mirror of https://github.com/ArduPilot/ardupilot
284 lines
30 KiB
HTML
284 lines
30 KiB
HTML
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/FastSerial/FastSerial.h Source File</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javaScript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css"/>
|
|
</head>
|
|
<body onload='searchBox.OnSelectItem(0);'>
|
|
<!-- Generated by Doxygen 1.7.1 -->
|
|
<div class="navigation" id="top">
|
|
<div class="tabs">
|
|
<ul class="tablist">
|
|
<li><a href="main.html"><span>Main Page</span></a></li>
|
|
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
|
|
<li><a href="annotated.html"><span>Classes</span></a></li>
|
|
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
|
</ul>
|
|
</div>
|
|
<div class="tabs2">
|
|
<ul class="tablist">
|
|
<li><a href="files.html"><span>File List</span></a></li>
|
|
<li><a href="globals.html"><span>File Members</span></a></li>
|
|
</ul>
|
|
</div>
|
|
<div class="header">
|
|
<div class="headertitle">
|
|
<h1>/home/jgoppert/Projects/ap/libraries/FastSerial/FastSerial.h</h1> </div>
|
|
</div>
|
|
<div class="contents">
|
|
<a href="_fast_serial_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-</span>
|
|
<a name="l00002"></a>00002 <span class="comment">//</span>
|
|
<a name="l00003"></a>00003 <span class="comment">// Interrupt-driven serial transmit/receive library.</span>
|
|
<a name="l00004"></a>00004 <span class="comment">//</span>
|
|
<a name="l00005"></a>00005 <span class="comment">// Copyright (c) 2010 Michael Smith. All rights reserved.</span>
|
|
<a name="l00006"></a>00006 <span class="comment">//</span>
|
|
<a name="l00007"></a>00007 <span class="comment">// Receive and baudrate calculations derived from the Arduino </span>
|
|
<a name="l00008"></a>00008 <span class="comment">// HardwareSerial driver:</span>
|
|
<a name="l00009"></a>00009 <span class="comment">//</span>
|
|
<a name="l00010"></a>00010 <span class="comment">// Copyright (c) 2006 Nicholas Zambetti. All right reserved.</span>
|
|
<a name="l00011"></a>00011 <span class="comment">//</span>
|
|
<a name="l00012"></a>00012 <span class="comment">// Transmit algorithm inspired by work:</span>
|
|
<a name="l00013"></a>00013 <span class="comment">//</span>
|
|
<a name="l00014"></a>00014 <span class="comment">// Code Jose Julio and Jordi Munoz. DIYDrones.com</span>
|
|
<a name="l00015"></a>00015 <span class="comment">//</span>
|
|
<a name="l00016"></a>00016 <span class="comment">// This library is free software; you can redistribute it and/or</span>
|
|
<a name="l00017"></a>00017 <span class="comment">// modify it under the terms of the GNU Lesser General Public</span>
|
|
<a name="l00018"></a>00018 <span class="comment">// License as published by the Free Software Foundation; either</span>
|
|
<a name="l00019"></a>00019 <span class="comment">// version 2.1 of the License, or (at your option) any later</span>
|
|
<a name="l00020"></a>00020 <span class="comment">// version.</span>
|
|
<a name="l00021"></a>00021 <span class="comment">//</span>
|
|
<a name="l00022"></a>00022 <span class="comment">// This library is distributed in the hope that it will be</span>
|
|
<a name="l00023"></a>00023 <span class="comment">// useful, but WITHOUT ANY WARRANTY; without even the implied</span>
|
|
<a name="l00024"></a>00024 <span class="comment">// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR</span>
|
|
