Applied HardwareSerial updates to robot's core.
This commit is contained in:
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090d53a74e
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cddc83bb19
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@ -49,55 +49,17 @@
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#endif
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#endif
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// Define constants and variables for buffering incoming serial data. We're
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// using a ring buffer (I think), in which head is the index of the location
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// to which to write the next incoming character and tail is the index of the
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// location from which to read.
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#if (RAMEND < 1000)
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#define SERIAL_BUFFER_SIZE 16
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#else
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#define SERIAL_BUFFER_SIZE 64
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#endif
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struct ring_buffer
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inline void store_char(unsigned char c, HardwareSerial *s)
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{
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unsigned char buffer[SERIAL_BUFFER_SIZE];
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volatile unsigned int head;
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volatile unsigned int tail;
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};
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#if defined(USBCON)
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ring_buffer rx_buffer = { { 0 }, 0, 0};
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ring_buffer tx_buffer = { { 0 }, 0, 0};
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#endif
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#if defined(UBRRH) || defined(UBRR0H)
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ring_buffer rx_buffer = { { 0 }, 0, 0 };
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ring_buffer tx_buffer = { { 0 }, 0, 0 };
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#endif
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#if defined(UBRR1H)
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ring_buffer rx_buffer1 = { { 0 }, 0, 0 };
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ring_buffer tx_buffer1 = { { 0 }, 0, 0 };
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#endif
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#if defined(UBRR2H)
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ring_buffer rx_buffer2 = { { 0 }, 0, 0 };
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ring_buffer tx_buffer2 = { { 0 }, 0, 0 };
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#endif
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#if defined(UBRR3H)
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ring_buffer rx_buffer3 = { { 0 }, 0, 0 };
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ring_buffer tx_buffer3 = { { 0 }, 0, 0 };
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#endif
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inline void store_char(unsigned char c, ring_buffer *buffer)
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{
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int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE;
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int i = (unsigned int)(s->_rx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
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// if we should be storing the received character into the location
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// just before the tail (meaning that the head would advance to the
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// current location of the tail), we're about to overflow the buffer
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// and so we don't write the character or advance the head.
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if (i != buffer->tail) {
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buffer->buffer[buffer->head] = c;
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buffer->head = i;
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if (i != s->_rx_buffer_tail) {
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s->_rx_buffer[s->_rx_buffer_head] = c;
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s->_rx_buffer_head = i;
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}
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}
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@ -122,7 +84,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
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#if defined(UDR0)
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if (bit_is_clear(UCSR0A, UPE0)) {
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unsigned char c = UDR0;
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store_char(c, &rx_buffer);
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store_char(c, &Serial);
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} else {
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unsigned char c = UDR0;
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};
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@ -148,7 +110,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
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{
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if (bit_is_clear(UCSR1A, UPE1)) {
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unsigned char c = UDR1;
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store_char(c, &rx_buffer1);
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store_char(c, &Serial1);
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} else {
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unsigned char c = UDR1;
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};
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@ -163,7 +125,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
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{
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if (bit_is_clear(UCSR2A, UPE2)) {
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unsigned char c = UDR2;
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store_char(c, &rx_buffer2);
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store_char(c, &Serial2);
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} else {
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unsigned char c = UDR2;
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};
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@ -178,7 +140,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
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{
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if (bit_is_clear(UCSR3A, UPE3)) {
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unsigned char c = UDR3;
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store_char(c, &rx_buffer3);
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store_char(c, &Serial3);
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} else {
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unsigned char c = UDR3;
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};
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@ -218,7 +180,7 @@ ISR(USART0_UDRE_vect)
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ISR(USART_UDRE_vect)
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#endif
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{
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if (tx_buffer.head == tx_buffer.tail) {
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if (Serial._tx_buffer_head == Serial._tx_buffer_tail) {
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// Buffer empty, so disable interrupts
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#if defined(UCSR0B)
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cbi(UCSR0B, UDRIE0);
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@ -228,8 +190,8 @@ ISR(USART_UDRE_vect)
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}
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else {
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// There is more data in the output buffer. Send the next byte
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unsigned char c = tx_buffer.buffer[tx_buffer.tail];
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tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE;
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unsigned char c = Serial._tx_buffer[Serial._tx_buffer_tail];
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Serial._tx_buffer_tail = (Serial._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
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#if defined(UDR0)
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UDR0 = c;
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@ -246,14 +208,14 @@ ISR(USART_UDRE_vect)
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#ifdef USART1_UDRE_vect
