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685 cascade 1
/****************************************************************************
1866 - 2
 *   Copyright (C) 2009-2013 by Claas Anders "CaScAdE" Rathje               *
685 cascade 3
 *   admiralcascade@gmail.com                                               *
4
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
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 *                                                                          *
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 *   This program is free software; you can redistribute it and/or modify   *
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 *   it under the terms of the GNU General Public License as published by   *
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 *   the Free Software Foundation; either version 2 of the License.         *
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 *                                                                          *
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 *   This program is distributed in the hope that it will be useful,        *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   GNU General Public License for more details.                           *
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 *                                                                          *
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 *   You should have received a copy of the GNU General Public License      *
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 *   along with this program; if not, write to the                          *
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 *   Free Software Foundation, Inc.,                                        *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
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 ****************************************************************************/
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#include "main.h"
685 cascade 22
#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include "usart1.h"
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#include "max7456_software_spi.h"
685 cascade 27
 
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#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
29
 
30
volatile uint8_t rxd_buffer_locked = 0;
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volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
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//volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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volatile uint8_t ReceivedBytes = 0;
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volatile uint8_t *pRxData = 0;
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volatile uint8_t RxDataLen = 0;
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37
/* ##########################################################################
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 * USART1 stuff
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 * ##########################################################################*/
40
 
41
/**
42
 * init usart1
43
 */
44
void usart1_init() {
45
    UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8;
46
    UBRR1L = (F_CPU / (16UL * baud)) - 1;
47
 
48
    // Enable receiver and transmitter; enable RX interrupt
49
    UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
50
 
51
    //asynchronous 8N1
52
    UCSR1C = (1 << URSEL1) | (3 << UCSZ10);
53
}
54
 
55
/**
56
 * disable the txd pin of usart1
57
 */
58
void usart1_DisableTXD(void) {
59
    UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt
60
    UCSR1B &= ~(1 << TXEN1); // disable TX in USART
61
    DDRB &= ~(1 << DDB3); // set TXD pin as input
62
    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
63
}
64
 
65
/**
66
 * enable the txd pin of usart1
67
 */
68
void usart1_EnableTXD(void) {
69
    DDRB |= (1 << DDB3); // set TXD pin as output
70
    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
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    UCSR1B |= (1 << TXEN1); // enable TX in USART
72
    UCSR1B |= (1 << TXCIE1); // enable TX-Interrupt
73
}
74
 
75
/**
76
 * send a single <character> through usart1
77
 */
78
void usart1_putc(unsigned char character) {
79
    // wait until UDR ready
80
    while (!(UCSR1A & (1 << UDRE1)));
81
    UDR1 = character;
82
}
83
 
84
/**
85
 * send a <string> throught usart1
86
 */
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/*void usart1_puts(char *s) {
685 cascade 88
    while (*s) {
89
        usart1_putc(*s);
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        s++;
91
    }
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}*/
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94
/**
761 - 95
 * send a PGM<string> throught usart1
96
 */
97
void usart1_puts_pgm(const char* string) {
98
    while (pgm_read_byte(string) != 0x00)
99
        usart1_putc(pgm_read_byte(string++));
100
}
101
 
102
/**
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 * transmit interrupt handler
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 * unused
105
 */
1772 - 106
ISR(USART1_TXC_vect) {
685 cascade 107
}
108
 
109
/*
110
 * receive data through usart1
111
 * portions taken and adapted from
112
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
113
 */
1772 - 114
ISR(USART1_RXC_vect) {
685 cascade 115
    uint8_t c;
116
    // catch the received byte
117
    c = UDR1;
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
119
    static uint16_t crc;
120
    static uint8_t ptr_rxd_buffer = 0;
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    static uint8_t c1 = 0;
122
    static uint8_t c2 = 0;
123
    static uint8_t usart_rx_ok = 0;
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    uint8_t crc1, crc2;
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    // the rxd buffer is unlocked
761 - 126
    if (usart_rx_ok == 0) {
127
        // if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && (c == 'D' || c == 'V' || c == 'O')) {
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129
        if ((c2 == '#') && (c1 == 'b' || c1 == 'c') &&
130
#if FCONLY
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            (c == 'V' || c == 'D' || c == 'Q' || c == 'L')) { // version, debug, settings, LCD
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#else
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            (c == 'V' || c == 'O' || c == 'Q' || c == 'C')) { // version, OSD, settings, 3D-Data
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#endif
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                usart_rx_ok = 1;
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                rxd_buffer[ptr_rxd_buffer++] = c2;
137
                crc = c2;
138
                rxd_buffer[ptr_rxd_buffer++] = c1;
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                crc += c1;
140
                rxd_buffer[ptr_rxd_buffer++] = c;
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                crc += c;
142
                c2 = 0;
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                c1 = 0;
144
                LED1_ON
145
                LED2_OFF
146
            } else {
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            c2 = c1;
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            c1 = c;
149
        }
150
    } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
151
        if (c != '\r') { // no termination character
152
            rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
153
            crc += c; // update crc
154
        } else { // termination character was received
155
            // the last 2 bytes are no subject for checksum calculation
156
            // they are the checksum itself
157
            crc -= rxd_buffer[ptr_rxd_buffer - 2];
158
            crc -= rxd_buffer[ptr_rxd_buffer - 1];
159
            // calculate checksum from transmitted data
160
            crc %= 4096;
161
            crc1 = '=' + crc / 64;
162
            crc2 = '=' + crc % 64;
163
            // compare checksum to transmitted checksum bytes
164
            if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
165
                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
166
                ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
167
                rxd_buffer_locked = 1; // lock the rxd buffer
168
                LED1_OFF
169
            } else { // checksum invalid
170
                rxd_buffer_locked = 0; // unlock rxd buffer
171
                LED2_ON
172
            }
173
            ptr_rxd_buffer = 0; // reset rxd buffer pointer
174
            usart_rx_ok = 0;
175
        }
176
    } else { // rxd buffer overrun
177
        ptr_rxd_buffer = 0; // reset rxd buffer
178
        rxd_buffer_locked = 0; // unlock rxd buffer
179
        usart_rx_ok = 0;
180
        LED2_ON
181
    }
182
}
183
 
