This helps improve the effective datarate on high (>500kbit/s) bitrates,
by skipping the interrupt and associated overhead. At 1 Mbit/s the
implementation previously got up to about 600-700 kbit/s, but now it
actually gets up to the 1Mbit/s (values are rough estimates, though).
Moreover, declaring pointers-to-registers as const and using initializer
list in class constructor allows the compiler to further improve inlining
performance.
This change recovers about 50 bytes of program space on single-UART devices.
See #1711
By putting the ISRs and HardwareSerial instance for each instance in a
separate compilation unit, the compile will only consider them for
linking when the instance is actually used. The ISR is always referenced
by the compiler runtime and the Serialx_available() function is always
referenced by SerialEventRun(), but both references are weak and thus do
not cause the compilation to be included in the link by themselves.
The effect of this is that when multiple HardwareSerial ports are
available, but not all are used, buffers are only allocated and ISRs are
only included for the serial ports that are used. On the mega, this
lowers memory usage from 653 bytes to just 182 when only using the first
serial port.
On boards with just a single port, there is no change, since the code
and memory was already left out when no serial port was used at all.
This fixes#1425 and fixes#1259.
Before, this decision was made in few different places, based on
sometimes different register defines.
Now, HardwareSerial.h decides wich UARTS are available, defines
USE_HWSERIALn macros and HardwareSerial.cpp simply checks these macros
(together with some #ifs to decide which registers to use for UART 0).
For consistency, USBAPI.h also defines a HAVE_CDCSERIAL macro when
applicable.
For supported targets, this should change any behaviour. For unsupported
targets, the error messages might subtly change because some checks are
moved or changed.
Additionally, this moves the USBAPI.h include form HardareSerial.h into
Arduino.h and raises an error when both CDC serial and UART0 are
available (previously this would silently use UART0 instead of CDC, but
there is not currently any Atmel chip available for which this would
occur).
Before, the interrupt was disabled when it was triggered and it turned
out there was no data to send. However, the interrupt can be disabled
already when the last byte is written to the UART, since write() will
always re-enable the interrupt when it adds new data to the buffer.
Closes: #1008
When interrupts are disabled, writing to HardwareSerial could cause a
lockup. When the tx buffer is full, a busy-wait loop is used to wait for
the interrupt handler to free up a byte in the buffer. However, when
interrupts are disabled, this will of course never happen and the
Arduino will lock up. This often caused lockups when doing (big) debug
printing from an interrupt handler.
Additionally, calling flush() with interrupts disabled while
transmission was in progress would also cause a lockup.
When interrupts are disabled, the code now actively checks the UDRE
(UART Data Register Empty) and calls the interrupt handler to free up
room if the bit is set.
This can lead to delays in interrupt handlers when the serial buffer is
full, but a delay is of course always preferred to a lockup.
Closes: #672
References: #1147
It turns out there is an additional corner case. The analysis in the
previous commit wrt to flush() assumes that the data register is always
kept filled by the interrupt handler, so the TXC bit won't get set until
all the queued bytes have been transmitted. But, when interrupts are
disabled for a longer period (for example when an interrupt handler for
another device is running for longer than 1-2 byte times), it could
happen that the UART stops transmitting while there are still more bytes
queued (but these are in the buffer, not in the UDR register, so the
UART can't know about them).
In this case, the TXC bit would get set, but the transmission is not
complete yet. We can easily detect this case by looking at the head and
tail pointers, but it seems easier to instead look at the UDRIE bit
(the TX interrupt is enabled if and only if there are bytes in the
queue). To fix this corner case, this commit:
- Checks the UDRIE bit and only if it is unset, looks at the TXC bit.
- Moves the clearing of TXC from write() to the tx interrupt handler.
This (still) causes the TXC bit to be cleared whenever a byte is
queued when the buffer is empty (in this case the tx interrupt will
trigger directly after write() is called). It also causes the TXC bit
to be cleared whenever transmission is resumed after it halted
because interrupts have been disabled for too long.
As a side effect, another race condition is prevented. This could occur
at very high bitrates, where the transmission would be completed before
the code got time to clear the TXC0 register, making the clear happen
_after_ the transmission was already complete. With the new code, the
clearing of TXC happens directly after writing to the UDR register,
while interrupts are disabled, and we can be certain the data
transmission needs more time than one instruction to complete. This
fixes#1463 and replaces #1456.
The flush() method blocks until all characters in the serial buffer have
been written to the uart _and_ transmitted. This is checked by waiting
until the "TXC" (TX Complete) bit is set by the UART, signalling
completion. This bit is cleared by write() when adding a new byte to the
buffer and set by the hardware after tranmission ends, so it is always
guaranteed to be zero from the moment the first byte in a sequence is
queued until the moment the last byte is transmitted, and it is one from
the moment the last byte in the buffer is transmitted until the first
byte in the next sequence is queued.
