WebSVN - Projects - Blame - /Transportables_Koptertool/branch/PKT_V363a_V088n

Rev	Author	Line No.	Line
1734	-	1	/**
		2	* source for the Bluetooth driver
		3	* @file bluetooth.c
		4	* @author Linus Lotz<lotz@in.tum.de>
		5	* @author Salomon Sickert
		6	*/
		7
		8
		9
		10	#include "cpu.h"
		11	#include <string.h>
		12	#include <util/delay.h>
		13	#include <avr/interrupt.h>
		14	#include "bluetooth.h"
		15	#include "main.h"
		16	#ifdef HWVERSION3_9
		17	#include "uart1.h"
		18	#include "usart.h"
		19	#include "timer.h"
		20	#include "fifo.h"
		21	#include "error.h"
		22	#include "lcd.h"
		23	#include "eeprom.h"
		24	#include "error.h"
		25	#include "setup.h"
		26	#include "bluetooth.h"
		27	#include "tracking.h"
		28
		29
		30	//#define SaveMem
		31
		32	//
		33	// Baudrate for the UART-connection to the BTM-222 on SQUIRREL
		34	//
		35
		36	#define SQUIRREL
		37
		38	#ifdef SQUIRREL
		39	#define UART_BAUD_RATE 19200
		40	#endif
		41
		42	#ifdef NUT
		43	#define UART_BAUD_RATE 19200
		44	#endif
		45
		46
		47	typedef enum {
		48	BT_RAW,
		49	BT_DATA,
		50	BT_CMD,
		51	BT_NOECHO,
		52	BT_NOANSWER
		53	} communication_mode_t;
		54
		55	#define BT_CMD_TIMEOUT_MS 2000
		56
		57	typedef enum {
		58	BT_TEST, // AT
		59	BT_CONNECT, // ATA
		60	BT_DISCONNECT, // ATH
		61	BT_CLEAR_ADDRESS, // ATD0
		62	BT_SET_ADDRESS, // ATD=_____
		63	BT_FIND_DEVICES, // ATF?
		64	BT_DISABLE_AUTOCONNECT, // ATO1
		65	BT_SET_MASTER, // ATR0
		66	BT_SET_SLAVE, // ATR1
		67	BT_SET_PIN, // ATP=1234
		68	BT_SET_2400, // ATL* Baudrate 2400
		69	BT_SET_9600, // ATL1 Baudrate 9600
		70	BT_SET_19200, // ATL2 Baudrate 19200
		71	BT_SET_38400, // ATL3 Baudrate 38400
		72	BT_SET_57600, // ATL4 Baudrate 57600
		73	BT_SET_115200, // ATL5 Baudrate 115200
		74	BT_SET_NOANSWER, // ATQ1 Rückmeldungen aus
		75	BT_SET_NOECHO, // ATE0 ECHO deaktivieren
		76	BT_SET_ANSWER, // ATQ0 Rückmeldungen
		77	BT_SET_ECHO, // ATE1 ECHO aktivieren
		78	BT_SET_DEFAULT, // Defaultwerte setzen
		79	BT_SET_NAME, // Devicename
		80	BT_SET_DISPWRDOWN // disable auto Powerdown
		81	} bt_cmd_t;
		82
		83
		84	#define IN_FIFO_SIZE 512
		85
		86
		87	static uint8_t bt_buffer[IN_FIFO_SIZE];
		88	static fifo_t in_fifo;
		89
		90	char rx_buffer[RXD_BUFFER_SIZE];
		91	volatile uint8_t rx_len;
		92	volatile uint8_t rx_ready = 0;
		93	uint8_t rx_GPS;
		94	static char start = '$';
		95	static char end = '\n';
		96
		97	char data_decode[RXD_BUFFER_SIZE];
		98	volatile uint16_t rx_timeout;
		99
		100
		101	static bt_mode_t bt_mode = BLUETOOTH_SLAVE;
		102	static communication_mode_t comm_mode = BT_CMD;
		103
		104	uint8_t i = 0;
		105	uint8_t NoEcho = 0;
		106	uint8_t NoAnswer = 0;
		107
		108	uint8_t bt_devicecount = 0;
		109
		110	uint8_t bt_rxerror = 0;
		111
		112	device_info device_list[NUTS_LIST];
		113
		114	// Set a timeout of Y ms and a Conditon X, which have to be true while timeout
		115	#define while_timeout(X, Y) for(uint16_t __timeout = 0; __timeout++ <= Y && (X); Delay_MS(Y ? 1 : 0))
		116
		117	//--------------------------------------------------------------
		118	void Delay_MS(int count)
		119	{
		120	for (int i = 0; i < count; i++)
		121	_delay_ms(1);
		122	}
		123
		124
		125	//--------------------------------------------------------------
		126	void uart_receive(void)
		127	{
		128	unsigned int uart_data;
		129
		130	while (!fifo_is_full(&in_fifo))
		131	{
		132	uart_data = uart1_getc();
		133
		134	// USART_puts(".");
		135
		136	switch (uart_data & 0xFF00) {
		137	// Framing Error detected, i.e no stop bit detected
		138	case UART_FRAME_ERROR:
		139	#ifdef DEBUG
		140	warn_pgm(PSTR("FRM ERR"));
		141	#endif
		142	bt_rxerror++;
		143	return;
		144
		145	// Overrun, a character already presend in the UART UDR register was