<a name="l00025"></a>00025 <span class="comment">// PURPOSE. See the GNU Lesser General Public License for more</span>
|
|
<a name="l00026"></a>00026 <span class="comment">// details.</span>
|
|
<a name="l00027"></a>00027 <span class="comment">//</span>
|
|
<a name="l00028"></a>00028 <span class="comment">// You should have received a copy of the GNU Lesser General</span>
|
|
<a name="l00029"></a>00029 <span class="comment">// Public License along with this library; if not, write to the</span>
|
|
<a name="l00030"></a>00030 <span class="comment">// Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,</span>
|
|
<a name="l00031"></a>00031 <span class="comment">// Boston, MA 02110-1301 USA</span>
|
|
<a name="l00032"></a>00032 <span class="comment">//</span>
|
|
<a name="l00033"></a>00033
|
|
<a name="l00034"></a>00034 <span class="comment">//</span>
|
|
<a name="l00035"></a>00035 <span class="comment">// Note that this library does not pre-declare drivers for serial</span>
|
|
<a name="l00036"></a>00036 <span class="comment">// ports; the user must explicitly create drivers for the ports they</span>
|
|
<a name="l00037"></a>00037 <span class="comment">// wish to use. This is less friendly than the stock Arduino driver,</span>
|
|
<a name="l00038"></a>00038 <span class="comment">// but it saves 24 bytes of RAM for every unused port and frees up</span>
|
|
<a name="l00039"></a>00039 <span class="comment">// the vector for another driver (e.g. MSPIM on USARTs).</span>
|
|
<a name="l00040"></a>00040 <span class="comment">//</span>
|
|
<a name="l00041"></a>00041
|
|
<a name="l00042"></a>00042 <span class="preprocessor">#ifndef FastSerial_h</span>
|
|
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define FastSerial_h</span>
|
|
<a name="l00044"></a>00044 <span class="preprocessor"></span>
|
|
<a name="l00045"></a>00045 <span class="comment">// disable the stock Arduino serial driver</span>
|
|
<a name="l00046"></a>00046 <span class="preprocessor">#ifdef HardwareSerial_h</span>
|
|
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor"># error Must include FastSerial.h before the Arduino serial driver is defined.</span>
|
|
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
|
<a name="l00049"></a><a class="code" href="_fast_serial_8h.html#a303b63294d669d2c5a269c92bdb700d5">00049</a> <span class="preprocessor"></span><span class="preprocessor">#define HardwareSerial_h</span>
|
|
<a name="l00050"></a>00050 <span class="preprocessor"></span>
|
|
<a name="l00051"></a>00051 <span class="preprocessor">#include <inttypes.h></span>
|
|
<a name="l00052"></a>00052 <span class="preprocessor">#include <stdlib.h></span>
|
|
<a name="l00053"></a>00053 <span class="preprocessor">#include <avr/io.h></span>
|
|
<a name="l00054"></a>00054 <span class="preprocessor">#include <avr/interrupt.h></span>
|
|
<a name="l00055"></a>00055
|
|
<a name="l00056"></a>00056 <span class="preprocessor">#include "<a class="code" href="_better_stream_8h.html">BetterStream.h</a>"</span>
|
|
<a name="l00057"></a>00057
|
|
<a name="l00058"></a>00058 <span class="comment">//</span>
|
|
<a name="l00059"></a>00059 <span class="comment">// Because Arduino libraries aren't really libraries, but we want to</span>
|
|
<a name="l00060"></a>00060 <span class="comment">// only define interrupt handlers for serial ports that are actually</span>
|
|
