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

Revision 1496

Reverted "libdragonfly" folder back to version before Init Checking was implemented and did "make dist" to recompile the library. BOM LEDs now shine
correctly.

      **/
     #include <avr/io.h>
     #include "dragonfly_defs.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.
      **/
     int usb_init() {
     void 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 0;
       return;
     #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.
      **/
     int xbee_init() {
       if(xbee_initd) {
         return ERROR_INIT_ALREADY_INITD;
+      }
     void xbee_init() {
       //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 0;
       return;
     #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
      **/
     int usb_puts_P (PGM_P s) {
     void 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, -1 on error
      * @return the first character in the usb buffer
+     *
      * @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, -1 on error
      * @return the first character in the xbee buffer
+     *
      * @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, positive for error
      * @return -1 if no character is available, 0 otherwise
+     *
      * @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, positive for error
      * @return -1 if no character is available, 0 otherwise
+     *
      * @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
      **/
     int usb_puth16 (uint16_t value)
     void 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
      **/
     int usb_puth8(uint8_t value)
     void 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 1496