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Rev | Author | Line No. | Line |
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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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32 | holgerb | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
12 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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62 | ingob | 11 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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67 | killagreg | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
62 | ingob | 31 | // + mit unserer Zustimmung zulässig |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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12 | hbuss | 33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 36 | // + this list of conditions and the following disclaimer. |
62 | ingob | 37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
12 | hbuss | 38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
39 | // + from this software without specific prior written permission. |
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32 | holgerb | 40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 41 | // + for non-commercial use (directly or indirectly) |
32 | holgerb | 42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 43 | // + with our written permission |
44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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45 | // + In case of doubt please contact: info@MikroKopter.de |
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32 | holgerb | 46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
47 | // + clearly linked as origin |
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12 | hbuss | 48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | holgerb | 58 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 60 | #include <avr/io.h> |
61 | #include <avr/interrupt.h> |
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62 | #include <avr/wdt.h> |
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58 | killagreg | 63 | #include <avr/pgmspace.h> |
41 | killagreg | 64 | #include <stdarg.h> |
65 | #include <string.h> |
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1 | ingob | 66 | #include "main.h" |
58 | killagreg | 67 | #include "menu.h" |
1 | ingob | 68 | #include "uart.h" |
32 | holgerb | 69 | #include "timer0.h" |
70 | #include "twislave.h" |
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67 | killagreg | 71 | #include "printf_P.h" |
1 | ingob | 72 | |
37 | killagreg | 73 | // slave addresses |
74 | #define FC_ADDRESS 1 |
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75 | #define NC_ADDRESS 2 |
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76 | #define MK3MAG_ADDRESS 3 |
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1 | ingob | 77 | |
32 | holgerb | 78 | #define FALSE 0 |
79 | #define TRUE 1 |
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1 | ingob | 80 | |
32 | holgerb | 81 | // keep buffers as small as possible |
67 | killagreg | 82 | #define TXD_BUFFER_LEN 120 |
32 | holgerb | 83 | #define RXD_BUFFER_LEN 30 |
1 | ingob | 84 | |
32 | holgerb | 85 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
86 | volatile uint8_t rxd_buffer_locked = FALSE; |
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87 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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88 | volatile uint8_t txd_complete = TRUE; |
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89 | volatile uint8_t ReceivedBytes = 0; |
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41 | killagreg | 90 | volatile uint8_t *pRxData = 0; |
91 | volatile uint8_t RxDataLen = 0; |
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1 | ingob | 92 | |
37 | killagreg | 93 | // send flags |
94 | #define RQST_VERSION_INFO 0x01 |
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95 | #define RQST_DEBUG_DATA 0x02 |
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96 | #define RQST_DEBUG_LABEL 0x04 |
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97 | #define RQST_COMPASS_HEADING 0x08 |
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98 | #define RQST_EXTERN_CTRL 0x10 |
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52 | killagreg | 99 | #define RQST_DISPLAY_DATA 0x20 |
3 | ingob | 100 | |
32 | holgerb | 101 | uint8_t RequestFlags = 0x00; |
102 | uint8_t RequestDebugLabel = 0; |
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41 | killagreg | 103 | uint8_t ConfirmFrame = 0; |
58 | killagreg | 104 | |
52 | killagreg | 105 | uint8_t DisplayLine = 0; |
58 | killagreg | 106 | |
52 | killagreg | 107 | uint16_t PC_Connected = 0; |
108 | uint16_t FC_Connected = 0; |
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32 | holgerb | 109 | |
110 | DebugOut_t DebugOut; |
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111 | ExternData_t ExternData; |
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112 | ExternControl_t ExternControl; |
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41 | killagreg | 113 | UART_VersionInfo_t UART_VersionInfo; |
32 | holgerb | 114 | |
41 | killagreg | 115 | uint16_t DebugData_Timer; |
68 | holgerb | 116 | uint16_t DebugData_Interval = 5000; |
67 | killagreg | 117 | uint16_t Display_Timer; |
118 | uint16_t Display_Interval = 0; |
