root / demos / hunter_prey / lib / src / libdragonfly / serial.c @ 1828
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1 | 1828 | emullini | /**
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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 | |||
26 | |||
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 | #include <avr/io.h> |
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37 | #include "serial.h" |
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38 | |||
39 | #ifdef USE_STDIO
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40 | |||
41 | #include <stdio.h> |
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42 | |||
43 | /**
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44 | * For use with fprintf() and related stdio functions
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45 | **/
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46 | FILE *usb_fd; |
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47 | |||
48 | /**
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49 | * For use with fprintf() and related stdio functions
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50 | **/
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51 | FILE *xbee_fd; |
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52 | |||
53 | #endif
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54 | |||
55 | /**
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56 | * Initializes communication over the USB serial port.
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57 | * This must be called before any other usb function
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58 | * may be used.
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59 | **/
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60 | void usb_init() {
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61 | //Set baud rate
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62 | // - 115200 (both wired and wireless) is UBRR=8, U2X=1
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63 | // - 9600 is U2X =1, UBRR = 107.
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64 | #if (USB_BAUD == 115200) |
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65 | UBRR0H = 0x00;
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66 | UBRR0L = 8;
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67 | UCSR0A |= _BV(U2X0); |
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68 | #elif (USB_BAUD == 9600) |
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69 | UBRR0H = 0x00;
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70 | UBRR0L = 103;
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71 | UCSR0A |= _BV(U2X0); |
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72 | #else //Baud rate is defined in the header file, we should not get here |
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73 | return;
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74 | #endif
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75 | |||
76 | /*Enable receiver and transmitter */
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77 | UCSR0B |= (1<<RXEN0)|(1<<TXEN0); |
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78 | |||
79 | /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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80 | UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
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81 | |||
82 | // if we have enabled the stdio stuff, then we init it here
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83 | #ifdef USE_STDIO
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84 | /* Open the stdio stream corresponding to this port */
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85 | usb_fd = fdevopen(usb_putc, usb_getc); |
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86 | #endif
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87 | } |
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88 | |||
89 | /**
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90 | * Initializes communication over the XBee.
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91 | * This must be called before any other xbee function
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92 | * may be used.
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93 | **/
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94 | void xbee_init() {
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95 | //Set baud rate
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96 | // - 115200 (both wired and wireless) is UBRR=8, U2X=1
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97 | // - 9600 is U2X =1, UBRR = 107.
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98 | #if (XBEE_BAUD == 115200) |
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99 | UBRR1H = 0x00;
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100 | UBRR1L = 8;
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101 | UCSR1A |= _BV(U2X1); |
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102 | #elif (XBEE_BAUD == 9600) |
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103 | UBRR1H = 0x00;
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104 | UBRR1L = 103;
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105 | UCSR1A |= _BV(U2X1); |
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106 | #else //Baud rate is defined in the header file, we should not get here |
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107 | return;
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108 | #endif
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109 | |||
110 | //Enable receiver and transmitter
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111 | UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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112 | |||
113 | // Set frame format: 8data, 1stop bit, asynchronous normal mode
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114 | UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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115 | |||
116 | // if we have enabled the stdio stuff, then we init it here
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117 | #ifdef USE_STDIO
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118 | /* Open the stdio stream corresponding to this port */
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119 | xbee_fd = fdevopen(xbee_putc, xbee_getc); |
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120 | #endif
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121 | } |
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122 | |||
123 | /**
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124 | * Sends a character over USB.
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125 | *
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126 | * @param c the character to send
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127 | * @return 0 for success, nonzero for failure
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128 | **/
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129 | int usb_putc(char c) { |
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130 | // Wait until buffer is clear for sending
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131 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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132 | |||
133 | // Load buffer with your character
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134 | UDR0 = c; |
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135 | return 0; |
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136 | } |
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137 | |||
138 | /**
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139 | * Sends a character to the XBee.
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140 | *
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141 | * @param c the character to send
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142 | * @return 0 for success, nonzero for failure
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143 | **/
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144 | int xbee_putc(char c) { |
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145 | // Wait until buffer is clear for sending
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146 | loop_until_bit_is_set(UCSR1A, UDRE1); |
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147 | |||
148 | // Load buffer with your character
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149 | UDR1 = c; |
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150 | return 0; |
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151 | } |
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152 | |||
153 | /**
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154 | * Sends a sequence of characters over USB.
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155 | *
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156 | * @param s the string to send
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157 | * @return 0 for success, nonzero for failure
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158 | **/
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159 | int usb_puts(char *s) { |
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160 | char *t = s;
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161 | while (*t != 0) { |
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162 | usb_putc(*t); |
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163 | t++; |
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164 | } |
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165 | return 0; |
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166 | } |
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167 | |||
168 | /**
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169 | * Sends a sequence of characters from program space over USB.
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170 | *
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171 | * @param s the string to send
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172 | **/
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173 | void usb_puts_P (PGM_P s) {
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174 | char buf;
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175 | |||
176 | while (memcpy_P (&buf, s, sizeof (char)), buf!=0) { |
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177 | usb_putc (buf); |
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178 | s++; |
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179 | } |
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180 | } |
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181 | |||
182 | |||
183 | |||
184 | /**
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185 | * Returns the first character in the buffer received from USB.
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186 | * This function blocks execution until a character has been received.
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187 | * xbee_init must be called before this function may be used.
