mirror of https://github.com/ArduPilot/ardupilot
Change the way the port declaration macros work. This saves ~300
bytes by shrinking the constructor. I don't quite understand why g++ is emitting two identical copies of the ctor, but it wastes a bunch of space. 8( Integrate FastSerial with the C library's standard I/O. Add new ::printf and ::printf_P methods that do the obvious thing, and a ::getfd method so that a caller can use the other stdio functions with the port if that's interesting. git-svn-id: https://arducopter.googlecode.com/svn/trunk@361 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
116bd22aa7
commit
e0be94a03f
|
|
@ -29,10 +29,9 @@
|
|||
//
|
||||
|
||||
|
||||
#include "../AP_Common/AP_Common.h"
|
||||
#include "FastSerial.h"
|
||||
#include <wiring.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include "WProgram.h"
|
||||
|
||||
#if defined(__AVR_ATmega1280__)
|
||||
# define FS_MAX_PORTS 4
|
||||
|
|
@ -75,73 +74,37 @@ HANDLERS(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3);
|
|||
|
||||
// Constructor /////////////////////////////////////////////////////////////////
|
||||
|
||||
FastSerial::FastSerial(uint8_t portNumber)
|
||||
FastSerial::FastSerial(const uint8_t portNumber,
|
||||
volatile uint8_t *ubrrh,
|
||||
volatile uint8_t *ubrrl,
|
||||
volatile uint8_t *ucsra,
|
||||
volatile uint8_t *ucsrb,
|
||||
volatile uint8_t *udr,
|
||||
const uint8_t u2x,
|
||||
const uint8_t portEnableBits,
|
||||
const uint8_t portTxBits)
|
||||
{
|
||||
switch(portNumber) {
|
||||
#if defined(__AVR_ATmega8__)
|
||||
case 0:
|
||||
_ubrrh = &UBRRH;
|
||||
_ubrrl = &UBRRL;
|
||||
_ucsra = &UCSRA;
|
||||
_ucsrb = &UCSRB;
|
||||
_udr = &UDR;
|
||||
_u2x = U2X;
|
||||
_portEnableBits = _BV(RXEN) | _BV(TXEN) | _BV(RXCIE);
|
||||
_portTxBits = _BV(UDRIE);
|
||||
break;
|
||||
#else
|
||||
case 0:
|
||||
_ubrrh = &UBRR0H;
|
||||
_ubrrl = &UBRR0L;
|
||||
_ucsra = &UCSR0A;
|
||||
_ucsrb = &UCSR0B;
|
||||
_udr = &UDR0;
|
||||
_u2x = U2X0;
|
||||
_portEnableBits = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0);
|
||||
_portTxBits = _BV(UDRIE0);
|
||||
break;
|
||||
#if defined(__AVR_ATmega1280__)
|
||||
case 1:
|
||||
_ubrrh = &UBRR1H;
|
||||
_ubrrl = &UBRR1L;
|
||||
_ucsra = &UCSR1A;
|
||||
_ucsrb = &UCSR1B;
|
||||
_udr = &UDR1;
|
||||
_u2x = U2X1;
|
||||
_portEnableBits = _BV(RXEN1) | _BV(TXEN1) | _BV(RXCIE1);
|
||||
_portTxBits = _BV(UDRIE1);
|
||||
break;
|
||||
case 2:
|
||||
_ubrrh = &UBRR2H;
|
||||
_ubrrl = &UBRR2L;
|
||||
_ucsra = &UCSR2A;
|
||||
_ucsrb = &UCSR2B;
|
||||
_udr = &UDR2;
|
||||
_u2x = U2X2;
|
||||
_portEnableBits = _BV(RXEN2) | _BV(TXEN2) | _BV(RXCIE2);
|
||||
_portTxBits = _BV(UDRIE2);
|
||||
break;
|
||||
case 3:
|
||||
_ubrrh = &UBRR3H;
|
||||
_ubrrl = &UBRR3L;
|
||||
_ucsra = &UCSR3A;
|
||||
_ucsrb = &UCSR3B;
|
||||
_udr = &UDR3;
|
||||
_u2x = U2X3;
|
||||
_portEnableBits = _BV(RXEN3) | _BV(TXEN3) | _BV(RXCIE3);
|
||||
_portTxBits = _BV(UDRIE3);
|
||||
break;
|
||||
#endif
|
||||
#endif
|
||||
default:
|
||||
return;
|
||||
};
