From: adam <adam@megacz.com>
Date: Thu, 6 Apr 2006 13:38:47 +0000 (+0100)
Subject: check
X-Git-Tag: mpar_demo_release~120
X-Git-Url: http://git.megacz.com/?p=slipway.git;a=commitdiff_plain;h=53c49ce035cdb40cddf9920e7e0fa89f65830878

check
---

diff --git a/Makefile b/Makefile
index bc729bc..4891adf 100644
--- a/Makefile
+++ b/Makefile
@@ -19,8 +19,8 @@ obits.jar: $(shell find src -name \*.java)
 	cd build; jar cvf ../$@ .
 
 # -O3 is required; otherwise the poor AVR can't keep up with us!
-avrdrone.hex:
-	avr-gcc -O3 -mmcu=at94k src/edu/berkeley/obits/device/atmel/AvrDrone.c
+avrdrone.hex: src/edu/berkeley/obits/device/atmel/AvrDrone.c
+	avr-gcc -O3 -mmcu=at94k $<
 	avr-objcopy -O ihex a.out $@
 
 
diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
index 06253ad..f72cd28 100644
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.c
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.c
@@ -13,11 +13,6 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
-unsigned char val = 0;
-
-volatile unsigned char dataReady = 0;
-volatile unsigned char data = 0;
-
 void initUART1(unsigned int baudRate, unsigned int doubleRate) {
   UBRRHI = (((baudRate) >> 8) & 0x000F); 
   UBRR1  = ((baudRate) & 0x00FF); 
@@ -30,15 +25,7 @@ void initUART1(unsigned int baudRate, unsigned int doubleRate) {
   */
 }
 
-#define BUFSIZE (1024 *2)
-static char buf[BUFSIZE];
-volatile static int head = 0;
-volatile static int tail = 0;
-
-void send(char c) {
-  while(!(UCSR1A & (1 << UDRE1)));           /* Wait for data Regiester to be empty */
-  UDR1 = (int)c;
-}
+#define BUFSIZE (1024)
 
 inline void portd(int bit, int on) {
   if (on) {
@@ -57,26 +44,61 @@ inline void cts(int c) {
   }
 }
 
+
+// RECV //////////////////////////////////////////////////////////////////////////////
+
+char read_buf[BUFSIZE];
+volatile int read_buf_head;
+volatile int read_buf_tail;
+char write_buf[BUFSIZE];
+volatile int write_buf_head;
+volatile int write_buf_tail;
+
 inline int inc(int x) { x++; if (x>=BUFSIZE) x=0; return x; }
-inline int full() { return inc(tail)==head; }
-inline int nearlyFull() {
-  if (tail==head) return 0;
-  if (tail < head) return (head-tail) < (BUFSIZE/2);
-  return (tail-head) > (BUFSIZE/2);
+inline int read_full() { return inc(read_buf_tail)==read_buf_head; }
+inline int read_empty() { return read_buf_head==read_buf_tail; }
+inline int read_nearlyFull() {
+  if (read_buf_tail==read_buf_head) return 0;
+  if (read_buf_tail < read_buf_head) return (read_buf_head-read_buf_tail) < (BUFSIZE/2);
+  return (read_buf_tail-read_buf_head) > (BUFSIZE/2);
 }
-inline int empty() { return head==tail; }
-
+/*
+inline int write_full() { return inc(write_buf_tail)==write_buf_head; }
+inline int write_empty() { return write_buf_head==write_buf_tail; }
+inline int write_nearlyFull() {
+  if (write_buf_tail==write_buf_head) return 0;
+  if (write_buf_tail < write_buf_head) return (write_buf_head-write_buf_tail) < (BUFSIZE/2);
+  return (write_buf_tail-write_buf_head) > (BUFSIZE/2);
+}
+*/
 inline char recv() {
   int q;
   char ret;
-  while(empty()) cts(1);
-  ret = buf[head];
-  head = inc(head);
-  if (!nearlyFull()) cts(0);
+  while(read_empty()) cts(1);
+  ret = read_buf[read_buf_head];
+  read_buf_head = inc(read_buf_head);
+  if (!read_nearlyFull()) cts(0);
   return ret;
 }
 
+void send(char c) {
+
+  write_buf[write_buf_tail] = c;
+  write_buf_tail = inc(write_buf_tail);
+
+  char ret = write_buf[write_buf_head];
+  write_buf_head = inc(write_buf_head);
+
+  while(!(UCSR1A & (1 << UDRE1)));           /* Wait for data Regiester to be empty */
+  UDR1 = (int)ret;
+}
+
+
 void init() {
+  read_buf_head = 0;
+  read_buf_tail = 0;
+  write_buf_head = 0;
+  write_buf_tail = 0;
   EIMF  = 0xFF;                          /* Enalbe External Interrrupt*/  
   DDRD = 0xFF;                           /* Configure PORTD as Output */
   DDRE = 1 << 4;                         /* ability to write to E */
@@ -128,16 +150,16 @@ ISR(SIG_INTERRUPT1) {   // use interrupt1 since interrupt0 is sent by the watchd
   doreset();
 }
 
-void die() { cli(); cts(0); _delay_ms(2000); while(1) { } }
+void die() { cli(); cts(0); _delay_ms(2000); while(1) { portd(2,0); portd(2,1); } }
 ISR(SIG_UART1_RECV) {
   if (UCSR1A & (1 << FE1))   { portd(2,0); portd(3,1); die(); }  // framing error, lock up with LED=01
   if ((UCSR1A & (1 << OR1))) { portd(2,1); portd(3,0); die(); }  // overflow; lock up with LED=10
-  if (full())                { portd(2,1); portd(3,1); die(); }  // buffer overrun
-  buf[tail] = UDR1;
-  tail = inc(tail);
+  if (read_full())           { portd(2,1); portd(3,1); die(); }  // buffer overrun
+  read_buf[read_buf_tail] = UDR1;
+  read_buf_tail = inc(read_buf_tail);
   SREG |= 0x80;
   sei();
-  if (nearlyFull()) cts(0);
+  if (read_nearlyFull()) cts(0);
 }
 
 inline int hex(char c) {
diff --git a/src/edu/berkeley/obits/device/atmel/AvrDrone.java b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
index a4b7b3c..9e7da7e 100644
--- a/src/edu/berkeley/obits/device/atmel/AvrDrone.java
+++ b/src/edu/berkeley/obits/device/atmel/AvrDrone.java
@@ -41,6 +41,7 @@ public class AvrDrone extends AtmelDevice {
             out.flush();
         } catch (IOException e) { throw new DeviceException(e); }
     }
+
     public synchronized byte readBus() throws DeviceException {
         try {
             out.writeByte(2);