184
/**
185
 * Decode the recevied Buffer
186
 * portions taken and adapted from
187
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
188
 */
189
void Decode64(void) {
190
    uint8_t a, b, c, d;
191
    uint8_t x, y, z;
192
    uint8_t ptrIn = 3;
193
    uint8_t ptrOut = 3;
194
    uint8_t len = ReceivedBytes - 6;
195
 
196
    while (len) {
197
        a = rxd_buffer[ptrIn++] - '=';
198
        b = rxd_buffer[ptrIn++] - '=';
199
        c = rxd_buffer[ptrIn++] - '=';
200
        d = rxd_buffer[ptrIn++] - '=';
201
 
202
        x = (a << 2) | (b >> 4);
203
        y = ((b & 0x0f) << 4) | (c >> 2);
204
        z = ((c & 0x03) << 6) | d;
205
 
206
        if (len--) rxd_buffer[ptrOut++] = x;
207
        else break;
208
        if (len--) rxd_buffer[ptrOut++] = y;
209
        else break;
210
        if (len--) rxd_buffer[ptrOut++] = z;
211
        else break;
212
    }
213
    pRxData = &rxd_buffer[3];
214
    RxDataLen = ptrOut - 3;
800 - 215
}
216
 
783 - 217
/**
218
 * Request Data through usart1 until a answer is received
800 - 219
 */
220
void usart1_request_blocking(unsigned char answer, const char* message) {
954 - 221
    rxd_buffer[2] = answer + 1; // unvalidate answer
222
    while (rxd_buffer[2] != answer || (rxd_buffer_locked != 1)) {
800 - 223
        rxd_buffer_locked = 0;
224
        usart1_EnableTXD();
225
        usart1_puts_pgm(message);
226
        usart1_DisableTXD();
227
        static uint8_t wait = 0;
228
        wait = 0;
229
        while (rxd_buffer_locked == 0 && wait < 150) {
230
            wait++;
826 - 231
            _delay_ms(50);
800 - 232
        }
954 - 233
        _delay_ms(100);
800 - 234
    }
235
    Decode64();
685 cascade 236
}
800 - 237
 
783 - 238
/**
239
 * Request UART Redirect from NC to itself
800 - 240
 */
241
void usart1_request_nc_uart(void) {
242
    usart1_EnableTXD();
243
    usart1_putc(0x1B);
244
    usart1_putc(0x1B);
245
    usart1_putc(0x55);
246
    usart1_putc(0xAA);
247
    usart1_putc(0x00);
248
    usart1_DisableTXD();
249
}
685 cascade 250
 
800 - 251
 
685 cascade 252
/**
253
 * request Data through USART in special MK format by adding checksum and
254
 * encode data in modified Base64
255
 * portions taken and adapted from
256
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
257
 */
738 cascade 258
/*void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) {
685 cascade 259
    unsigned int pt = 0;
260
    unsigned char a, b, c;
261
    unsigned char ptr = 0;
262
 
263
    txd_buffer[pt++] = '#'; // Start-Byte
264
    txd_buffer[pt++] = 'a' + addr; // Adress
265
    txd_buffer[pt++] = cmd; // Command
266
    while (len) {
267
        if (len) {
268
            a = snd[ptr++];
269
            len--;
270
        } else a = 0;
271
        if (len) {
272
            b = snd[ptr++];
273
            len--;
274
        } else b = 0;
275
        if (len) {
276
            c = snd[ptr++];
277
            len--;
278
        } else c = 0;
279
        txd_buffer[pt++] = '=' + (a >> 2);
280
        txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
281
        txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
282
        txd_buffer[pt++] = '=' + (c & 0x3f);
283
    }
284
 
285
    // add crc
286
    unsigned int tmpCRC = 0, i;
287
    for (i = 0; i < pt; i++) {
288
        tmpCRC += txd_buffer[i];
289
    }
290
    tmpCRC %= 4096;
291
    txd_buffer[i++] = '=' + tmpCRC / 64;
292
    txd_buffer[i++] = '=' + tmpCRC % 64;
293
    txd_buffer[i++] = '\r';
294
 
295
    usart1_puts((char*) txd_buffer);
738 cascade 296
}*/
685 cascade 297
 
298
/**
299
 * short script to directly send a request thorugh usart including en- and disabling it
300
 * where <address> is the address of the receipient, <label> is which data set to request
301
 * and <ms> represents the milliseconds delay between data
302
 */
738 cascade 303
/*void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) {
685 cascade 304
    // re-enable TXD pin
305
    usart1_EnableTXD();
306
 
307
    unsigned char mstenth = ms / 10;
308
    sendMKData(label, address, &mstenth, 1);
309
    // wait until UDR ready
310
    while (!(UCSR1A & (1 << UDRE1)));
311
    // disable TXD pin again
312
    usart1_DisableTXD();
738 cascade 313
}*/
685 cascade 314
 
315
#endif