avr-lib/lib/uart.c

#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>

#include "calc.h"
#include "uart.h"
#include "stream.h"

// Shared stream instance
static STREAM _uart_singleton;
STREAM* uart;


void _uart_init_do(uint16_t ubrr)
{
	/*Set baud rate */
	UBRR0H = (uint8_t)(ubrr >> 8);
	UBRR0L = (uint8_t) ubrr;

	// Enable Rx and Tx
	UCSR0B = (1 << RXEN0) | (1 << TXEN0);

	// 8-bit data, 1 stop bit
	UCSR0C = (0b11 << UCSZ00);

	_uart_singleton.tx = &uart_tx;
	_uart_singleton.rx = &uart_rx;

	uart = &_uart_singleton;
}


/** Enable or disable RX ISR */
void uart_isr_rx(bool yes)
{
	set_bit(UCSR0B, RXCIE0, yes);
}


/** Enable or disable TX ISR (1 byte is sent) */
void uart_isr_tx(bool yes)
{
	set_bit(UCSR0B, TXCIE0, yes);
}


/** Enable or disable DRE ISR (all is sent) */
void uart_isr_dre(bool yes)
{
	set_bit(UCSR0B, UDRIE0, yes);
}


/** Send byte over UART */
void uart_tx(uint8_t data)
{
	// Wait for transmit buffer
	while (!uart_tx_ready());
	// send it
	UDR0 = data;
}


/** Receive one byte over UART */
uint8_t uart_rx()
{
	// Wait for data to be received
	while (!uart_rx_ready());
	// Get and return received data from buffer
	return UDR0;
}


/** Send string over UART */
void uart_puts(const char* str)
{
	while (*str)
	{
		uart_tx(*str++);
	}
}


/** Send progmem string over UART */
void uart_puts_P(const char* str)
{
	char c;
	while ((c = pgm_read_byte(str++)))
	{
		uart_tx(c);
	}
}


/** Clear receive buffer */
void uart_flush()
{
	uint8_t dummy;
	while (bit_is_high(UCSR0A, RXC0))
	{
		dummy = UDR0;
	}
}


// ------------- VT100 extension --------------


void _vt_apply_style();
void _vt_reset_attribs_do();
void _vt_style_do();
void _vt_color_do();


void vt_goto(uint8_t x, uint8_t y)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, y + 1); // one-based !
	uart_tx(';');
	put_u8(uart, x + 1);
	uart_tx('H');
}


void vt_goto_x(uint8_t x)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, x + 1);
	uart_tx('`');
}


void vt_goto_y(uint8_t y)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, y + 1);
	uart_tx('d');
}


void vt_move(int8_t x, int8_t y)
{
	vt_move_x(x);
	vt_move_y(y);
}


void vt_move_x(int8_t x)
{
	if (x < 0)
	{
		vt_left(-x);
	}
	else
	{
		vt_right(x);
	}
}


void vt_move_y(int8_t y)
{
	if (y < 0)
	{
		vt_up(-y);
	}
	else
	{
		vt_down(y);
	}
}


void vt_up(uint8_t y)
{
	if (y == 0) return;
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, y);
	uart_tx('A');
}


void vt_down(uint8_t y)
{
	if (y == 0) return;
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, y);
	uart_tx('B');
}


void vt_left(uint8_t x)
{
	if (x == 0) return;
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, x);
	uart_tx('D');
}


void vt_right(uint8_t x)
{
	if (x == 0) return;
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, x);
	uart_tx('C');
}


void vt_scroll(int8_t y)
{
	while (y < 0)
	{
		uart_tx(27);
		uart_tx('D'); // up
		y++;
	}

	while (y > 0)
	{
		uart_tx(27);
		uart_tx('M'); // down
		y--;
	}
}


void vt_scroll_set(uint8_t from, uint8_t to)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, from);
	uart_tx(';');
	put_u8(uart, to);
	uart_tx('r');
}


void vt_scroll_reset()
{
	uart_tx(27);
	uart_tx('[');
	uart_tx('r');
}



typedef struct
{
	uint8_t flags;
	uint8_t fg;
	uint8_t bg;
} vt_style_t;

vt_style_t saved_style;
vt_style_t current_style;

void vt_save()
{
	uart_puts_P(PSTR("\x1B[s"));

	saved_style = current_style;
}


void vt_restore()
{
	uart_puts_P(PSTR("\x1B[u"));

	current_style = saved_style;
}


/** Disable all text attributes (excluding color) */
void vt_attr_reset()
{
	current_style.flags = 0;