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68 | holgerb | 119 | uint16_t PotiIntervall = 50; |
120 | uint16_t PotiTimer; |
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32 | holgerb | 121 | |
58 | killagreg | 122 | const prog_uint8_t ANALOG_LABEL[32][16] = |
1 | ingob | 123 | { |
37 | killagreg | 124 | //1234567890123456 |
125 | "Magnet X ", //0 |
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126 | "Magnet Y ", |
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127 | "Magnet Z ", |
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128 | "RawMagnet X ", |
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129 | "RawMagnet Y ", |
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130 | "RawMagnet Z ", //5 |
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131 | "Attitude Nick ", |
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132 | "Attitude Roll ", |
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133 | "Magnet X Offset ", |
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134 | "Magnet X Range ", |
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135 | "Magnet Y Offset ", //10 |
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136 | "Magnet Y Range ", |
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137 | "Magnet Z Offset ", |
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138 | "Magnet Z Range ", |
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139 | "Calstate ", |
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140 | "Heading ", //15 |
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68 | holgerb | 141 | " ", |
142 | " ", |
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37 | killagreg | 143 | "Acc X ", |
144 | "Acc Y ", |
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145 | "Acc Z ", //20 |
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146 | "RawAcc X ", |
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147 | "RawAcc Y ", |
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148 | "RawAcc Z ", |
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68 | holgerb | 149 | "Serial Poti1 ", |
150 | "Serial Poti2 ", //25 |
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151 | "Serial Poti3 ", |
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55 | killagreg | 152 | "Heading X ", |
153 | "Heading Y ", |
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154 | "Attitude Source ", |
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37 | killagreg | 155 | "I2C Error ", //30 |
156 | "I2C Okay " |
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1 | ingob | 157 | }; |
158 | |||
32 | holgerb | 159 | /****************************************************************/ |
160 | /* Initialization of the USART0 */ |
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161 | /****************************************************************/ |
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162 | void USART0_Init (void) |
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163 | { |
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41 | killagreg | 164 | uint8_t sreg = SREG; |
32 | holgerb | 165 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
7 | hbuss | 166 | |
32 | holgerb | 167 | // disable all interrupts before configuration |
168 | cli(); |
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169 | |||
170 | // disable RX-Interrupt |
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171 | UCSR0B &= ~(1 << RXCIE0); |
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172 | // disable TX-Interrupt |
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173 | UCSR0B &= ~(1 << TXCIE0); |
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174 | |||
175 | // set direction of RXD0 and TXD0 pins |
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176 | |||
177 | // set RXD0 (PD0) as an input pin tristate |
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178 | DDRD &= ~(1 << DDD0); |
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179 | PORTD &= ~(1 << PORTD0); |
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180 | // set TXD0 (PD1) as an output pin |
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181 | DDRD |= (1 << DDD1); |
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182 | PORTD &= ~(1 << PORTD1); |
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183 | |||
184 | |||
185 | // USART0 Baud Rate Register |
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186 | // set clock divider |
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187 | UBRR0H = (uint8_t)(ubrr >> 8); |
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188 | UBRR0L = (uint8_t)ubrr; |
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189 | |||
37 | killagreg | 190 | // USART0 Control and Status Register A, B, C |
32 | holgerb | 191 | |
192 | // enable double speed operation |
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193 | UCSR0A |= (1 << U2X0); |
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194 | |||
195 | // set asynchronous mode |
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196 | UCSR0C &= ~(1 << UMSEL01); |
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197 | UCSR0C &= ~(1 << UMSEL00); |
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198 | // no parity |
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199 | UCSR0C &= ~(1 << UPM01); |