<a name="l00061"></a>00061 <span class="comment">// used, we have to force our users to define them using a macro.</span>
|
|
<a name="l00062"></a>00062 <span class="comment">//</span>
|
|
<a name="l00063"></a>00063 <span class="comment">// Due to the way interrupt vectors are specified, we have to have</span>
|
|
<a name="l00064"></a>00064 <span class="comment">// a separate macro for every port. Ugh.</span>
|
|
<a name="l00065"></a>00065 <span class="comment">//</span>
|
|
<a name="l00066"></a>00066 <span class="comment">// The macros are:</span>
|
|
<a name="l00067"></a>00067 <span class="comment">//</span>
|
|
<a name="l00068"></a>00068 <span class="comment">// FastSerialPort0(<port name>) creates <port name> referencing serial port 0</span>
|
|
<a name="l00069"></a>00069 <span class="comment">// FastSerialPort1(<port name>) creates <port name> referencing serial port 1</span>
|
|
<a name="l00070"></a>00070 <span class="comment">// FastSerialPort2(<port name>) creates <port name> referencing serial port 2</span>
|
|
<a name="l00071"></a>00071 <span class="comment">// FastSerialPort3(<port name>) creates <port name> referencing serial port 3</span>
|
|
<a name="l00072"></a>00072 <span class="comment">//</span>
|
|
<a name="l00073"></a>00073 <span class="comment">// Note that macros are only defined for ports that exist on the target device.</span>
|
|
<a name="l00074"></a>00074 <span class="comment">//</span>
|
|
<a name="l00075"></a>00075
|
|
<a name="l00076"></a>00076 <span class="comment">//</span>
|
|
<a name="l00077"></a>00077 <span class="comment">// Forward declarations for clients that want to assume that the</span>
|
|
<a name="l00078"></a>00078 <span class="comment">// default Serial* objects exist.</span>
|
|
<a name="l00079"></a>00079 <span class="comment">//</span>
|
|
<a name="l00080"></a>00080 <span class="comment">// Note that the application is responsible for ensuring that these</span>
|
|
<a name="l00081"></a>00081 <span class="comment">// actually get defined, otherwise Arduino will suck in the</span>
|
|
<a name="l00082"></a>00082 <span class="comment">// HardwareSerial library and linking will fail.</span>
|
|
<a name="l00083"></a>00083 <span class="comment">//</span>
|
|
<a name="l00084"></a>00084 <span class="keyword">extern</span> <span class="keyword">class </span><a class="code" href="class_fast_serial.html">FastSerial</a> <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>;
|
|
<a name="l00085"></a>00085 <span class="keyword">extern</span> <span class="keyword">class </span><a class="code" href="class_fast_serial.html">FastSerial</a> <a class="code" href="_fast_serial_8h.html#ad8026a4f12a38f848340968d0db7b4fd">Serial1</a>;
|
|
<a name="l00086"></a>00086 <span class="keyword">extern</span> <span class="keyword">class </span><a class="code" href="class_fast_serial.html">FastSerial</a> <a class="code" href="_fast_serial_8h.html#aab2db3cc91ed9cc8e13464e176fd05c4">Serial2</a>;
|
|
<a name="l00087"></a>00087 <span class="keyword">extern</span> <span class="keyword">class </span><a class="code" href="class_fast_serial.html">FastSerial</a> <a class="code" href="_fast_serial_8h.html#a86283126649840a9437389a9bd8e5448">Serial3</a>;
|
|
<a name="l00088"></a>00088
|
|
<a name="l00089"></a><a class="code" href="class_fast_serial.html">00089</a> <span class="keyword">class </span><a class="code" href="class_fast_serial.html">FastSerial</a> : <span class="keyword">public</span> <a class="code" href="class_better_stream.html">BetterStream</a> {