	_vt_reset_attribs_do();
	_vt_apply_style();
}


/** Set color to white on black */
void vt_color_reset()
{
	current_style.fg = VT_WHITE;
	current_style.bg = VT_BLACK;

	_vt_color_do();
}


/** Enable or disable a text attribute */
void vt_attr(uint8_t attribute, bool on)
{
	// flags are powers of two
	// so this can handle multiple OR'd flags
	for (uint8_t c = 1; c <= VT_FAINT; c *= 2)
	{
		if (attribute & c)
		{
			if (on)
			{
				current_style.flags |= c;
			}
			else
			{
				current_style.flags &= ~c;
			}
		}
	}

	_vt_apply_style();
}


/** Send style and color commands */
void _vt_apply_style()
{
	_vt_reset_attribs_do();
	_vt_style_do();
	_vt_color_do();
}


/** Set color 0..7 */
void vt_color(uint8_t fg, uint8_t bg)
{
	current_style.fg = fg;
	current_style.bg = bg;
	_vt_color_do();
}


/** Set FG color 0..7 */
void vt_color_fg(uint8_t fg)
{
	current_style.fg = fg;
	_vt_color_do();
}


/** Set BG color 0..7 */
void vt_color_bg(uint8_t bg)
{
	current_style.bg = bg;
	_vt_color_do();
}


/** Send reset command */
inline void _vt_reset_attribs_do()
{
	uart_puts_P(PSTR("\x1B[m")); // reset
}


/** Send commands for text attribs */
void _vt_style_do()
{
	if (current_style.flags & VT_BOLD)
	{
		uart_puts_P(PSTR("\x1B[1m"));
	}

	if (current_style.flags & VT_FAINT)
	{
		uart_puts_P(PSTR("\x1B[2m"));
	}

	if (current_style.flags & VT_ITALIC)
	{
		uart_puts_P(PSTR("\x1B[3m"));
	}

	if (current_style.flags & VT_UNDERLINE)
	{
		uart_puts_P(PSTR("\x1B[4m"));
	}

	if (current_style.flags & VT_BLINK)
	{
		uart_puts_P(PSTR("\x1B[5m"));
	}

	if (current_style.flags & VT_REVERSE)
	{
		uart_puts_P(PSTR("\x1B[7m"));
	}
}


/** Send commands for xolor */
void _vt_color_do()
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, 30 + current_style.fg);
	uart_tx(';');
	put_u8(uart, 40 + current_style.bg);
	uart_tx('m');
}


/** Insert blank lines febore the current line */
void vt_insert_lines(uint8_t count)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, count);
	uart_tx('L');
}


/** Delete lines from the current line down */
void vt_delete_lines(uint8_t count)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, count);
	uart_tx('M');
}


/** Insert empty characters at cursor */
void vt_insert_chars(uint8_t count)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, count);
	uart_tx('@');
}


/** Delete characters at cursor */
void vt_delete_chars(uint8_t count)
{
	uart_tx(27);
	uart_tx('[');
	put_u8(uart, count);
	uart_tx('P');
}


void vt_clear()
{
	uart_puts_P(PSTR("\x1B[2J"));
}


void vt_erase_forth()
{
	uart_puts_P(PSTR("\x1B[K"));
}


void vt_erase_back()
{
	uart_puts_P(PSTR("\x1B[1K"));
}


void vt_erase_line()
{
	uart_puts_P(PSTR("\x1B[2K"));
}


void vt_erase_above()
{
	uart_puts_P(PSTR("\x1B[1J"));
}

void vt_erase_below()
{
	uart_puts_P(PSTR("\x1B[J"));
}


void vt_home()
{
	uart_puts_P(PSTR("\x1B[H"));
}


/** Initialize helper variables */
void vt_init()
{
	vt_reset();
}


/** Reset state and clear screen */
void vt_reset()
{
	// reset color and attributes
	vt_color_reset();
	vt_attr_reset();
	vt_scroll_reset();

