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Serial.c
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#if defined(MEGA)
#define UART_NUMBER 4
#elif defined(PROMICRO)
#define UART_NUMBER 2
#else
#define UART_NUMBER 1
#endif
#if defined(GPS_SERIAL)
#define RX_BUFFER_SIZE 256 // 256 RX buffer is needed for GPS communication (64 or 128 was too short)
#else
#define RX_BUFFER_SIZE 64
#endif
#define TX_BUFFER_SIZE 128
#define INBUF_SIZE 64
static volatile uint8_t serialHeadRX[UART_NUMBER],serialTailRX[UART_NUMBER];
static uint8_t serialBufferRX[RX_BUFFER_SIZE][UART_NUMBER];
static volatile uint8_t serialHeadTX[UART_NUMBER],serialTailTX[UART_NUMBER];
static uint8_t serialBufferTX[TX_BUFFER_SIZE][UART_NUMBER];
static uint8_t inBuf[INBUF_SIZE][UART_NUMBER];
#define BIND_CAPABLE 0; //Used for Spektrum today; can be used in the future for any RX type that needs a bind and has a MultiWii module.
#if defined(SPEK_BIND)
#define BIND_CAPABLE 1;
#endif
// Capability is bit flags; next defines should be 2, 4, 8...
const uint32_t PROGMEM capability = 0+BIND_CAPABLE;
#ifdef DEBUGMSG
#define DEBUG_MSG_BUFFER_SIZE 128
static char debug_buf[DEBUG_MSG_BUFFER_SIZE];
static uint8_t head_debug;
static uint8_t tail_debug;
#endif
// Multiwii Serial Protocol 0
#define MSP_VERSION 0
//to multiwii developpers/committers : do not add new MSP messages without a proper argumentation/agreement on the forum
#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 //out message 9 DOF
#define MSP_SERVO 103 //out message 8 servos
#define MSP_MOTOR 104 //out message 8 motors
#define MSP_RC 105 //out message 8 rc chan and more
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message altitude, variometer
#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 //out message P I D coeff (9 are used currently)
#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
#define MSP_MISC 114 //out message powermeter trig
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_BIND 240 //in message no param
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_DEBUGMSG 253 //out message debug string buffer
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
static uint8_t checksum[UART_NUMBER];
static uint8_t indRX[UART_NUMBER];
static uint8_t cmdMSP[UART_NUMBER];
#if defined(PROMINI)
#define CURRENTPORT 0
#else
static uint8_t CURRENTPORT=0;
#endif
uint32_t read32() {
uint32_t t = read16();
t+= (uint32_t)read16()<<16;
return t;
}
uint16_t read16() {
uint16_t t = read8();
t+= (uint16_t)read8()<<8;
return t;
}
uint8_t read8() {
return inBuf[indRX[CURRENTPORT]++][CURRENTPORT]&0xff;
}
void headSerialResponse(uint8_t err, uint8_t s) {
serialize8('$');
serialize8('M');
serialize8(err ? '!' : '>');
checksum[CURRENTPORT] = 0; // start calculating a new checksum
serialize8(s);
serialize8(cmdMSP[CURRENTPORT]);
}
void headSerialReply(uint8_t s) {
headSerialResponse(0, s);
}
void inline headSerialError(uint8_t s) {
headSerialResponse(1, s);
}
void tailSerialReply() {
serialize8(checksum[CURRENTPORT]);UartSendData();
}
void serializeNames(PGM_P s) {
for (PGM_P c = s; pgm_read_byte(c); c++) {
serialize8(pgm_read_byte(c));
}
}
void serialCom() {
uint8_t c,n;
static uint8_t offset[UART_NUMBER];
static uint8_t dataSize[UART_NUMBER];
static enum _serial_state {
IDLE,
HEADER_START,
HEADER_M,
HEADER_ARROW,