		146	// not read by the interrupt handler before the next character arrived,
		147	// one or more received characters have been dropped
		148	//
		149	case UART_OVERRUN_ERROR:
		150	#ifdef DEBUG
		151	warn_pgm(PSTR("OVR ERR"));
		152	#endif
		153	bt_rxerror++;
		154	return;
		155
		156	// We are not reading the receive buffer fast enough,
		157	// one or more received character have been dropped
		158	//
		159	case UART_BUFFER_OVERFLOW:
		160	#ifdef DEBUG
		161	warn_pgm(PSTR("BUF ERR"));
		162	#endif
		163	bt_rxerror++;
		164	return;
		165
		166	// UART Inputbuffer empty, nothing to do
		167	case UART_NO_DATA:
		168	return;
		169
		170	default:
		171	{
		172	fifo_write(&in_fifo, uart_data);
		173	#ifdef DEBUG
		174	USART_putc(uart_data);
		175	#endif
		176	}
		177	}
		178	}
		179	#ifdef DEBUG
		180	warn_pgm(PSTR("FIFO OVR ERR"));
		181	#endif
		182	}
		183
		184
		185	//--------------------------------------------------------------
		186	static void uart_send(const char *data, const uint8_t length)
		187	{
		188	#ifdef DEBUG
		189	debug_pgm(PSTR("bt_uart_send"));
		190	#endif
		191
		192	char echo;
		193
		194	lcd_printp_at (i++, 1, PSTR("."), 0);
		195	for (uint8_t i = 0; i < length; i++)
		196	{
		197
		198	#ifdef DEBUG
		199	USART_putc((data[i])); //test
		200	#endif
		201	// debug_pgm(PSTR("bt_init_S"));
		202
		203	if (uart1_putc(data[i]) == 0)
		204	{
		205	#ifdef DEBUG
		206	warn_pgm(PSTR("UART: Remote not ready"));
		207	#endif
		208	return;
		209	}
		210
		211	if (comm_mode == BT_RAW)
		212	_delay_ms(50);
		213
		214	if (comm_mode == BT_DATA)
		215	_delay_ms(1);
		216
		217	if (comm_mode == BT_NOECHO)
		218	_delay_ms(1);
		219
		220	if (comm_mode == BT_CMD)
		221	{
		222	uint8_t x = 0;
		223	for (; x < 3; x++)
		224	{
		225	// // while_timeout(X, Y) for(uint16_t __timeout = 0; __timeout++ <= Y && (X); _delay_ms(Y ? 1 : 0))
		226	// while_timeout(fifo_is_empty(&in_fifo), 200)
		227	for(uint16_t __timeout = 0; __timeout++ <= 200 && (fifo_is_empty(&in_fifo)); _delay_ms(200 ? 1 : 0))
		228	{
		229	uart_receive();
		230	}
		231
		232	fifo_read(&in_fifo, &echo);
		233
		234	if (echo != data[i]) {
		235	if (uart1_putc(data[i]) == 0)
		236	{
		237	warn_pgm(PSTR ("UART: Remote not ready"));
		238	return;
		239	}
		240	}
		241	else
		242	break;
		243	}
		244
		245	if (x == 3)
		246	{
		247	error_putc(data[i]);
		248	error_pgm(PSTR("BT: WRONG ECHO"));
		249	}
		250	}
		251	}
		252	}
		253
		254
		255	//--------------------------------------------------------------
		256	static uint16_t send_cmd(const bt_cmd_t command, const char *data)
		257	{
		258	uint16_t CommandDelay=0; // nach BTM222 Kommandos verschiedene Verz�gerungszeiten bevor es weitergehen kann
		259
		260	// _delay_ms(500); // org 500 300 zu wenig
		261	char full_command[20]; // Maximum command size
		262
		263	switch (command)
		264	{
		265	case BT_SET_PIN:
		266	strcpy_P(full_command, PSTR("ATP="));
		267	for (uint8_t i = 0; i < bt_pin_length; i++)
		268	{
		269	full_command[i+4] = bt_pin[i];
		270	}
		271	full_command[(bt_pin_length+4)] =0;
		272	CommandDelay = 100; //100ms
		273	break;
		274
		275	case BT_SET_DEFAULT:
		276	strcpy_P(full_command, PSTR("ATZ0"));
		277	CommandDelay = 1000;
		278	break;
		279
		280
		281	case BT_SET_2400:
		282	strcpy_P(full_command, PSTR("ATL*"));
		283	CommandDelay = 100;
		284	break;
		285
		286	case BT_SET_9600:
		287	strcpy_P(full_command, PSTR("ATL1"));
		288	CommandDelay = 100;
		289	break;
		290
		291	case BT_SET_19200:
		292	strcpy_P(full_command, PSTR("ATL2"));
		293	CommandDelay = 100;
		294	break;
		295
		296	case BT_SET_38400:
		297	strcpy_P(full_command, PSTR("ATL3"));
		298	CommandDelay = 100;
		299	break;
		300
		301	case BT_SET_57600:
		302	strcpy_P(full_command, PSTR("ATL4"));
		303	CommandDelay = 100;
