mirror of https://github.com/ArduPilot/ardupilot
222 lines
8.4 KiB
C++
222 lines
8.4 KiB
C++
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#ifndef __AP_HAL_AVR_UART_DRIVER_H__
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#define __AP_HAL_AVR_UART_DRIVER_H__
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#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2)
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#include <stdint.h>
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#include <stdarg.h>
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#include <avr/interrupt.h>
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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/**
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* AVRUARTDriver is an implementation of UARTDriver for the AVR.
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* It will be a thin wrapper on FastSerial.
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*/
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class AP_HAL_AVR::AVRUARTDriver : public AP_HAL::UARTDriver {
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public:
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AVRUARTDriver(
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const uint8_t portNumber, volatile uint8_t *ubrrh,
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volatile uint8_t *ubrrl, volatile uint8_t *ucsra,
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volatile uint8_t *ucsrb, const uint8_t u2x,
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const uint8_t portEnableBits, const uint8_t portTxBits);
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/* Implementations of UARTDriver virtual methods */
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void begin(uint32_t b) { begin(b, 0, 0); }
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void begin(uint32_t b, uint16_t rxS, uint16_t txS);
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void end();
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void flush();
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bool is_initialized() { return _initialized; }
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void set_blocking_writes(bool blocking) {
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_nonblocking_writes = !blocking;
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}
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bool tx_pending() {
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return (_txBuffer->head != _txBuffer->tail);
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}
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/* Implementations of BetterStream virtual methods */
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void print_P(const prog_char_t *s);
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void println_P(const prog_char_t *s);
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void printf(const char *s, ...)
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__attribute__ ((format(__printf__, 2, 3)));
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void _printf_P(const prog_char *s, ...)
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__attribute__ ((format(__printf__, 2, 3)));
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void vprintf(const char *s, va_list ap);
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void vprintf_P(const prog_char *s, va_list ap);
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/* Implementations of Stream virtual methods */
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int16_t available();
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int16_t txspace();
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int16_t read();
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int16_t peek();
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/* Implementations of Print virtual methods */
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size_t write(uint8_t c);
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/// Transmit/receive buffer descriptor.
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///
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/// Public so the interrupt handlers can see it
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struct Buffer {
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volatile uint16_t head, tail; ///< head and tail pointers
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uint16_t mask; ///< buffer size mask for pointer wrap
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uint8_t *bytes; ///< pointer to allocated buffer
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};
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private:
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/* Instance Variables */
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bool _initialized;
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// register accessors
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volatile uint8_t * const _ubrrh;
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volatile uint8_t * const _ubrrl;
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volatile uint8_t * const _ucsra;
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volatile uint8_t * const _ucsrb;
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// register magic numbers
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const uint8_t _u2x;
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const uint8_t _portEnableBits; ///< rx, tx and rx interrupt enables
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const uint8_t _portTxBits; ///< tx data and completion interrupt enables
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// ring buffers
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Buffer * const _rxBuffer;
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Buffer * const _txBuffer;
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bool _open;
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// whether writes to the port should block waiting
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// for enough space to appear
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bool _nonblocking_writes;
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/* Class Variables */
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/// Allocates a buffer of the given size
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///
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/// @param buffer The buffer descriptor for which the buffer will
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/// will be allocated.
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/// @param size The desired buffer size.
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/// @returns True if the buffer was allocated successfully.
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///
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static bool _allocBuffer(Buffer *buffer, uint16_t size);
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/// Frees the allocated buffer in a descriptor
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///
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/// @param buffer The descriptor whose buffer should be freed.
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///
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static void _freeBuffer(Buffer *buffer);
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/// default receive buffer size
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static const uint16_t _default_rx_buffer_size = 128;
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/// default transmit buffer size
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static const uint16_t _default_tx_buffer_size = 16;
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/// maxium tx/rx buffer size
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/// @note if we could bring the max size down to 256, the mask and head/tail
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/// pointers in the buffer could become uint8_t.
