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Applied HardwareSerial updates to robot's core.

This commit is contained in:
Cristian Maglie 2013-07-26 13:50:34 +02:00
parent 090d53a74e
commit cddc83bb19
3 changed files with 67 additions and 86 deletions
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121
cores/robot/HardwareSerial.cpp
View File

@ -49,55 +49,17 @@
#endif #endif
#endif #endif
// Define constants and variables for buffering incoming serial data. We're inline void store_char(unsigned char c, HardwareSerial *s)
// using a ring buffer (I think), in which head is the index of the location
// to which to write the next incoming character and tail is the index of the
// location from which to read.
#if (RAMEND < 1000)
#define SERIAL_BUFFER_SIZE 16
#else
#define SERIAL_BUFFER_SIZE 64
#endif
struct ring_buffer
{ {
unsigned char buffer[SERIAL_BUFFER_SIZE]; int i = (unsigned int)(s->_rx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
volatile unsigned int head;
volatile unsigned int tail;
};
#if defined(USBCON)
ring_buffer rx_buffer = { { 0 }, 0, 0};
ring_buffer tx_buffer = { { 0 }, 0, 0};
#endif
#if defined(UBRRH) || defined(UBRR0H)
ring_buffer rx_buffer = { { 0 }, 0, 0 };
ring_buffer tx_buffer = { { 0 }, 0, 0 };
#endif
#if defined(UBRR1H)
ring_buffer rx_buffer1 = { { 0 }, 0, 0 };
ring_buffer tx_buffer1 = { { 0 }, 0, 0 };
#endif
#if defined(UBRR2H)
ring_buffer rx_buffer2 = { { 0 }, 0, 0 };
ring_buffer tx_buffer2 = { { 0 }, 0, 0 };
#endif
#if defined(UBRR3H)
ring_buffer rx_buffer3 = { { 0 }, 0, 0 };
ring_buffer tx_buffer3 = { { 0 }, 0, 0 };
#endif
inline void store_char(unsigned char c, ring_buffer *buffer)
{
int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE;
// if we should be storing the received character into the location // if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the // just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer // current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head. // and so we don't write the character or advance the head.
if (i != buffer->tail) { if (i != s->_rx_buffer_tail) {
buffer->buffer[buffer->head] = c; s->_rx_buffer[s->_rx_buffer_head] = c;
buffer->head = i; s->_rx_buffer_head = i;
} }
} }
@ -122,7 +84,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
#if defined(UDR0) #if defined(UDR0)
if (bit_is_clear(UCSR0A, UPE0)) { if (bit_is_clear(UCSR0A, UPE0)) {
unsigned char c = UDR0; unsigned char c = UDR0;
store_char(c, &rx_buffer); store_char(c, &Serial);
} else { } else {
unsigned char c = UDR0; unsigned char c = UDR0;
}; };
@ -148,7 +110,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
{ {
if (bit_is_clear(UCSR1A, UPE1)) { if (bit_is_clear(UCSR1A, UPE1)) {
unsigned char c = UDR1; unsigned char c = UDR1;
store_char(c, &rx_buffer1); store_char(c, &Serial1);
} else { } else {
unsigned char c = UDR1; unsigned char c = UDR1;
}; };
@ -163,7 +125,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
{ {
if (bit_is_clear(UCSR2A, UPE2)) { if (bit_is_clear(UCSR2A, UPE2)) {
unsigned char c = UDR2; unsigned char c = UDR2;
store_char(c, &rx_buffer2); store_char(c, &Serial2);
} else { } else {
unsigned char c = UDR2; unsigned char c = UDR2;