|
|
<a name="l00090"></a>00090 <span class="keyword">public</span>:
|
|
<a name="l00091"></a>00091 <a class="code" href="class_fast_serial.html#a9f20535e34fab50c1f771b9a41790219">FastSerial</a>(<span class="keyword">const</span> uint8_t portNumber,
|
|
<a name="l00092"></a>00092 <span class="keyword">volatile</span> uint8_t *ubrrh,
|
|
<a name="l00093"></a>00093 <span class="keyword">volatile</span> uint8_t *ubrrl,
|
|
<a name="l00094"></a>00094 <span class="keyword">volatile</span> uint8_t *ucsra,
|
|
<a name="l00095"></a>00095 <span class="keyword">volatile</span> uint8_t *ucsrb,
|
|
<a name="l00096"></a>00096 <span class="keyword">const</span> uint8_t u2x,
|
|
<a name="l00097"></a>00097 <span class="keyword">const</span> uint8_t portEnableBits,
|
|
<a name="l00098"></a>00098 <span class="keyword">const</span> uint8_t portTxBits);
|
|
<a name="l00099"></a>00099
|
|
<a name="l00100"></a>00100 <span class="comment">// Serial API</span>
|
|
<a name="l00101"></a>00101 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_fast_serial.html#a1ae3f5f5649d7a72daf2806a6ec1cf45">begin</a>(<span class="keywordtype">long</span> baud);
|
|
<a name="l00102"></a>00102 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_fast_serial.html#a1ae3f5f5649d7a72daf2806a6ec1cf45">begin</a>(<span class="keywordtype">long</span> baud, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rxSpace, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> txSpace);
|
|
<a name="l00103"></a>00103 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_fast_serial.html#a18dc7ab6584b8e01bed86d74d664e6fa">end</a>(<span class="keywordtype">void</span>);
|
|
<a name="l00104"></a>00104 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="class_fast_serial.html#a3908f5db6a1e946207a4b92b7c0b9ee5">available</a>(<span class="keywordtype">void</span>);
|
|
<a name="l00105"></a>00105 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="class_fast_serial.html#a6b63b52d3dedb762340675f0dbb29622">read</a>(<span class="keywordtype">void</span>);
|
|
<a name="l00106"></a>00106 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="class_fast_serial.html#a1bb9d282cdf6abb37c95f3acc314d7a2">peek</a>(<span class="keywordtype">void</span>);
|
|
<a name="l00107"></a>00107 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_fast_serial.html#a80a0f8852702174fc9f771da3713c933">flush</a>(<span class="keywordtype">void</span>);
|
|
<a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_fast_serial.html#a8e41c9efa4f854ac6ffa0e178c1314e9">write</a>(uint8_t c);
|
|
<a name="l00109"></a>00109 <span class="keyword">using</span> BetterStream::write;
|
|
<a name="l00110"></a>00110
|
|
<a name="l00111"></a>00111 <span class="comment">// public so the interrupt handlers can see it</span>
|
|
<a name="l00112"></a><a class="code" href="struct_fast_serial_1_1_buffer.html">00112</a> <span class="keyword">struct </span><a class="code" href="struct_fast_serial_1_1_buffer.html">Buffer</a> {
|
|
<a name="l00113"></a><a class="code" href="struct_fast_serial_1_1_buffer.html#aec076766d7dbdfba4c1116e8329d1c5f">00113</a> <span class="keyword">volatile</span> uint16_t <a class="code" href="struct_fast_serial_1_1_buffer.html#a21455465b69c8fd0225236bd8b949158">head</a>, <a class="code" href="struct_fast_serial_1_1_buffer.html#aec076766d7dbdfba4c1116e8329d1c5f">tail</a>;
|
|