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200 | UCSR0C &= ~(1 << UPM00); |
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201 | // 1 stop bit |
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202 | UCSR0C &= ~(1 << USBS0); |
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203 | // 8-bit |
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204 | UCSR0B &= ~(1 << UCSZ02); |
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205 | UCSR0C |= (1 << UCSZ01); |
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206 | UCSR0C |= (1 << UCSZ00); |
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207 | |||
208 | // enable receiver and transmitter |
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209 | UCSR0B |= (1 << RXEN0); |
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210 | UCSR0B |= (1 << TXEN0); |
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211 | |||
212 | // flush receive buffer |
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213 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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214 | |||
215 | // enable RX-Interrupt |
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216 | UCSR0B |= (1 << RXCIE0); |
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217 | // enable TX-Interrupt |
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218 | UCSR0B |= (1 << TXCIE0); |
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219 | |||
41 | killagreg | 220 | // initialize the debug timer |
221 | DebugData_Timer = SetDelay(DebugData_Interval); |
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68 | holgerb | 222 | PotiTimer = SetDelay(PotiIntervall); |
41 | killagreg | 223 | |
224 | // unlock rxd_buffer |
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32 | holgerb | 225 | rxd_buffer_locked = FALSE; |
41 | killagreg | 226 | pRxData = 0; |
227 | RxDataLen = 0; |
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228 | |||
229 | // no bytes to send |
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32 | holgerb | 230 | txd_complete = TRUE; |
231 | |||
232 | |||
47 | killagreg | 233 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
234 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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235 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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236 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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237 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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32 | holgerb | 238 | |
52 | killagreg | 239 | // send version info at startup |
32 | holgerb | 240 | USART0_putchar ('\n'); |
241 | USART0_putchar ('C'); |
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242 | USART0_putchar ('P'); |
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243 | USART0_putchar (':'); |
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244 | USART0_putchar ('V'); |
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53 | killagreg | 245 | USART0_putchar ('0' + VERSION_MAJOR); |
32 | holgerb | 246 | USART0_putchar ('.'); |
53 | killagreg | 247 | USART0_putchar ('0' + VERSION_MINOR/10); |
248 | USART0_putchar ('0' + VERSION_MINOR%10); |
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41 | killagreg | 249 | USART0_putchar ('a' + VERSION_PATCH); |
69 | killagreg | 250 | USART0_putchar ('\n'); |
41 | killagreg | 251 | |
69 | killagreg | 252 | // restore global interrupt flags |
253 | SREG = sreg; |
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1 | ingob | 254 | } |
255 | |||
32 | holgerb | 256 | // --------------------------------------------------------------------------------- |
257 | void USART0_EnableTXD(void) |
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1 | ingob | 258 | { |
32 | holgerb | 259 | DDRD |= (1<<DDD1); // set TXD pin as output |
260 | PORTD &= ~(1 << PORTD1); |
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261 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
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55 | killagreg | 262 | //changing the interrupt flag yields to strange effects |
263 | //UCSR0B |= (1 << TXCIE0); // enable TX-Interrupt |
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1 | ingob | 264 | } |
265 | |||
32 | holgerb | 266 | // --------------------------------------------------------------------------------- |
267 | void USART0_DisableTXD(void) |
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1 | ingob | 268 | { |
32 | holgerb | 269 | while(!txd_complete){ }; |
69 | killagreg | 270 | //changing the interrupt flag yields to strange effects |
55 | killagreg | 271 | //UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
272 | UCSR0B &= ~(1 << TXEN0); // disable TX in USART |
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32 | holgerb | 273 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
274 | PORTD &= ~(1 << PORTD1); |
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275 | } |
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1 | ingob | 276 | |
32 | holgerb | 277 | /****************************************************************/ |
278 | /* USART0 transmitter ISR */ |
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279 | /****************************************************************/ |