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ISR(USART1_UDRE_vect)
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{
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if (tx_buffer1.head == tx_buffer1.tail) {
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if (Serial1._tx_buffer_head == Serial1._tx_buffer_tail) {
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// Buffer empty, so disable interrupts
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cbi(UCSR1B, UDRIE1);
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}
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else {
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// There is more data in the output buffer. Send the next byte
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unsigned char c = tx_buffer1.buffer[tx_buffer1.tail];
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tx_buffer1.tail = (tx_buffer1.tail + 1) % SERIAL_BUFFER_SIZE;
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unsigned char c = Serial1._tx_buffer[Serial1._tx_buffer_tail];
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Serial1._tx_buffer_tail = (Serial1._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
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UDR1 = c;
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}
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@ -263,14 +225,14 @@ ISR(USART1_UDRE_vect)
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#ifdef USART2_UDRE_vect
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ISR(USART2_UDRE_vect)
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{
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if (tx_buffer2.head == tx_buffer2.tail) {
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if (Serial2._tx_buffer_head == Serial2._tx_buffer_tail) {
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// Buffer empty, so disable interrupts
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cbi(UCSR2B, UDRIE2);
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}
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else {
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// There is more data in the output buffer. Send the next byte
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unsigned char c = tx_buffer2.buffer[tx_buffer2.tail];
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tx_buffer2.tail = (tx_buffer2.tail + 1) % SERIAL_BUFFER_SIZE;
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unsigned char c = Serial2._tx_buffer[Serial2._tx_buffer_tail];
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Serial2._tx_buffer_tail = (Serial2._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
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UDR2 = c;
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}
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@ -280,31 +242,30 @@ ISR(USART2_UDRE_vect)
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#ifdef USART3_UDRE_vect
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ISR(USART3_UDRE_vect)
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{
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if (tx_buffer3.head == tx_buffer3.tail) {
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if (Serial3._tx_buffer_head == Serial3._tx_buffer_tail) {
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// Buffer empty, so disable interrupts
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cbi(UCSR3B, UDRIE3);
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}
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else {
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// There is more data in the output buffer. Send the next byte
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unsigned char c = tx_buffer3.buffer[tx_buffer3.tail];
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tx_buffer3.tail = (tx_buffer3.tail + 1) % SERIAL_BUFFER_SIZE;
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unsigned char c = Serial3._tx_buffer[Serial3._tx_buffer_tail];
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Serial3._tx_buffer_tail = (Serial3._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
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UDR3 = c;
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}
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}
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer,
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HardwareSerial::HardwareSerial(
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volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
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volatile uint8_t *ucsrc, volatile uint8_t *udr,
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uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x)
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{
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_rx_buffer = rx_buffer;
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_tx_buffer = tx_buffer;
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_tx_buffer_head = _tx_buffer_tail = 0;
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_rx_buffer_head = _rx_buffer_tail = 0;
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_ubrrh = ubrrh;
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_ubrrl = ubrrl;
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_ucsra = ucsra;
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void HardwareSerial::end()
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{
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// wait for transmission of outgoing data
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while (_tx_buffer->head != _tx_buffer->tail)
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while (_tx_buffer_head != _tx_buffer_tail)
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;
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cbi(*_ucsrb, _rxen);
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cbi(*_ucsrb, _udrie);
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// clear any received data
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_rx_buffer->head = _rx_buffer->tail;
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_rx_buffer_head = _rx_buffer_tail;
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}
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int HardwareSerial::available(void)
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{
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return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % SERIAL_BUFFER_SIZE;
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return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE;
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}
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int HardwareSerial::peek(void)
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{
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if (_rx_buffer->head == _rx_buffer->tail) {
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if (_rx_buffer_head == _rx_buffer_tail) {
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return -1;
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} else {
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return _rx_buffer->buffer[_rx_buffer->tail];
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return _rx_buffer[_rx_buffer_tail];
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}
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}
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int HardwareSerial::read(void)
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{
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// if the head isn't ahead of the tail, we don't have any characters
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if (_rx_buffer->head == _rx_buffer->tail) {
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if (_rx_buffer_head == _rx_buffer_tail) {
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return -1;
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} else {
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unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
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_rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE;
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unsigned char c = _rx_buffer[_rx_buffer_tail];
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_rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
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return c;
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}
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}
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size_t HardwareSerial::write(uint8_t c)
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{
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int i = (_tx_buffer->head + 1) % SERIAL_BUFFER_SIZE;
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int i = (_tx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
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// If the output buffer is full, there's nothing for it other than to
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// wait for the interrupt handler to empty it a bit
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// ???: return 0 here instead?