<a name="l00114"></a><a class="code" href="struct_fast_serial_1_1_buffer.html#a8797629ef75561f8382aa84d4f62c451">00114</a> uint16_t <a class="code" href="struct_fast_serial_1_1_buffer.html#a8797629ef75561f8382aa84d4f62c451">mask</a>;
|
|
<a name="l00115"></a><a class="code" href="struct_fast_serial_1_1_buffer.html#a5eb7885018db67980c5b8bd1279d2b3d">00115</a> uint8_t *<a class="code" href="struct_fast_serial_1_1_buffer.html#a5eb7885018db67980c5b8bd1279d2b3d">bytes</a>;
|
|
<a name="l00116"></a>00116 };
|
|
<a name="l00117"></a>00117
|
|
<a name="l00118"></a>00118 <span class="keyword">private</span>:
|
|
<a name="l00119"></a>00119 <span class="comment">// register accessors</span>
|
|
<a name="l00120"></a>00120 <span class="keyword">volatile</span> uint8_t *_ubrrh;
|
|
<a name="l00121"></a>00121 <span class="keyword">volatile</span> uint8_t *_ubrrl;
|
|
<a name="l00122"></a>00122 <span class="keyword">volatile</span> uint8_t *_ucsra;
|
|
<a name="l00123"></a>00123 <span class="keyword">volatile</span> uint8_t *_ucsrb;
|
|
<a name="l00124"></a>00124
|
|
<a name="l00125"></a>00125 <span class="comment">// register magic numbers</span>
|
|
<a name="l00126"></a>00126 uint8_t _portEnableBits; <span class="comment">// rx, tx and rx interrupt enables</span>
|
|
<a name="l00127"></a>00127 uint8_t _portTxBits; <span class="comment">// tx data and completion interrupt enables</span>
|
|
<a name="l00128"></a>00128 uint8_t _u2x;
|
|
<a name="l00129"></a>00129
|
|
<a name="l00130"></a>00130 <span class="comment">// ring buffers</span>
|
|
<a name="l00131"></a>00131 <a class="code" href="struct_fast_serial_1_1_buffer.html">Buffer</a> *_rxBuffer;
|
|
<a name="l00132"></a>00132 <a class="code" href="struct_fast_serial_1_1_buffer.html">Buffer</a> *_txBuffer;
|
|
<a name="l00133"></a>00133 <span class="keywordtype">bool</span> _open;
|
|
<a name="l00134"></a>00134
|
|
<a name="l00135"></a>00135 <span class="keyword">static</span> <span class="keywordtype">bool</span> _allocBuffer(<a class="code" href="struct_fast_serial_1_1_buffer.html">Buffer</a> *buffer, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size);
|
|
<a name="l00136"></a>00136 <span class="keyword">static</span> <span class="keywordtype">void</span> _freeBuffer(<a class="code" href="struct_fast_serial_1_1_buffer.html">Buffer</a> *buffer);
|
|
<a name="l00137"></a>00137 };
|
|
<a name="l00138"></a>00138
|
|
<a name="l00139"></a>00139 <span class="comment">// Used by the per-port interrupt vectors</span>
|
|
<a name="l00140"></a>00140 <span class="keyword">extern</span> <a class="code" href="struct_fast_serial_1_1_buffer.html">FastSerial::Buffer</a> <a class="code" href="_fast_serial_8cpp.html#ae8641bf6f22cf7893cb462460417caf9">__FastSerial__rxBuffer</a>[];
|
|
<a name="l00141"></a>00141 <span class="keyword">extern</span> <a class="code" href="struct_fast_serial_1_1_buffer.html">FastSerial::Buffer</a> <a class="code" href="_fast_serial_8cpp.html#ada936bc2cdf111796f90cdb7dcdc54dd">__FastSerial__txBuffer</a>[];
|
|
<a name="l00142"></a>00142
|
|
<a name="l00143"></a>00143 <span class="comment">// Generic Rx/Tx vectors for a serial port - needs to know magic numbers</span>
|
|
<a name="l00144"></a><a class="code" href="_fast_serial_8h.html#ab0863c843132b67a13d6a953a2dceae8">00144</a> <span class="preprocessor">#define FastSerialHandler(_PORT, _RXVECTOR, _TXVECTOR, _UDR, _UCSRB, _TXBITS) \</span>
|
|