		304	break;
		305
		306	case BT_SET_115200:
		307	strcpy_P(full_command, PSTR("ATL5"));
		308	CommandDelay = 100;
		309	break;
		310
		311	case BT_SET_NOANSWER:
		312	strcpy_P(full_command, PSTR("ATQ1"));
		313	CommandDelay = 100;
		314	break;
		315
		316	case BT_SET_NOECHO:
		317	strcpy_P(full_command, PSTR("ATE0"));
		318	CommandDelay = 100;
		319	break;
		320
		321	case BT_SET_ANSWER:
		322	strcpy_P(full_command, PSTR("ATQ0"));
		323	CommandDelay = 100;
		324	break;
		325
		326	case BT_SET_ECHO:
		327	strcpy_P(full_command, PSTR("ATE1"));
		328	CommandDelay = 100;
		329	break;
		330
		331	case BT_TEST:
		332	strcpy_P(full_command, PSTR("AT"));
		333	CommandDelay = 100;
		334	break;
		335
		336	case BT_CONNECT:
		337	strcpy_P(full_command, PSTR("ATA"));
		338	CommandDelay = 100;
		339	break;
		340
		341	case BT_DISCONNECT:
		342	strcpy_P(full_command, PSTR("ATH"));
		343	CommandDelay = 100;
		344	break;
		345
		346	case BT_CLEAR_ADDRESS:
		347	strcpy_P(full_command, PSTR("ATD0"));
		348	CommandDelay = 100;
		349	break;
		350
		351	case BT_SET_ADDRESS:
		352	strcpy_P(full_command, PSTR("ATD="));
		353	memcpy((full_command + strlen(full_command)), data, 12);
		354	full_command[16] = 0;
		355	CommandDelay = 100;
		356	break;
		357
		358	case BT_FIND_DEVICES:
		359	strcpy_P(full_command, PSTR("ATF?"));
		360	CommandDelay = 100;
		361	break;
		362
		363	case BT_DISABLE_AUTOCONNECT:
		364	strcpy_P(full_command, PSTR("ATO1"));
		365	CommandDelay = 3500;
		366	break;
		367
		368	case BT_SET_MASTER:
		369	strcpy_P(full_command, PSTR("ATR0"));
		370	CommandDelay = 3000;
		371	break;
		372
		373	case BT_SET_SLAVE:
		374	strcpy_P(full_command, PSTR("ATR1"));
		375	CommandDelay = 3000;
		376	break;
		377
		378	case BT_SET_NAME:
		379	strcpy_P(full_command, PSTR("ATN="));
		380	for (uint8_t i = 0; i < bt_name_len; i++)
		381	{
		382	full_command[i + 4] = bt_name[i];
		383	}
		384	full_command[(bt_name_len + 4)] = 0;
		385	CommandDelay = 100;
		386	break;
		387
		388	case BT_SET_DISPWRDOWN:
		389	strcpy_P(full_command, PSTR("ATS1"));
		390	CommandDelay = 100;
		391	break;
		392
		393	default:
		394	warn_pgm(PSTR("CMD UNK"));
		395	return false;
		396	}
		397
		398	strcat_P(full_command, PSTR("\r"));
		399
		400	// throw away your television
		401	uart_receive();
		402	fifo_clear(&in_fifo);
		403	// debug_pgm(PSTR("bt_init3"));
		404	// send command
		405	uart_send(full_command, strlen(full_command));
		406
		407	if (command== BT_SET_NOECHO)
		408	{
		409	_delay_ms(CommandDelay);
		410	return true;
		411	}
		412
		413	if (command== BT_SET_NOANSWER)
		414	{
		415	_delay_ms(CommandDelay);
		416	return true;
		417	}
		418
		419	if (command== BT_SET_ECHO)
		420	{
		421	_delay_ms(CommandDelay);
		422	return true;
		423	}
		424	if (command== BT_SET_ANSWER)
		425	{
		426	_delay_ms(CommandDelay);
		427	return true;
		428	}
		429	// get response
		430	while_timeout(true, BT_CMD_TIMEOUT_MS)
		431	{
		432	uart_receive();
		433	if (fifo_strstr_pgm(&in_fifo, PSTR("OK\r\n")))
		434	{
		435	info_pgm(PSTR("CMD SEND: OK"));
		436	_delay_ms(CommandDelay);
		437	return true;
		438	}
		439
		440	if (fifo_strstr_pgm(&in_fifo, PSTR("ERROR\r\n")))
		441	{
		442	#ifdef DEBUG
		443	info_pgm(PSTR("CMD SEND: Error"));
		444	#endif
		445	return false;
		446	}
		447	}
		448
		449	#ifdef DEBUG
		450	if (command != BT_TEST)
		451	warn_pgm(PSTR("CMD SEND: TIMEOUT"));
		452	#endif
		453
		454
		455	return false;
		456	}
		457
		458
		459	//--------------------------------------------------------------
		460	void test(void)
		461	{
		462	comm_mode = BT_RAW;
		463	for (uint8_t i = 0; i < 2; i++)
		464	if (send_cmd(BT_TEST, NULL))
		465	break;
		466	comm_mode = BT_CMD;
		467	}
		468
		469
		470	#ifndef SaveMem
		471
