Quadrotor

/*

SoftwareSerial.h (formerly NewSoftSerial.h) - 

Multi-instance software serial library for Arduino/Wiring

-- Interrupt-driven receive and other improvements by ladyada

   (http://ladyada.net)

-- Tuning, circular buffer, derivation from class Print/Stream,

   multi-instance support, porting to 8MHz processors,

   various optimizations, PROGMEM delay tables, inverse logic and 

   direct port writing by Mikal Hart (http://www.arduiniana.org)

-- Pin change interrupt macros by Paul Stoffregen (http://www.pjrc.com)

-- 20MHz processor support by Garrett Mace (http://www.macetech.com)

-- ATmega1280/2560 support by Brett Hagman (http://www.roguerobotics.com/)

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public

License along with this library; if not, write to the Free Software

Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

The latest version of this library can always be found at

http://arduiniana.org.

*/

#ifndef SoftwareSerial_h

#define SoftwareSerial_h

#include <inttypes.h>

#include <Stream.h>

/******************************************************************************

* Definitions

******************************************************************************/

#define _SS_MAX_RX_BUFF 64 // RX buffer size

#ifndef GCC_VERSION

#define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)

#endif

class SoftwareSerial : public Stream

{

private:

  // per object data

  uint8_t _receivePin;

  uint8_t _receiveBitMask;

  volatile uint8_t *_receivePortRegister;

  uint8_t _transmitBitMask;

  volatile uint8_t *_transmitPortRegister;

  uint16_t _rx_delay_centering;

  uint16_t _rx_delay_intrabit;

  uint16_t _rx_delay_stopbit;

  uint16_t _tx_delay;

  uint16_t _buffer_overflow:1;

  uint16_t _inverse_logic:1;

  // static data

  static char _receive_buffer[_SS_MAX_RX_BUFF]; 

  static volatile uint8_t _receive_buffer_tail;

  static volatile uint8_t _receive_buffer_head;

  static SoftwareSerial *active_object;

  // private methods

  void recv();

  uint8_t rx_pin_read();

  void tx_pin_write(uint8_t pin_state);

  void setTX(uint8_t transmitPin);

  void setRX(uint8_t receivePin);

  // private static method for timing

  static inline void tunedDelay(uint16_t delay);

public:

  // public methods

  SoftwareSerial(uint8_t receivePin, uint8_t transmitPin, bool inverse_logic = false);

  ~SoftwareSerial();

  void begin(long speed);

  bool listen();

  void end();

  bool isListening() { return this == active_object; }

  bool overflow() { bool ret = _buffer_overflow; _buffer_overflow = false; return ret; }

  int peek();

  virtual size_t write(uint8_t byte);

  virtual int read();

  virtual int available();

  virtual void flush();

  using Print::write;

  // public only for easy access by interrupt handlers

  static inline void handle_interrupt();

};

// Arduino 0012 workaround

#undef int

#undef char

#undef long

#undef byte

#undef float

#undef abs

#undef round

#endif