/trunk/code/projects/libdragonfly/serial.c - Diff - Colony - Robotics Club

Revision 1461

updated all the library code to have sensible _init behavior.
Almost all of the library components have a global variable which gets set after init and the functions inside will fail with an error code if init has not been called. Also, the init functions themselves check this variable and will bail out without doing any damage if that init has already been called

     #include <avr/io.h>
     #include "serial.h"
     unsigned char usb_initd=0;
     unsigned char xbee_initd=0;
     #ifdef USE_STDIO
     #include <stdio.h>
-...
      * This must be called before any other usb function
      * may be used.
      **/
     void usb_init() {
     int usb_init() {
       //Set baud rate
       // - 115200 (both wired and wireless) is UBRR=8, U2X=1
       // - 9600 is U2X =1, UBRR = 107.
       if(usb_initd) {
         return ERROR_INIT_ALREADY_INITD;
+      }
     #if (USB_BAUD == 115200)
       UBRR0H = 0x00;
       UBRR0L = 8;
-...
       UBRR0L = 103;
       UCSR0A |= _BV(U2X0);
     #else //Baud rate is defined in the header file, we should not get here
       return;
       return 0;
     #endif
       /*Enable receiver and transmitter */
-...
       /* Open the stdio stream corresponding to this port */
       usb_fd = fdevopen(usb_putc, usb_getc);
     #endif
       usb_initd = 1;
       return 0;
+    }
     /**
-...
      * This must be called before any other xbee function
      * may be used.
      **/
     void xbee_init() {
     int xbee_init() {
       if(xbee_initd) {
         return ERROR_INIT_ALREADY_INITD;
+      }
       //Set baud rate
       // - 115200 (both wired and wireless) is UBRR=8, U2X=1
       // - 9600 is U2X =1, UBRR = 107.
-...
       UBRR1L = 103;
       UCSR1A |= _BV(U2X1);
     #else //Baud rate is defined in the header file, we should not get here
       return;
       return 0;
     #endif
       //Enable receiver and transmitter
-...
       /* Open the stdio stream corresponding to this port */
       xbee_fd = fdevopen(xbee_putc, xbee_getc);
     #endif
       xbee_initd = 1;
       return 0;
+    }
     /**
-...
      * @return 0 for success, nonzero for failure
      **/
     int usb_putc(char c) {
       if(!usb_initd)
         return ERROR_LIBRARY_NOT_INITD;
       // Wait until buffer is clear for sending
       loop_until_bit_is_set(UCSR0A, UDRE0);
-...
      * @return 0 for success, nonzero for failure
      **/
     int xbee_putc(char c) {
       if(!xbee_initd)
         return ERROR_LIBRARY_NOT_INITD;
       // Wait until buffer is clear for sending
       loop_until_bit_is_set(UCSR1A, UDRE1);
-...
      **/
     int usb_puts(char *s) {
       char *t = s;
       if(!usb_initd)
         return ERROR_LIBRARY_NOT_INITD;
       while (*t != 0) {
         usb_putc(*t);
         t++;
-...
      * Sends a sequence of characters from program space over USB.
+     *
      * @param s the string to send
+     *
      * @return 0 if init succesfull, an error code otherwise
      **/
     void usb_puts_P (PGM_P s) {
     int usb_puts_P (PGM_P s) {
         char buf;
         if(!usb_initd)
           return ERROR_LIBRARY_NOT_INITD;
         while (memcpy_P (&buf, s, sizeof (char)), buf!=0) {
             usb_putc (buf);
             s++;
+        }
         return 0;
+    }
-...
      * This function blocks execution until a character has been received.
      * xbee_init must be called before this function may be used.
+     *
      * @return the first character in the usb buffer
      * @return the first character in the usb buffer, -1 on error
+     *
      * @see usb_init, usb_getc_nb
      **/
     int usb_getc(void) {
       if(!usb_initd)
         return -1;
       // Wait for the receive buffer to be filled
       loop_until_bit_is_set(UCSR0A, RXC0);
-...
      * received. xbee_init must be called before this function
      * may be used.
+     *
      * @return the first character in the xbee buffer
      * @return the first character in the xbee buffer, -1 on error
+     *
      * @see xbee_init, xbee_getc_nb
      **/
     int xbee_getc(void) {
       if(!usb_initd)
         return -1;
       // Wait for the receive buffer to be filled
       loop_until_bit_is_set(UCSR1A, RXC1);
-...
      * @param c the received character. This will be set if a character has
      * been received.
+     *
      * @return -1 if no character is available, 0 otherwise
      * @return -1 if no character is available, 0 otherwise, positive for error
+     *
      * @see usb_init, usb_getc
      **/
     int usb_getc_nb(char *c) {
       if(!usb_initd)
         return ERROR_LIBRARY_NOT_INITD;
       // check if the receive buffer is filled
       if (UCSR0A & _BV(RXC0)) {
         // Read the receive buffer
-...
      * @param c the received character. This will be set if a character has
      * been received.
+     *
      * @return -1 if no character is available, 0 otherwise
      * @return -1 if no character is available, 0 otherwise, positive for error
+     *
      * @see xbee_init, xbee_getc
      **/
     int xbee_getc_nb(char *c) {
       if(!xbee_initd)
         return ERROR_LIBRARY_NOT_INITD;
       // check if the receive buffer is filled
       if (UCSR1A & _BV(RXC1)) {
         // Read the receive buffer
-...
     int usb_puti(int value ) {
       unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10;
       if(!usb_initd)
         return ERROR_LIBRARY_NOT_INITD;
       /* convert int to ascii  */
       if(value<0) {
         usb_putc('-');
-...
      * @param value the value to print
+     *
      * @see usb_init, usb_puti, usb_puts, usb_puth8, hex_digit
+     *
      * @return 0 if init succesfull, an error code otherwise
      **/
     void usb_puth16 (uint16_t value)
     int usb_puth16 (uint16_t value)
+    {
         if(!usb_initd)
           return ERROR_LIBRARY_NOT_INITD;
         usb_putc (hex_digit((value >>12)&0xF));
         usb_putc (hex_digit((value >>8 )&0xF));
         usb_putc (hex_digit((value >>4 )&0xF));
         usb_putc (hex_digit( value      &0xF));
         return 0;
+    }
     /**
-...
      * @param value the value to print
+     *
      * @see usb_init, usb_puti, usb_puts, usb_puth16, hex_digit
+     *
      * @return 0 if init succesfull, an error code otherwise
      **/
     void usb_puth8(uint8_t value)
     int usb_puth8(uint8_t value)
+    {
         if(!usb_initd)
           return ERROR_LIBRARY_NOT_INITD;
         usb_putc (hex_digit ((value)>>4 &0xF));
         usb_putc (hex_digit ( value     &0xF));
         return 0;
+    }

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Revision 1461