		472	//--------------------------------------------------------------
		473	static void clean_line(void)
		474	{
		475	while_timeout(true, 50)
		476	uart_receive();
		477	fifo_strstr_pgm(&in_fifo, PSTR("\r\n"));
		478	}
		479
		480	static communication_mode_t update_comm_mode(uint16_t timeout_ms)
		481	{
		482	while_timeout(true, timeout_ms)
		483	{
		484	uart_receive();
		485
		486	if (fifo_strstr_pgm(&in_fifo, PSTR("DISCONNECT")))
		487	{
		488	clean_line();
		489	test();
		490	comm_mode = BT_CMD;
		491	return comm_mode;
		492	}
		493
		494	if (fifo_strstr_pgm(&in_fifo, PSTR("CONNECT")))
		495	{
		496	_delay_ms(100); //don't delete this, else there will be no success!!!!!!!!!
		497	comm_mode = BT_DATA;
		498	return comm_mode;
		499	}
		500
		501	if (fifo_strstr_pgm (&in_fifo, PSTR("Time out,Fail to connect!")))
		502	{
		503	clean_line();
		504	#ifdef DEBUG
		505	debug_pgm(PSTR("CONNECT FAILED"));
		506	#endif
		507	test();
		508	comm_mode = BT_CMD;
		509	return comm_mode;
		510	}
		511	}
		512
		513	return comm_mode;
		514	}
		515	#endif
		516
		517
		518	//--------------------------------------------------------------
		519	uint16_t bt_init(void)
		520	{
		521	uint8_t init_error = false;
		522	uint8_t BT_found = 0;
		523	i = 0;
		524
		525	set_BTOn();
		526
		527	lcd_cls();
		528	lcd_printp_at (0, 0, PSTR("BT initialisieren.."), 0);
		529	// _delay_ms(200);
		530
		531	for (uint8_t z = (bt_name_length); z > 0; z--)
		532	{
		533	if (bt_name[z - 1] != ' ')
		534	{
		535	bt_name_len = z;
		536	break;
		537	}
		538	}
		539
		540	uart1_init(UART_BAUD_SELECT(57600, F_CPU));
		541	fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
		542	_delay_ms(100);
		543	// debug_pgm(PSTR("bt_init"));
		544	// uart_receive();
		545	// debug_pgm(PSTR("bt_init1"));
		546	fifo_clear(&in_fifo);
		547	send_cmd(BT_TEST, NULL);
		548	comm_mode = BT_NOECHO;
		549	send_cmd(BT_SET_ECHO, NULL);
		550	send_cmd(BT_SET_ANSWER, NULL);
		551
		552	// debug_pgm(PSTR("bt_init2"));
		553	#ifdef DEBUG
		554	debug_pgm(PSTR("Check with 57600"));
		555	#endif
		556	// send_cmd(BT_TEST, NULL); // Schrott löschen
		557
		558	if (send_cmd(BT_TEST, NULL)) // Test mit 57600
		559	{
		560	#ifdef DEBUG
		561	debug_pgm(PSTR("BT found 57600 Baud"));
		562	#endif
		563	BT_found = 1;
		564	}
		565
		566	if (BT_found == 0)
		567	{
		568	#ifdef DEBUG
		569	debug_pgm(PSTR("Check with 19200"));
		570	#endif
		571	uart1_init(UART_BAUD_SELECT(19200, F_CPU));// Test mit 19200
		572	_delay_ms(100);
		573	send_cmd(BT_TEST, NULL); // Schrott löschen
		574	send_cmd(BT_SET_ANSWER, NULL);
		575	send_cmd(BT_SET_ECHO, NULL);
		576
		577	if (send_cmd(BT_TEST, NULL))
		578	{
		579	debug_pgm(PSTR("19200 OK"));
		580	if (send_cmd(BT_TEST, NULL))
		581	{
		582	#ifdef DEBUG
		583	debug_pgm(PSTR("BT found 19200 Baud"));
		584	#endif
		585	BT_found = 2;
		586	}
		587	}
		588	}
		589
		590	if (BT_found == 0)
		591	{
		592	#ifdef DEBUG
		593	debug_pgm(PSTR("Check with 9600"));
		594	#endif
		595	uart1_init(UART_BAUD_SELECT(9600, F_CPU));//test mit 9600
		596	_delay_ms(100);
		597	send_cmd(BT_TEST, NULL);
		598	send_cmd(BT_SET_ANSWER, NULL);
		599	send_cmd(BT_SET_ECHO, NULL);
		600	if (send_cmd(BT_TEST, NULL));
		601	{
		602	#ifdef DEBUG
		603	debug_pgm(PSTR("9600 OK"));
		604	#endif
		605	if (send_cmd(BT_TEST, NULL))
		606	{
		607	#ifdef DEBUG
		608	debug_pgm(PSTR("BT found 9600 Baud"));
		609	#endif
		610	BT_found = 3;
		611	}
		612	}
		613	}
		614
		615
		616	if (BT_found == 0)
		617	{
		618	#ifdef DEBUG
		619	debug_pgm(PSTR("Check with 4800"));
		620	#endif
		621	uart1_init(UART_BAUD_SELECT(4800, F_CPU));//test mit 4800
		622	_delay_ms(100);
		623	send_cmd(BT_TEST, NULL);
		624	send_cmd(BT_SET_ANSWER, NULL);
		625	send_cmd(BT_SET_ECHO, NULL);
		626	if (send_cmd(BT_TEST, NULL));
