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

Revision 380

Added by Jason knichel about 16 years ago

fixed some style stuff

       //Set baud rate
       // - 115200 (both wired and wireless) is UBRR=8, U2X=1
       // - 9600 is U2X =1, UBRR = 107.
     	#if (USB_BAUD == 115200)
         UBRR0H = 0x00;
         UBRR0L = 8;
         UCSR0A |= _BV(U2X0);
       #elif (USB_BAUD == 9600)
         UBRR0H = 0x00;
         UBRR0L = 103;
         UCSR0A |= _BV(U2X0);
       #else //Baud rate is defined in the header file, we should not get here
         return;
       #endif
     #if (USB_BAUD == 115200)
       UBRR0H = 0x00;
       UBRR0L = 8;
       UCSR0A |= _BV(U2X0);
     #elif (USB_BAUD == 9600)
       UBRR0H = 0x00;
       UBRR0L = 103;
       UCSR0A |= _BV(U2X0);
     #else //Baud rate is defined in the header file, we should not get here
       return;
     #endif
       /*Enable receiver and transmitter */
     	UCSR0B |= (1<<RXEN0)|(1<<TXEN0);
       UCSR0B |= (1<<RXEN0)|(1<<TXEN0);
     	/* Set frame format: 8data, 1stop bit, asynchronous normal mode */
     	UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);
       /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
       UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);
       // if we have enabled the stdio stuff, then we init it here
       #ifdef USE_STDIO
         /* Open the stdio stream corresponding to this port */
         usb_fd = fdevopen(usb_putc, usb_getc);
       #endif
     #ifdef USE_STDIO
       /* Open the stdio stream corresponding to this port */
       usb_fd = fdevopen(usb_putc, usb_getc);
     #endif
+    }
     /**
-...
       //Set baud rate
       // - 115200 (both wired and wireless) is UBRR=8, U2X=1
       // - 9600 is U2X =1, UBRR = 107.
     	#if (XBEE_BAUD == 115200)
         UBRR1H = 0x00;
         UBRR1L = 8;
         UCSR1A |= _BV(U2X1);
       #elif (XBEE_BAUD == 9600)
         UBRR1H = 0x00;
         UBRR1L = 103;
         UCSR1A |= _BV(U2X1);
       #else //Baud rate is defined in the header file, we should not get here
         return;
       #endif
     #if (XBEE_BAUD == 115200)
       UBRR1H = 0x00;
       UBRR1L = 8;
       UCSR1A |= _BV(U2X1);
     #elif (XBEE_BAUD == 9600)
       UBRR1H = 0x00;
       UBRR1L = 103;
       UCSR1A |= _BV(U2X1);
     #else //Baud rate is defined in the header file, we should not get here
       return;
     #endif
     	//Enable receiver and transmitter
     	UCSR1B |= (1<<RXEN1)|(1<<TXEN1);
       //Enable receiver and transmitter
       UCSR1B |= (1<<RXEN1)|(1<<TXEN1);
     	// Set frame format: 8data, 1stop bit, asynchronous normal mode
     	UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);
       // Set frame format: 8data, 1stop bit, asynchronous normal mode
       UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);
       // if we have enabled the stdio stuff, then we init it here
       #ifdef USE_STDIO
         /* Open the stdio stream corresponding to this port */
         xbee_fd = fdevopen(xbee_putc, xbee_getc);
       #endif
     #ifdef USE_STDIO
       /* Open the stdio stream corresponding to this port */
       xbee_fd = fdevopen(xbee_putc, xbee_getc);
     #endif
+    }
     /**
-...
      * @param c the character to send
      * @return 0 for success, nonzero for failure
      **/
     int usb_putc(char c)
+    {
     int usb_putc(char c) {
       // Wait until buffer is clear for sending
       loop_until_bit_is_set(UCSR0A, UDRE0);
-...
      * @param c the character to send
      * @return 0 for success, nonzero for failure
      **/
     int xbee_putc(char c)
+    {
     int xbee_putc(char c) {
       // Wait until buffer is clear for sending
       loop_until_bit_is_set(UCSR1A, UDRE1);
-...
      * @param s the string to send
      * @return 0 for success, nonzero for failure
      **/
     int usb_puts(char *s)
+    {
     	char *t = s;
     	while (*t != 0)
+    	{
     		usb_putc(*t);
     		t++;
+    	}
     int usb_puts(char *s) {
       char *t = s;
       while (*t != 0) {
         usb_putc(*t);
         t++;
+      }
       return 0;
+    }
-...
+     *
      * @see usb_init, usb_getc_nb
      **/
     int usb_getc(void)
+    {
     	// Wait for the receive buffer to be filled
     	loop_until_bit_is_set(UCSR0A, RXC0);
     int usb_getc(void) {
       // Wait for the receive buffer to be filled
       loop_until_bit_is_set(UCSR0A, RXC0);
     	// Read the receive buffer
     	return UDR0;
       // Read the receive buffer
       return UDR0;
+    }
     /**
-...
+     *
      * @see xbee_init, xbee_getc_nb
      **/
     int xbee_getc(void)
+    {
     	// Wait for the receive buffer to be filled
         loop_until_bit_is_set(UCSR1A, RXC1);
     int xbee_getc(void) {
       // Wait for the receive buffer to be filled
       loop_until_bit_is_set(UCSR1A, RXC1);
     	// Read the receive buffer
     	return UDR1;
       // Read the receive buffer
       return UDR1;
+    }
     /**
-...
+     *
      * @see usb_init, usb_getc
      **/
     int usb_getc_nb(char *c)
+    {
     	// check if the receive buffer is filled
     int usb_getc_nb(char *c) {
       // check if the receive buffer is filled
       if (UCSR0A & _BV(RXC0)) {
         // Read the receive buffer
         (*c) = UDR0;
         return 0;
+      }
       else {
       } else {
         // Return empty
         return -1;
+    	}
+      }
+    }
     /**
-...
+     *
      * @see xbee_init, xbee_getc
      **/
     int xbee_getc_nb(char *c)
+    {
     	// check if the receive buffer is filled
     int xbee_getc_nb(char *c) {
       // check if the receive buffer is filled
       if (UCSR1A & _BV(RXC1)) {
         // Read the receive buffer
         (*c) = UDR1;
         return 0;
+      }
       else {
       } else {
         // Return empty
         return -1;
+    	}
+      }
+    }
     /*
     prints an int to serial
       prints an int to serial
     code adapted from Chris Efstathiou's code (hendrix@otenet.gr)
     uses usb_putc
       code adapted from Chris Efstathiou's code (hendrix@otenet.gr)
       uses usb_putc
     */
     /**
      * Prints an integer, converted to ASCII, to usb. usb_init must be called
-...
      * @see usb_init, usb_putc
      **/
     int usb_puti(int value ) {
     	unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10;
       unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10;
             /* convert int to ascii  */
             if(value<0) { usb_putc('-'); value=-value; }
             do { position--; *(usb_data+position)=(value%radix)+'0'; value/=radix;  } while(value);
       /* convert int to ascii  */
       if(value<0) {
         usb_putc('-');
         value=-value;
+      }
       do {
         position--;
         *(usb_data+position)=(value%radix)+'0';
         value/=radix;
       } while(value);
             /* start displaying the number */
             for(;position<=(sizeof(usb_data)-1);position++)
+              {
       /* start displaying the number */
       for(;position<=(sizeof(usb_data)-1);position++) {
                 usb_putc(usb_data[position]);
+              }
         usb_putc(usb_data[position]);
+      }
     	return 0;
       return 0;
+    }

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Revision 380