root / trunk / code / projects / libdragonfly / serial.c @ 1461
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1 | 241 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | 8 | bcoltin | |
26 | 241 | bcoltin | |
27 | /**
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28 | * @file serial.c
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29 | * @brief Serial Input and Output
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30 | *
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31 | * Implementation of functions for serial input and output.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | **/
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35 | |||
36 | 8 | bcoltin | #include <avr/io.h> |
37 | #include "serial.h" |
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38 | |||
39 | 1461 | bneuman | unsigned char usb_initd=0; |
40 | unsigned char xbee_initd=0; |
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41 | |||
42 | 1452 | dsschult | #ifdef USE_STDIO
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43 | |||
44 | #include <stdio.h> |
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45 | |||
46 | 1370 | dsschult | /**
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47 | * For use with fprintf() and related stdio functions
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48 | **/
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49 | FILE *usb_fd; |
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50 | 8 | bcoltin | |
51 | /**
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52 | 1370 | dsschult | * For use with fprintf() and related stdio functions
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53 | **/
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54 | FILE *xbee_fd; |
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55 | |||
56 | 1452 | dsschult | #endif
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57 | |||
58 | 1370 | dsschult | /**
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59 | 8 | bcoltin | * Initializes communication over the USB serial port.
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60 | * This must be called before any other usb function
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61 | * may be used.
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62 | **/
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63 | 1461 | bneuman | int usb_init() {
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64 | 8 | bcoltin | //Set baud rate
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65 | // - 115200 (both wired and wireless) is UBRR=8, U2X=1
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66 | // - 9600 is U2X =1, UBRR = 107.
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67 | 1461 | bneuman | |
68 | if(usb_initd) {
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69 | return ERROR_INIT_ALREADY_INITD;
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70 | } |
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71 | |||
72 | 380 | jknichel | #if (USB_BAUD == 115200) |
73 | UBRR0H = 0x00;
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74 | UBRR0L = 8;
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75 | UCSR0A |= _BV(U2X0); |
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76 | #elif (USB_BAUD == 9600) |
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77 | UBRR0H = 0x00;
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78 | UBRR0L = 103;
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79 | UCSR0A |= _BV(U2X0); |
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80 | #else //Baud rate is defined in the header file, we should not get here |
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81 | 1461 | bneuman | return 0; |
82 | 380 | jknichel | #endif
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83 | 8 | bcoltin | |
84 | /*Enable receiver and transmitter */
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85 | 380 | jknichel | UCSR0B |= (1<<RXEN0)|(1<<TXEN0); |
86 | 8 | bcoltin | |
87 | 380 | jknichel | /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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88 | UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
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89 | 8 | bcoltin | |
90 | // if we have enabled the stdio stuff, then we init it here
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91 | 380 | jknichel | #ifdef USE_STDIO
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92 | /* Open the stdio stream corresponding to this port */
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93 | usb_fd = fdevopen(usb_putc, usb_getc); |
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94 | #endif
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95 | 1461 | bneuman | |
96 | usb_initd = 1;
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97 | return 0; |
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98 | |||
99 | 8 | bcoltin | } |
100 | |||
101 | /**
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102 | * Initializes communication over the XBee.
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103 | * This must be called before any other xbee function
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104 | * may be used.
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105 | **/
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106 | 1461 | bneuman | int xbee_init() {
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107 | |||
108 | if(xbee_initd) {
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109 | return ERROR_INIT_ALREADY_INITD;
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110 | } |
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111 | |||
112 | 8 | bcoltin | //Set baud rate
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113 | // - 115200 (both wired and wireless) is UBRR=8, U2X=1
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114 | // - 9600 is U2X =1, UBRR = 107.