		627	{
		628	#ifdef DEBUG
		629	debug_pgm(PSTR("4800 OK"));
		630	#endif
		631	if (send_cmd(BT_TEST, NULL))
		632	{
		633	#ifdef DEBUG
		634	debug_pgm(PSTR("BT found 4800 Baud"));
		635	#endif
		636	BT_found = 4;
		637	}
		638	}
		639	}
		640
		641	if (BT_found > 0)
		642	{
		643	/* Set comm_mode to CMD */
		644	comm_mode = BT_CMD;
		645	// test();
		646	// if (BTIsSlave==false)
		647	// {
		648	/* Set BTM Baudrate */
		649	if (!(send_cmd(BT_SET_57600, NULL)))
		650	init_error = true;
		651	uart1_init(UART_BAUD_SELECT(57600, F_CPU));
		652	_delay_ms(100);
		653	// test();
		654	/* Clear remote address */
		655	if(!(send_cmd(BT_CLEAR_ADDRESS, NULL)))
		656	init_error = true;
		657	// test();
		658	/* Set BTM to SLAVE */
		659	if (!(send_cmd(BT_SET_SLAVE, NULL)))
		660	init_error = true;
		661	// test();
		662	/* Set BTM PIN */
		663	if(!(send_cmd(BT_SET_PIN, NULL)))
		664	init_error = true;
		665	// test();
		666	/* Set BTM Name */
		667	if(!(send_cmd(BT_SET_NAME, NULL)))
		668	init_error = true;
		669	_delay_ms(300);
		670	// test();
		671	if(!(send_cmd(BT_SET_DISPWRDOWN, NULL)))
		672	init_error = true;
		673	// }
		674	// test();
		675	/* Set BTM Echo aus */
		676	send_cmd(BT_SET_NOECHO, NULL);
		677	// test();
		678	comm_mode = BT_NOECHO;
		679	/* Set BTM Answer aus */
		680	send_cmd(BT_SET_NOANSWER, NULL);
		681	// test();
		682
		683	bt_mode = BLUETOOTH_SLAVE;
		684
		685	set_BTOff();
		686
		687
		688	if (!init_error)
		689	{
		690	WriteBTInitFlag(); // Init merken
		691	WriteBTSlaveFlag();
		692	return true;
		693	}
		694	else
		695	return false;
		696	}
		697	else
		698	{
		699	set_BTOff();
		700	return false;
		701	}
		702
		703	}
		704
		705
		706	#ifndef SaveMem
		707
		708	//--------------------------------------------------------------
		709	uint16_t bt_set_mode(const bt_mode_t mode)
		710	{
		711	// if (update_comm_mode(0) == BT_DATA) // 30.1.2012 CB
		712	// return false;
		713
		714	if (mode == bt_mode)
		715	return true;
		716
		717	if (mode == BLUETOOTH_MASTER)
		718	if (send_cmd(BT_SET_MASTER, NULL))
		719	{
		720	bt_mode = BLUETOOTH_MASTER;
		721	// test();
		722	send_cmd(BT_DISABLE_AUTOCONNECT, NULL);
		723	debug_pgm(PSTR("bt_setmode: Master is set"));
		724	WriteBTMasterFlag();
		725
		726
		727	}
		728
		729	if (mode == BLUETOOTH_SLAVE)
		730	{
		731	if (send_cmd(BT_SET_SLAVE, NULL))
		732	{
		733	bt_mode = BLUETOOTH_SLAVE;
		734	debug_pgm(PSTR("bt_setmode: Slave is set"));
		735	}
		736	send_cmd(BT_SET_NOECHO, NULL);
		737	comm_mode = BT_NOECHO;
		738	/* Set BTM Answer aus */
		739	send_cmd(BT_SET_NOANSWER, NULL);
		740
		741	bt_mode = BLUETOOTH_SLAVE;
		742	WriteBTSlaveFlag();
		743	}
		744	// test();
		745	return mode == bt_mode;
		746	}
		747
		748
		749	//--------------------------------------------------------------
		750	uint16_t bt_receive(void *data, uint8_t length, uint16_t timeout_ms)
		751	{
		752	uint8_t rec_length = 0;
		753	uint8_t i = 0;
		754
		755	// while_timeout(true, timeout_ms);
		756	for(uint16_t __timeout = 0; __timeout++ <= true && (timeout_ms); _delay_ms(true ? 1 : 0))
		757	{
		758	if (i == length)
		759	return true;
		760
		761	uart_receive();
		762
		763	if (fifo_is_empty(&in_fifo))
		764	continue;
		765
		766	if (update_comm_mode(0) != BT_DATA)
		767	{
		768	#ifdef DEBUG
		769	debug_pgm(PSTR("not connected"));
		770	#endif
		771	return false;
		772	}
		773	// We have a connection
		774	if (timeout_ms == 0)
		775	timeout_ms += 2000;
		776
		777	if (fifo_is_empty(&in_fifo))
		778	continue;
		779
		780	// Find starting point of packet
		781	if (!rec_length)
		782	{
		783	fifo_read(&in_fifo, (char *)&rec_length);
		784
		785	if (rec_length != length)
		786	{
		787	rec_length = 0;
		788	}
		789	else
		790	{
		791	// You've got mail!