}; };
@ -178,7 +140,7 @@ inline void store_char(unsigned char c, ring_buffer *buffer)
{ {
if (bit_is_clear(UCSR3A, UPE3)) { if (bit_is_clear(UCSR3A, UPE3)) {
unsigned char c = UDR3; unsigned char c = UDR3;
store_char(c, &rx_buffer3); store_char(c, &Serial3);
} else { } else {
unsigned char c = UDR3; unsigned char c = UDR3;
}; };
@ -218,7 +180,7 @@ ISR(USART0_UDRE_vect)
ISR(USART_UDRE_vect) ISR(USART_UDRE_vect)
#endif #endif
{ {
if (tx_buffer.head == tx_buffer.tail) { if (Serial._tx_buffer_head == Serial._tx_buffer_tail) {
// Buffer empty, so disable interrupts // Buffer empty, so disable interrupts
#if defined(UCSR0B) #if defined(UCSR0B)
cbi(UCSR0B, UDRIE0); cbi(UCSR0B, UDRIE0);
@ -228,8 +190,8 @@ ISR(USART_UDRE_vect)
} }
else { else {
// There is more data in the output buffer. Send the next byte // There is more data in the output buffer. Send the next byte
unsigned char c = tx_buffer.buffer[tx_buffer.tail]; unsigned char c = Serial._tx_buffer[Serial._tx_buffer_tail];
tx_buffer.tail = (tx_buffer.tail + 1) % SERIAL_BUFFER_SIZE; Serial._tx_buffer_tail = (Serial._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
#if defined(UDR0) #if defined(UDR0)
UDR0 = c; UDR0 = c;
@ -246,14 +208,14 @@ ISR(USART_UDRE_vect)
#ifdef USART1_UDRE_vect #ifdef USART1_UDRE_vect
ISR(USART1_UDRE_vect) ISR(USART1_UDRE_vect)
{ {
if (tx_buffer1.head == tx_buffer1.tail) { if (Serial1._tx_buffer_head == Serial1._tx_buffer_tail) {
// Buffer empty, so disable interrupts // Buffer empty, so disable interrupts
cbi(UCSR1B, UDRIE1); cbi(UCSR1B, UDRIE1);
} }
else { else {
// There is more data in the output buffer. Send the next byte // There is more data in the output buffer. Send the next byte
unsigned char c = tx_buffer1.buffer[tx_buffer1.tail]; unsigned char c = Serial1._tx_buffer[Serial1._tx_buffer_tail];
tx_buffer1.tail = (tx_buffer1.tail + 1) % SERIAL_BUFFER_SIZE; Serial1._tx_buffer_tail = (Serial1._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
UDR1 = c; UDR1 = c;
} }
@ -263,14 +225,14 @@ ISR(USART1_UDRE_vect)
#ifdef USART2_UDRE_vect #ifdef USART2_UDRE_vect
ISR(USART2_UDRE_vect) ISR(USART2_UDRE_vect)
{ {
if (tx_buffer2.head == tx_buffer2.tail) { if (Serial2._tx_buffer_head == Serial2._tx_buffer_tail) {
// Buffer empty, so disable interrupts // Buffer empty, so disable interrupts
cbi(UCSR2B, UDRIE2); cbi(UCSR2B, UDRIE2);
} }
else { else {
// There is more data in the output buffer. Send the next byte // There is more data in the output buffer. Send the next byte
unsigned char c = tx_buffer2.buffer[tx_buffer2.tail]; unsigned char c = Serial2._tx_buffer[Serial2._tx_buffer_tail];
tx_buffer2.tail = (tx_buffer2.tail + 1) % SERIAL_BUFFER_SIZE; Serial2._tx_buffer_tail = (Serial2._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
UDR2 = c; UDR2 = c;
} }
@ -280,31 +242,30 @@ ISR(USART2_UDRE_vect)
#ifdef USART3_UDRE_vect #ifdef USART3_UDRE_vect
ISR(USART3_UDRE_vect) ISR(USART3_UDRE_vect)
{ {
if (tx_buffer3.head == tx_buffer3.tail) { if (Serial3._tx_buffer_head == Serial3._tx_buffer_tail) {
// Buffer empty, so disable interrupts // Buffer empty, so disable interrupts
cbi(UCSR3B, UDRIE3); cbi(UCSR3B, UDRIE3);
} }
else { else {