<a name="l00145"></a>00145 <span class="preprocessor">ISR(_RXVECTOR, ISR_BLOCK) \</span>
|
|
<a name="l00146"></a>00146 <span class="preprocessor">{ \</span>
|
|
<a name="l00147"></a>00147 <span class="preprocessor"> uint8_t c; \</span>
|
|
<a name="l00148"></a>00148 <span class="preprocessor"> int16_t i; \</span>
|
|
<a name="l00149"></a>00149 <span class="preprocessor"> \</span>
|
|
<a name="l00150"></a>00150 <span class="preprocessor"> </span><span class="comment">/* read the byte as quickly as possible */</span> \
|
|
<a name="l00151"></a>00151 c = _UDR; \
|
|
<a name="l00152"></a>00152 <span class="comment">/* work out where the head will go next */</span> \
|
|
<a name="l00153"></a>00153 i = (__FastSerial__rxBuffer[_PORT].head + 1) & __FastSerial__rxBuffer[_PORT].mask; \
|
|
<a name="l00154"></a>00154 <span class="comment">/* decide whether we have space for another byte */</span> \
|
|
<a name="l00155"></a>00155 if (i != __FastSerial__rxBuffer[_PORT].tail) { \
|
|
<a name="l00156"></a>00156 <span class="comment">/* we do, move the head */</span> \
|
|
<a name="l00157"></a>00157 __FastSerial__rxBuffer[_PORT].bytes[__FastSerial__rxBuffer[_PORT].head] = c; \
|
|
<a name="l00158"></a>00158 __FastSerial__rxBuffer[_PORT].head = i; \
|
|
<a name="l00159"></a>00159 } \
|
|
<a name="l00160"></a>00160 } \
|
|
<a name="l00161"></a>00161 ISR(_TXVECTOR, ISR_BLOCK) \
|
|
<a name="l00162"></a>00162 { \
|
|
<a name="l00163"></a>00163 <span class="comment">/* if there is another character to send */</span> \
|
|
<a name="l00164"></a>00164 if (__FastSerial__txBuffer[_PORT].tail != __FastSerial__txBuffer[_PORT].head) { \
|
|
<a name="l00165"></a>00165 _UDR = __FastSerial__txBuffer[_PORT].bytes[__FastSerial__txBuffer[_PORT].tail]; \
|
|
<a name="l00166"></a>00166 <span class="comment">/* increment the tail */</span> \
|
|
<a name="l00167"></a>00167 __FastSerial__txBuffer[_PORT].tail = \
|
|
<a name="l00168"></a>00168 (__FastSerial__txBuffer[_PORT].tail + 1) & __FastSerial__txBuffer[_PORT].mask; \
|
|
<a name="l00169"></a>00169 } else { \
|
|
<a name="l00170"></a>00170 <span class="comment">/* there are no more bytes to send, disable the interrupt */</span> \
|
|
<a name="l00171"></a>00171 if (__FastSerial__txBuffer[_PORT].head == __FastSerial__txBuffer[_PORT].tail) \
|
|
<a name="l00172"></a>00172 _UCSRB &= ~_TXBITS; \
|
|
<a name="l00173"></a>00173 } \
|
|
<a name="l00174"></a>00174 } \
|
|
<a name="l00175"></a>00175 struct hack
|
|
<a name="l00176"></a>00176
|
|
<a name="l00177"></a>00177 <span class="comment">//</span>
|
|
<a name="l00178"></a>00178 <span class="comment">// Portability; convert various older sets of defines for U(S)ART0 up</span>
|
|
<a name="l00179"></a>00179 <span class="comment">// to match the definitions for the 1280 and later devices.</span>
|
|
<a name="l00180"></a>00180 <span class="comment">//</span>
|
|
<a name="l00181"></a>00181 <span class="preprocessor">#if !defined(USART0_RX_vect)</span>
|
|
<a name="l00182"></a>00182 <span class="preprocessor"></span><span class="preprocessor"># if defined(USART_RX_vect)</span>
|
|
<a name="l00183"></a>00183 <span class="preprocessor"></span><span class="preprocessor"># define USART0_RX_vect USART_RX_vect</span>
|
|
<a name="l00184"></a>00184 <span class="preprocessor"></span><span class="preprocessor"># define USART0_UDRE_vect USART_UDRE_vect</span>
|
|