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115 | 380 | jknichel | #if (XBEE_BAUD == 115200) |
116 | UBRR1H = 0x00;
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117 | UBRR1L = 8;
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118 | UCSR1A |= _BV(U2X1); |
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119 | #elif (XBEE_BAUD == 9600) |
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120 | UBRR1H = 0x00;
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121 | UBRR1L = 103;
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122 | UCSR1A |= _BV(U2X1); |
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123 | #else //Baud rate is defined in the header file, we should not get here |
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124 | 1461 | bneuman | return 0; |
125 | 380 | jknichel | #endif
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126 | 8 | bcoltin | |
127 | 380 | jknichel | //Enable receiver and transmitter
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128 | UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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129 | 8 | bcoltin | |
130 | 380 | jknichel | // Set frame format: 8data, 1stop bit, asynchronous normal mode
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131 | UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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132 | 8 | bcoltin | |
133 | // if we have enabled the stdio stuff, then we init it here
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134 | 380 | jknichel | #ifdef USE_STDIO
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135 | /* Open the stdio stream corresponding to this port */
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136 | xbee_fd = fdevopen(xbee_putc, xbee_getc); |
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137 | #endif
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138 | 1461 | bneuman | |
139 | xbee_initd = 1;
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140 | return 0; |
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141 | |||
142 | 8 | bcoltin | } |
143 | |||
144 | /**
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145 | * Sends a character over USB.
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146 | *
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147 | * @param c the character to send
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148 | * @return 0 for success, nonzero for failure
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149 | **/
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150 | 380 | jknichel | int usb_putc(char c) { |
151 | 1461 | bneuman | |
152 | if(!usb_initd)
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153 | return ERROR_LIBRARY_NOT_INITD;
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154 | |||
155 | 8 | bcoltin | // Wait until buffer is clear for sending
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156 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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157 | |||
158 | // Load buffer with your character
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159 | UDR0 = c; |
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160 | return 0; |
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161 | } |
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162 | |||
163 | /**
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164 | * Sends a character to the XBee.
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165 | *
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166 | * @param c the character to send
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167 | * @return 0 for success, nonzero for failure
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168 | **/
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169 | 380 | jknichel | int xbee_putc(char c) { |
170 | 1461 | bneuman | |
171 | if(!xbee_initd)
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172 | return ERROR_LIBRARY_NOT_INITD;
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173 | |||
174 | 8 | bcoltin | // Wait until buffer is clear for sending
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175 | loop_until_bit_is_set(UCSR1A, UDRE1); |
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176 | |||
177 | // Load buffer with your character
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178 | UDR1 = c; |
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179 | return 0; |
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180 | } |
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181 | |||
182 | /**
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183 | * Sends a sequence of characters over USB.
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184 | *
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185 | * @param s the string to send
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186 | * @return 0 for success, nonzero for failure
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187 | **/
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188 | 380 | jknichel | int usb_puts(char *s) { |
189 | char *t = s;
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190 | 1461 | bneuman | |
191 | if(!usb_initd)
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192 | return ERROR_LIBRARY_NOT_INITD;
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193 | |||
194 | 380 | jknichel | while (*t != 0) { |
195 | usb_putc(*t); |
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196 | t++; |
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197 | } |
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198 | 8 | bcoltin | return 0; |
199 | } |
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200 | |||
201 | /**
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202 | 1207 | deffi | * Sends a sequence of characters from program space over USB.
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203 | *
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204 | * @param s the string to send
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205 | 1461 | bneuman | *
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206 | * @return 0 if init succesfull, an error code otherwise
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207 | 1207 | deffi | **/
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208 | 1461 | bneuman | int usb_puts_P (PGM_P s) {
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209 | 1207 | deffi | char buf;
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210 | 1461 | bneuman | |
211 | if(!usb_initd)
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212 | return ERROR_LIBRARY_NOT_INITD;
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213 | 1207 | deffi | |
214 | while (memcpy_P (&buf, s, sizeof (char)), buf!=0) { |
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215 | usb_putc (buf); |
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216 | s++; |
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217 | } |
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218 | 1461 | bneuman | |
219 | return 0; |
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220 | 1207 | deffi | } |
221 | |||
222 | |||
223 | |||
224 | /**
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225 | 8 | bcoltin | * Returns the first character in the buffer received from USB.
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226 | * This function blocks execution until a character has been received.
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227 | * xbee_init must be called before this function may be used.
