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685 | cascade | 1 | /**************************************************************************** |
2601 | - | 2 | * Copyright (C) 2009-2018 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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5 | * * |
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6 | * This program is free software; you can redistribute it and/or modify * |
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7 | * it under the terms of the GNU General Public License as published by * |
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8 | * the Free Software Foundation; either version 2 of the License. * |
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9 | * * |
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10 | * This program is distributed in the hope that it will be useful, * |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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13 | * GNU General Public License for more details. * |
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14 | * * |
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15 | * You should have received a copy of the GNU General Public License * |
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16 | * along with this program; if not, write to the * |
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17 | * Free Software Foundation, Inc., * |
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18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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19 | ****************************************************************************/ |
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20 | |||
800 | - | 21 | #include "main.h" |
685 | cascade | 22 | #include <avr/io.h> |
23 | #include <avr/interrupt.h> |
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24 | #include <util/delay.h> |
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25 | #include "usart1.h" |
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954 | - | 26 | #include "max7456_software_spi.h" |
685 | cascade | 27 | |
28 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
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29 | |||
30 | volatile uint8_t rxd_buffer_locked = 0; |
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31 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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783 | - | 32 | //volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
685 | cascade | 33 | volatile uint8_t ReceivedBytes = 0; |
34 | volatile uint8_t *pRxData = 0; |
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35 | volatile uint8_t RxDataLen = 0; |
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36 | |||
37 | /* ########################################################################## |
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772 | - | 38 | * USART1 stuff |
685 | cascade | 39 | * ##########################################################################*/ |
40 | |||
41 | /** |
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42 | * init usart1 |
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43 | */ |
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44 | void usart1_init() { |
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45 | UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
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46 | UBRR1L = (F_CPU / (16UL * baud)) - 1; |
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47 | |||
48 | // Enable receiver and transmitter; enable RX interrupt |
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49 | UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
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50 | |||
51 | //asynchronous 8N1 |
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52 | UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
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53 | } |
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54 | |||
55 | /** |
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56 | * disable the txd pin of usart1 |
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57 | */ |
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58 | void usart1_DisableTXD(void) { |
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59 | UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt |
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60 | UCSR1B &= ~(1 << TXEN1); // disable TX in USART |
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61 | DDRB &= ~(1 << DDB3); // set TXD pin as input |
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62 | PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin |
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63 | } |
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64 | |||
65 | /** |
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66 | * enable the txd pin of usart1 |
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67 | */ |
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68 | void usart1_EnableTXD(void) { |
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69 | DDRB |= (1 << DDB3); // set TXD pin as output |
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70 | PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin |
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71 | UCSR1B |= (1 << TXEN1); // enable TX in USART |
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72 | UCSR1B |= (1 << TXCIE1); // enable TX-Interrupt |
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73 | } |
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74 | |||
75 | /** |
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76 | * send a single <character> through usart1 |
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77 | */ |
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78 | void usart1_putc(unsigned char character) { |
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79 | // wait until UDR ready |
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80 | while (!(UCSR1A & (1 << UDRE1))); |
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81 | UDR1 = character; |
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82 | } |
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83 | |||
84 | /** |
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85 | * send a <string> throught usart1 |
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86 | */ |
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738 | cascade | 87 | /*void usart1_puts(char *s) { |
685 | cascade | 88 | while (*s) { |
89 | usart1_putc(*s); |
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90 | s++; |
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91 | } |
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738 | cascade | 92 | }*/ |
685 | cascade | 93 | |
94 | /** |
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761 | - | 95 | * send a PGM<string> throught usart1 |
96 | */ |
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97 | void usart1_puts_pgm(const char* string) { |
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98 | while (pgm_read_byte(string) != 0x00) |
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99 | usart1_putc(pgm_read_byte(string++)); |
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100 | } |
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101 | |||
102 | /** |
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685 | cascade | 103 | * transmit interrupt handler |
104 | * unused |
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105 | */ |
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1772 | - | 106 | ISR(USART1_TXC_vect) { |
685 | cascade | 107 | } |