HEADER_SIZE,
HEADER_CMD,
} c_state[UART_NUMBER];// = IDLE;
for(n=0;n<UART_NUMBER;n++) {
#if !defined(PROMINI)
CURRENTPORT=n;
#endif
#define GPS_COND
#if defined(GPS_SERIAL)
#if defined(GPS_PROMINI)
#define GPS_COND
#else
#define GPS_COND && (GPS_SERIAL != CURRENTPORT)
#endif
#endif
#define SPEK_COND
#if defined(SPEKTRUM) && (UART_NUMBER > 1)
#define SPEK_COND && (SPEK_SERIAL_PORT != CURRENTPORT)
#endif
while (SerialAvailable(CURRENTPORT) GPS_COND SPEK_COND) {
uint8_t bytesTXBuff = ((uint8_t)(serialHeadTX[CURRENTPORT]-serialTailTX[CURRENTPORT]))%TX_BUFFER_SIZE; // indicates the number of occupied bytes in TX buffer
if (bytesTXBuff > TX_BUFFER_SIZE - 50 ) return; // ensure there is enough free TX buffer to go further (50 bytes margin)
c = SerialRead(CURRENTPORT);
#ifdef SUPPRESS_ALL_SERIAL_MSP
// no MSP handling, so go directly
evaluateOtherData(c);
#else
// regular data handling to detect and handle MSP and other data
if (c_state[CURRENTPORT] == IDLE) {
c_state[CURRENTPORT] = (c=='$') ? HEADER_START : IDLE;
if (c_state[CURRENTPORT] == IDLE) evaluateOtherData(c); // evaluate all other incoming serial data
} else if (c_state[CURRENTPORT] == HEADER_START) {
c_state[CURRENTPORT] = (c=='M') ? HEADER_M : IDLE;
} else if (c_state[CURRENTPORT] == HEADER_M) {
c_state[CURRENTPORT] = (c=='<') ? HEADER_ARROW : IDLE;
} else if (c_state[CURRENTPORT] == HEADER_ARROW) {
if (c > INBUF_SIZE) { // now we are expecting the payload size
c_state[CURRENTPORT] = IDLE;
continue;
}
dataSize[CURRENTPORT] = c;
offset[CURRENTPORT] = 0;
checksum[CURRENTPORT] = 0;
indRX[CURRENTPORT] = 0;
checksum[CURRENTPORT] ^= c;
c_state[CURRENTPORT] = HEADER_SIZE; // the command is to follow
} else if (c_state[CURRENTPORT] == HEADER_SIZE) {
cmdMSP[CURRENTPORT] = c;
checksum[CURRENTPORT] ^= c;
c_state[CURRENTPORT] = HEADER_CMD;
} else if (c_state[CURRENTPORT] == HEADER_CMD && offset[CURRENTPORT] < dataSize[CURRENTPORT]) {
checksum[CURRENTPORT] ^= c;
inBuf[offset[CURRENTPORT]++][CURRENTPORT] = c;
} else if (c_state[CURRENTPORT] == HEADER_CMD && offset[CURRENTPORT] >= dataSize[CURRENTPORT]) {
if (checksum[CURRENTPORT] == c) { // compare calculated and transferred checksum
evaluateCommand(); // we got a valid packet, evaluate it
}
c_state[CURRENTPORT] = IDLE;
}
#endif // SUPPRESS_ALL_SERIAL_MSP
}
}
}
#ifndef SUPPRESS_ALL_SERIAL_MSP
void evaluateCommand() {
switch(cmdMSP[CURRENTPORT]) {
case MSP_SET_RAW_RC:
for(uint8_t i=0;i<8;i++) {
rcData[i] = read16();
}
headSerialReply(0);
break;
#if GPS
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
GPS_numSat = read8();
GPS_coord[LAT] = read32();
GPS_coord[LON] = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update |= 2; // New data signalisation to GPS functions
headSerialReply(0);
break;
#endif
case MSP_SET_PID:
for(uint8_t i=0;i<PIDITEMS;i++) {
conf.P8[i]=read8();
conf.I8[i]=read8();
conf.D8[i]=read8();
}
headSerialReply(0);
break;
case MSP_SET_BOX:
for(uint8_t i=0;i<CHECKBOXITEMS;i++) {
conf.activate[i]=read16();
}
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
conf.rcRate8 = read8();
conf.rcExpo8 = read8();
conf.rollPitchRate = read8();
conf.yawRate = read8();
conf.dynThrPID = read8();
conf.thrMid8 = read8();
conf.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
#if defined(POWERMETER)
conf.powerTrigger1 = read16() / PLEVELSCALE;
