Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ardupilot/libraries/FastSerial/FastSerial.h

322 lines
12 KiB
C++
Raw Blame History

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Interrupt-driven serial transmit/receive library.
//
// Copyright (c) 2010 Michael Smith. All rights reserved.
//
// Receive and baudrate calculations derived from the Arduino
// HardwareSerial driver:
//
// Copyright (c) 2006 Nicholas Zambetti. All right reserved.
//
// Transmit algorithm inspired by work:
//
// Code Jose Julio and Jordi Munoz. 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 is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied
// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
// PURPOSE. See the GNU Lesser General Public License for more
// details.
//
// You should have received a copy of the GNU Lesser General
// Public License along with this library; if not, write to the
// Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
// Boston, MA 02110-1301 USA
//
//
// 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 a few bytes of RAM for every unused port and frees up
// the vector for another driver (e.g. MSPIM on USARTs).
//
#ifndef FastSerial_h
#define FastSerial_h
// disable the stock Arduino serial driver
#ifdef HardwareSerial_h
# error Must include FastSerial.h before the Arduino serial driver is defined.
#endif
#define HardwareSerial_h
#include <inttypes.h>
#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "BetterStream.h"
/// @file FastSerial.h
/// @brief An enhanced version of the Arduino HardwareSerial class
/// implementing interrupt-driven transmission and flexible
/// buffer management.
///
/// Because Arduino libraries aren't really libraries, but we want to
/// only define interrupt handlers for serial ports that are actually
/// used, we have to force our users to define them using a macro.
///
/// FastSerialPort(<port name>, <port number>)
///
/// <port name> is the name of the object that will be created by the
/// macro. <port number> is the 0-based number of the port that will
/// be managed by the object.
///
/// Previously ports were defined with a different macro for each port,
/// and these macros are retained for compatibility:
///
/// 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
///
/// Note that compatibility macros are only defined for ports that
/// exist on the target device.
///
/// @name Compatibility
///
/// 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;
//@}
/// The FastSerial class definition
///
class FastSerial: public BetterStream {
public:
/// Constructor
FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ucsra,
volatile uint8_t *ucsrb, const uint8_t u2x, const uint8_t portEnableBits, const uint8_t portTxBits);
/// @name Serial API
//@{
virtual void begin(long baud);
virtual void end(void);
virtual int available(void);
virtual int txspace(void);
virtual int read(void);
virtual int peek(void);
virtual void flush(void);
virtual void write(uint8_t c);
using BetterStream::write;
//@}
/// Extended port open method
///
/// Allows for both opening with specified buffer sizes, and re-opening
/// to adjust a subset of the port's settings.
///
/// @note Buffer sizes greater than ::_max_buffer_size will be rounded
/// down.
///
/// @param baud Selects the speed that the port will be
/// configured to. If zero, the port speed is left
/// unchanged.
/// @param rxSpace Sets the receive buffer size for the port. If zero
/// then the buffer size is left unchanged if the port
/// is open, or set to ::_default_rx_buffer_size if it is
/// currently closed.
/// @param txSpace Sets the transmit buffer size for the port. If zero
/// then the buffer size is left unchanged if the port
/// is open, or set to ::_default_tx_buffer_size if it
/// is currently closed.
///
virtual void begin(long baud, unsigned int rxSpace, unsigned int txSpace);
/// Transmit/receive buffer descriptor.
///
/// Public so the interrupt handlers can see it
struct Buffer {
volatile uint16_t head, tail; ///< head and tail pointers
uint16_t mask; ///< buffer size mask for pointer wrap
uint8_t *bytes; ///< pointer to allocated buffer
};
/// Tell if the serial port has been initialized
static bool getInitialized(uint8_t port) {
return (1<<port) & _serialInitialized;
}
private:
/// Bit mask for initialized ports
static uint8_t _serialInitialized;
/// Set if the serial port has been initialized
static void setInitialized(uint8_t port) {
_serialInitialized |= (1<<port);
}
// register accessors
volatile uint8_t * const _ubrrh;
volatile uint8_t * const _ubrrl;
volatile uint8_t * const _ucsra;
volatile uint8_t * const _ucsrb;
// register magic numbers
const uint8_t _u2x;
const uint8_t _portEnableBits; ///< rx, tx and rx interrupt enables
const uint8_t _portTxBits; ///< tx data and completion interrupt enables
// ring buffers
Buffer * const _rxBuffer;
Buffer * const _txBuffer;
bool _open;
/// Allocates a buffer of the given size
///
/// @param buffer The buffer descriptor for which the buffer will
/// will be allocated.
/// @param size The desired buffer size.
/// @returns True if the buffer was allocated successfully.
///
static bool _allocBuffer(Buffer *buffer, unsigned int size);
/// Frees the allocated buffer in a descriptor
///
/// @param buffer The descriptor whose buffer should be freed.