108 | |||
109 | /* |
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110 | * receive data through usart1 |
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111 | * portions taken and adapted from |
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112 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
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113 | */ |
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1772 | - | 114 | ISR(USART1_RXC_vect) { |
685 | cascade | 115 | uint8_t c; |
116 | // catch the received byte |
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117 | c = UDR1; |
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118 | if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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119 | static uint16_t crc; |
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120 | static uint8_t ptr_rxd_buffer = 0; |
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121 | static uint8_t c1 = 0; |
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122 | static uint8_t c2 = 0; |
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123 | static uint8_t usart_rx_ok = 0; |
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124 | uint8_t crc1, crc2; |
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125 | // the rxd buffer is unlocked |
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761 | - | 126 | if (usart_rx_ok == 0) { |
127 | // if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && (c == 'D' || c == 'V' || c == 'O')) { |
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128 | |||
129 | if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && |
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130 | #if FCONLY |
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954 | - | 131 | (c == 'V' || c == 'D' || c == 'Q' || c == 'L')) { // version, debug, settings, LCD |
761 | - | 132 | #else |
1801 | - | 133 | (c == 'V' || c == 'O' || c == 'Q' || c == 'C')) { // version, OSD, settings, 3D-Data |
761 | - | 134 | #endif |
2039 | - | 135 | usart_rx_ok = 1; |
136 | rxd_buffer[ptr_rxd_buffer++] = c2; |
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137 | crc = c2; |
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138 | rxd_buffer[ptr_rxd_buffer++] = c1; |
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139 | crc += c1; |
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140 | rxd_buffer[ptr_rxd_buffer++] = c; |
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141 | crc += c; |
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142 | c2 = 0; |
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143 | c1 = 0; |
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144 | LED1_ON |
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145 | LED2_OFF |
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146 | } else { |
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685 | cascade | 147 | c2 = c1; |
148 | c1 = c; |
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2039 | - | 149 | } |
685 | cascade | 150 | } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
151 | if (c != '\r') { // no termination character |
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152 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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153 | crc += c; // update crc |
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154 | } else { // termination character was received |
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155 | // the last 2 bytes are no subject for checksum calculation |
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156 | // they are the checksum itself |
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157 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
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158 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
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159 | // calculate checksum from transmitted data |
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160 | crc %= 4096; |
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161 | crc1 = '=' + crc / 64; |
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162 | crc2 = '=' + crc % 64; |
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163 | // compare checksum to transmitted checksum bytes |
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164 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
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165 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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166 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
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167 | rxd_buffer_locked = 1; // lock the rxd buffer |
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168 | LED1_OFF |
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169 | } else { // checksum invalid |
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170 | rxd_buffer_locked = 0; // unlock rxd buffer |
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171 | LED2_ON |
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172 | } |
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173 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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174 | usart_rx_ok = 0; |
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175 | } |
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176 | } else { // rxd buffer overrun |
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177 | ptr_rxd_buffer = 0; // reset rxd buffer |
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178 | rxd_buffer_locked = 0; // unlock rxd buffer |
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179 | usart_rx_ok = 0; |
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180 | LED2_ON |
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181 | } |
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182 | } |
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183 | |||
184 | /** |
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185 | * Decode the recevied Buffer |
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186 | * portions taken and adapted from |
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187 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
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188 | */ |
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189 | void Decode64(void) { |
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190 | uint8_t a, b, c, d; |
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191 | uint8_t x, y, z; |
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192 | uint8_t ptrIn = 3; |
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193 | uint8_t ptrOut = 3; |
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194 | uint8_t len = ReceivedBytes - 6; |
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195 | |||
196 | while (len) { |
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197 | a = rxd_buffer[ptrIn++] - '='; |
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198 | b = rxd_buffer[ptrIn++] - '='; |
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199 | c = rxd_buffer[ptrIn++] - '='; |
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200 | d = rxd_buffer[ptrIn++] - '='; |
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201 | |||
202 | x = (a << 2) | (b >> 4); |
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203 | y = ((b & 0x0f) << 4) | (c >> 2); |
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204 | z = ((c & 0x03) << 6) | d; |
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205 | |||
206 | if (len--) rxd_buffer[ptrOut++] = x; |