#endif
headSerialReply(0);
break;
#ifdef MULTIPLE_CONFIGURATION_PROFILES
case MSP_SELECT_SETTING:
if(!f.ARMED) {
global_conf.currentSet = read8();
if(global_conf.currentSet>2) global_conf.currentSet = 0;
writeGlobalSet(0);
readEEPROM();
}
headSerialReply(0);
break;
#endif
case MSP_SET_HEAD:
magHold = read16();
headSerialReply(0);
break;
case MSP_IDENT:
headSerialReply(7);
serialize8(VERSION); // multiwii version
serialize8(MULTITYPE); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(pgm_read_dword(&(capability))); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
serialize16(cycleTime);
serialize16(i2c_errors_count);
serialize16(ACC|BARO<<1|MAG<<2|GPS<<3|SONAR<<4);
serialize32(
#if ACC
f.ANGLE_MODE<<BOXANGLE|
f.HORIZON_MODE<<BOXHORIZON|
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
f.BARO_MODE<<BOXBARO|
#endif
#if MAG
f.MAG_MODE<<BOXMAG|f.HEADFREE_MODE<<BOXHEADFREE|rcOptions[BOXHEADADJ]<<BOXHEADADJ|
#endif
#if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
rcOptions[BOXCAMSTAB]<<BOXCAMSTAB|
#endif
#if defined(CAMTRIG)
rcOptions[BOXCAMTRIG]<<BOXCAMTRIG|
#endif
#if GPS
f.GPS_HOME_MODE<<BOXGPSHOME|f.GPS_HOLD_MODE<<BOXGPSHOLD|
#endif
#if defined(FIXEDWING) || defined(HELICOPTER)
f.PASSTHRU_MODE<<BOXPASSTHRU|
#endif
#if defined(BUZZER)
rcOptions[BOXBEEPERON]<<BOXBEEPERON|
#endif
#if defined(LED_FLASHER)
rcOptions[BOXLEDMAX]<<BOXLEDMAX|
#endif
#if defined(LANDING_LIGHTS_DDR)
rcOptions[BOXLLIGHTS]<<BOXLLIGHTS |
#endif
#if defined(VARIOMETER)
rcOptions[BOXVARIO]<<BOXVARIO |
#endif
#if defined(INFLIGHT_ACC_CALIBRATION)
rcOptions[BOXCALIB]<<BOXCALIB |
#endif
#if defined(GOVERNOR_P)
rcOptions[BOXGOV]<<BOXGOV |
#endif
#if defined(OSD_SWITCH)
rcOptions[BOXOSD]<<BOXOSD |
#endif
f.ARMED<<BOXARM);
serialize8(global_conf.currentSet); // current setting
break;
case MSP_RAW_IMU:
headSerialReply(18);
for(uint8_t i=0;i<3;i++) serialize16(accSmooth[i]);
for(uint8_t i=0;i<3;i++) serialize16(gyroData[i]);
for(uint8_t i=0;i<3;i++) serialize16(magADC[i]);
break;
case MSP_SERVO:
headSerialReply(16);
for(uint8_t i=0;i<8;i++)
#if defined(SERVO)
serialize16(servo[i]);
#else
serialize16(0);
#endif
break;
case MSP_MOTOR:
headSerialReply(16);
for(uint8_t i=0;i<8;i++) {
serialize16( (i < NUMBER_MOTOR) ? motor[i] : 0 );
}
break;
case MSP_RC:
headSerialReply(RC_CHANS * 2);
for(uint8_t i=0;i<RC_CHANS;i++) serialize16(rcData[i]);
break;
#if GPS
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
serialize8(GPS_numSat);
serialize32(GPS_coord[LAT]);
serialize32(GPS_coord[LON]);
serialize16(GPS_altitude);
serialize16(GPS_speed);
serialize16(GPS_ground_course); // added since r1172
break;
case MSP_COMP_GPS:
headSerialReply(5);
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome);
serialize8(GPS_update & 1);
break;
#endif
case MSP_ATTITUDE:
headSerialReply(8);
for(uint8_t i=0;i<2;i++) serialize16(angle[i]);
serialize16(heading);
serialize16(headFreeModeHold);
break;
case MSP_ALTITUDE:
headSerialReply(6);
serialize32(EstAlt);
serialize16(vario); // added since r1172
break;
case MSP_ANALOG:
headSerialReply(5);
serialize8(vbat);
serialize16(intPowerMeterSum);
serialize16(rssi);
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(conf.rcRate8);
serialize8(conf.rcExpo8);
serialize8(conf.rollPitchRate);
serialize8(conf.yawRate);
serialize8(conf.dynThrPID);