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188 | *
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189 | * @return the first character in the usb buffer
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190 | *
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191 | * @see usb_init, usb_getc_nb
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192 | **/
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193 | int usb_getc(void) { |
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194 | // Wait for the receive buffer to be filled
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195 | loop_until_bit_is_set(UCSR0A, RXC0); |
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196 | |||
197 | // Read the receive buffer
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198 | return UDR0;
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199 | } |
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200 | |||
201 | /**
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202 | * Returns the first character in the buffer received from USB.
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203 | * This function blocks execution until a character has been
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204 | * received. xbee_init must be called before this function
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205 | * may be used.
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206 | *
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207 | * @return the first character in the xbee buffer
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208 | *
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209 | * @see xbee_init, xbee_getc_nb
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210 | **/
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211 | int xbee_getc(void) { |
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212 | // Wait for the receive buffer to be filled
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213 | loop_until_bit_is_set(UCSR1A, RXC1); |
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214 | |||
215 | // Read the receive buffer
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216 | return UDR1;
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217 | } |
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218 | |||
219 | /**
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220 | * Non blocking version of usb_getc. If a character is present in the buffer,
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221 | * it is returned, otherwise -1 is returned immediately. usb_init must be
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222 | * called before this function can be used.
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223 | *
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224 | * @param c the received character. This will be set if a character has
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225 | * been received.
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226 | *
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227 | * @return -1 if no character is available, 0 otherwise
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228 | *
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229 | * @see usb_init, usb_getc
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230 | **/
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231 | int usb_getc_nb(char *c) { |
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232 | // check if the receive buffer is filled
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233 | if (UCSR0A & _BV(RXC0)) {
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234 | // Read the receive buffer
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235 | (*c) = UDR0; |
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236 | return 0; |
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237 | } else {
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238 | // Return empty
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239 | return -1; |
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240 | } |
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241 | } |
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242 | |||
243 | /**
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244 | * Non blocking version of xbee_getc. If a character is present in the buffer,
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245 | * it is returned, otherwise -1 is returned immediately. xbee_init
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246 | * must be called before this function can be used.
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247 | *
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248 | * @param c the received character. This will be set if a character has
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249 | * been received.
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250 | *
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251 | * @return -1 if no character is available, 0 otherwise
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252 | *
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253 | * @see xbee_init, xbee_getc
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254 | **/
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255 | int xbee_getc_nb(char *c) { |
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256 | // check if the receive buffer is filled
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257 | if (UCSR1A & _BV(RXC1)) {
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258 | // Read the receive buffer
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259 | (*c) = UDR1; |
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260 | return 0; |
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261 | } else {
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262 | // Return empty
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263 | return -1; |
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264 | } |
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265 | } |
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266 | |||
267 | |||
268 | /*
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269 | prints an int to serial
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270 | |||
271 | code adapted from Chris Efstathiou's code (hendrix@otenet.gr)
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272 | uses usb_putc
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273 | */
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274 | /**
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275 | * Prints an integer, converted to ASCII, to usb. usb_init must be called
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276 | * before this function can be used.
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277 | *
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278 | * @param value the integer to print
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279 | *
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280 | * @return 0 if successful, nonzero otherwise
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281 | *
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282 | * @see usb_init, usb_putc
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283 | **/
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284 | int usb_puti(int value ) { |
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285 | unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; |
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286 | |||
287 | /* convert int to ascii */
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288 | if(value<0) { |
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289 | usb_putc('-');
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290 | value=-value; |
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291 | } |
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292 | do {
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293 | position--; |
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294 | *(usb_data+position)=(value%radix)+'0';
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295 | value/=radix; |
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296 | } while(value);
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297 | |||
298 | |||
299 | /* start displaying the number */
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300 | for(;position<=(sizeof(usb_data)-1);position++) { |
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301 | |||
302 | usb_putc(usb_data[position]); |
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303 | } |
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304 | |||
305 | return 0; |
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306 | } |
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307 | |||
308 | /**
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309 | * Determines a hexadecimal digit in ASCII code.
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310 | *
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311 | * @param value the value of the digit (0<=value<=15)
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312 | *
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313 | * @return the hexadecimal digit in ASCII code, or '?'
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314 | * if the input is invalid.
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315 | **/
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316 | uint8_t hex_digit (uint8_t value) |
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317 | { |
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318 | if (value>15) return '?'; |
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319 | // Postcondition: 0<=x<=15
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320 | |||
321 | return "0123456789ABCDEF"[value]; |
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322 | } |
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323 | |||
324 | /**
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325 | * Prints a fixed width hexadecimal representation of an unsigned
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326 | * 16 bit integer in ASCII code to USB.
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327 | * usb_init must be called before this function can be used.
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328 | *
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329 | * @param value the value to print
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330 | *
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331 | * @see usb_init, usb_puti, usb_puts, usb_puth8, hex_digit
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332 | **/
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333 | void usb_puth16 (uint16_t value)
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334 | { |
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335 | usb_putc (hex_digit((value >>12)&0xF)); |
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336 | usb_putc (hex_digit((value >>8 )&0xF)); |
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337 | usb_putc (hex_digit((value >>4 )&0xF)); |
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338 | usb_putc (hex_digit( value &0xF));
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339 | } |
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340 | |||
341 | /**
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342 | * Prints a fixed width hexadecimal representation of an unsigned
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343 | * 8 bit integer in ASCII code to USB.
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344 | * usb_init must be called before this function can be used.
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345 | *
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346 | * @param value the value to print
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347 | *
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348 | * @see usb_init, usb_puti, usb_puts, usb_puth16, hex_digit
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349 | **/
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350 | void usb_puth8(uint8_t value)
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351 | { |
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352 | usb_putc (hex_digit ((value)>>4 &0xF)); |
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353 | usb_putc (hex_digit ( value &0xF));
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354 | } |