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root / branches / autonomous_recharging / code / projects / colonet / utilities / robot_wireless_relay / serial.c @ 1390

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/*
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        serial.c - Functions for using the RS232 serial port
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        author: Robotics Club, Colony Project
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        much code taken from FWR's library, author: Tom Lauwers
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        general note - serial -> uart
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                                   serial1 -> uart1
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                this is done for clarity purposes
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*/
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#include <avr/io.h>
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#include <stdio.h>
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#include "serial.h"
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//setup uart0 (serial)
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void serial_init(unsigned int ubrr)
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{
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        /*Set baud rate - baud rates under 4800bps unsupported */
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        UBRR0H = 0x00;
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        UBRR0L = (unsigned char)ubrr;
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        /*Enable receiver and transmitter */
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        UCSR0B |= (1<<RXEN0)|(1<<TXEN0);
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        /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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        UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);
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}
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// uart_putchar - Low-level function which puts a value into the 
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// Tx buffer for transmission.  Automatically injects
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// a \r before all \n's
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int serial_putchar(char c)
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{
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    if (c == '\n')
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                putchar('\r');
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        // Wait until buffer is clear for sending
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    loop_until_bit_is_set(UCSR0A, UDRE0);
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        // Load buffer with your character
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    UDR0 = c;
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    return 0;
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}
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// uart_getchar - Low-level function which waits for the Rx buffer
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// to be filled, and then reads one character out of it.
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// Note that this function blocks on read - it will wait until
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// something fills the Rx buffer.
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int serial_getchar(void)
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{
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        char c;
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        // Wait for the receive buffer to be filled
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  loop_until_bit_is_set(UCSR0A, RXC0);
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        // Read the receive buffer
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  c = UDR0;
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        return c;
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}
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// uart_getchar_nb - Low-level function which checks if the Rx buffer
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// is filled, and then reads one character out of it.
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// This is a non blocking version uart_getchar
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int serial_getchar_nb(void)
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{
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        char c;
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        // Wait for the receive buffer to be filled
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        if (UCSR0A & _BV(RXC0)){
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                // Read the receive buffer
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                c = UDR0;
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                return c;
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         }
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        return 0;
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}
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//setup uart1 (serial1)
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void serial1_init( unsigned int ubrr)
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{
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        /*Set baud rate - baud rates under 4800bps unsupported */
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        UBRR1H = 0x00;
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        UBRR1L = (unsigned char)ubrr;
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        /*Enable receiver and transmitter */
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        UCSR1B |= (1<<RXEN1)|(1<<TXEN1);
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        /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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        UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);
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  /* For use with fprintf() and related functions */
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  serial1_stream = fdevopen(serial1_putchar, serial1_putchar);
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  /* To use fprintf():
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  After calling serial1_init(BAUD115200); 
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  use the command fprintf(serial1_stream, "Hello World"); 
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     This call to fdevopen() does give a compile warning
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  but works fine.
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  -Greg Tress
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  */
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}
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//put to uart1 (serial1)
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int serial1_putchar(char c)
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{
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    if (c == '\n')
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                serial1_putchar('\r'); //changed from putchar aj
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        // Wait until buffer is clear for sending
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    loop_until_bit_is_set(UCSR1A, UDRE1);
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        // Load buffer with your character
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    UDR1 = c;
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    return 0;
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}
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//get from uart1 (serial1)
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int serial1_getchar(void)
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{
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        char c;
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        // Wait for the receive buffer to be filled
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    loop_until_bit_is_set(UCSR1A, RXC1);
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        // Read the receive buffer
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    c = UDR1;
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        return c;
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}
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//get from uart1 non-block
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int serial1_getchar_nb(void)
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{
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        char c;
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        // Wait for the receive buffer to be filled
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    //loop_until_bit_is_set(UCSR1A, RXC1);
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        if (UCSR1A & _BV(RXC1)){
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                // Read the receive buffer
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                c = UDR1;
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                return c;
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        }
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        return 0;
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}