Colony

/*

        serial.c - Functions for using the RS232 serial port

        author: Robotics Club, Colony Project

        much code taken from FWR's library, author: Tom Lauwers

        general note - serial -> uart

                                   serial1 -> uart1

                this is done for clarity purposes

*/

#include <avr/io.h>

#include <stdio.h>

#include "serial.h"

//setup uart0 (serial)

void xbee_init(unsigned int ubrr)

{

        /*Set baud rate - baud rates under 4800bps unsupported */

        UBRR0H = 0x00;

        UBRR0L = (unsigned char)ubrr;

        /*Enable receiver and transmitter */

        UCSR0B |= (1<<RXEN0)|(1<<TXEN0);

        /* Set frame format: 8data, 1stop bit, asynchronous normal mode */

        UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);

}

// uart_putchar - Low-level function which puts a value into the 

// Tx buffer for transmission. 

int xbee_putc(char c)

{

        // Wait until buffer is clear for sending

    loop_until_bit_is_set(UCSR0A, UDRE0);

        // Load buffer with your character

    UDR0 = c;

    return 0;

}

int xbee_puts(char *s)

{

        char *t = s;

        while (*t != 0)

        {

                xbee_putc(*t);

                t++;

        }

  return 0;

}

int xbee_puti(int value ) {

        unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; 

        /* convert int to ascii  */ 

        if(value<0) { xbee_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++)

          {

            xbee_putc(usb_data[position]);

          }

        return 0;

}

// uart_getchar - Low-level function which waits for the Rx buffer

// to be filled, and then reads one character out of it.

// Note that this function blocks on read - it will wait until

// something fills the Rx buffer.

int xbee_getc(void)

{

        char c;

        // Wait for the receive buffer to be filled

    loop_until_bit_is_set(UCSR0A, RXC0);

        // Read the receive buffer

    c = UDR0;

        return c;

}

// uart_getchar_nb - Low-level function which checks if the Rx buffer

// is filled, and then reads one character out of it.

// This is a non blocking version uart_getchar

int xbee_getc_nb(void)

{

        char c;

        // Wait for the receive buffer to be filled

    //loop_until_bit_is_set(UCSR0A, RXC0);

        if (UCSR0A & _BV(RXC0)){

                // Read the receive buffer

                c = UDR0;

                return c;

        }

        return 0;

}

//setup uart1 (serial1)

void usb_init( unsigned int ubrr)

{

        /*Set baud rate - baud rates under 4800bps unsupported */

        UBRR1H = 0x00;

        UBRR1L = (unsigned char)ubrr;

        /*Enable receiver and transmitter */

        UCSR1B |= (1<<RXEN1)|(1<<TXEN1);

        /* Set frame format: 8data, 1stop bit, asynchronous normal mode */

        UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);

}

//put to uart1 (serial1)

int usb_putc(char c)

{

        // Wait until buffer is clear for sending

    loop_until_bit_is_set(UCSR1A, UDRE1);

        // Load buffer with your character

    UDR1 = c;

    return 0;

}

int usb_puts(char *s)

{

        char *t = s;

        while (*t != 0)

        {

                usb_putc(*t);

                t++;

        }

  return 0;

}

int usb_puti(int value ) {

        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); 

        /* start displaying the number */

        for(;position<=(sizeof(usb_data)-1);position++)

          {

            usb_putc(usb_data[position]);

          }

        return 0;

}

//get from uart1 (serial1)

int usb_getc(void)

{

        char c;

        // Wait for the receive buffer to be filled

    loop_until_bit_is_set(UCSR1A, RXC1);

        // Read the receive buffer

    c = UDR1;

        return c;

}

//get from uart1 non-block

int usb_getc_nb(void)

{

        char c;

        // Wait for the receive buffer to be filled

    //loop_until_bit_is_set(UCSR1A, RXC1);

        if (UCSR1A & _BV(RXC1)){

                // Read the receive buffer

                c = UDR1;

                return c;

        }

        return 0;

}