However, the TXC bit is also zero from initialization to the moment the
first byte ever is queued (and then continues to be zero until the first
sequence of bytes completes transmission). Unfortunately we cannot
manually set the TXC bit during initialization, we can only clear it. To
make sure that flush() would not (indefinitely) block when it is called
_before_ anything was written to the serial device, the "transmitting"
variable was introduced.
This variable suggests that it is only true when something is
transmitting, which isn't currently the case (it remains true after
transmission is complete until flush() is called, for example).
Furthermore, there is no need to keep the status of transmission, the
only thing needed is to remember if anything has ever been written, so
the corner case described above can be detected.
This commit improves the code by:
- Renaming the "transmitting" variable to _written (making it more
clear and following the leading underscore naming convention).
- Not resetting the value of _written at the end of flush(), there is
no point to this.
- Only checking the "_written" value once in flush(), since it can
never be toggled off anyway.
- Initializing the value of _written in both versions of _begin (though
it probably gets initialized to 0 by default anyway, better to be
explicit).
The actual interrupt vectors are of course defined as before, but they
let new methods in the HardwareSerial class do the actual work. This
greatly reduces code duplication and prepares for one of my next commits
which requires the tx interrupt handler to be called from another
context as well.
The actual content of the interrupts handlers was pretty much identical,
so that remains unchanged (except that store_char was now only needed
once, so it was inlined).
Now all access to the buffers are inside the HardwareSerial class, the
buffer variables can be made private.
One would expect a program size reduction from this change (at least
with multiple UARTs), but due to the fact that the interrupt handlers
now only have indirect access to a few registers (which previously were
just hardcoded in the handlers) and because there is some extra function
call overhead, the code size on the uno actually increases by around
70 bytes. On the mega, which has four UARTs, the code size decreases by
around 70 bytes.
Previously, the constants to use for the bit positions of the various
UARTs were passed to the HardwareSerial constructor. However, this
meant that whenever these values were used, the had to be indirectly
loaded, resulting in extra code overhead. Additionally, since there is
no instruction to shift a value by a variable amount, the 1 << x
expressions (inside _BV and sbi() / cbi()) would be compiled as a loop
instead of being evaluated at compiletime.
Now, the HardwareSerial class always uses the constants for the bit
positions of UART 0 (and some code is present to make sure these
constants exist, even for targets that only have a single unnumbered
UART or start at UART1).
This was already done for the TXC0 constant, for some reason. For the
actual register addresses, this approach does not work, since these are
of course different between the different UARTs on a single chip.
Of course, always using the UART 0 constants is only correct when the
constants are actually identical for the different UARTs. It has been
verified that this is currently the case for all targets supported by
avr-gcc 4.7.2, and the code contains compile-time checks to verify this
for the current target, in case a new target is added for which this
does not hold. This verification was done using:
for i in TXC RXEN TXEN RXCIE UDRIE U2X UPE; do echo $i; grep --no-filename -r "#define $i[0-9]\? " /usr/lib/avr/include/avr/io* | sed "s/#define $i[0-9]\?\s*\(\S\)\+\s*\(\/\*.*\*\/\)\?$/\1/" | sort | uniq ; done
This command shows that the above constants are identical for all uarts
on all platforms, except for TXC, which is sometimes 6 and sometimes 0.
Further investigation shows that it is always 6, except in io90scr100.h,
but that file defines TXC0 with value 6 for the UART and uses TXC with
value 0 for some USB-related register.
This commit reduces program size on the uno by around 120 bytes.
This simplifies the baud rate calculation, removing the need for a goto
and shortening the code a bit. Other than that, this code should not use
any different settings than before.
Code was suggested by Rob Tillaart on github.
Closes: #1262
There are two begin methods, one which accepts just a baud rate and
uses the default bit settings and one which accepts both a baudrate and
a bit config. Previously, both of these contained a complete
implementation, but now the former just calls the latter, explicitely
passing the default 8N1 configuration.
Technically, this causes a small change: Before the UCSRC register was
untouched when calling begin(baud), now it is explicitely initialized
with 8N1. However, since this is the default configuration for at least
the Uno and the Mega (didn't check any others), probably for all avrs,
this shouldn't effectively change anything. Given that the Arduino
documentation also documents this as the default when none is passed,
explicitly setting it is probably a good idea in any case.
