386 lines
8.4 KiB
C++
386 lines
8.4 KiB
C++
/*
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HardwareSerial.cpp - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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Modified 23 November 2006 by David A. Mellis
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Modified 28 September 2010 by Mark Sproul
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*/
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#include "Marlin.h"
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#include "MarlinSerial.h"
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uint8_t selectedSerialPort = 0;
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#ifndef AT90USB
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// this next line disables the entire HardwareSerial.cpp,
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// this is so I can support Attiny series and any other chip without a UART
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#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
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#if UART_PRESENT(SERIAL_PORT)
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ring_buffer rx_buffer = { { 0 }, 0, 0 };
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#endif
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FORCE_INLINE void store_char(unsigned char c)
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{
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int i = (unsigned int)(rx_buffer.head + 1) % RX_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 != rx_buffer.tail) {
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rx_buffer.buffer[rx_buffer.head] = c;
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rx_buffer.head = i;
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}
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}
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#if defined(M_USARTx_RX_vect)
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// The serial line receive interrupt routine for a baud rate 115200
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// ticks at maximum 11.76 kHz and blocks for 2.688 us at each tick.
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// If the serial line is fully utilized, this corresponds to 3.16%
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// loading of the CPU (the interrupt invocation overhead not taken into account).
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// As the serial line is not fully utilized, the CPU load is likely around 1%.
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ISR(M_USARTx_RX_vect)
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{
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// Test for a framing error.
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if (M_UCSRxA & (1<<M_FEx))
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{
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// Characters received with the framing errors will be ignored.
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// Dummy register read (discard)
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(void)(*(char *)M_UDRx);
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}
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else
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{
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// Read the input register.
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unsigned char c = M_UDRx;
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if (selectedSerialPort == 0)
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store_char(c);
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#ifdef DEBUG_DUMP_TO_2ND_SERIAL
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UDR1 = c;
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#endif //DEBUG_DUMP_TO_2ND_SERIAL
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}
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}
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#ifndef SNMM
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ISR(USART1_RX_vect)
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{
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// Test for a framing error.
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if (UCSR1A & (1<<FE1))
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{
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// Characters received with the framing errors will be ignored.
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// Dummy register read (discard)
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(void)(*(char *)UDR1);
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}
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else
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{
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// Read the input register.
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unsigned char c = UDR1;
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if (selectedSerialPort == 1)
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store_char(c);
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#ifdef DEBUG_DUMP_TO_2ND_SERIAL
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M_UDRx = c;
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#endif //DEBUG_DUMP_TO_2ND_SERIAL
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}
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}
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#endif
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#endif
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// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud)
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{
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uint16_t baud_setting;
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bool useU2X = true;
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#if F_CPU == 16000000UL && SERIAL_PORT == 0
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// hard-coded exception for compatibility with the bootloader shipped
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600) {
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useU2X = false;
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}
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#endif
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// set up the first (original serial port)
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if (useU2X) {
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M_UCSRxA = 1 << M_U2Xx;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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M_UCSRxA = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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M_UBRRxH = baud_setting >> 8;
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M_UBRRxL = baud_setting;
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sbi(M_UCSRxB, M_RXENx);
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sbi(M_UCSRxB, M_TXENx);
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sbi(M_UCSRxB, M_RXCIEx);
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#ifndef SNMM
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if (selectedSerialPort == 1) { //set up also the second serial port
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if (useU2X) {
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UCSR1A = 1 << U2X1;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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UCSR1A = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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UBRR1H = baud_setting >> 8;
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UBRR1L = baud_setting;
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sbi(UCSR1B, RXEN1);
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sbi(UCSR1B, TXEN1);
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sbi(UCSR1B, RXCIE1);
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}
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#endif
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}
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void MarlinSerial::end()
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{
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cbi(M_UCSRxB, M_RXENx);
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cbi(M_UCSRxB, M_TXENx);
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cbi(M_UCSRxB, M_RXCIEx);
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#ifndef SNMM
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cbi(UCSR1B, RXEN1);
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cbi(UCSR1B, TXEN1);
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cbi(UCSR1B, RXCIE1);
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#endif
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}
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int MarlinSerial::peek(void)
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{
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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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}
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}
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int MarlinSerial::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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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) % RX_BUFFER_SIZE;
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return c;
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}
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}
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void MarlinSerial::flush()
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{
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// were full, not empty.
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rx_buffer.head = rx_buffer.tail;
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}
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/// imports from print.h
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void MarlinSerial::print(char c, int base)
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{
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print((long) c, base);
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}
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void MarlinSerial::print(unsigned char b, int base)
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{
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print((unsigned long) b, base);
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}
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void MarlinSerial::print(int n, int base)
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{
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print((long) n, base);
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}
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void MarlinSerial::print(unsigned int n, int base)
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{
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print((unsigned long) n, base);
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}
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void MarlinSerial::print(long n, int base)
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{
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if (base == 0) {
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write(n);
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} else if (base == 10) {
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if (n < 0) {
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print('-');
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n = -n;
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}
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printNumber(n, 10);
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} else {
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printNumber(n, base);
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}
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}
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void MarlinSerial::print(unsigned long n, int base)
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{
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if (base == 0) write(n);
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else printNumber(n, base);
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}
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void MarlinSerial::print(double n, int digits)
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{
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printFloat(n, digits);
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}
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void MarlinSerial::println(void)
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{
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print('\r');
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print('\n');
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}
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/*void MarlinSerial::println(const String &s)
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{
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print(s);
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println();
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}*/
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void MarlinSerial::println(const char c[])
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{
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print(c);
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println();
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}
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void MarlinSerial::println(char c, int base)
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{
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print(c, base);
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println();
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}
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void MarlinSerial::println(unsigned char b, int base)
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{
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print(b, base);
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println();
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}
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void MarlinSerial::println(int n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned int n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(long n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned long n, int base)
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{
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print(n, base);
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println();
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}
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void MarlinSerial::println(double n, int digits)
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{
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print(n, digits);
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println();
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}
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// Private Methods /////////////////////////////////////////////////////////////
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void MarlinSerial::printNumber(unsigned long n, uint8_t base)
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{
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unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
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unsigned long i = 0;
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if (n == 0) {
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print('0');
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return;
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}
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while (n > 0) {
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buf[i++] = n % base;
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n /= base;
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}
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for (; i > 0; i--)
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print((char) (buf[i - 1] < 10 ?
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'0' + buf[i - 1] :
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'A' + buf[i - 1] - 10));
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}
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void MarlinSerial::printFloat(double number, uint8_t digits)
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{
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// Handle negative numbers
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if (number < 0.0)
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{
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print('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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for (uint8_t i=0; i<digits; ++i)
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rounding /= 10.0;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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print(int_part);
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// Print the decimal point, but only if there are digits beyond
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if (digits > 0)
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print(".");
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// Extract digits from the remainder one at a time
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while (digits-- > 0)
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{
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remainder *= 10.0;
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int toPrint = int(remainder);
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print(toPrint);
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remainder -= toPrint;
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}
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}
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// Preinstantiate Objects //////////////////////////////////////////////////////
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MarlinSerial MSerial;
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#endif // whole file
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#endif // !AT90USB
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// For AT90USB targets use the UART for BT interfacing
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#if defined(AT90USB) && defined (BTENABLED)
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HardwareSerial bt;
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#endif
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