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///
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static const uint16_t _max_buffer_size = 512;
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};
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extern AP_HAL_AVR::AVRUARTDriver::Buffer __AVRUARTDriver__rxBuffer[];
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extern AP_HAL_AVR::AVRUARTDriver::Buffer __AVRUARTDriver__txBuffer[];
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/// Generic Rx/Tx vectors for a serial port - needs to know magic numbers
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///
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#define AVRUARTDriverHandler(_PORT, _RXVECTOR, _TXVECTOR, _UDR, _UCSRB, _TXBITS) \
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ISR(_RXVECTOR, ISR_BLOCK) \
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{ \
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uint8_t c; \
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uint16_t i; \
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\
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/* read the byte as quickly as possible */ \
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c = _UDR; \
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/* work out where the head will go next */ \
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i = (__AVRUARTDriver__rxBuffer[_PORT].head + 1) & __AVRUARTDriver__rxBuffer[_PORT].mask; \
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/* decide whether we have space for another byte */ \
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if (i != __AVRUARTDriver__rxBuffer[_PORT].tail) { \
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/* we do, move the head */ \
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__AVRUARTDriver__rxBuffer[_PORT].bytes[__AVRUARTDriver__rxBuffer[_PORT].head] = c; \
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__AVRUARTDriver__rxBuffer[_PORT].head = i; \
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} \
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} \
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ISR(_TXVECTOR, ISR_BLOCK) \
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{ \
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/* if there is another character to send */ \
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if (__AVRUARTDriver__txBuffer[_PORT].tail != __AVRUARTDriver__txBuffer[_PORT].head) { \
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_UDR = __AVRUARTDriver__txBuffer[_PORT].bytes[__AVRUARTDriver__txBuffer[_PORT].tail]; \
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/* increment the tail */ \
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__AVRUARTDriver__txBuffer[_PORT].tail = \
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(__AVRUARTDriver__txBuffer[_PORT].tail + 1) & __AVRUARTDriver__txBuffer[_PORT].mask; \
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} else { \
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/* there are no more bytes to send, disable the interrupt */ \
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if (__AVRUARTDriver__txBuffer[_PORT].head == __AVRUARTDriver__txBuffer[_PORT].tail) \
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_UCSRB &= ~_TXBITS; \
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} \
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} \
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struct hack
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//
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// Portability; convert various older sets of defines for U(S)ART0 up
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// to match the definitions for the 1280 and later devices.
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//
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#if !defined(USART0_RX_vect)
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# if defined(USART_RX_vect)
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# define USART0_RX_vect USART_RX_vect
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# define USART0_UDRE_vect USART_UDRE_vect
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# elif defined(UART0_RX_vect)
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# define USART0_RX_vect UART0_RX_vect
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# define USART0_UDRE_vect UART0_UDRE_vect
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# endif
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#endif
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#if !defined(USART1_RX_vect)
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# if defined(UART1_RX_vect)
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# define USART1_RX_vect UART1_RX_vect
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# define USART1_UDRE_vect UART1_UDRE_vect
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# endif
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#endif
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#if !defined(UDR0)
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# if defined(UDR)
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# define UDR0 UDR
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# define UBRR0H UBRRH
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# define UBRR0L UBRRL
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# define UCSR0A UCSRA
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# define UCSR0B UCSRB
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# define U2X0 U2X
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# define RXEN0 RXEN
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# define TXEN0 TXEN
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# define RXCIE0 RXCIE
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# define UDRIE0 UDRIE
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# endif
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#endif
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///
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/// Macro defining a AVRUARTDriver port instance.
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///
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#define AVRUARTDriverInstance(_name, _num) \
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AVRUARTDriver _name(_num, \
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&UBRR##_num##H, \
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&UBRR##_num##L, \
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&UCSR##_num##A, \
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&UCSR##_num##B, \
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U2X##_num, \
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(_BV(RXEN##_num) | _BV(TXEN##_num) | _BV(RXCIE##_num)), \
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(_BV(UDRIE##_num)));
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#define AVRUARTDriverISRs(_num) \
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AVRUARTDriverHandler(_num, \
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USART##_num##_RX_vect, \
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USART##_num##_UDRE_vect, \
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UDR##_num, \
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UCSR##_num##B, \
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_BV(UDRIE##_num))
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#endif
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#endif // __AP_HAL_AVR_UART_DRIVER_H__
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