupilot
Retire the old FastSerial code.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1294 f9c3cf11-9bcb-44bc-f272-b75c42450872
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DrZiplok
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65b7c00689
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/*
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APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (atmega1280)
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It´s also compatible with standard Arduino boards (atmega 168 and 328)
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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)[APM]
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Methods: (the same as standard arduino library, inherits from Print)
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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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#if defined(__AVR_ATmega1280__)
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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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#endif
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#if defined(__AVR_ATmega1280__) // For atmega1280 we use Serial port 0 and 3
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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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#else
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// Serial interrupt
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ISR(USART_UDRE_vect)
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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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#endif
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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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#if defined(__AVR_ATmega1280__)
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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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#endif
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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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// We create this two instances
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APM_FastSerial_Class APM_FastSerial(0); // For Serial port 0
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#if defined(__AVR_ATmega1280__)
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APM_FastSerial_Class APM_FastSerial3(3); // For Serial port 3 (only Atmega1280)
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#endif
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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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#include "Print.h"
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class APM_FastSerial_Class : public Print // Inherit from Print
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{
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private:
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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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// we overwrite the write methods
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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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};
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extern APM_FastSerial_Class APM_FastSerial;
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#if defined(__AVR_ATmega1280__)
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extern APM_FastSerial_Class APM_FastSerial3;
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#endif
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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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#if defined(__AVR_ATmega1280__)
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#define LED 35
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#else
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#define LED 13
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#endif
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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,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 (Mega boards)...
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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,HIGH);
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Serial.println("!ATT:14.2;-5.5;-26.8"); // 20 bytes
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digitalWrite(LED,LOW);
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if ((counter%5)==0) // GPS INFO at 5Hz
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{
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digitalWrite(LED,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,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,HIGH);
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APM_FastSerial.println("#ATT:14.2;-5.5;-26.8"); // 20 bytes
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digitalWrite(LED,LOW);
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if ((counter%5)==0) // GPS INFO at 5Hz
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{
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digitalWrite(LED,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,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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APM_FastSerial KEYWORD1
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APM_FastSerial3 KEYWORD1
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