serialize8(conf.thrMid8);
serialize8(conf.thrExpo8);
break;
case MSP_PID:
headSerialReply(3*PIDITEMS);
for(uint8_t i=0;i<PIDITEMS;i++) {
serialize8(conf.P8[i]);
serialize8(conf.I8[i]);
serialize8(conf.D8[i]);
}
break;
case MSP_PIDNAMES:
headSerialReply(strlen_P(pidnames));
serializeNames(pidnames);
break;
case MSP_BOX:
headSerialReply(2*CHECKBOXITEMS);
for(uint8_t i=0;i<CHECKBOXITEMS;i++) {
serialize16(conf.activate[i]);
}
break;
case MSP_BOXNAMES:
headSerialReply(strlen_P(boxnames));
serializeNames(boxnames);
break;
case MSP_BOXIDS:
headSerialReply(CHECKBOXITEMS);
for(uint8_t i=0;i<CHECKBOXITEMS;i++) {
serialize8(pgm_read_byte(&(boxids[i])));
}
break;
case MSP_MISC:
headSerialReply(2);
serialize16(intPowerTrigger1);
break;
case MSP_MOTOR_PINS:
headSerialReply(8);
for(uint8_t i=0;i<8;i++) {
serialize8(PWM_PIN[i]);
}
break;
#if defined(USE_MSP_WP)
case MSP_WP:
{
int32_t lat = 0,lon = 0;
uint8_t wp_no = read8(); //get the wp number
headSerialReply(18);
if (wp_no == 0) {
lat = GPS_home[LAT];
lon = GPS_home[LON];
} else if (wp_no == 16) {
lat = GPS_hold[LAT];
lon = GPS_hold[LON];
}
serialize8(wp_no);
serialize32(lat);
serialize32(lon);
serialize32(AltHold); //altitude (cm) will come here -- temporary implementation to test feature with apps
serialize16(0); //heading will come here (deg)
serialize16(0); //time to stay (ms) will come here
serialize8(0); //nav flag will come here
}
break;
case MSP_SET_WP:
{
int32_t lat = 0,lon = 0,alt = 0;
uint8_t wp_no = read8(); //get the wp number
lat = read32();
lon = read32();
alt = read32(); // to set altitude (cm)
read16(); // future: to set heading (deg)
read16(); // future: to set time to stay (ms)
read8(); // future: to set nav flag
if (wp_no == 0) {
GPS_home[LAT] = lat;
GPS_home[LON] = lon;
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
f.GPS_FIX_HOME = 1;
if (alt != 0) AltHold = alt; // temporary implementation to test feature with apps
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
GPS_hold[LAT] = lat;
GPS_hold[LON] = lon;
if (alt != 0) AltHold = alt; // temporary implementation to test feature with apps
#if !defined(I2C_GPS)
nav_mode = NAV_MODE_WP;
GPS_set_next_wp(&GPS_hold[LAT],&GPS_hold[LON]);
#endif
}
}
headSerialReply(0);
break;
#endif
case MSP_RESET_CONF:
if(!f.ARMED) LoadDefaults();
headSerialReply(0);
break;
case MSP_ACC_CALIBRATION:
if(!f.ARMED) calibratingA=512;
headSerialReply(0);
break;
case MSP_MAG_CALIBRATION:
if(!f.ARMED) f.CALIBRATE_MAG = 1;
headSerialReply(0);
break;
#if defined(SPEK_BIND)
case MSP_BIND:
spekBind();
headSerialReply(0);
break;
#endif
case MSP_EEPROM_WRITE:
writeParams(0);
headSerialReply(0);
break;
case MSP_DEBUG:
headSerialReply(8);
for(uint8_t i=0;i<4;i++) {
serialize16(debug[i]); // 4 variables are here for general monitoring purpose
}
break;
#ifdef DEBUGMSG
case MSP_DEBUGMSG:
{
uint8_t size = debugmsg_available();
if (size > 16) size = 16;
headSerialReply(size);
debugmsg_serialize(size);
}
break;
#endif
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
headSerialError(0);
break;
}
tailSerialReply();
}
#endif // SUPPRESS_ALL_SERIAL_MSP
// evaluate all other incoming serial data
void evaluateOtherData(uint8_t sr) {
#ifndef SUPPRESS_OTHER_SERIAL_COMMANDS
switch (sr) {
// Note: we may receive weird characters here which could trigger unwanted features during flight.