|
||||
_ubrrh = ubrrh;
|
||||
_ubrrl = ubrrl;
|
||||
_ucsra = ucsra;
|
||||
_ucsrb = ucsrb;
|
||||
_udr = udr;
|
||||
_u2x = u2x;
|
||||
_portEnableBits = portEnableBits;
|
||||
_portTxBits = portTxBits;
|
||||
|
||||
// init buffers
|
||||
_txBuffer.head = _txBuffer.tail = 0;
|
||||
_rxBuffer.head = _rxBuffer.tail = 0;
|
||||
|
||||
// claim the port
|
||||
__FastSerial__ports[portNumber] = this;
|
||||
|
||||
// init stdio
|
||||
fdev_setup_stream(&_fd, &FastSerial::_putchar, NULL, _FDEV_SETUP_WRITE);
|
||||
fdev_set_udata(&_fd, this);
|
||||
if (0 == portNumber)
|
||||
stdout = &_fd; // serial port 0 is always the default console
|
||||
}
|
||||
|
||||
// Public Methods //////////////////////////////////////////////////////////////
|
||||
|
|
@ -254,6 +217,55 @@ FastSerial::write(const uint8_t *buffer, int count)
|
|||
write(*buffer++);
|
||||
}
|
||||
|
||||
// STDIO emulation /////////////////////////////////////////////////////////////
|
||||
|
||||
int
|
||||
FastSerial::_putchar(char c, FILE *stream)
|
||||
{
|
||||
FastSerial *fs;
|
||||
|
||||
fs = (FastSerial *)fdev_get_udata(stream);
|
||||
fs->write(c);
|
||||
return(0);
|
||||
}
|
||||
|
||||
int
|
||||
FastSerial::_getchar(FILE *stream)
|
||||
{
|
||||
FastSerial *fs;
|
||||
|
||||
fs = (FastSerial *)fdev_get_udata(stream);
|
||||
|
||||
// We return -1 if there is nothing to read, which the library interprets
|
||||
// as an error, which our clients will need to deal with.
|
||||
return(fs->read());
|
||||
}
|
||||
|
||||
int
|
||||
FastSerial::printf(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
int i;
|
||||
|
||||
va_start(ap, fmt);
|
||||
i = vfprintf(&_fd, fmt, ap);
|
||||
va_end(ap);
|
||||
|
||||
return(i);
|
||||
}
|
||||
|
||||
int
|
||||
FastSerial::printf_P(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
int i;
|
||||
|
||||
va_start(ap, fmt);
|
||||
i = vfprintf_P(stdout, fmt, ap);
|
||||
va_end(ap);
|
||||
|
||||
return(i);
|
||||
}
|
||||
|
||||
// Interrupt methods ///////////////////////////////////////////////////////////
|
||||
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@
|
|||
// Note that this library does not pre-declare drivers for serial
|
||||
// ports; the user must explicitly create drivers for the ports they
|
||||
// wish to use. This is less friendly than the stock Arduino driver,
|
||||
// but it saves 256 bytes for every unused port.
|
||||
// but it saves ~200 bytes for every unused port.
|
||||
//
|
||||
// To adjust the transmit/receive buffer sizes, change the size of the
|
||||
// 'bytes' member in the RXBuffer and TXBuffer structures.
|
||||
|
|
@ -48,7 +48,9 @@
|
|||
#define HardwareSerial_h
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <stdio.h>
|
||||
#include <Print.h>
|
||||
#include <avr/interrupt.h>
|
||||
|
||||
//
|
||||
// Because Arduino libraries aren't really libraries, but we want to
|
||||
|
|
@ -58,16 +60,39 @@
|
|||
// Due to the way interrupt vectors are specified, we have to have
|
||||
// a separate macro for every port. Ugh.