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280 | ISR(USART_TX_vect) |
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281 | { |
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282 | static uint16_t ptr_txd_buffer = 0; |
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283 | uint8_t tmp_tx; |
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284 | if(!txd_complete) // transmission not completed |
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285 | { |
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286 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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287 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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288 | // if terminating character or end of txd buffer was reached |
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289 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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290 | { |
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291 | ptr_txd_buffer = 0; // reset txd pointer |
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292 | txd_complete = TRUE; // stop transmission |
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293 | } |
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294 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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295 | } |
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296 | // transmission completed |
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297 | else ptr_txd_buffer = 0; |
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1 | ingob | 298 | } |
299 | |||
32 | holgerb | 300 | /****************************************************************/ |
301 | /* USART0 receiver ISR */ |
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302 | /****************************************************************/ |
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303 | ISR(USART_RX_vect) |
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1 | ingob | 304 | { |
32 | holgerb | 305 | static uint16_t crc; |
306 | uint8_t crc1, crc2; |
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307 | uint8_t c; |
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308 | static uint8_t ptr_rxd_buffer = 0; |
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1 | ingob | 309 | |
32 | holgerb | 310 | c = UDR0; // catch the received byte |
1 | ingob | 311 | |
32 | holgerb | 312 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
1 | ingob | 313 | |
32 | holgerb | 314 | // the rxd buffer is unlocked |
315 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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316 | { |
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317 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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318 | crc = c; // init crc |
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319 | } |
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320 | #if 0 |
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321 | else if (ptr_rxd_buffer == 1) // handle address |
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322 | { |
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323 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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324 | crc += c; // update crc |
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325 | } |
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326 | #endif |
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327 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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328 | { |
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329 | if(c != '\r') // no termination character |
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330 | { |
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331 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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332 | crc += c; // update crc |
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333 | } |
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334 | else // termination character was received |
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335 | { |
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336 | // the last 2 bytes are no subject for checksum calculation |
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337 | // they are the checksum itself |
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338 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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339 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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340 | // calculate checksum from transmitted data |
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341 | crc %= 4096; |
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342 | crc1 = '=' + crc / 64; |
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343 | crc2 = '=' + crc % 64; |
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344 | // compare checksum to transmitted checksum bytes |
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345 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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346 | { // checksum valid |