// There is more data in the output buffer. Send the next byte // There is more data in the output buffer. Send the next byte
unsigned char c = tx_buffer3.buffer[tx_buffer3.tail]; unsigned char c = Serial3._tx_buffer[Serial3._tx_buffer_tail];
tx_buffer3.tail = (tx_buffer3.tail + 1) % SERIAL_BUFFER_SIZE; Serial3._tx_buffer_tail = (Serial3._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
UDR3 = c; UDR3 = c;
} }
} }
#endif #endif
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, HardwareSerial::HardwareSerial(
volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
volatile uint8_t *ucsrc, volatile uint8_t *udr, volatile uint8_t *ucsrc, volatile uint8_t *udr,
uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x) uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x)
{ {
_rx_buffer = rx_buffer; _tx_buffer_head = _tx_buffer_tail = 0;
_tx_buffer = tx_buffer; _rx_buffer_head = _rx_buffer_tail = 0;
_ubrrh = ubrrh; _ubrrh = ubrrh;
_ubrrl = ubrrl; _ubrrl = ubrrl;
_ucsra = ucsra; _ucsra = ucsra;
@ -412,7 +373,7 @@ try_again:
void HardwareSerial::end() void HardwareSerial::end()
{ {
// wait for transmission of outgoing data // wait for transmission of outgoing data
while (_tx_buffer->head != _tx_buffer->tail) while (_tx_buffer_head != _tx_buffer_tail)
; ;
cbi(*_ucsrb, _rxen); cbi(*_ucsrb, _rxen);
@ -421,31 +382,31 @@ void HardwareSerial::end()
cbi(*_ucsrb, _udrie); cbi(*_ucsrb, _udrie);
// clear any received data // clear any received data
_rx_buffer->head = _rx_buffer->tail; _rx_buffer_head = _rx_buffer_tail;
} }
int HardwareSerial::available(void) int HardwareSerial::available(void)
{ {
return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % SERIAL_BUFFER_SIZE; return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE;
} }
int HardwareSerial::peek(void) int HardwareSerial::peek(void)
{ {
if (_rx_buffer->head == _rx_buffer->tail) { if (_rx_buffer_head == _rx_buffer_tail) {
return -1; return -1;
} else { } else {
return _rx_buffer->buffer[_rx_buffer->tail]; return _rx_buffer[_rx_buffer_tail];
} }
} }
int HardwareSerial::read(void) int HardwareSerial::read(void)
{ {
// if the head isn't ahead of the tail, we don't have any characters // if the head isn't ahead of the tail, we don't have any characters
if (_rx_buffer->head == _rx_buffer->tail) { if (_rx_buffer_head == _rx_buffer_tail) {
return -1; return -1;
} else { } else {
unsigned char c = _rx_buffer->buffer[_rx_buffer->tail]; unsigned char c = _rx_buffer[_rx_buffer_tail];
_rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % SERIAL_BUFFER_SIZE; _rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
return c; return c;
} }
} }
@ -459,16 +420,16 @@ void HardwareSerial::flush()
size_t HardwareSerial::write(uint8_t c) size_t HardwareSerial::write(uint8_t c)
{ {
int i = (_tx_buffer->head + 1) % SERIAL_BUFFER_SIZE; int i = (_tx_buffer_head + 1) % SERIAL_BUFFER_SIZE;
// If the output buffer is full, there's nothing for it other than to // If the output buffer is full, there's nothing for it other than to
// wait for the interrupt handler to empty it a bit // wait for the interrupt handler to empty it a bit
// ???: return 0 here instead? // ???: return 0 here instead?