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while (i == _tx_buffer->tail)
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while (i == _tx_buffer_tail)
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;
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_tx_buffer->buffer[_tx_buffer->head] = c;
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_tx_buffer->head = i;
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_tx_buffer[_tx_buffer_head] = c;
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_tx_buffer_head = i;
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sbi(*_ucsrb, _udrie);
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// clear the TXC bit -- "can be cleared by writing a one to its bit location"
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@ -485,9 +446,9 @@ HardwareSerial::operator bool() {
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// Preinstantiate Objects //////////////////////////////////////////////////////
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#if defined(UBRRH) && defined(UBRRL)
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HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X);
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HardwareSerial Serial(&UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X);
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#elif defined(UBRR0H) && defined(UBRR0L)
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HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0);
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HardwareSerial Serial(&UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0);
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#elif defined(USBCON)
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// do nothing - Serial object and buffers are initialized in CDC code
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#else
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@ -495,13 +456,13 @@ HardwareSerial::operator bool() {
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#endif
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#if defined(UBRR1H)
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HardwareSerial Serial1(&rx_buffer1, &tx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1);
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HardwareSerial Serial1(&UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1);
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#endif
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#if defined(UBRR2H)
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HardwareSerial Serial2(&rx_buffer2, &tx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2);
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HardwareSerial Serial2(&UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2);
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#endif
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#if defined(UBRR3H)
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HardwareSerial Serial3(&rx_buffer3, &tx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3);
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HardwareSerial Serial3(&UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3);
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#endif
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#endif // whole file
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#include "Stream.h"
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struct ring_buffer;
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// Define constants and variables for buffering incoming serial data. We're
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// using a ring buffer (I think), in which head is the index of the location
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// to which to write the next incoming character and tail is the index of the
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// location from which to read.
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#if (RAMEND < 1000)
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#define SERIAL_BUFFER_SIZE 16
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#else
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#define SERIAL_BUFFER_SIZE 64
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#endif
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class HardwareSerial : public Stream
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{
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private:
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ring_buffer *_rx_buffer;
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ring_buffer *_tx_buffer;
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protected:
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volatile uint8_t *_ubrrh;
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volatile uint8_t *_ubrrl;
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volatile uint8_t *_ucsra;
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uint8_t _udrie;
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uint8_t _u2x;
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bool transmitting;
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public:
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HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer,
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volatile uint8_t _rx_buffer_head;
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volatile uint8_t _rx_buffer_tail;
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volatile uint8_t _tx_buffer_head;
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volatile uint8_t _tx_buffer_tail;
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// Don't put any members after these buffers, since only the first
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// 32 bytes of this struct can be accessed quickly using the ldd
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// instruction.
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unsigned char _rx_buffer[SERIAL_BUFFER_SIZE];
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unsigned char _tx_buffer[SERIAL_BUFFER_SIZE];
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HardwareSerial(
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volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
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volatile uint8_t *ucsrc, volatile uint8_t *udr,
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@ -25,6 +25,8 @@ extern USBDevice_ USBDevice;
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//================================================================================
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// Serial over CDC (Serial1 is the physical port)
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struct ring_buffer;
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class Serial_ : public Stream
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{
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private:
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@ -193,4 +195,4 @@ void USB_Flush(uint8_t ep);
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#endif
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#endif /* if defined(USBCON) */
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#endif /* if defined(USBCON) */
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