These functions do not modify the IPAddress object, but were not marked
as const. This meant that you could not do:
void set_ip(const IPAddress& ip) {
uint32_t copy = ip;
}
Since calling operator uint32_t() on ip would discard the constness of
the reference.
On later versions of avr-libc, prog_char is deprecated. In 0acebeeff48
the one occurence of prog_char was replaced by "char PROGMEM", which is
not entirely correct (PROGMEM is supposed to be an attribute on a
variable, not on a type, even though this is how things work in older
libc versions). However, in 1130fede3a2 a few new occurences of
prog_char are introduced, which break compilation on newer libc versions
again.
This commit changes all these pointer types to use the PGM_P macro from
<avr/pgmspace.h>. This macro is just "const char *" in newer libc
versions and "const prog_char *" in older versions, so it should always
work.
References #795
The new function just calls Print::write(const uint8_t *, size_t), but
this allows writing out a buffer of chars (without having to learn about
casts).
This removes the need for doing an extra pointer dereference on every
access to the buffers, shrinking the code by around 100 bytes.
The members for these buffers must be public for now, since the
interrupt handlers also need to access them. These can later be made
private again.
Furthermore, the struct ring_buffer was removed. This allows the all
head and tail pointers to be put into the HardwareSerial struct before
the actual buffers, so the pointers all end up in the first 32 bytes of
the struct that can be accessed using a single instruction (ldd).
References: #947
Since the buffers aren't bigger than 64 bytes, these values can be
smaller. This saves a few bytes of ram, but also saves around 50 bytes
of program space, since the values can now be loaded using a single
instruction.
To prevent problems when people manually increase the buffer size, a
compile-time check is added.
Closes: #1078
This allows use of A0, A1, A2, A3 constants and for them to be mapped to the appropriate analog input channel. It should only be used if the macro is actually defined.
Otherwise, you get an error when compiling for processors with no serial port because the header file is always compiled.
See, for an example of the problem: https://github.com/damellis/attiny/issues/8
Otherwise, you get an error when compiling for processors with no serial port because the header file is always compiled.
See, for an example of the problem: https://github.com/damellis/attiny/issues/8
Before, the UMSELn1 bit was being to set to 1, putting the UART into a reserved mode. Now, we only set the high (0x80) bit to 1 for the ATmega8, which is needed to access UCSRnC (whose i/o address is shared with UBRRH).
Also, no longer bitwise-or the new config with the existing register value, because we're actually configuring all the settings in the register. (We're not using UCPOL, but it's supposed to be 0 in asynchronous mode.)
This isn't necessarily a particularly efficient implementation (it
allocates memory one character at a time and so may lead to
fragmentation) but it seems to work.
http://code.google.com/p/arduino/issues/detail?id=454
was starting PWM on these pins too soon - in init() instead of when analogWrite() was called. as a result doing output on port registers directly failed.
Mostly useful for Leonardo - simple way to test whether the port is actually opened by an application and ready to receive data. For Serial objects attached to real UARTs always returns true.
Since we use a magic RAM flag to signal to the bootloader there's a risk of the sketch overwriting the magic RAM location before the bootloader starts. By reducing the watchdog timeout we reduce the chance of this happening.
Before the sketch initiates an auto-reset for upload it pokes a magic word into a specific RAM address. On starting the bootloader checks this address. If it finds the magic word it knows the bootloader code should run. If not it jumps straight back to sketch.
Test in a sketch by adding to setup():
wdt_enable(WDTO_2S);
Sketch should upload, start, run for two seconds, WDT, and sketch should restart (not bootloader).
Had to cut out unused descriptor code to make the bootloader still fit in 4k.
On Windows COM port changes when board switched between bootloader and sketch. No way to prevent this so now Windows users have to select the upload port separate from the comm port. Also, handling of reset into bootloader was broken on Windows. Would occasionally leave the original COM port completely unusable. Changed the way this reset is initiated.
Finally, had to add upload.disable.flushing=true flag to boards.txt so IDE wouldn't try to flush the original COM port after it disappeared.
This should fix problems with overflows in pulseIn(). It may make millis() slightly less precise for clock speeds that aren't multiple of 1 million, but we don't really support those anyway.
http://code.google.com/p/arduino/issues/detail?id=675
had to define a separate block for the 32U4 since it looks like a Mega-series board based on a simple register trick. Only two useable HW interrupts though, compared to the Megas' 8, and numbering differs.
This fixes the issue Federico reported where bytes written by host but not read by sketch would cause serial connection to lock up. Ring buffer implementation is based on HardwareSerial.cpp.
Adds public accept() method to CDC.
ATMEGA32U4 has major differences in TIMER4 registers compared to ATMEGA1280 and 2560. turnOffPWM, analogWrite, and initialize routines had wrong registers, bit names, etc.