while (i == _tx_buffer->tail) while (i == _tx_buffer_tail)
; ;
_tx_buffer->buffer[_tx_buffer->head] = c; _tx_buffer[_tx_buffer_head] = c;
_tx_buffer->head = i; _tx_buffer_head = i;
sbi(*_ucsrb, _udrie); sbi(*_ucsrb, _udrie);
// clear the TXC bit -- "can be cleared by writing a one to its bit location" // clear the TXC bit -- "can be cleared by writing a one to its bit location"
@ -485,9 +446,9 @@ HardwareSerial::operator bool() {
// Preinstantiate Objects ////////////////////////////////////////////////////// // Preinstantiate Objects //////////////////////////////////////////////////////
#if defined(UBRRH) && defined(UBRRL) #if defined(UBRRH) && defined(UBRRL)
HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); HardwareSerial Serial(&UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X);
#elif defined(UBRR0H) && defined(UBRR0L) #elif defined(UBRR0H) && defined(UBRR0L)
HardwareSerial Serial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); HardwareSerial Serial(&UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0);
#elif defined(USBCON) #elif defined(USBCON)
// do nothing - Serial object and buffers are initialized in CDC code // do nothing - Serial object and buffers are initialized in CDC code
#else #else
@ -495,13 +456,13 @@ HardwareSerial::operator bool() {
#endif #endif
#if defined(UBRR1H) #if defined(UBRR1H)
HardwareSerial Serial1(&rx_buffer1, &tx_buffer1, &UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); HardwareSerial Serial1(&UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1);
#endif #endif
#if defined(UBRR2H) #if defined(UBRR2H)
HardwareSerial Serial2(&rx_buffer2, &tx_buffer2, &UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); HardwareSerial Serial2(&UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2);
#endif #endif
#if defined(UBRR3H) #if defined(UBRR3H)
HardwareSerial Serial3(&rx_buffer3, &tx_buffer3, &UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); HardwareSerial Serial3(&UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3);
#endif #endif
#endif // whole file #endif // whole file

28
cores/robot/HardwareSerial.h
View File

@ -27,13 +27,19 @@
#include "Stream.h" #include "Stream.h"
struct ring_buffer; // Define constants and variables for buffering incoming serial data. We're
// using a ring buffer (I think), in which head is the index of the location
// to which to write the next incoming character and tail is the index of the
// location from which to read.
#if (RAMEND < 1000)
#define SERIAL_BUFFER_SIZE 16
#else
#define SERIAL_BUFFER_SIZE 64
#endif
class HardwareSerial : public Stream class HardwareSerial : public Stream
{ {
private: protected:
ring_buffer *_rx_buffer;
ring_buffer *_tx_buffer;
volatile uint8_t *_ubrrh; volatile uint8_t *_ubrrh;
volatile uint8_t *_ubrrl; volatile uint8_t *_ubrrl;
volatile uint8_t *_ucsra; volatile uint8_t *_ucsra;
@ -46,8 +52,20 @@ class HardwareSerial : public Stream
uint8_t _udrie; uint8_t _udrie;
uint8_t _u2x; uint8_t _u2x;
bool transmitting; bool transmitting;
public: public:
HardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer, volatile uint8_t _rx_buffer_head;
volatile uint8_t _rx_buffer_tail;
volatile uint8_t _tx_buffer_head;
volatile uint8_t _tx_buffer_tail;
// Don't put any members after these buffers, since only the first
// 32 bytes of this struct can be accessed quickly using the ldd
// instruction.
unsigned char _rx_buffer[SERIAL_BUFFER_SIZE];
unsigned char _tx_buffer[SERIAL_BUFFER_SIZE];
HardwareSerial(
volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
volatile uint8_t *ucsra, volatile uint8_t *ucsrb, volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
volatile uint8_t *ucsrc, volatile uint8_t *udr, volatile uint8_t *ucsrc, volatile uint8_t *udr,

4
cores/robot/USBAPI.h
View File

@ -25,6 +25,8 @@ extern USBDevice_ USBDevice;
//================================================================================ //================================================================================
// Serial over CDC (Serial1 is the physical port) // Serial over CDC (Serial1 is the physical port)
struct ring_buffer;
class Serial_ : public Stream class Serial_ : public Stream
{ {
private: private:
@ -193,4 +195,4 @@ void USB_Flush(uint8_t ep);
#endif #endif
#endif /* if defined(USBCON) */ #endif /* if defined(USBCON) */