// this could lead to a crash easily.
// Please use if (!f.ARMED) where neccessary
#ifdef LCD_CONF
case 's':
case 'S':
if (!f.ARMED) configurationLoop();
break;
#endif
#ifdef LOG_PERMANENT_SHOW_AT_L
case 'L':
if (!f.ARMED) dumpPLog(1);
break;
#endif
#if defined(LCD_TELEMETRY) && defined(LCD_TEXTSTAR)
case 'A': // button A press
toggle_telemetry(1);
break;
case 'B': // button B press
toggle_telemetry(2);
break;
case 'C': // button C press
toggle_telemetry(3);
break;
case 'D': // button D press
toggle_telemetry(4);
break;
case 'a': // button A release
case 'b': // button B release
case 'c': // button C release
case 'd': // button D release
break;
#endif
#ifdef LCD_TELEMETRY
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
#if defined(LOG_VALUES) || defined(DEBUG)
case 'R':
#endif
#ifdef DEBUG
case 'F':
#endif
toggle_telemetry(sr);
break;
#endif // LCD_TELEMETRY
}
#endif // SUPPRESS_OTHER_SERIAL_COMMANDS
}
// *******************************************************
// For Teensy 2.0, these function emulate the API used for ProMicro
// it cant have the same name as in the arduino API because it wont compile for the promini (eaven if it will be not compiled)
// *******************************************************
#if defined(TEENSY20)
unsigned char T_USB_Available(){
int n = Serial.available();
if (n > 255) n = 255;
return n;
}
#endif
// *******************************************************
// Interrupt driven UART transmitter - using a ring buffer
// *******************************************************
void serialize32(uint32_t a) {
serialize8((a ) & 0xFF);
serialize8((a>> 8) & 0xFF);
serialize8((a>>16) & 0xFF);
serialize8((a>>24) & 0xFF);
}
void serialize16(int16_t a) {
serialize8((a ) & 0xFF);
serialize8((a>>8) & 0xFF);
}
void serialize8(uint8_t a) {
uint8_t t = serialHeadTX[CURRENTPORT];
if (++t >= TX_BUFFER_SIZE) t = 0;
serialBufferTX[t][CURRENTPORT] = a;
checksum[CURRENTPORT] ^= a;
serialHeadTX[CURRENTPORT] = t;
}
#if defined(PROMINI) || defined(MEGA)
#if defined(PROMINI)
ISR(USART_UDRE_vect) { // Serial 0 on a PROMINI
#endif
#if defined(MEGA)
ISR(USART0_UDRE_vect) { // Serial 0 on a MEGA
#endif
uint8_t t = serialTailTX[0];
if (serialHeadTX[0] != t) {
if (++t >= TX_BUFFER_SIZE) t = 0;
UDR0 = serialBufferTX[t][0]; // Transmit next byte in the ring
serialTailTX[0] = t;
}
if (t == serialHeadTX[0]) UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
}
#endif
#if defined(MEGA) || defined(PROMICRO)
ISR(USART1_UDRE_vect) { // Serial 1 on a MEGA or on a PROMICRO
uint8_t t = serialTailTX[1];
if (serialHeadTX[1] != t) {
if (++t >= TX_BUFFER_SIZE) t = 0;
UDR1 = serialBufferTX[t][1]; // Transmit next byte in the ring
serialTailTX[1] = t;
}
if (t == serialHeadTX[1]) UCSR1B &= ~(1<<UDRIE1);
}
#endif
#if defined(MEGA)
ISR(USART2_UDRE_vect) { // Serial 2 on a MEGA
uint8_t t = serialTailTX[2];
if (serialHeadTX[2] != t) {
if (++t >= TX_BUFFER_SIZE) t = 0;
UDR2 = serialBufferTX[t][2];
serialTailTX[2] = t;
}
if (t == serialHeadTX[2]) UCSR2B &= ~(1<<UDRIE2);
}
ISR(USART3_UDRE_vect) { // Serial 3 on a MEGA
uint8_t t = serialTailTX[3];
if (serialHeadTX[3] != t) {
if (++t >= TX_BUFFER_SIZE) t = 0;
UDR3 = serialBufferTX[t][3];
serialTailTX[3] = t;
}
if (t == serialHeadTX[3]) UCSR3B &= ~(1<<UDRIE3);
}
#endif