		792	timeout_ms += 2000;
		793	}
		794	}
		795	else
		796	{
		797	fifo_read(&in_fifo, (char *)data + i);
		798	i++;
		799	}
		800	}
		801	return false;
		802	}
		803
		804	#endif
		805
		806	#ifndef SaveMem
		807
		808
		809	//--------------------------------------------------------------
		810	uint16_t bt_send(void *data, const uint8_t length)
		811	{
		812	if (update_comm_mode(0) == BT_CMD)
		813	return false;
		814
		815	uart_send((const char *)&length, 1);
		816	uart_send((char *)data, length);
		817	return (update_comm_mode(0) == BT_DATA);
		818	}
		819
		820
		821	#ifdef SQUIRREL
		822
		823	//--------------------------------------------------------------
		824	uint16_t bt_connect(const char *address)
		825	{
		826	fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
		827	uart_receive();
		828	fifo_clear(&in_fifo);
		829
		830	// Maybe we already disconnected???
		831	if (BT_DATA == update_comm_mode(0))
		832	{
		833	#ifdef DEBUG
		834	debug_pgm(PSTR("We are still connected..."));
		835	#endif
		836	return false;
		837	}
		838	test();
		839
		840
		841	/*
		842	if (!send_cmd(BT_DISABLE_AUTOCONNECT, address))
		843	return false;
		844	*/
		845
		846	test();
		847	#ifdef DEBUG
		848	debug_pgm (PSTR ("SET_ADD"));
		849	#endif
		850
		851	if (!send_cmd(BT_SET_ADDRESS, address))
		852	return false;
		853
		854	test();
		855	#ifdef DEBUG
		856	debug_pgm (PSTR ("CONNECT"));
		857	#endif
		858
		859	if (!send_cmd(BT_CONNECT, NULL))
		860	return false;
		861	#ifdef DEBUG
		862	debug_pgm (PSTR ("WAIT FOR COMM"));
		863	#endif
		864	return (BT_DATA == update_comm_mode(60000));
		865	}
		866
		867
		868	//--------------------------------------------------------------
		869	uint16_t bt_disconnect(void)
		870	{
		871
		872
		873	if (BT_CMD == update_comm_mode(0))
		874	{
		875	fifo_clear(&in_fifo);
		876	return true;
		877	}
		878
		879	// Switch to online cmd mode
		880	for (uint8_t i = 0; i < 4; i++)
		881	{
		882	const char plus = '+';
		883	uart_send(&plus, 1);
		884	_delay_ms(1000);
		885	}
		886
		887	comm_mode = BT_CMD;
		888
		889	if (!send_cmd(BT_DISCONNECT, NULL))
		890	return false;
		891
		892	// test();
		893	if (!send_cmd(BT_CLEAR_ADDRESS, NULL))
		894	return false;
		895	// test();
		896
		897	if (BT_CMD == update_comm_mode(10000))
		898	{
		899	fifo_clear(&in_fifo);
		900	return true;
		901	}
		902	#ifdef DEBUG
		903	debug_pgm(PSTR("Still in DATA??"));
		904	#endif
		905	return false;
		906
		907	}
		908
		909	/*
		910
		911	BTM-222 Softwareversion 4.35
		912	Inquiry Results:
		913	111111111222222222233333333334
		914	01234567890123456789012345678901234567890
		915
		916	1 LE091452 0024-2C-BEB0CA
		917	2 E71 c 0024-7C-3EC9B9
		918
		919	BTM-222 Softwareversion 6.26
		920	Inquiry Results:
		921	1 E71 c 0024-7C-3EC9B9 N.A.
		922	2 LE091452 0024-2C-BEB0CA N.A.