This should allow us more flexibility in determining how to handle these functions later. For example, in specifying that initial characters shouldn't be skipped.
http://code.google.com/p/arduino/issues/detail?id=698
This reverts commit df9835efafd13685251749bc210c0b96a18a96a5, reversing
changes made to ec45af8bfa9222a807c075dd1db4b5aa798bba03.
Conflicts:
hardware/arduino/variants/mega/pins_arduino.h
libraries/Ethernet/examples/PachubeClientString/PachubeClientString.ino
write(), print(), println() now return size_t (and don't use negative values to signal errors).
Print adds writeError() for checking for write errors, clearWriteError() to reset the flag to false, and a protected setWriteError() for signalling errors.
http://code.google.com/p/arduino/issues/detail?id=598
This from Michael's TextFinder library, incorporated into the Stream class: find(), findUntil(), parseInt(), parseFloat(), readChars(), readCharsUntil(), readCharsBetween(), setTimeout().
Because UBBR is only 12 bits, we were overflowing it at 300 baud because of the use of the U2X bit. Now we turn off U2X if it would yield a UBBR value that would overflow.
Note that this breaks 300 baud communication with the computer on the Uno and Mega 2560 because the 8U2 USB-serial firmware has this same bug (and previously they cancelled each other out). Since, however, it seems more likely that people will need to use 300 baud to communicate with other (legacy) hardware than with the computer, I'm making this change. Issue for 8U2 firmware bug: http://code.google.com/p/arduino/issues/detail?id=542http://code.google.com/p/arduino/issues/detail?id=522
Because UBBR is only 12 bits, we were overflowing it at 300 baud because of the use of the U2X bit. Now we turn off U2X if it would yield a UBBR value that would overflow.
Note that this breaks 300 baud communication with the computer on the Uno and Mega 2560 because the 8U2 USB-serial firmware has this same bug (and previously they cancelled each other out). Since, however, it seems more likely that people will need to use 300 baud to communicate with other (legacy) hardware than with the computer, I'm making this change. Issue for 8U2 firmware bug: http://code.google.com/p/arduino/issues/detail?id=542http://code.google.com/p/arduino/issues/detail?id=522
This makes explicit the String constructors that take numeric types and chars and removes the versions of concat() and operator=() and operator+() that accept numberic types.
It also replaces the operator bool() with a operator that converts to a function pointer. This allows for uses like "if (s)" but not "s + 123". See: http://www.artima.com/cppsource/safebool.html. This allowed removing the disambiguating operator+() functions and relying solely on StringSumHelper and anonymous temporaries once again.
Also, now treating unsigned char's like int when constructing Strings from them, i.e. String(byte(65)) is now "65" not "A". This is consistent with the new behavior of Serial.print(byte).
The operator bool() means that you could implicitly convert a String to a bool and then add it to it an int, for example. Which means our operator+ has to match exactly or it will be ambiguous.
Changing toLowerCase(), toUpperCase(), trim() and replace() to return void instead of a reference to the string that's just been changed. That way, it's clear that the functions modify the string they've been called on.
Now Serial.write() places characters in the transmit buffer, and the data register empty interrupt reads and transmit them. Based loosely on the implementation here: ftp://wookey.org.uk/arduino.
http://code.google.com/p/arduino/issues/detail?id=262
That is, there's now a pins/ directory in a platform, which includes multiple directories, each of which has its own pins_arduino.h. The boards.txt gets a new preferences, <BOARD>.build.pins, whose values is a sub-directory of the pins/ directory (possibly with a "platform:" prefix). That sub-directory is then placed in the include path during compilation.
Also, removing the inline version of digitalPinToTimer() (since we're not optimizing the functions that use it anyway). The noAnalogWrite() function is in wiring_analog.c, deriving from the previous turnOffPWM() which has moved from wiring_digital.c.
http://code.google.com/p/arduino/issues/detail?id=476
Factoring out the implementation of digitalWrite(), digitalRead(), and pinMode() into macros that can either be inlined (for constant pin numbers) or executed within a function (non-constant pins). Removing testing for timers on pins in digitalWrite(), digitalRead(), and pinMode(). Moving pin to port macros from pins_arduino.h to wiring.h.
Matt Robinson
Matthijs Kooijman
Cristian Maglie
Federico Fissore
Kristian Lauszus
ntruchsess
Paul Brook
Angus Gratton
Tevin Zhang
Ryan Esteves
Fede85
David A. Mellis
Federico Fissore
Peter Van Hoyweghen
Adam Dunlap
Alarus
Shigeru KANEMOTO
Zach Eveland
amcewen