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228 | *
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229 | 1461 | bneuman | * @return the first character in the usb buffer, -1 on error
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230 | 8 | bcoltin | *
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231 | * @see usb_init, usb_getc_nb
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232 | **/
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233 | 380 | jknichel | int usb_getc(void) { |
234 | 1461 | bneuman | |
235 | if(!usb_initd)
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236 | return -1; |
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237 | |||
238 | 380 | jknichel | // Wait for the receive buffer to be filled
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239 | loop_until_bit_is_set(UCSR0A, RXC0); |
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240 | 8 | bcoltin | |
241 | 380 | jknichel | // Read the receive buffer
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242 | return UDR0;
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243 | 8 | bcoltin | } |
244 | |||
245 | /**
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246 | * Returns the first character in the buffer received from USB.
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247 | * This function blocks execution until a character has been
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248 | * received. xbee_init must be called before this function
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249 | * may be used.
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250 | *
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251 | 1461 | bneuman | * @return the first character in the xbee buffer, -1 on error
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252 | 8 | bcoltin | *
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253 | * @see xbee_init, xbee_getc_nb
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254 | **/
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255 | 380 | jknichel | int xbee_getc(void) { |
256 | 1461 | bneuman | |
257 | if(!usb_initd)
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258 | return -1; |
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259 | |||
260 | 380 | jknichel | // Wait for the receive buffer to be filled
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261 | loop_until_bit_is_set(UCSR1A, RXC1); |
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262 | 8 | bcoltin | |
263 | 380 | jknichel | // Read the receive buffer
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264 | return UDR1;
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265 | 8 | bcoltin | } |
266 | |||
267 | /**
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268 | * Non blocking version of usb_getc. If a character is present in the buffer,
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269 | * it is returned, otherwise -1 is returned immediately. usb_init must be
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270 | * called before this function can be used.
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271 | *
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272 | * @param c the received character. This will be set if a character has
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273 | * been received.
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274 | *
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275 | 1461 | bneuman | * @return -1 if no character is available, 0 otherwise, positive for error
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276 | 8 | bcoltin | *
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277 | * @see usb_init, usb_getc
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278 | **/
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279 | 380 | jknichel | int usb_getc_nb(char *c) { |
280 | 1461 | bneuman | |
281 | if(!usb_initd)
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282 | return ERROR_LIBRARY_NOT_INITD;
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283 | |||
284 | 380 | jknichel | // check if the receive buffer is filled
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285 | 8 | bcoltin | if (UCSR0A & _BV(RXC0)) {
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286 | // Read the receive buffer
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287 | (*c) = UDR0; |
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288 | return 0; |
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289 | 380 | jknichel | } else {
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290 | 8 | bcoltin | // Return empty
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291 | return -1; |
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292 | 380 | jknichel | } |
293 | 8 | bcoltin | } |
294 | |||
295 | /**
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296 | * Non blocking version of xbee_getc. If a character is present in the buffer,
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297 | * it is returned, otherwise -1 is returned immediately. xbee_init
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298 | * must be called before this function can be used.
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299 | *
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300 | * @param c the received character. This will be set if a character has
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301 | * been received.
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302 | *
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303 | 1461 | bneuman | * @return -1 if no character is available, 0 otherwise, positive for error
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304 | 8 | bcoltin | *
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305 | * @see xbee_init, xbee_getc
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306 | **/
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307 | 380 | jknichel | int xbee_getc_nb(char *c) { |
308 | 1461 | bneuman | if(!xbee_initd)
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309 | return ERROR_LIBRARY_NOT_INITD;
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310 | |||
311 | 380 | jknichel | // check if the receive buffer is filled
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312 | 8 | bcoltin | if (UCSR1A & _BV(RXC1)) {
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313 | // Read the receive buffer
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314 | (*c) = UDR1; |
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315 | return 0; |
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316 | 380 | jknichel | } else {
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317 | 8 | bcoltin | // Return empty
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318 | return -1; |
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319 | 380 | jknichel | } |
320 | 8 | bcoltin | } |
321 | |||
322 | |||
323 | /*
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324 | 380 | jknichel | prints an int to serial
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325 | 8 | bcoltin | |
326 | 380 | jknichel | code adapted from Chris Efstathiou's code (hendrix@otenet.gr)
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327 | uses usb_putc
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328 | 8 | bcoltin | */
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329 | /**
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330 | * Prints an integer, converted to ASCII, to usb. usb_init must be called
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331 | * before this function can be used.