void UartSendData() {
#if defined(PROMINI)
UCSR0B |= (1<<UDRIE0);
#endif
#if defined(PROMICRO)
switch (CURRENTPORT) {
case 0:
while(serialHeadTX[0] != serialTailTX[0]) {
if (++serialTailTX[0] >= TX_BUFFER_SIZE) serialTailTX[0] = 0;
#if !defined(TEENSY20)
USB_Send(USB_CDC_TX,serialBufferTX[serialTailTX[0]],1);
#else
Serial.write(serialBufferTX[serialTailTX[0]],1);
#endif
}
break;
case 1: UCSR1B |= (1<<UDRIE1); break;
}
#endif
#if defined(MEGA)
switch (CURRENTPORT) {
case 0: UCSR0B |= (1<<UDRIE0); break;
case 1: UCSR1B |= (1<<UDRIE1); break;
case 2: UCSR2B |= (1<<UDRIE2); break;
case 3: UCSR3B |= (1<<UDRIE3); break;
}
#endif
}
#if defined(GPS_SERIAL)
bool SerialTXfree(uint8_t port) {
return (serialHeadTX[port] == serialTailTX[port]);
}
#endif
static void inline SerialOpen(uint8_t port, uint32_t baud) {
uint8_t h = ((F_CPU / 4 / baud -1) / 2) >> 8;
uint8_t l = ((F_CPU / 4 / baud -1) / 2);
switch (port) {
#if defined(PROMINI)
case 0: UCSR0A = (1<<U2X0); UBRR0H = h; UBRR0L = l; UCSR0B |= (1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0); break;
#endif
#if defined(PROMICRO)
#if (ARDUINO >= 100) && !defined(TEENSY20)
case 0: UDIEN &= ~(1<<SOFE); break;// disable the USB frame interrupt of arduino (it causes strong jitter and we dont need it)
#endif
case 1: UCSR1A = (1<<U2X1); UBRR1H = h; UBRR1L = l; UCSR1B |= (1<<RXEN1)|(1<<TXEN1)|(1<<RXCIE1); break;
#endif
#if defined(MEGA)
case 0: UCSR0A = (1<<U2X0); UBRR0H = h; UBRR0L = l; UCSR0B |= (1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0); break;
case 1: UCSR1A = (1<<U2X1); UBRR1H = h; UBRR1L = l; UCSR1B |= (1<<RXEN1)|(1<<TXEN1)|(1<<RXCIE1); break;
case 2: UCSR2A = (1<<U2X2); UBRR2H = h; UBRR2L = l; UCSR2B |= (1<<RXEN2)|(1<<TXEN2)|(1<<RXCIE2); break;
case 3: UCSR3A = (1<<U2X3); UBRR3H = h; UBRR3L = l; UCSR3B |= (1<<RXEN3)|(1<<TXEN3)|(1<<RXCIE3); break;
#endif
}
}
static void inline SerialEnd(uint8_t port) {
switch (port) {
#if defined(PROMINI)
case 0: UCSR0B &= ~((1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0)|(1<<UDRIE0)); break;
#endif
#if defined(PROMICRO)
case 1: UCSR1B &= ~((1<<RXEN1)|(1<<TXEN1)|(1<<RXCIE1)|(1<<UDRIE1)); break;
#endif
#if defined(MEGA)
case 0: UCSR0B &= ~((1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0)|(1<<UDRIE0)); break;
case 1: UCSR1B &= ~((1<<RXEN1)|(1<<TXEN1)|(1<<RXCIE1)|(1<<UDRIE1)); break;
case 2: UCSR2B &= ~((1<<RXEN2)|(1<<TXEN2)|(1<<RXCIE2)|(1<<UDRIE2)); break;
case 3: UCSR3B &= ~((1<<RXEN3)|(1<<TXEN3)|(1<<RXCIE3)|(1<<UDRIE3)); break;
#endif
}
}
static void inline store_uart_in_buf(uint8_t data, uint8_t portnum) {
#if defined(SPEKTRUM)
if (portnum == SPEK_SERIAL_PORT) {
if (!spekFrameFlags) {
sei();
uint32_t spekTimeNow = (timer0_overflow_count << 8) * (64 / clockCyclesPerMicrosecond()); //Move timer0_overflow_count into registers so we don't touch a volatile twice
uint32_t spekInterval = spekTimeNow - spekTimeLast; //timer0_overflow_count will be slightly off because of the way the Arduino core timer interrupt handler works; that is acceptable for this use. Using the core variable avoids an expensive call to millis() or micros()
spekTimeLast = spekTimeNow;
if (spekInterval > 5000) { //Potential start of a Spektrum frame, they arrive every 11 or every 22 ms. Mark it, and clear the buffer.