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41 | killagreg | 347 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
348 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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32 | holgerb | 349 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
350 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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351 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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352 | } |
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353 | else |
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354 | { // checksum invalid |
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355 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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356 | } |
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357 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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358 | } |
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359 | } |
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360 | else // rxd buffer overrun |
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361 | { |
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362 | ptr_rxd_buffer = 0; // reset rxd buffer |
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363 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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364 | } |
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1 | ingob | 365 | } |
366 | |||
367 | |||
368 | // -------------------------------------------------------------------------- |
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32 | holgerb | 369 | void AddCRC(uint16_t datalen) |
1 | ingob | 370 | { |
32 | holgerb | 371 | uint16_t tmpCRC = 0, i; |
372 | for(i = 0; i < datalen; i++) |
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373 | { |
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374 | tmpCRC += txd_buffer[i]; |
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375 | } |
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376 | tmpCRC %= 4096; |
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377 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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378 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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379 | txd_buffer[i++] = '\r'; |
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380 | txd_complete = FALSE; |
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381 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
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1 | ingob | 382 | } |
383 | |||
384 | |||
385 | |||
32 | holgerb | 386 | // -------------------------------------------------------------------------- |
46 | killagreg | 387 | void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
1 | ingob | 388 | { |
41 | killagreg | 389 | va_list ap; |
32 | holgerb | 390 | uint16_t pt = 0; |
391 | uint8_t a,b,c; |
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392 | uint8_t ptr = 0; |
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393 | |||
41 | killagreg | 394 | uint8_t *pdata = 0; |
395 | int len = 0; |
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396 | |||
46 | killagreg | 397 | txd_buffer[pt++] = '#'; // Start character |
398 | txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
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399 | txd_buffer[pt++] = cmd; // Command |
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32 | holgerb | 400 | |
41 | killagreg | 401 | va_start(ap, numofbuffers); |
42 | killagreg | 402 | if(numofbuffers) |
41 | killagreg | 403 | { |
404 | pdata = va_arg(ap, uint8_t*); |
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405 | len = va_arg(ap, int); |
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406 | ptr = 0; |
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42 | killagreg | 407 | numofbuffers--; |
41 | killagreg | 408 | } |
409 | |||
32 | holgerb | 410 | while(len) |
411 | { |
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41 | killagreg | 412 | if(len) |
413 | { |
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414 | a = pdata[ptr++]; |
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415 | len--; |
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416 | if((!len) && numofbuffers) |
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417 | { |
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418 | pdata = va_arg(ap, uint8_t*); |
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419 | len = va_arg(ap, int); |
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420 | ptr = 0; |
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421 | numofbuffers--; |
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422 | } |
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423 | } |
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424 | else a = 0; |
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425 | if(len) |
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426 | { |
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427 | b = pdata[ptr++]; |
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428 | len--; |
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429 | if((!len) && numofbuffers) |