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207 | else break; |
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208 | if (len--) rxd_buffer[ptrOut++] = y; |
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209 | else break; |
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210 | if (len--) rxd_buffer[ptrOut++] = z; |
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211 | else break; |
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212 | } |
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213 | pRxData = &rxd_buffer[3]; |
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214 | RxDataLen = ptrOut - 3; |
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800 | - | 215 | } |
216 | |||
783 | - | 217 | /** |
218 | * Request Data through usart1 until a answer is received |
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800 | - | 219 | */ |
220 | void usart1_request_blocking(unsigned char answer, const char* message) { |
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954 | - | 221 | rxd_buffer[2] = answer + 1; // unvalidate answer |
222 | while (rxd_buffer[2] != answer || (rxd_buffer_locked != 1)) { |
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800 | - | 223 | rxd_buffer_locked = 0; |
224 | usart1_EnableTXD(); |
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225 | usart1_puts_pgm(message); |
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226 | usart1_DisableTXD(); |
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227 | static uint8_t wait = 0; |
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2039 | - | 228 | wait = 0; |
229 | |||
230 | // wait for complete answer |
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231 | while (rxd_buffer_locked == 0 && wait < 200) { |
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800 | - | 232 | wait++; |
2039 | - | 233 | _delay_ms(10); |
800 | - | 234 | } |
2039 | - | 235 | _delay_ms(150); |
800 | - | 236 | } |
237 | Decode64(); |
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685 | cascade | 238 | } |
800 | - | 239 | |
783 | - | 240 | /** |
241 | * Request UART Redirect from NC to itself |
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800 | - | 242 | */ |
243 | void usart1_request_nc_uart(void) { |
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244 | usart1_EnableTXD(); |
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245 | usart1_putc(0x1B); |
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246 | usart1_putc(0x1B); |
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247 | usart1_putc(0x55); |
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248 | usart1_putc(0xAA); |
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249 | usart1_putc(0x00); |
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250 | usart1_DisableTXD(); |
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251 | } |
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685 | cascade | 252 | |
800 | - | 253 | |
685 | cascade | 254 | /** |
255 | * request Data through USART in special MK format by adding checksum and |
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256 | * encode data in modified Base64 |
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257 | * portions taken and adapted from |
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258 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
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259 | */ |
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738 | cascade | 260 | /*void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
685 | cascade | 261 | unsigned int pt = 0; |
262 | unsigned char a, b, c; |
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263 | unsigned char ptr = 0; |
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264 | |||
265 | txd_buffer[pt++] = '#'; // Start-Byte |
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266 | txd_buffer[pt++] = 'a' + addr; // Adress |
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267 | txd_buffer[pt++] = cmd; // Command |
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268 | while (len) { |
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269 | if (len) { |
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270 | a = snd[ptr++]; |
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271 | len--; |
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272 | } else a = 0; |
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273 | if (len) { |
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274 | b = snd[ptr++]; |
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275 | len--; |
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276 | } else b = 0; |
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277 | if (len) { |
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278 | c = snd[ptr++]; |
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279 | len--; |
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280 | } else c = 0; |
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281 | txd_buffer[pt++] = '=' + (a >> 2); |
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282 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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283 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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284 | txd_buffer[pt++] = '=' + (c & 0x3f); |
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285 | } |
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286 | |||
287 | // add crc |
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288 | unsigned int tmpCRC = 0, i; |
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289 | for (i = 0; i < pt; i++) { |
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290 | tmpCRC += txd_buffer[i]; |
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291 | } |
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292 | tmpCRC %= 4096; |
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293 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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294 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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295 | txd_buffer[i++] = '\r'; |
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296 | |||
297 | usart1_puts((char*) txd_buffer); |
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738 | cascade | 298 | }*/ |
685 | cascade | 299 | |
300 | /** |
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301 | * short script to directly send a request thorugh usart including en- and disabling it |
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302 | * where <address> is the address of the receipient, <label> is which data set to request |
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303 | * and <ms> represents the milliseconds delay between data |
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304 | */ |
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738 | cascade | 305 | /*void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) { |
685 | cascade | 306 | // re-enable TXD pin |
307 | usart1_EnableTXD(); |
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308 | |||
309 | unsigned char mstenth = ms / 10; |
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310 | sendMKData(label, address, &mstenth, 1); |
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311 | // wait until UDR ready |
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312 | while (!(UCSR1A & (1 << UDRE1))); |
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313 | // disable TXD pin again |
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314 | usart1_DisableTXD(); |
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738 | cascade | 315 | }*/ |
685 | cascade | 316 | |
317 | #endif |