<a name="l00185"></a>00185 <span class="preprocessor"></span><span class="preprocessor"># elif defined(UART0_RX_vect)</span>
|
|
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor"># define USART0_RX_vect UART0_RX_vect</span>
|
|
<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor"># define USART0_UDRE_vect UART0_UDRE_vect</span>
|
|
<a name="l00188"></a>00188 <span class="preprocessor"></span><span class="preprocessor"># endif</span>
|
|
<a name="l00189"></a>00189 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
|
<a name="l00190"></a>00190 <span class="preprocessor"></span>
|
|
<a name="l00191"></a>00191 <span class="preprocessor">#if !defined(USART1_RX_vect)</span>
|
|
<a name="l00192"></a>00192 <span class="preprocessor"></span><span class="preprocessor"># if defined(UART1_RX_vect)</span>
|
|
<a name="l00193"></a>00193 <span class="preprocessor"></span><span class="preprocessor"># define USART1_RX_vect UART1_RX_vect</span>
|
|
<a name="l00194"></a>00194 <span class="preprocessor"></span><span class="preprocessor"># define USART1_UDRE_vect UART1_UDRE_vect</span>
|
|
<a name="l00195"></a>00195 <span class="preprocessor"></span><span class="preprocessor"># endif</span>
|
|
<a name="l00196"></a>00196 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
|
<a name="l00197"></a>00197 <span class="preprocessor"></span>
|
|
<a name="l00198"></a>00198 <span class="preprocessor">#if !defined(UDR0)</span>
|
|
<a name="l00199"></a>00199 <span class="preprocessor"></span><span class="preprocessor"># if defined(UDR)</span>
|
|
<a name="l00200"></a>00200 <span class="preprocessor"></span><span class="preprocessor"># define UDR0 UDR</span>
|
|
<a name="l00201"></a>00201 <span class="preprocessor"></span><span class="preprocessor"># define UBRR0H UBRRH</span>
|
|
<a name="l00202"></a>00202 <span class="preprocessor"></span><span class="preprocessor"># define UBRR0L UBRRL</span>
|
|
<a name="l00203"></a>00203 <span class="preprocessor"></span><span class="preprocessor"># define UCSR0A UCSRA</span>
|
|
<a name="l00204"></a>00204 <span class="preprocessor"></span><span class="preprocessor"># define UCSR0B UCSRB</span>
|
|
<a name="l00205"></a>00205 <span class="preprocessor"></span><span class="preprocessor"># define U2X0 U2X</span>
|
|
<a name="l00206"></a>00206 <span class="preprocessor"></span><span class="preprocessor"># define RXEN0 RXEN</span>
|
|
<a name="l00207"></a>00207 <span class="preprocessor"></span><span class="preprocessor"># define TXEN0 TXEN</span>
|
|
<a name="l00208"></a>00208 <span class="preprocessor"></span><span class="preprocessor"># define RXCIE0 RXCIE</span>
|
|
<a name="l00209"></a>00209 <span class="preprocessor"></span><span class="preprocessor"># define UDRIE0 UDRIE</span>
|
|
<a name="l00210"></a>00210 <span class="preprocessor"></span><span class="preprocessor"># endif</span>
|
|
<a name="l00211"></a>00211 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
|
<a name="l00212"></a>00212 <span class="preprocessor"></span>
|
|
<a name="l00213"></a>00213 <span class="comment">//</span>
|
|
<a name="l00214"></a>00214 <span class="comment">// Macro defining a FastSerial port instance.</span>
|
|
<a name="l00215"></a>00215 <span class="comment">//</span>
|
|
<a name="l00216"></a><a class="code" href="_fast_serial_8h.html#ae9b997f0fe57adea67535f5bc3f4d212">00216</a> <span class="preprocessor">#define FastSerialPort(_name, _num) \</span>
|
|
