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
This commit is contained in:
DrZiplok
parent
4c4274e7c3
commit
c38d9d324e
|
|
@ -1,150 +0,0 @@
|
|||
/*
|
||||
APM_FastSerial.cpp - Fast Serial Output for Ardupilot Mega Hardware (atmega1280)
|
||||
It´s also compatible with standard Arduino boards (atmega 168 and 328)
|
||||
Interrupt driven Serial output with intermediate buffer
|
||||
Code Jose Julio and Jordi Muñoz. 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 <inttypes.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#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
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
#ifndef APM_FastSerial_h
|
||||
#define APM_FastSerial_h
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
#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
|
||||
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
/*
|
||||
Example of APM_FastSerial library.
|
||||
Code by Jose Julio and Jordi Muñoz. DIYDrones.com
|
||||
*/
|
||||
|
||||
// FastSerial is implemented for Serial port 0 (connection to PC) and 3 (telemetry)
|
||||
#include <APM_FastSerial.h> // 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++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
APM_FastSerial KEYWORD1
|
||||
APM_FastSerial3 KEYWORD1
|
||||
Loading…
Reference in New Issue