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430 | { |
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431 | pdata = va_arg(ap, uint8_t*); |
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432 | len = va_arg(ap, int); |
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433 | ptr = 0; |
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434 | numofbuffers--; |
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435 | } |
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436 | } |
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437 | else b = 0; |
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438 | if(len) |
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439 | { |
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440 | c = pdata[ptr++]; |
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441 | len--; |
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442 | if((!len) && numofbuffers) |
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443 | { |
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444 | pdata = va_arg(ap, uint8_t*); |
||
445 | len = va_arg(ap, int); |
||
446 | ptr = 0; |
||
447 | numofbuffers--; |
||
448 | } |
||
449 | } |
||
450 | else c = 0; |
||
32 | holgerb | 451 | txd_buffer[pt++] = '=' + (a >> 2); |
452 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
453 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
454 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
||
455 | } |
||
41 | killagreg | 456 | va_end(ap); |
32 | holgerb | 457 | AddCRC(pt); // add checksum after data block and initates the transmission |
1 | ingob | 458 | } |
459 | |||
32 | holgerb | 460 | |
1 | ingob | 461 | // -------------------------------------------------------------------------- |
41 | killagreg | 462 | void Decode64(void) |
1 | ingob | 463 | { |
32 | holgerb | 464 | uint8_t a,b,c,d; |
465 | uint8_t x,y,z; |
||
41 | killagreg | 466 | uint8_t ptrIn = 3; |
467 | uint8_t ptrOut = 3; |
||
468 | uint8_t len = ReceivedBytes - 6; |
||
469 | |||
32 | holgerb | 470 | while(len) |
471 | { |
||
472 | a = rxd_buffer[ptrIn++] - '='; |
||
473 | b = rxd_buffer[ptrIn++] - '='; |
||
474 | c = rxd_buffer[ptrIn++] - '='; |
||
475 | d = rxd_buffer[ptrIn++] - '='; |
||
41 | killagreg | 476 | //if(ptrIn > ReceivedBytes - 3) break; |
1 | ingob | 477 | |
32 | holgerb | 478 | x = (a << 2) | (b >> 4); |
479 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
480 | z = ((c & 0x03) << 6) | d; |
||
481 | |||
41 | killagreg | 482 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
483 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
||
484 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
||
32 | holgerb | 485 | } |
41 | killagreg | 486 | pRxData = &rxd_buffer[3]; |
487 | RxDataLen = ptrOut - 3; |
||
17 | holgerb | 488 | } |
489 | |||
32 | holgerb | 490 | |
41 | killagreg | 491 | |
32 | holgerb | 492 | // -------------------------------------------------------------------------- |
493 | int16_t USART0_putchar (int8_t c) |
||
1 | ingob | 494 | { |
32 | holgerb | 495 | // if tx is not enabled return immediatly |
496 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
||
497 | if (c == '\n') USART0_putchar('\r'); |
||
498 | // wait until previous character was send |
||
499 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
500 | // send character |
||
501 | UDR0 = c; |
||
502 | return (0); |
||
1 | ingob | 503 | } |
504 | |||
505 | |||
32 | holgerb | 506 | // -------------------------------------------------------------------------- |
507 | void USART0_ProcessRxData(void) |
||
1 | ingob | 508 | { |
32 | holgerb | 509 | // if data in the rxd buffer are not locked immediately return |
510 | if(!rxd_buffer_locked) return; |
||
1 | ingob | 511 | |
46 | killagreg | 512 | Decode64(); // decode data block in rxd_buffer |
513 | |||
45 | ingob | 514 | switch(rxd_buffer[1]-'a') // check Slave Address |
32 | holgerb | 515 | { |
44 | killagreg | 516 | case MK3MAG_ADDRESS: |
46 | killagreg | 517 | |
44 | killagreg | 518 | switch(rxd_buffer[2]) // check for CmdID |
519 | { |
||
520 | case 'w': // old style |
||
521 | case 'k': // Attitude info from FC |
||
522 | memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
||
523 | RequestFlags |= RQST_COMPASS_HEADING; |
||
70 | holgerb | 524 | #ifndef HEADTRACKER |
44 | killagreg | 525 | AttitudeSource = ATTITUDE_SOURCE_UART; |
70 | holgerb | 526 | #endif |
44 | killagreg | 527 | Orientation = ExternData.Orientation; |
528 | FC_Connected = 255; |
||
529 | break; |
||
32 | holgerb | 530 | |
44 | killagreg | 531 | default: |
532 | // unsupported command |
||
533 | break; |
||
46 | killagreg | 534 | } // case MK3MAG_ADDRESS: |
32 | holgerb | 535 | |
52 | killagreg | 536 | default: // any Slave Address |
46 | killagreg | 537 | |
44 | killagreg | 538 | switch(rxd_buffer[2]) // check for CmdID |
539 | { |
||
540 | case 'b': // extern control |
||
541 | memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
||
542 | #define KEY1 0x01 |
||
543 | #define KEY2 0x02 |
||
544 | #define KEY3 0x04 |
||
545 | #define KEY4 0x08 |
||
546 | #define KEY5 0x10 |
||
547 | // use right arrow at display for switching the calstate |
||
548 | if(ExternControl.RemoteButtons & KEY2) |
||
549 | { |
||
550 | ExternData.CalState++; |
||
551 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
||
552 | } |
||
553 | ConfirmFrame = ExternControl.Frame; |
