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685 cascade 1
/****************************************************************************
728 cascade 2
 *   Copyright (C) 2009-2010 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 <avr/io.h>
22
#include <avr/interrupt.h>
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#include <util/delay.h>
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#include "main.h"
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#include "usart1.h"
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#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
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29
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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/* ##########################################################################
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 * USART1 stuff
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 * ##########################################################################*/
39
 
40
/**
41
 * init usart1
42
 */
43
void usart1_init() {
44
    UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8;
45
    UBRR1L = (F_CPU / (16UL * baud)) - 1;
46
 
47
    // Enable receiver and transmitter; enable RX interrupt
48
    UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
49
 
50
    //asynchronous 8N1
51
    UCSR1C = (1 << URSEL1) | (3 << UCSZ10);
52
}
53
 
54
/**
55
 * disable the txd pin of usart1
56
 */
57
void usart1_DisableTXD(void) {
58
    UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt
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    UCSR1B &= ~(1 << TXEN1); // disable TX in USART
60
    DDRB &= ~(1 << DDB3); // set TXD pin as input
61
    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
62
}
63
 
64
/**
65
 * enable the txd pin of usart1
66
 */
67
void usart1_EnableTXD(void) {
68
    DDRB |= (1 << DDB3); // set TXD pin as output
69
    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
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    UCSR1B |= (1 << TXEN1); // enable TX in USART
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    UCSR1B |= (1 << TXCIE1); // enable TX-Interrupt
72
}
73
 
74
/**
75
 * send a single <character> through usart1
76
 */
77
void usart1_putc(unsigned char character) {
78
    // wait until UDR ready
79
    while (!(UCSR1A & (1 << UDRE1)));
80
    UDR1 = character;
81
}
82
 
83
/**
84
 * send a <string> throught usart1
85
 */
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/*void usart1_puts(char *s) {
685 cascade 87
    while (*s) {
88
        usart1_putc(*s);
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        s++;
90
    }
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}*/
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93
/**
761 - 94
 * send a PGM<string> throught usart1
95
 */
96
void usart1_puts_pgm(const char* string) {
97
    while (pgm_read_byte(string) != 0x00)
98
        usart1_putc(pgm_read_byte(string++));
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}
100
 
101
/**
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 * transmit interrupt handler
103
 * unused
104
 */
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ISR(SIG_USART1_DATA) {
106
}
107
 
108
/*
109
 * receive data through usart1
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 * portions taken and adapted from
111
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
112
 */
113
ISR(SIG_USART1_RECV) {
114
    uint8_t c;
115
    // catch the received byte
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    c = UDR1;
117
    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
118
    static uint16_t crc;
119
    static uint8_t ptr_rxd_buffer = 0;
120
    static uint8_t c1 = 0;
121
    static uint8_t c2 = 0;
122
    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 - 125
    if (usart_rx_ok == 0) {
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        // if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && (c == 'D' || c == 'V' || c == 'O')) {
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128
        if ((c2 == '#') && (c1 == 'b' || c1 == 'c') &&
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#if FCONLY
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            (c == 'V' || c == 'D' || c == 'Q')) { // version, debug, settings
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#else
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            (c == 'V' || c == 'O' || c == 'Q')) { // version, OSD, settings
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#endif
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                usart_rx_ok = 1;
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                rxd_buffer[ptr_rxd_buffer++] = c2;
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                crc = c2;
137
                rxd_buffer[ptr_rxd_buffer++] = c1;
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                crc += c1;
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                rxd_buffer[ptr_rxd_buffer++] = c;
140
                crc += c;
141
                c2 = 0;
142
                c1 = 0;
143
                LED1_ON
144
                LED2_OFF
145
            } else {
685 cascade 146
            c2 = c1;
147
            c1 = c;
148
        }
149
    } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
150
        if (c != '\r') { // no termination character
151
            rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
152
            crc += c; // update crc
153
        } else { // termination character was received
154
            // the last 2 bytes are no subject for checksum calculation
155
            // they are the checksum itself
156
            crc -= rxd_buffer[ptr_rxd_buffer - 2];
157
            crc -= rxd_buffer[ptr_rxd_buffer - 1];
158
            // calculate checksum from transmitted data
159
            crc %= 4096;
160
            crc1 = '=' + crc / 64;
161
            crc2 = '=' + crc % 64;
162
            // compare checksum to transmitted checksum bytes
163
            if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
164
                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
165
                ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
166
                rxd_buffer_locked = 1; // lock the rxd buffer
167
                LED1_OFF
168
            } else { // checksum invalid
169
                rxd_buffer_locked = 0; // unlock rxd buffer
170
                LED2_ON
171
            }
172
            ptr_rxd_buffer = 0; // reset rxd buffer pointer
173
            usart_rx_ok = 0;
174
        }
175
    } else { // rxd buffer overrun
176
        ptr_rxd_buffer = 0; // reset rxd buffer
177
        rxd_buffer_locked = 0; // unlock rxd buffer
178
        usart_rx_ok = 0;
179
        LED2_ON
180
    }
181
}
182
 
