From 6a1c3303d6d94330a7871361638043de946c2411 Mon Sep 17 00:00:00 2001 From: Cristian Maglie Date: Thu, 22 Aug 2013 16:29:49 +0200 Subject: Merged robot core --- cores/robot/HardwareSerial.cpp | 469 ----------------------------------------- 1 file changed, 469 deletions(-) delete mode 100644 cores/robot/HardwareSerial.cpp (limited to 'cores/robot/HardwareSerial.cpp') diff --git a/cores/robot/HardwareSerial.cpp b/cores/robot/HardwareSerial.cpp deleted file mode 100644 index e40bfbc..0000000 --- a/cores/robot/HardwareSerial.cpp +++ /dev/null @@ -1,469 +0,0 @@ -/* - HardwareSerial.cpp - Hardware serial library for Wiring - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 23 November 2006 by David A. Mellis - Modified 28 September 2010 by Mark Sproul - Modified 14 August 2012 by Alarus -*/ - -#include -#include -#include -#include -#include "Arduino.h" -#include "wiring_private.h" - -// this next line disables the entire HardwareSerial.cpp, -// this is so I can support Attiny series and any other chip without a uart -#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H) - -#include "HardwareSerial.h" - -/* - * on ATmega8, the uart and its bits are not numbered, so there is no "TXC0" - * definition. - */ -#if !defined(TXC0) -#if defined(TXC) -#define TXC0 TXC -#elif defined(TXC1) -// Some devices have uart1 but no uart0 -#define TXC0 TXC1 -#else -#error TXC0 not definable in HardwareSerial.h -#endif -#endif - -inline void store_char(unsigned char c, HardwareSerial *s) -{ - int i = (unsigned int)(s->_rx_buffer_head + 1) % SERIAL_BUFFER_SIZE; - - // if we should be storing the received character into the location - // just before the tail (meaning that the head would advance to the - // current location of the tail), we're about to overflow the buffer - // and so we don't write the character or advance the head. - if (i != s->_rx_buffer_tail) { - s->_rx_buffer[s->_rx_buffer_head] = c; - s->_rx_buffer_head = i; - } -} - -#if !defined(USART0_RX_vect) && defined(USART1_RX_vect) -// do nothing - on the 32u4 the first USART is USART1 -#else -#if !defined(USART_RX_vect) && !defined(USART0_RX_vect) && \ - !defined(USART_RXC_vect) - #error "Don't know what the Data Received vector is called for the first UART" -#else - void serialEvent() __attribute__((weak)); - void serialEvent() {} - #define serialEvent_implemented -#if defined(USART_RX_vect) - ISR(USART_RX_vect) -#elif defined(USART0_RX_vect) - ISR(USART0_RX_vect) -#elif defined(USART_RXC_vect) - ISR(USART_RXC_vect) // ATmega8 -#endif - { - #if defined(UDR0) - if (bit_is_clear(UCSR0A, UPE0)) { - unsigned char c = UDR0; - store_char(c, &Serial); - } else { - unsigned char c = UDR0; - }; - #elif defined(UDR) - if (bit_is_clear(UCSRA, PE)) { - unsigned char c = UDR; - store_char(c, &rx_buffer); - } else { - unsigned char c = UDR; - }; - #else - #error UDR not defined - #endif - } -#endif -#endif - -#if defined(USART1_RX_vect) - void serialEvent1() __attribute__((weak)); - void serialEvent1() {} - #define serialEvent1_implemented - ISR(USART1_RX_vect) - { - if (bit_is_clear(UCSR1A, UPE1)) { - unsigned char c = UDR1; - store_char(c, &Serial1); - } else { - unsigned char c = UDR1; - }; - } -#endif - -#if defined(USART2_RX_vect) && defined(UDR2) - void serialEvent2() __attribute__((weak)); - void serialEvent2() {} - #define serialEvent2_implemented - ISR(USART2_RX_vect) - { - if (bit_is_clear(UCSR2A, UPE2)) { - unsigned char c = UDR2; - store_char(c, &Serial2); - } else { - unsigned char c = UDR2; - }; - } -#endif - -#if defined(USART3_RX_vect) && defined(UDR3) - void serialEvent3() __attribute__((weak)); - void serialEvent3() {} - #define serialEvent3_implemented - ISR(USART3_RX_vect) - { - if (bit_is_clear(UCSR3A, UPE3)) { - unsigned char c = UDR3; - store_char(c, &Serial3); - } else { - unsigned char c = UDR3; - }; - } -#endif - -void serialEventRun(void) -{ -#ifdef serialEvent_implemented - if (Serial.available()) serialEvent(); -#endif -#ifdef serialEvent1_implemented - if (Serial1.available()) serialEvent1(); -#endif -#ifdef serialEvent2_implemented - if (Serial2.available()) serialEvent2(); -#endif -#ifdef serialEvent3_implemented - if (Serial3.available()) serialEvent3(); -#endif -} - - -#if !defined(USART0_UDRE_vect) && defined(USART1_UDRE_vect) -// do nothing - on the 32u4 the first USART is USART1 -#else -#if !defined(UART0_UDRE_vect) && !defined(UART_UDRE_vect) && !defined(USART0_UDRE_vect) && !defined(USART_UDRE_vect) - #error "Don't know what the Data Register Empty vector is called for the first UART" -#else -#if defined(UART0_UDRE_vect) -ISR(UART0_UDRE_vect) -#elif defined(UART_UDRE_vect) -ISR(UART_UDRE_vect) -#elif defined(USART0_UDRE_vect) -ISR(USART0_UDRE_vect) -#elif defined(USART_UDRE_vect) -ISR(USART_UDRE_vect) -#endif -{ - if (Serial._tx_buffer_head == Serial._tx_buffer_tail) { - // Buffer empty, so disable interrupts -#if defined(UCSR0B) - cbi(UCSR0B, UDRIE0); -#else - cbi(UCSRB, UDRIE); -#endif - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = Serial._tx_buffer[Serial._tx_buffer_tail]; - Serial._tx_buffer_tail = (Serial._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; - - #if defined(UDR0) - UDR0 = c; - #elif defined(UDR) - UDR = c; - #else - #error UDR not defined - #endif - } -} -#endif -#endif - -#ifdef USART1_UDRE_vect -ISR(USART1_UDRE_vect) -{ - if (Serial1._tx_buffer_head == Serial1._tx_buffer_tail) { - // Buffer empty, so disable interrupts - cbi(UCSR1B, UDRIE1); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = Serial1._tx_buffer[Serial1._tx_buffer_tail]; - Serial1._tx_buffer_tail = (Serial1._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; - - UDR1 = c; - } -} -#endif - -#ifdef USART2_UDRE_vect -ISR(USART2_UDRE_vect) -{ - if (Serial2._tx_buffer_head == Serial2._tx_buffer_tail) { - // Buffer empty, so disable interrupts - cbi(UCSR2B, UDRIE2); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = Serial2._tx_buffer[Serial2._tx_buffer_tail]; - Serial2._tx_buffer_tail = (Serial2._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; - - UDR2 = c; - } -} -#endif - -#ifdef USART3_UDRE_vect -ISR(USART3_UDRE_vect) -{ - if (Serial3._tx_buffer_head == Serial3._tx_buffer_tail) { - // Buffer empty, so disable interrupts - cbi(UCSR3B, UDRIE3); - } - else { - // There is more data in the output buffer. Send the next byte - unsigned char c = Serial3._tx_buffer[Serial3._tx_buffer_tail]; - Serial3._tx_buffer_tail = (Serial3._tx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; - - UDR3 = c; - } -} -#endif - -// Constructors //////////////////////////////////////////////////////////////// - -HardwareSerial::HardwareSerial( - volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, - volatile uint8_t *ucsra, volatile uint8_t *ucsrb, - volatile uint8_t *ucsrc, volatile uint8_t *udr, - uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x) -{ - _tx_buffer_head = _tx_buffer_tail = 0; - _rx_buffer_head = _rx_buffer_tail = 0; - _ubrrh = ubrrh; - _ubrrl = ubrrl; - _ucsra = ucsra; - _ucsrb = ucsrb; - _ucsrc = ucsrc; - _udr = udr; - _rxen = rxen; - _txen = txen; - _rxcie = rxcie; - _udrie = udrie; - _u2x = u2x; -} - -// Public Methods ////////////////////////////////////////////////////////////// - -void HardwareSerial::begin(unsigned long baud) -{ - uint16_t baud_setting; - bool use_u2x = true; - -#if F_CPU == 16000000UL - // hardcoded exception for compatibility with the bootloader shipped - // with the Duemilanove and previous boards and the firmware on the 8U2 - // on the Uno and Mega 2560. - if (baud == 57600) { - use_u2x = false; - } -#endif - -try_again: - - if (use_u2x) { - *_ucsra = 1 << _u2x; - baud_setting = (F_CPU / 4 / baud - 1) / 2; - } else { - *_ucsra = 0; - baud_setting = (F_CPU / 8 / baud - 1) / 2; - } - - if ((baud_setting > 4095) && use_u2x) - { - use_u2x = false; - goto try_again; - } - - // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) - *_ubrrh = baud_setting >> 8; - *_ubrrl = baud_setting; - - transmitting = false; - - sbi(*_ucsrb, _rxen); - sbi(*_ucsrb, _txen); - sbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); -} - -void HardwareSerial::begin(unsigned long baud, byte config) -{ - uint16_t baud_setting; - uint8_t current_config; - bool use_u2x = true; - -#if F_CPU == 16000000UL - // hardcoded exception for compatibility with the bootloader shipped - // with the Duemilanove and previous boards and the firmware on the 8U2 - // on the Uno and Mega 2560. - if (baud == 57600) { - use_u2x = false; - } -#endif - -try_again: - - if (use_u2x) { - *_ucsra = 1 << _u2x; - baud_setting = (F_CPU / 4 / baud - 1) / 2; - } else { - *_ucsra = 0; - baud_setting = (F_CPU / 8 / baud - 1) / 2; - } - - if ((baud_setting > 4095) && use_u2x) - { - use_u2x = false; - goto try_again; - } - - // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) - *_ubrrh = baud_setting >> 8; - *_ubrrl = baud_setting; - - //set the data bits, parity, and stop bits -#if defined(__AVR_ATmega8__) - config |= 0x80; // select UCSRC register (shared with UBRRH) -#endif - *_ucsrc = config; - - sbi(*_ucsrb, _rxen); - sbi(*_ucsrb, _txen); - sbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); -} - -void HardwareSerial::end() -{ - // wait for transmission of outgoing data - while (_tx_buffer_head != _tx_buffer_tail) - ; - - cbi(*_ucsrb, _rxen); - cbi(*_ucsrb, _txen); - cbi(*_ucsrb, _rxcie); - cbi(*_ucsrb, _udrie); - - // clear any received data - _rx_buffer_head = _rx_buffer_tail; -} - -int HardwareSerial::available(void) -{ - return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE; -} - -int HardwareSerial::peek(void) -{ - if (_rx_buffer_head == _rx_buffer_tail) { - return -1; - } else { - return _rx_buffer[_rx_buffer_tail]; - } -} - -int HardwareSerial::read(void) -{ - // if the head isn't ahead of the tail, we don't have any characters - if (_rx_buffer_head == _rx_buffer_tail) { - return -1; - } else { - unsigned char c = _rx_buffer[_rx_buffer_tail]; - _rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE; - return c; - } -} - -void HardwareSerial::flush() -{ - // UDR is kept full while the buffer is not empty, so TXC triggers when EMPTY && SENT - while (transmitting && ! (*_ucsra & _BV(TXC0))); - transmitting = false; -} - -size_t HardwareSerial::write(uint8_t c) -{ - int i = (_tx_buffer_head + 1) % SERIAL_BUFFER_SIZE; - - // If the output buffer is full, there's nothing for it other than to - // wait for the interrupt handler to empty it a bit - // ???: return 0 here instead? - while (i == _tx_buffer_tail) - ; - - _tx_buffer[_tx_buffer_head] = c; - _tx_buffer_head = i; - - sbi(*_ucsrb, _udrie); - // clear the TXC bit -- "can be cleared by writing a one to its bit location" - transmitting = true; - sbi(*_ucsra, TXC0); - - return 1; -} - -HardwareSerial::operator bool() { - return true; -} - -// Preinstantiate Objects ////////////////////////////////////////////////////// - -#if defined(UBRRH) && defined(UBRRL) - HardwareSerial Serial(&UBRRH, &UBRRL, &UCSRA, &UCSRB, &UCSRC, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X); -#elif defined(UBRR0H) && defined(UBRR0L) - HardwareSerial Serial(&UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UCSR0C, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0); -#elif defined(USBCON) - // do nothing - Serial object and buffers are initialized in CDC code -#else - #error no serial port defined (port 0) -#endif - -#if defined(UBRR1H) - HardwareSerial Serial1(&UBRR1H, &UBRR1L, &UCSR1A, &UCSR1B, &UCSR1C, &UDR1, RXEN1, TXEN1, RXCIE1, UDRIE1, U2X1); -#endif -#if defined(UBRR2H) - HardwareSerial Serial2(&UBRR2H, &UBRR2L, &UCSR2A, &UCSR2B, &UCSR2C, &UDR2, RXEN2, TXEN2, RXCIE2, UDRIE2, U2X2); -#endif -#if defined(UBRR3H) - HardwareSerial Serial3(&UBRR3H, &UBRR3L, &UCSR3A, &UCSR3B, &UCSR3C, &UDR3, RXEN3, TXEN3, RXCIE3, UDRIE3, U2X3); -#endif - -#endif // whole file - -- cgit v1.2.3-18-g5258