///
static void _freeBuffer(Buffer *buffer);
/// default receive buffer size
static const unsigned int _default_rx_buffer_size = 128;
/// default transmit buffer size
static const unsigned int _default_tx_buffer_size = 16;
/// maxium tx/rx buffer size
/// @note if we could bring the max size down to 256, the mask and head/tail
/// pointers in the buffer could become uint8_t.
///
static const unsigned int _max_buffer_size = 512;
};
// Used by the per-port interrupt vectors
extern FastSerial::Buffer __FastSerial__rxBuffer[];
extern FastSerial::Buffer __FastSerial__txBuffer[];
/// Generic Rx/Tx vectors for a serial port - needs to know magic numbers
///
#define FastSerialHandler(_PORT, _RXVECTOR, _TXVECTOR, _UDR, _UCSRB, _TXBITS) \
ISR(_RXVECTOR, ISR_BLOCK) \
{ \
uint8_t c; \
uint16_t i; \
\
/* read the byte as quickly as possible */ \
c = _UDR; \
/* work out where the head will go next */ \
i = (__FastSerial__rxBuffer[_PORT].head + 1) & __FastSerial__rxBuffer[_PORT].mask; \
/* decide whether we have space for another byte */ \
if (i != __FastSerial__rxBuffer[_PORT].tail) { \
/* we do, move the head */ \
__FastSerial__rxBuffer[_PORT].bytes[__FastSerial__rxBuffer[_PORT].head] = c; \
__FastSerial__rxBuffer[_PORT].head = i; \
} \
} \
ISR(_TXVECTOR, ISR_BLOCK) \
{ \
/* if there is another character to send */ \
if (__FastSerial__txBuffer[_PORT].tail != __FastSerial__txBuffer[_PORT].head) { \
_UDR = __FastSerial__txBuffer[_PORT].bytes[__FastSerial__txBuffer[_PORT].tail]; \
/* increment the tail */ \
__FastSerial__txBuffer[_PORT].tail = \
(__FastSerial__txBuffer[_PORT].tail + 1) & __FastSerial__txBuffer[_PORT].mask; \
} else { \
/* there are no more bytes to send, disable the interrupt */ \
if (__FastSerial__txBuffer[_PORT].head == __FastSerial__txBuffer[_PORT].tail) \
_UCSRB &= ~_TXBITS; \
} \
} \
struct hack
//
// Portability; convert various older sets of defines for U(S)ART0 up
// to match the definitions for the 1280 and later devices.
//
#if !defined(USART0_RX_vect)
# if defined(USART_RX_vect)
# define USART0_RX_vect USART_RX_vect
# define USART0_UDRE_vect USART_UDRE_vect
# elif defined(UART0_RX_vect)
# define USART0_RX_vect UART0_RX_vect
# define USART0_UDRE_vect UART0_UDRE_vect
# endif
#endif
#if !defined(USART1_RX_vect)
# if defined(UART1_RX_vect)
# define USART1_RX_vect UART1_RX_vect
# define USART1_UDRE_vect UART1_UDRE_vect
# endif
#endif
#if !defined(UDR0)
# if defined(UDR)
# define UDR0 UDR
# define UBRR0H UBRRH
# define UBRR0L UBRRL
# define UCSR0A UCSRA
# define UCSR0B UCSRB
# define U2X0 U2X
# define RXEN0 RXEN
# define TXEN0 TXEN
# define RXCIE0 RXCIE
# define UDRIE0 UDRIE
# endif
#endif
///
/// Macro defining a FastSerial port instance.
///
#define FastSerialPort(_name, _num) \
FastSerial _name(_num, \
&UBRR##_num##H, \
&UBRR##_num##L, \
&UCSR##_num##A, \
&UCSR##_num##B, \
U2X##_num, \
(_BV(RXEN##_num) | _BV(TXEN##_num) | _BV(RXCIE##_num)), \
(_BV(UDRIE##_num))); \
FastSerialHandler(_num, \
USART##_num##_RX_vect, \
USART##_num##_UDRE_vect, \
UDR##_num, \
UCSR##_num##B, \
_BV(UDRIE##_num))
///
/// Compatibility macros for previous FastSerial versions.
///
/// Note that these are not conditionally defined, as the errors
/// generated when using these macros for a board that does not support
/// the port are better than the errors generated for a macro that's not
/// defined at all.
///
#define FastSerialPort0(_portName) FastSerialPort(_portName, 0)
#define FastSerialPort1(_portName) FastSerialPort(_portName, 1)
#define FastSerialPort2(_portName) FastSerialPort(_portName, 2)
#define FastSerialPort3(_portName) FastSerialPort(_portName, 3)
#endif // FastSerial_h
Reference in New Issue View Git Blame Copy Permalink