		923
		924	*/
		925
		926
		927	//--------------------------------------------------------------
		928	void copy_mac(const char src, char dst)
		929	{
		930	uint8_t off = 0;
		931
		932	for (uint8_t i = 0; i < 40; i++)
		933	{
		934	if (src[i] == '-') if (src[i+3] == '-')// MAC Adresse suchen
		935	{
		936	off = i-4;
		937	break;
		938	}
		939	}
		940
		941	for (uint8_t i = 0; i < 14; i++)
		942	{
		943	if (src[i + off] == '-')
		944	off++;
		945
		946	dst[i] = src[i + off];
		947	}
		948	}
		949	//--------------------------------------------------------------
		950	void copy_DevName(const char src, char dst)
		951	{
		952	uint8_t off = 0;
		953
		954
		955	for (uint8_t i = 0; i < 14; i++)
		956	{
		957	if (src[i] == ' ') if (src[i+1] == ' ') break; // nach zwei Leerzeichen ist der Name zuende
		958	dst[i] = src[i + off];
		959	}
		960	}
		961
		962	//--------------------------------------------------------------
		963	uint16_t bt_discover(char result[8][12])
		964
		965
		966	{
		967
		968
		969	// if (!bt_set_mode(BLUETOOTH_MASTER))
		970	// return false;
		971
		972	if (!send_cmd(BT_FIND_DEVICES, NULL))
		973	return false;
		974
		975	char buffer[255]; //oversized, but who cares?
		976	char *bufferhead = buffer;
		977	uint16_t pos = 0;
		978	uint16_t Timeout = 28000;
		979	uint16_t pos1 = 0;
		980	uint16_t posC = 0;
		981	#ifdef DEBUG
		982	debug_pgm(PSTR("discover2"));
		983	#endif
		984	do
		985	{
		986	uart_receive();
		987	Timeout--;
		988	pos1++;
		989	posC++;
		990	_delay_ms(1);
		991	write_ndigit_number_u(0,5,fifo_getcount(&in_fifo),5,0,0);
		992	if (posC ==1000)
		993	{
		994	lcd_printp_at (i++, 1, PSTR("."), 0);
		995	posC = 0;
		996
		997	}
		998
		999
		1000	if (fifo_is_full(&in_fifo)) break;
		1001	#ifdef DEBUG
		1002	if (fifo_search(&in_fifo, PSTR("Found."))) debug_pgm(PSTR("Suchen ende1"));
		1003	#endif
		1004	}
		1005
		1006	// while (((Timeout > 0) \|\|(!fifo_strstr_pgm(&in_fifo, PSTR("Inquiry Results:\r\n")))) && (!fifo_strstr_pgm(&in_fifo, PSTR("Found"))));
		1007	while ((Timeout > 0)\|\|(!fifo_strstr_pgm(&in_fifo, PSTR("Inquiry Results:\r\n"))));
		1008	#ifdef DEBUG
		1009	debug_pgm(PSTR("Suchen ende2"));
		1010
		1011
		1012	if (Timeout == 0) debug_pgm(PSTR("Timeout"));
		1013
		1014	if (fifo_is_full(&in_fifo)) debug_pgm(PSTR("Fifo Overrun, zuviele BT Devices"));
		1015	#endif
		1016	while (!fifo_is_empty(&in_fifo))
		1017	{
		1018	// Get next line
		1019	while (!fifo_cmp_pgm(&in_fifo, PSTR("\r\n")))
		1020	{
		1021	fifo_read(&in_fifo, bufferhead);
		1022	bufferhead++;
		1023	}
		1024	// terminate string
		1025	*bufferhead = 0;
		1026
		1027	//reset bufferhead
		1028	bufferhead = buffer;
		1029
		1030	if (strlen(buffer) == 0)
		1031	continue; //the empty line before end of inquiry
		1032
		1033	if (strstr_P(buffer, PSTR("Inquiry End")))
		1034	// if (searchend)
		1035	{
		1036	fifo_clear(&in_fifo);
		1037	// test();
		1038	return true;
		1039	}
		1040
		1041
		1042	copy_DevName(&buffer[3],device_list[pos].DevName);
		1043	device_list[pos].DevName[14] = 0; // Stringende
		1044
		1045	copy_mac(&buffer[3], device_list[pos].mac);
		1046
		1047	// for (uint16_t i = 0; i < 15; i++)
		1048	// {
		1049	//
		1050	//// USART_putc((device_list[pos].DevName[i]));
		1051	// lcd_print_hex((device_list[pos].DevName[i]),0);
		1052	// }
		1053	// USART_putc('\n');
		1054	//
		1055	//
		1056	// for (uint16_t i = 0; i < 12; i++)
		1057	// {
		1058	//
		1059	// USART_putc((device_list[pos].mac[i]));
		1060	//
		1061	// }
		1062	//
		1063	// USART_putc('\n');
		1064	// USART_putc('\r');
		1065	pos++;
		1066	}
		1067
		1068	return false;
		1069	}
		1070
		1071	device_info device_list[NUTS_LIST];
