mirror of https://github.com/ArduPilot/ardupilot
167 lines
5.4 KiB
C
167 lines
5.4 KiB
C
/*
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LUFA Library
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Copyright (C) Dean Camera, 2010.
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dean [at] fourwalledcubicle [dot] com
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www.fourwalledcubicle.com
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*/
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/*
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Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Permission to use, copy, modify, distribute, and sell this
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software and its documentation for any purpose is hereby granted
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without fee, provided that the above copyright notice appear in
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all copies and that both that the copyright notice and this
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permission notice and warranty disclaimer appear in supporting
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documentation, and that the name of the author not be used in
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advertising or publicity pertaining to distribution of the
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software without specific, written prior permission.
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The author disclaim all warranties with regard to this
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software, including all implied warranties of merchantability
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and fitness. In no event shall the author be liable for any
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special, indirect or consequential damages or any damages
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whatsoever resulting from loss of use, data or profits, whether
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in an action of contract, negligence or other tortious action,
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arising out of or in connection with the use or performance of
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this software.
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*/
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/** \file
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* \brief Master include file for the USART peripheral driver.
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*
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* Driver for the USART subsystem on supported USB AVRs.
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*/
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/** \ingroup Group_PeripheralDrivers
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* @defgroup Group_Serial Serial USART Driver - LUFA/Drivers/Peripheral/Serial.h
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*
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* \section Sec_Dependencies Module Source Dependencies
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* The following files must be built with any user project that uses this module:
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* - LUFA/Drivers/Peripheral/Serial.c <i>(Makefile source module name: LUFA_SRC_SERIAL)</i>
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*
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* \section Module Description
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* Hardware serial USART driver. This module provides an easy to use driver for
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* the setup of and transfer of data over the AVR's USART port.
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*
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* @{
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*/
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#ifndef __SERIAL_H__
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#define __SERIAL_H__
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/* Includes: */
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <stdbool.h>
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#include "../../Common/Common.h"
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#include "../Misc/TerminalCodes.h"
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/* Enable C linkage for C++ Compilers: */
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#if defined(__cplusplus)
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extern "C" {
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#endif
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/* Public Interface - May be used in end-application: */
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/* Macros: */
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/** Macro for calculating the baud value from a given baud rate when the U2X (double speed) bit is
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* not set.
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*/
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#define SERIAL_UBBRVAL(baud) ((((F_CPU / 16) + (baud / 2)) / (baud)) - 1)
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/** Macro for calculating the baud value from a given baud rate when the U2X (double speed) bit is
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* set.
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*/
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#define SERIAL_2X_UBBRVAL(baud) ((((F_CPU / 8) + (baud / 2)) / (baud)) - 1)
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/* Function Prototypes: */
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/** Transmits a given string located in program space (FLASH) through the USART.
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*
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* \param[in] FlashStringPtr Pointer to a string located in program space.
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*/
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void Serial_TxString_P(const char* FlashStringPtr) ATTR_NON_NULL_PTR_ARG(1);
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/** Transmits a given string located in SRAM memory through the USART.
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*
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* \param[in] StringPtr Pointer to a string located in SRAM space.
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*/
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void Serial_TxString(const char* StringPtr) ATTR_NON_NULL_PTR_ARG(1);
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/* Inline Functions: */
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/** Initializes the USART, ready for serial data transmission and reception. This initializes the interface to
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* standard 8-bit, no parity, 1 stop bit settings suitable for most applications.
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*
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* \param[in] BaudRate Serial baud rate, in bits per second.
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* \param[in] DoubleSpeed Enables double speed mode when set, halving the sample time to double the baud rate.
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*/
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static inline void Serial_Init(const uint32_t BaudRate,
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const bool DoubleSpeed)
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{
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UBRR1 = (DoubleSpeed ? SERIAL_2X_UBBRVAL(BaudRate) : SERIAL_UBBRVAL(BaudRate));
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UCSR1C = ((1 << UCSZ11) | (1 << UCSZ10));
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UCSR1A = (DoubleSpeed ? (1 << U2X1) : 0);
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UCSR1B = ((1 << TXEN1) | (1 << RXEN1));
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DDRD |= (1 << 3);
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PORTD |= (1 << 2);
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}
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/** Turns off the USART driver, disabling and returning used hardware to their default configuration. */
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static inline void Serial_ShutDown(void)
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{
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UCSR1B = 0;
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UCSR1A = 0;
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UCSR1C = 0;
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UBRR1 = 0;
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DDRD &= ~(1 << 3);
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PORTD &= ~(1 << 2);
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}
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/** Indicates whether a character has been received through the USART.
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*
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* \return Boolean true if a character has been received, false otherwise.
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*/
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static inline bool Serial_IsCharReceived(void) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
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static inline bool Serial_IsCharReceived(void)
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{
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return ((UCSR1A & (1 << RXC1)) ? true : false);
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}
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/** Transmits a given byte through the USART.
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*
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* \param[in] DataByte Byte to transmit through the USART.
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*/
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static inline void Serial_TxByte(const char DataByte) ATTR_ALWAYS_INLINE;
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static inline void Serial_TxByte(const char DataByte)
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{
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while (!(UCSR1A & (1 << UDRE1)));
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UDR1 = DataByte;
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}
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/** Receives a byte from the USART. This function blocks until a byte has been
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* received; if non-blocking behaviour is required, test for a received character
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* beforehand with \ref Serial_IsCharReceived().
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*
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* \return Byte received from the USART.
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*/
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static inline char Serial_RxByte(void) ATTR_ALWAYS_INLINE;
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static inline char Serial_RxByte(void)
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{
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while (!(UCSR1A & (1 << RXC1)));
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return UDR1;
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}
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/* Disable C linkage for C++ Compilers: */
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#if defined(__cplusplus)
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}
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#endif
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#endif
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/** @} */
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