|
||||
//
|
||||
#define FastSerialPort0(_portName) FastSerial _portName(0); FastSerialHandler0
|
||||
#if defined(__AVR_ATmega1280__)
|
||||
#define FastSerialPort1(_portName) FastSerial _portName(1); FastSerialHandler1
|
||||
#define FastSerialPort2(_portName) FastSerial _portName(2); FastSerialHandler2
|
||||
#define FastSerialPort3(_portName) FastSerial _portName(3); FastSerialHandler3
|
||||
#endif
|
||||
// The macros are:
|
||||
//
|
||||
// FastSerialPort0(<port name>) creates <port name> referencing serial port 0
|
||||
// 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
|
||||
//
|
||||
|
||||
//
|
||||
// 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 Print {
|
||||
public:
|
||||
FastSerial(uint8_t portNumber = 0);
|
||||
FastSerial(const uint8_t portNumber,
|
||||
volatile uint8_t *ubrrh,
|
||||
volatile uint8_t *ubrrl,
|
||||
volatile uint8_t *ucsra,
|
||||
volatile uint8_t *ucsrb,
|
||||
volatile uint8_t *udr,
|
||||
const uint8_t u2x,
|
||||
const uint8_t portEnableBits,
|
||||
const uint8_t portTxBits);
|
||||
|
||||
// Serial API
|
||||
void begin(long baud);
|
||||
|
|
@ -79,6 +104,11 @@ public:
|
|||
void write(const uint8_t *buffer, int count);
|
||||
using Print::write;
|
||||
|
||||
// stdio extensions
|
||||
int printf(const char *fmt, ...);
|
||||
int printf_P(const char *fmt, ...);
|
||||
FILE *getfd(void) { return &_fd; };
|
||||
|
||||
// Interrupt methods
|
||||
void receive(uint8_t c);
|
||||
void transmit(void);
|
||||
|
|
@ -109,15 +139,12 @@ private:
|
|||
};
|
||||
RXBuffer _rxBuffer;
|
||||
TXBuffer _txBuffer;
|
||||
};
|
||||
|
||||
// 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;
|
||||
// stdio emulation
|
||||
FILE _fd;
|
||||
static int _putchar(char c, FILE *stream);
|
||||
static int _getchar(FILE *stream);
|
||||
};
|
||||
|
||||
// Used by the per-port interrupt vectors
|
||||
extern FastSerial *__FastSerial__ports[];
|
||||
|
|
@ -129,23 +156,59 @@ ISR(_RXVECTOR, ISR_BLOCK) \
|
|||
unsigned char c = _UDR; \
|
||||
__FastSerial__ports[_PORT]->receive(c); \
|
||||
} \
|
||||
ISR(_TXVECTOR, ISR_BLOCK) \
|
||||
ISR(_TXVECTOR, ISR_BLOCK) \
|
||||
{ \
|
||||
__FastSerial__ports[_PORT]->transmit(); \
|
||||
} \
|
||||
struct hack
|
||||
|
||||
// Magic numbers for the Rx/Tx vectors indexed by serial port number
|
||||
#if defined(__AVR_ATmega8__)
|
||||
# define FastSerialHandler0 FastSerialHandler(0, SIG_UART_RECV, SIG_UART_DATA, UDR);
|
||||
#else
|
||||
# define FastSerialHandler0 FastSerialHandler(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0);
|
||||
#endif
|
||||
// Macros defining serial ports
|
||||
// XXX note no ATMega8 support here...
|
||||
#define FastSerialPort0(_portName) \
|
||||
FastSerial _portName(0, \
|
||||
&UBRR0H, \
|
||||
&UBRR0L, \
|
||||
&UCSR0A, \
|
||||
&UCSR0B, \
|
||||
&UDR0, \
|
||||
U2X0, \
|
||||
(_BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0)), \
|
||||
(_BV(UDRIE0))); \
|
||||
FastSerialHandler(0, SIG_USART0_RECV, SIG_USART0_DATA, UDR0)
|
||||
#if defined(__AVR_ATmega1280__)
|
||||
# define FastSerialHandler1 FastSerialHandler(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1);
|
||||
# define FastSerialHandler2 FastSerialHandler(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2);
|
||||
# define FastSerialHandler3 FastSerialHandler(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3);
|
||||
#define FastSerialPort1(_portName) \
|
||||
FastSerial _portName(1, \
|
||||
&UBRR1H, \
|
||||
&UBRR1L, \
|
||||
&UCSR1A, \
|
||||
&UCSR1B, \
|
||||
&UDR1, \
|
||||
U2X1, \
|
||||
(_BV(RXEN1) | _BV(TXEN1) | _BV(RXCIE1)), \
|
||||
(_BV(UDRIE1))); \
|
||||
FastSerialHandler(1, SIG_USART1_RECV, SIG_USART1_DATA, UDR1)
|
||||
#define FastSerialPort2(_portName) \
|
||||
FastSerial _portName(2, \
|
||||
&UBRR2H, \
|
||||
&UBRR2L, \
|
||||
&UCSR2A, \
|
||||
&UCSR2B, \
|
||||
&UDR2, \
|
||||
U2X2, \
|
||||
(_BV(RXEN2) | _BV(TXEN2) | _BV(RXCIE2)), \
|
||||
(_BV(UDRIE2))); \
|
||||
FastSerialHandler(2, SIG_USART2_RECV, SIG_USART2_DATA, UDR2)
|
||||
#define FastSerialPort3(_portName) \
|
||||
FastSerial _portName(3, \
|
||||
&UBRR3H, \
|
||||
&UBRR3L, \
|
||||
&UCSR3A, \
|
||||
&UCSR3B, \
|
||||
&UDR3, \
|
||||
U2X3, \
|
||||
(_BV(RXEN3) | _BV(TXEN3) | _BV(RXCIE3)), \
|
||||
(_BV(UDRIE3))); \
|
||||
FastSerialHandler(3, SIG_USART3_RECV, SIG_USART3_DATA, UDR3)
|
||||
#endif
|
||||
|
||||
|
||||
#endif // FastSerial_h
|
||||
|
|
|
|||
Loading…
Reference in New Issue