		1072
		1073	void bt_downlink_init(void)
		1074	{
		1075
		1076
		1077	fifo_init(&in_fifo, bt_buffer, IN_FIFO_SIZE);
		1078	_delay_ms(100);
		1079	// debug_pgm(PSTR("bt_init"));
		1080	uart_receive();
		1081	fifo_clear(&in_fifo);
		1082	// send_cmd(BT_TEST, NULL);
		1083	debug_pgm(PSTR("Downlink_init Start"));
		1084	// if (BTIsSlave == true) // nur Init wenn BT ist Slave
		1085	// {
		1086	comm_mode = BT_NOECHO;
		1087
		1088	if (!send_cmd (BT_SET_ECHO,NULL)) {
		1089	debug_pgm(PSTR("Downlink_init:Couldn't set Echo!"));
		1090
		1091	}
		1092
		1093	comm_mode = BT_CMD;
		1094	if (!send_cmd(BT_SET_ANSWER,NULL)) {
		1095	debug_pgm(PSTR("Downlink_init:Couldn't set Answer!"));
		1096
		1097	}
		1098	// send_cmd(BT_TEST, NULL);
		1099
		1100	if (!bt_set_mode(BLUETOOTH_MASTER)==BLUETOOTH_MASTER)
		1101
		1102	{
		1103	// debug_pgm(PSTR("Downlink_init:Couldn't set master!"));
		1104	// return;
		1105	}
		1106	#ifdef DEBUG
		1107	debug_pgm(PSTR("Downlink_init:master set is "));
		1108	#endif
		1109
		1110	WriteBTMasterFlag(); // Master merken
		1111
		1112	}
		1113
		1114
		1115	void bt_searchDevice(void) //Bluetoothger�te suchen
		1116
		1117	{
		1118
		1119	char result[8][12];
		1120
		1121
		1122
		1123	for (uint8_t i = 0; i < 8; i++) // alte Liste l�schen
		1124	for (uint8_t j = 0; j < 12; j++)
		1125	result[i][j] = 0;
		1126	#ifdef DEBUG
		1127	debug_pgm(PSTR("Search Device:BT_discover"));
		1128	#endif
		1129	if (bt_discover(result))
		1130	{
		1131	bt_devicecount = 0;
		1132	#ifdef DEBUG
		1133	debug_pgm(PSTR("Search Device:Search ok"));
		1134	#endif
		1135	for (uint8_t i = 0; i < 8; i++)
		1136	{
		1137	if (valid(i))
		1138	bt_devicecount++;
		1139	else break;
		1140	}
		1141	}
		1142	#ifdef DEBUG
		1143	else
		1144
		1145	debug_pgm(PSTR("Search Device:Search failed"));
		1146	#endif
		1147	// }
		1148
		1149	}
		1150
		1151
		1152	//--------------------------------------------------------------
		1153	uint16_t bt_receiveNMEA(void)
		1154	{
		1155
		1156	char received;
		1157	static uint8_t line_flag = 1;
		1158	static char* ptr_write = rx_buffer;
		1159
		1160	uart_receive();
		1161
		1162	if (fifo_is_empty(&in_fifo))
		1163	// continue;
		1164	// break;
		1165	return true;
		1166
		1167
		1168
		1169	if (update_comm_mode(0) != BT_DATA)
		1170	{
		1171	#ifdef DEBUG
		1172	debug_pgm(PSTR("not connected"));
		1173	#endif
		1174	return false;
		1175	}
		1176
		1177	// We have a connection
		1178	// if (timeout_ms == 0)
		1179	// timeout_ms += 2000;
		1180
		1181	if (fifo_is_empty(&in_fifo))
		1182	// continue;
		1183	// break;
		1184	return true;
		1185
		1186	fifo_read(&in_fifo, &received);
		1187	// Find starting point of packet
		1188	if (rx_ready == 0)
		1189	{
		1190	if ((received == start) && line_flag)
		1191	{ // start '$'
		1192	line_flag = 0; // New line has begun
		1193	ptr_write = rx_buffer; // Begin at start of buffer
		1194	rx_len = 0;
		1195	}
		1196	if (line_flag == 0)
		1197	{ // Are we receiving a line?
		1198	*ptr_write = received; // Add current byte
		1199	rx_len++;
		1200
		1201	// GPS Datensatzende
		1202
		1203	if (received == end)
		1204	{ // End of MK-GPS or NMEA-line?
		1205	line_flag = 1; // Yes, start new line
		1206	rx_ready = 1; // Lock buffer until line has been processed
		1207	}
		1208
		1209
		1210	}
		1211
		1212	ptr_write++;
		1213	if(rx_len == RXD_BUFFER_SIZE) line_flag = 1; // Line too long? Try again
		1214	}//if (rx_ready == 0)
		1215	return true;
		1216	}
		1217	//
		1218	// return false;
		1219	//}
		1220
		1221	//#endif
		1222
		1223
		1224
		1225
		1226	#endif
		1227	#endif
		1228	#endif

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