183
/**
184
 * Decode the recevied Buffer
185
 * portions taken and adapted from
186
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
187
 */
188
void Decode64(void) {
189
    uint8_t a, b, c, d;
190
    uint8_t x, y, z;
191
    uint8_t ptrIn = 3;
192
    uint8_t ptrOut = 3;
193
    uint8_t len = ReceivedBytes - 6;
194
 
195
    while (len) {
196
        a = rxd_buffer[ptrIn++] - '=';
197
        b = rxd_buffer[ptrIn++] - '=';
198
        c = rxd_buffer[ptrIn++] - '=';
199
        d = rxd_buffer[ptrIn++] - '=';
200
 
201
        x = (a << 2) | (b >> 4);
202
        y = ((b & 0x0f) << 4) | (c >> 2);
203
        z = ((c & 0x03) << 6) | d;
204
 
205
        if (len--) rxd_buffer[ptrOut++] = x;
206
        else break;
207
        if (len--) rxd_buffer[ptrOut++] = y;
208
        else break;
209
        if (len--) rxd_buffer[ptrOut++] = z;
210
        else break;
211
    }
212
    pRxData = &rxd_buffer[3];
213
    RxDataLen = ptrOut - 3;
783 - 214
}
215
 
216
 
217
/**
218
 * Request Data through usart1 until a answer is received
219
 */
220
void usart1_request_blocking(unsigned char answer, const char* message) {
221
        rxd_buffer[2] = answer + 1;    
222
        while (rxd_buffer[2] != answer) {
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++;
231
                        _delay_ms(10);
232
                }                      
233
        }              
234
        Decode64();
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}
783 - 236
 
237
/**
238
 * Request UART Redirect from NC to itself
239
 */
240
void usart1_request_nc_uart(void) {
241
        usart1_EnableTXD();
242
        usart1_putc(0x1B);
243
        usart1_putc(0x1B);
244
        usart1_putc(0x55);
245
        usart1_putc(0xAA);
246
        usart1_putc(0x00);
247
        usart1_DisableTXD();
248
}
249
 
685 cascade 250
 
251
/**
252
 * request Data through USART in special MK format by adding checksum and
253
 * encode data in modified Base64
254
 * portions taken and adapted from
255
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
256
 */
738 cascade 257
/*void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) {
685 cascade 258
    unsigned int pt = 0;
259
    unsigned char a, b, c;
260
    unsigned char ptr = 0;
261
 
262
    txd_buffer[pt++] = '#'; // Start-Byte
263
    txd_buffer[pt++] = 'a' + addr; // Adress
264
    txd_buffer[pt++] = cmd; // Command
265
    while (len) {
266
        if (len) {
267
            a = snd[ptr++];
268
            len--;
269
        } else a = 0;
270
        if (len) {
271
            b = snd[ptr++];
272
            len--;
273
        } else b = 0;
274
        if (len) {
275
            c = snd[ptr++];
276
            len--;
277
        } else c = 0;
278
        txd_buffer[pt++] = '=' + (a >> 2);
279
        txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
280
        txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
281
        txd_buffer[pt++] = '=' + (c & 0x3f);
282
    }
283
 
284
    // add crc
285
    unsigned int tmpCRC = 0, i;
286
    for (i = 0; i < pt; i++) {
287
        tmpCRC += txd_buffer[i];
288
    }
289
    tmpCRC %= 4096;
290
    txd_buffer[i++] = '=' + tmpCRC / 64;
291
    txd_buffer[i++] = '=' + tmpCRC % 64;
292
    txd_buffer[i++] = '\r';
293
 
294
    usart1_puts((char*) txd_buffer);
738 cascade 295
}*/
685 cascade 296
 
297
/**
298
 * short script to directly send a request thorugh usart including en- and disabling it
299
 * where <address> is the address of the receipient, <label> is which data set to request
300
 * and <ms> represents the milliseconds delay between data
301
 */
738 cascade 302
/*void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) {
685 cascade 303
    // re-enable TXD pin
304
    usart1_EnableTXD();
305
 
306
    unsigned char mstenth = ms / 10;
307
    sendMKData(label, address, &mstenth, 1);
308
    // wait until UDR ready
309
    while (!(UCSR1A & (1 << UDRE1)));
310
    // disable TXD pin again
311
    usart1_DisableTXD();
738 cascade 312
}*/
685 cascade 313
 
314
#endif