||
52 | killagreg | 554 | PC_Connected = 2000; |
44 | killagreg | 555 | break; |
37 | killagreg | 556 | |
44 | killagreg | 557 | case 'd': // request for the debug data |
558 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
||
45 | ingob | 559 | if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
52 | killagreg | 560 | PC_Connected = 2000; |
44 | killagreg | 561 | break; |
32 | holgerb | 562 | |
44 | killagreg | 563 | case 'v': // request version and board release |
564 | RequestFlags |= RQST_VERSION_INFO; |
||
52 | killagreg | 565 | PC_Connected = 2000; |
44 | killagreg | 566 | break; |
32 | holgerb | 567 | |
52 | killagreg | 568 | case 'h': // request display data |
67 | killagreg | 569 | if((pRxData[0] & 0x80) == 0x00) // old format |
570 | { |
||
571 | DisplayLine = 2; |
||
572 | Display_Interval = 0; |
||
573 | } |
||
574 | else |
||
575 | { |
||
576 | RemoteKeys |= ~pRxData[0]; |
||
577 | Display_Interval = (uint16_t) pRxData[1] * 10; |
||
578 | DisplayLine = 4; |
||
579 | } |
||
52 | killagreg | 580 | RequestFlags |= RQST_DISPLAY_DATA; |
581 | PC_Connected = 2000; |
||
49 | ingob | 582 | break; |
583 | |||
44 | killagreg | 584 | case 'a':// Labels of the Analog Debug outputs |
585 | RequestDebugLabel = pRxData[0]; |
||
586 | RequestFlags |= RQST_DEBUG_LABEL; |
||
52 | killagreg | 587 | PC_Connected = 2000; |
44 | killagreg | 588 | break; |
589 | |||
590 | case 'g':// get extern control data |
||
591 | RequestFlags |= RQST_EXTERN_CTRL; |
||
52 | killagreg | 592 | PC_Connected = 2000; |
44 | killagreg | 593 | break; |
594 | |||
595 | default: |
||
596 | // unsupported command |
||
597 | break; |
||
598 | } |
||
599 | break; // default: |
||
32 | holgerb | 600 | } |
601 | // unlock the rxd buffer after processing |
||
41 | killagreg | 602 | pRxData = 0; |
603 | RxDataLen = 0; |
||
32 | holgerb | 604 | rxd_buffer_locked = FALSE; |
1 | ingob | 605 | } |
606 | |||
607 | |||
32 | holgerb | 608 | |
1 | ingob | 609 | //--------------------------------------------------------------------------------------------- |
32 | holgerb | 610 | void USART0_TransmitTxData(void) |
1 | ingob | 611 | { |
32 | holgerb | 612 | if(!(UCSR0B & (1 << TXEN0))) return; |
613 | |||
614 | if(!txd_complete) return; |
||
615 | |||
68 | holgerb | 616 | if((RequestFlags & RQST_DEBUG_LABEL)) |
37 | killagreg | 617 | { |
58 | killagreg | 618 | uint8_t label[16]; |
619 | memcpy_P(label, ANALOG_LABEL[RequestDebugLabel], 16); // read lable from flash to sram buffer |
||
620 | SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), label, 16); |
||
41 | killagreg | 621 | RequestDebugLabel = 0xFF; |
622 | RequestFlags &= ~RQST_DEBUG_LABEL; |
||
37 | killagreg | 623 | } |
68 | holgerb | 624 | else if(ConfirmFrame) |
37 | killagreg | 625 | { |
44 | killagreg | 626 | SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
41 | killagreg | 627 | ConfirmFrame = 0; |
32 | holgerb | 628 | } |
68 | holgerb | 629 | else if((((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA))) |
37 | killagreg | 630 | { |
41 | killagreg | 631 | SetDebugValues(); |
44 | killagreg | 632 | SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
41 | killagreg | 633 | DebugData_Timer = SetDelay(DebugData_Interval); |
634 | RequestFlags &= ~RQST_DEBUG_DATA; |
||
37 | killagreg | 635 | } |
68 | holgerb | 636 | else if(( ((Display_Interval > 0) && CheckDelay(Display_Timer)) || (RequestFlags & RQST_DISPLAY_DATA))) |
52 | killagreg | 637 | { |
67 | killagreg | 638 | if(DisplayLine > 3)// new format |
639 | { |
||
640 | LCD_PrintMenu(); |
||
641 | SendOutData('H', MK3MAG_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
642 | } |
||
643 | else // old format |
||
644 | { |
||
645 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
646 | SendOutData('H', MK3MAG_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
647 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
648 | } |
||
649 | Display_Timer = SetDelay(Display_Interval); |
||
52 | killagreg | 650 | RequestFlags &= ~RQST_DISPLAY_DATA; |
651 | } |
||
68 | holgerb | 652 | else if((RequestFlags & RQST_EXTERN_CTRL)) |
32 | holgerb | 653 | { |
44 | killagreg | 654 | SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
37 | killagreg | 655 | RequestFlags &= ~RQST_EXTERN_CTRL; |
32 | holgerb | 656 | } |
68 | holgerb | 657 | else if((RequestFlags & RQST_COMPASS_HEADING)) |
32 | holgerb | 658 | { |
54 | killagreg | 659 | SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &Heading, sizeof(Heading)); // send compass heading to FC |
37 | killagreg | 660 | RequestFlags &= ~RQST_COMPASS_HEADING; |
661 | } |
||
68 | holgerb | 662 | else if((RequestFlags & RQST_VERSION_INFO)) |
41 | killagreg | 663 | { |
44 | killagreg | 664 | SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
41 | killagreg | 665 | RequestFlags &= ~RQST_VERSION_INFO; |
666 | } |
||
68 | holgerb | 667 | #ifdef HEADTRACKER |
668 | else if((PotiIntervall > 0) && CheckDelay(PotiTimer)) |
||
669 | { |
||
670 | SendOutData('y', FC_ADDRESS, 1, (uint8_t *) PotiToFC, sizeof(PotiToFC)); // send compass heading to FC |
||
671 | PotiTimer = SetDelay(PotiIntervall); |
||
672 | } |
||
673 | #endif |
||
1 | ingob | 674 | } |
675 | |||
32 | holgerb | 676 | void USART0_Print(int8_t *msg) |
17 | holgerb | 677 | { |
32 | holgerb | 678 | uint8_t i = 0; |
37 | killagreg | 679 | while(msg[i] != 0) |
680 | { |
||
681 | USART0_putchar(msg[i++]); |
||
682 | } |
||
17 | holgerb | 683 | } |