AP_HAL_AVR: trivial ConsoleDriver implementation

* user backend unimplemented. will do that next.

libraries/AP_HAL_AVR/AP_HAL_AVR_Namespace.h

@@ -16,6 +16,7 @@ namespace AP_HAL_AVR {
     class CommonDataflash;
     class APM1Dataflash;
     class APM2Dataflash;
+    class AVRConsoleDriver;
     class ArduinoGPIO;
     class APM1RCInput;
     class APM2RCInput;

libraries/AP_HAL_AVR/Console.cpp

@@ -0,0 +1,104 @@
+
+#include <limits.h>
+
+#include "vprintf.h"
+
+#include <AP_HAL.h>
+#include "Console.h"
+using namespace AP_HAL_AVR;
+
+AVRConsoleDriver::AVRConsoleDriver() :
+    _user_backend(false)
+{}
+
+// ConsoleDriver method implementations ///////////////////////////////////////
+//
+void AVRConsoleDriver::init(void* base_uart) {
+    _base_uart = (AP_HAL::UARTDriver*) base_uart;
+}
+
+
+void AVRConsoleDriver::backend_open() {
+    _user_backend = true;
+}
+
+void AVRConsoleDriver::backend_close() {
+    _user_backend = false;
+}
+
+int AVRConsoleDriver::backend_read(uint8_t *data, int len) {
+    return 0;
+}
+
+int AVRConsoleDriver::backend_write(const uint8_t *data, int len) {
+    return 0;
+}
+// Print method implementations /////////////////////////////////////////
+
+size_t AVRConsoleDriver::write(uint8_t c) {
+    if (_user_backend) {
+        return 1;
+    } else {
+        return _base_uart->write(c);
+    }
+}
+
+// BetterStream method implementations /////////////////////////////////////////
+void AVRConsoleDriver::print_P(const prog_char_t *s) {
+        char    c;
+        while ('\0' != (c = pgm_read_byte((const prog_char *)s++)))
+                write(c);
+}
+
+void AVRConsoleDriver::println_P(const prog_char_t *s) {
+        print_P(s);
+        println();
+}
+
+void AVRConsoleDriver::printf(const char *fmt, ...) {
+        va_list ap;
+        va_start(ap, fmt);
+        vprintf((AP_HAL::Print*)this, 0, fmt, ap);
+        va_end(ap);
+}
+
+void AVRConsoleDriver::_printf_P(const prog_char *fmt, ...) {
+        va_list ap;
+        va_start(ap, fmt);
+        vprintf((AP_HAL::Print*)this, 1, fmt, ap);
+        va_end(ap);
+}
+
+// Stream method implementations /////////////////////////////////////////
+int AVRConsoleDriver::available(void) {
+    if (_user_backend) {
+        return INT_MAX;
+    } else {
+        return _base_uart->available();
+    }
+}
+
+int AVRConsoleDriver::txspace(void) {
+    if (_user_backend) {
+        return INT_MAX;
+    } else {
+        return _base_uart->txspace();
+    }
+}
+
+int AVRConsoleDriver::read() {
+    if (_user_backend) {
+        return -1;
+    } else {
+        return _base_uart->read();
+    }
+}
+
+int AVRConsoleDriver::peek() {
+    if (_user_backend) {
+        return -1;
+    } else {
+        return _base_uart->peek();
+    }
+}
+

libraries/AP_HAL_AVR/Console.h

@@ -0,0 +1,40 @@
+
+#ifndef __AP_HAL_AVR_CONSOLE_DRIVER_H__
+#define __AP_HAL_AVR_CONSOLE_DRIVER_H__
+
+#include <AP_Common.h>
+#include <AP_HAL.h>
+#include "AP_HAL_AVR_Namespace.h"
+
+class AP_HAL_AVR::AVRConsoleDriver : public AP_HAL::ConsoleDriver {
+public:
+    AVRConsoleDriver();
+    void init(void* baseuartdriver);
+    void backend_open();
+    void backend_close();
+    int backend_read(uint8_t *data, int len);
+    int backend_write(const uint8_t *data, int len);
+
+    /* Implementations of BetterStream virtual methods */
+    void print_P(const prog_char_t *s);
+    void println_P(const prog_char_t *s);
+    void printf(const char *s, ...)
+            __attribute__ ((format(__printf__, 2, 3)));
+    void _printf_P(const prog_char *s, ...)
+            __attribute__ ((format(__printf__, 2, 3)));
+
+    /* Implementations of Stream virtual methods */
+    int available();
+    int txspace();
+    int read();
+    int peek();
+
+    /* Implementations of Print virtual methods */
+    size_t write(uint8_t c);
+private:
+    AP_HAL::UARTDriver* _base_uart;
+    bool _user_backend;
+};
+
+#endif // __AP_HAL_AVR_CONSOLE_DRIVER_H__
+

libraries/AP_HAL_AVR/HAL_AVR.cpp

@@ -10,6 +10,7 @@ void HAL_AVR::init(void* opts) const {
      * it is initialized at boot */
     // XXX maybe this should be 57600?
     uart0->begin(115200);
+    console->init((void*)uart0);
     /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
      * as the init argument */
     rcin->init((void*)&isr_registry);

libraries/AP_HAL_AVR/HAL_AVR.h

@@ -23,7 +23,7 @@ public:
         AP_HAL::AnalogIn*   _analogin,
         AP_HAL::Storage*    _storage,
         AP_HAL::Dataflash*  _dataflash,
-        AP_HAL::BetterStream* _console,
+        AP_HAL::ConsoleDriver* _console,
         AP_HAL::GPIO*       _gpio,
         AP_HAL::RCInput*    _rcin,
         AP_HAL::RCOutput*   _rcout,

libraries/AP_HAL_AVR/examples/Console/Console.pde

@@ -0,0 +1,55 @@
+// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
+
+//
+// Example code for the AP_HAL AVRUARTDriver, based on FastSerial
+//
+// This code is placed into the public domain.
+//
+
+#include <AP_Common.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+
+void setup(void)
+{
+        //
+        // Set the speed for our replacement serial port.
+        //
+	hal.uart0->begin(115200);
+        //
+        // Test printing things
+        //
+    hal.console->print("test");
+    hal.console->println(" begin");
+    hal.console->println(1000);
+    hal.console->println(1000, 8);
+    hal.console->println(1000, 10);
+    hal.console->println(1000, 16);
+    hal.console->println_P(PSTR("progmem"));
+    hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
+    hal.console->printf_P(PSTR("printf_P %d %u %#x %p %f %S\n"), -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
+    hal.console->println("done");
+}
+
+void loop(void)
+{
+    int c;
+    //
+    // Perform a simple loopback operation.
+    //
+    c = hal.console->read();
+    if (-1 != c)
+        hal.console->write(c);
+}
+
+
+extern "C" {
+int main (void) {
+    hal.init(NULL);
+    setup();
+    for(;;) loop();
+    return 0;
+}
+}

libraries/AP_HAL_AVR/examples/Console/Makefile

@@ -0,0 +1,2 @@
+BOARD	=	mega
+include ../../../AP_Common/Arduino.mk