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332 | *
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333 | * @param value the integer to print
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334 | *
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335 | * @return 0 if successful, nonzero otherwise
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336 | *
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337 | * @see usb_init, usb_putc
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338 | **/
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339 | int usb_puti(int value ) { |
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340 | 380 | jknichel | unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; |
341 | 8 | bcoltin | |
342 | 1461 | bneuman | if(!usb_initd)
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343 | return ERROR_LIBRARY_NOT_INITD;
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344 | |||
345 | |||
346 | 380 | jknichel | /* convert int to ascii */
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347 | if(value<0) { |
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348 | usb_putc('-');
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349 | value=-value; |
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350 | } |
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351 | do {
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352 | position--; |
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353 | *(usb_data+position)=(value%radix)+'0';
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354 | value/=radix; |
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355 | } while(value);
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356 | 8 | bcoltin | |
357 | |||
358 | 380 | jknichel | /* start displaying the number */
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359 | for(;position<=(sizeof(usb_data)-1);position++) { |
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360 | 8 | bcoltin | |
361 | 380 | jknichel | usb_putc(usb_data[position]); |
362 | } |
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363 | 8 | bcoltin | |
364 | 380 | jknichel | return 0; |
365 | 8 | bcoltin | } |
366 | 1143 | deffi | |
367 | /**
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368 | * Determines a hexadecimal digit in ASCII code.
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369 | *
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370 | * @param value the value of the digit (0<=value<=15)
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371 | *
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372 | * @return the hexadecimal digit in ASCII code, or '?'
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373 | * if the input is invalid.
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374 | **/
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375 | uint8_t hex_digit (uint8_t value) |
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376 | { |
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377 | if (value>15) return '?'; |
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378 | // Postcondition: 0<=x<=15
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379 | |||
380 | return "0123456789ABCDEF"[value]; |
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381 | } |
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382 | |||
383 | /**
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384 | * Prints a fixed width hexadecimal representation of an unsigned
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385 | * 16 bit integer in ASCII code to USB.
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386 | * usb_init must be called before this function can be used.
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387 | *
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388 | * @param value the value to print
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389 | *
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390 | * @see usb_init, usb_puti, usb_puts, usb_puth8, hex_digit
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391 | 1461 | bneuman | *
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392 | * @return 0 if init succesfull, an error code otherwise
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393 | 1143 | deffi | **/
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394 | 1461 | bneuman | int usb_puth16 (uint16_t value)
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395 | 1143 | deffi | { |
396 | 1461 | bneuman | if(!usb_initd)
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397 | return ERROR_LIBRARY_NOT_INITD;
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398 | |||
399 | 1143 | deffi | usb_putc (hex_digit((value >>12)&0xF)); |
400 | usb_putc (hex_digit((value >>8 )&0xF)); |
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401 | usb_putc (hex_digit((value >>4 )&0xF)); |
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402 | usb_putc (hex_digit( value &0xF));
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403 | 1461 | bneuman | |
404 | return 0; |
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405 | 1143 | deffi | } |
406 | |||
407 | /**
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408 | * Prints a fixed width hexadecimal representation of an unsigned
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409 | * 8 bit integer in ASCII code to USB.
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410 | * usb_init must be called before this function can be used.
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411 | *
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412 | * @param value the value to print
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413 | *
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414 | * @see usb_init, usb_puti, usb_puts, usb_puth16, hex_digit
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415 | 1461 | bneuman | *
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416 | * @return 0 if init succesfull, an error code otherwise
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417 | 1143 | deffi | **/
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418 | 1461 | bneuman | int usb_puth8(uint8_t value)
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419 | 1143 | deffi | { |
420 | 1461 | bneuman | if(!usb_initd)
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421 | return ERROR_LIBRARY_NOT_INITD;
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422 | |||
423 | 1143 | deffi | usb_putc (hex_digit ((value)>>4 &0xF)); |
424 | usb_putc (hex_digit ( value &0xF));
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425 | 1461 | bneuman | |
426 | return 0; |
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427 | 1143 | deffi | } |