<a name="l00217"></a>00217 <span class="preprocessor"> FastSerial _name(_num, \</span>
|
|
<a name="l00218"></a>00218 <span class="preprocessor"> &UBRR##_num##H, \</span>
|
|
<a name="l00219"></a>00219 <span class="preprocessor"> &UBRR##_num##L, \</span>
|
|
<a name="l00220"></a>00220 <span class="preprocessor"> &UCSR##_num##A, \</span>
|
|
<a name="l00221"></a>00221 <span class="preprocessor"> &UCSR##_num##B, \</span>
|
|
<a name="l00222"></a>00222 <span class="preprocessor"> U2X##_num, \</span>
|
|
<a name="l00223"></a>00223 <span class="preprocessor"> (_BV(RXEN##_num) | _BV(TXEN##_num) | _BV(RXCIE##_num)), \</span>
|
|
<a name="l00224"></a>00224 <span class="preprocessor"> (_BV(UDRIE##_num))); \</span>
|
|
<a name="l00225"></a>00225 <span class="preprocessor"> FastSerialHandler(_num, \</span>
|
|
<a name="l00226"></a>00226 <span class="preprocessor"> USART##_num##_RX_vect, \</span>
|
|
<a name="l00227"></a>00227 <span class="preprocessor"> USART##_num##_UDRE_vect, \</span>
|
|
<a name="l00228"></a>00228 <span class="preprocessor"> UDR##_num, \</span>
|
|
<a name="l00229"></a>00229 <span class="preprocessor"> UCSR##_num##B, \</span>
|
|
<a name="l00230"></a>00230 <span class="preprocessor"> _BV(UDRIE##_num))</span>
|
|
<a name="l00231"></a>00231 <span class="preprocessor"></span>
|
|
<a name="l00232"></a>00232 <span class="comment">//</span>
|
|
<a name="l00233"></a>00233 <span class="comment">// Compatibility macros for previous FastSerial versions.</span>
|
|
<a name="l00234"></a>00234 <span class="comment">//</span>
|
|
<a name="l00235"></a>00235 <span class="comment">// Note that these are not conditionally defined, as the errors</span>
|
|
<a name="l00236"></a>00236 <span class="comment">// generated when using these macros for a board that does not support</span>
|
|
<a name="l00237"></a>00237 <span class="comment">// the port are better than the errors generated for a macro that's not</span>
|
|
<a name="l00238"></a>00238 <span class="comment">// defined at all.</span>
|
|
<a name="l00239"></a>00239 <span class="comment">//</span>
|
|
<a name="l00240"></a><a class="code" href="_fast_serial_8h.html#aa5f40a33be03eb43f0e1f1a31df74989">00240</a> <span class="preprocessor">#define FastSerialPort0(_portName) FastSerialPort(_portName, 0)</span>
|
|
<a name="l00241"></a><a class="code" href="_fast_serial_8h.html#a949c2517a50e34ee121c1fea9cb15b64">00241</a> <span class="preprocessor"></span><span class="preprocessor">#define FastSerialPort1(_portName) FastSerialPort(_portName, 1)</span>
|
|
<a name="l00242"></a><a class="code" href="_fast_serial_8h.html#ae93a07eece1f83c892496f5c6ef3e60e">00242</a> <span class="preprocessor"></span><span class="preprocessor">#define FastSerialPort2(_portName) FastSerialPort(_portName, 2)</span>
|
|
<a name="l00243"></a><a class="code" href="_fast_serial_8h.html#a9da84dd26ddee4197fcd3536d416b964">00243</a> <span class="preprocessor"></span><span class="preprocessor">#define FastSerialPort3(_portName) FastSerialPort(_portName, 3)</span>
|
|
<a name="l00244"></a>00244 <span class="preprocessor"></span>
|
|
<a name="l00245"></a>00245 <span class="preprocessor">#endif // FastSerial_h</span>
|
|
</pre></div></div>
|
|
</div>
|
|
<hr class="footer"/><address class="footer"><small>
|
|
Generated for ArduPilot Libraries by <a href="http://www.doxygen.org/index.html"><img class="footer" src="doxygen.png" alt="doxygen"/></a></small></address>
|
|
</body>
|
|
</html>
|