serialTailRX[portnum] = 0;
serialHeadRX[portnum] = 0;
spekFrameFlags = 0x01;
}
cli();
}
}
#endif
uint8_t h = serialHeadRX[portnum];
if (++h >= RX_BUFFER_SIZE) h = 0;
if (h == serialTailRX[portnum]) return; // we did not bite our own tail?
serialBufferRX[serialHeadRX[portnum]][portnum] = data;
serialHeadRX[portnum] = h;
}
#if defined(PROMINI)
ISR(USART_RX_vect) { store_uart_in_buf(UDR0, 0); }
#endif
#if defined(PROMICRO)
ISR(USART1_RX_vect) { store_uart_in_buf(UDR1, 1); }
#endif
#if defined(MEGA)
ISR(USART0_RX_vect) { store_uart_in_buf(UDR0, 0); }
ISR(USART1_RX_vect) { store_uart_in_buf(UDR1, 1); }
ISR(USART2_RX_vect) { store_uart_in_buf(UDR2, 2); }
ISR(USART3_RX_vect) { store_uart_in_buf(UDR3, 3); }
#endif
uint8_t SerialRead(uint8_t port) {
#if defined(PROMICRO)
#if defined(TEENSY20)
if(port == 0) return Serial.read();
#else
#if (ARDUINO >= 100)
if(port == 0) USB_Flush(USB_CDC_TX);
#endif
if(port == 0) return USB_Recv(USB_CDC_RX);
#endif
#endif
uint8_t t = serialTailRX[port];
uint8_t c = serialBufferRX[t][port];
if (serialHeadRX[port] != t) {
if (++t >= RX_BUFFER_SIZE) t = 0;
serialTailRX[port] = t;
}
return c;
}
#if defined(SPEKTRUM)
uint8_t SerialPeek(uint8_t port) {
uint8_t c = serialBufferRX[serialTailRX[port]][port];
if ((serialHeadRX[port] != serialTailRX[port])) return c; else return 0;
}
#endif
uint8_t SerialAvailable(uint8_t port) {
#if defined(PROMICRO)
#if !defined(TEENSY20)
if(port == 0) return USB_Available(USB_CDC_RX);
#else
if(port == 0) return T_USB_Available();
#endif
#endif
return (serialHeadRX[port] - serialTailRX[port])%RX_BUFFER_SIZE;
}
void SerialWrite(uint8_t port,uint8_t c){
#if !defined(PROMINI)
CURRENTPORT=port;
#endif
serialize8(c);UartSendData();
}
#ifdef DEBUGMSG
void debugmsg_append_str(const char *str) {
while(*str) {
debug_buf[head_debug++] = *str++;
if (head_debug == DEBUG_MSG_BUFFER_SIZE) {
head_debug = 0;
}
}
}
static uint8_t debugmsg_available() {
if (head_debug >= tail_debug) {
return head_debug-tail_debug;
} else {
return head_debug + (DEBUG_MSG_BUFFER_SIZE-tail_debug);
}
}
static void debugmsg_serialize(uint8_t l) {
for (uint8_t i=0; i<l; i++) {
if (head_debug != tail_debug) {
serialize8(debug_buf[tail_debug++]);
if (tail_debug == DEBUG_MSG_BUFFER_SIZE) {
tail_debug = 0;
}
} else {
serialize8('\0');
}
}
}
#else
void debugmsg_append_str(const char *str) {};
#endif