	// clear screen
	vt_clear();

	// go to top left
	vt_home();

	// overwrite saved state
	vt_save();
}



// Assigned keyhandler
void (*_vt_kh)(uint8_t, bool) = NULL;

/** Assign a key handler (later used with vt_handle_key) */
void vt_set_key_handler(void (*handler)(uint8_t, bool))
{
	_vt_kh = handler;
}


// state machine states
typedef enum
{
	GROUND = 0,
	ESC = 1,
	BR = 2,
	O = 3,
	WAITING_TILDE = 4
} KSTATE;

// code received before started to wait for a tilde
uint8_t _before_wtilde;
// current state
KSTATE _kstate = GROUND;



void _vt_kh_abort()
{
	switch (_kstate)
	{
		case ESC:
			_vt_kh(VK_ESC, true);
			break;

		case BR:
			_vt_kh(VK_ESC, true);
			_vt_kh('[', false);
			break;

		case O:
			_vt_kh(VK_ESC, true);
			_vt_kh('O', false);
			break;

		case WAITING_TILDE:
			_vt_kh(VK_ESC, true);
			_vt_kh('[', false);
			vt_handle_key(_before_wtilde);
			break;

		case GROUND:
			// nop
			break;
	}

	_kstate = GROUND;
}


/**
 * Handle a key received over UART
 * Takes care of multi-byte keys and translates them to special
 * constants.
 */
void vt_handle_key(uint8_t c)
{
	if (_vt_kh == NULL) return;

	switch (_kstate)
	{
		case GROUND:
			switch (c)
			{
				case 27:
					_kstate = ESC;
					break;

				case VK_ENTER:
				case VK_TAB:
				case VK_BACKSPACE:
					_vt_kh(c, true);
					return;

				default:
					_vt_kh(c, false);
					return;
			}

			break;  // continue to next char

		case ESC:
			switch (c)
			{
				case '[':
					_kstate = BR;
					break; // continue to next char

				case 'O':
					_kstate = O;
					break; // continue to next char

				default:
					// bad code
					_vt_kh_abort();
					vt_handle_key(c);
					return;
			}
			break;

		case BR:
			switch (c)
			{
				// arrows
				case 65:
				case 66:
				case 67:
				case 68:
					_vt_kh(c, true);
					_kstate = GROUND;
					return;

				// ins del pgup pgdn
				case 50:
				case 51:
				case 53:
				case 54:
					// wait for terminating tilde
					_before_wtilde = c;
					_kstate = WAITING_TILDE;
					break; // continue to next char

				// bad key
				default:
					_vt_kh_abort();
					vt_handle_key(c);
					return;
			}
			break;

		case O:
			switch (c)
			{
				// F keys
				case 80:
				case 81:
				case 82:
				case 83:
				// home, end
				case 72:
				case 70:
					_vt_kh(c, true);
					_kstate = GROUND;
					return;

				// bad key
				default:
					_vt_kh_abort();
					vt_handle_key(c);
					return;
			}

		case WAITING_TILDE:
			if (c != '~')
			{
				_vt_kh_abort();
				vt_handle_key(c);
				return;
			}
			else
			{
				_vt_kh(_before_wtilde, true);
				_kstate = GROUND;
				return;
			}
	}

	// wait for next key
	if (_kstate != GROUND)
	{
		_delay_ms(2);
		if (!uart_rx_ready())
		{
			// abort receiving
			_vt_kh_abort();

		}
		else
		{
			vt_handle_key(uart_rx());
		}
	}
}