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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 426 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | |||
| 8 | #include <avr/io.h> |
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| 9 | #include <avr/interrupt.h> |
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| 434 | killagreg | 10 | #include <avr/pgmspace.h> |
| 426 | killagreg | 11 | #include <avr/wdt.h> |
| 12 | #include <stdarg.h> |
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| 13 | #include <string.h> |
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| 14 | |||
| 15 | #include "main.h" |
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| 16 | #include "menu.h" |
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| 17 | #include "timer0.h" |
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| 18 | #include "uart0.h" |
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| 19 | #include "ubx.h" |
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| 436 | killagreg | 20 | #include "printf_P.h" |
| 426 | killagreg | 21 | |
| 22 | |||
| 23 | #define FC_ADDRESS 1 |
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| 24 | #define NC_ADDRESS 2 |
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| 25 | #define MK3MAG_ADDRESS 3 |
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| 26 | |||
| 27 | #define FM_ADDRESS 10 // FOLLOW ME |
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| 28 | |||
| 29 | #define FALSE 0 |
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| 30 | #define TRUE 1 |
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| 31 | |||
| 32 | |||
| 33 | //int8_t test __attribute__ ((section (".noinit"))); |
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| 34 | uint8_t Request_VerInfo = FALSE; |
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| 35 | uint8_t Request_Display = FALSE; |
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| 36 | uint8_t Request_Display1 = FALSE; |
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| 37 | uint8_t Request_ExternalControl = FALSE; |
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| 38 | uint8_t Request_DebugData = FALSE; |
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| 39 | uint8_t Request_DebugLabel = 255; |
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| 40 | uint8_t Request_SendFollowMe = FALSE; |
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| 41 | uint8_t DisplayLine = 0; |
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| 42 | |||
| 43 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
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| 44 | volatile uint8_t rxd_buffer_locked = FALSE; |
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| 45 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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| 46 | volatile uint8_t txd_complete = TRUE; |
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| 47 | volatile uint8_t ReceivedBytes = 0; |
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| 48 | volatile uint8_t *pRxData = 0; |
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| 49 | volatile uint8_t RxDataLen = 0; |
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| 50 | |||
| 51 | uint8_t PcAccess = 100; |
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| 52 | |||
| 53 | ExternControl_t ExternControl; |
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| 54 | DebugOut_t DebugOut; |
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| 55 | UART_VersionInfo_t UART_VersionInfo; |
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| 56 | |||
| 57 | uint16_t DebugData_Timer; |
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| 434 | killagreg | 58 | uint16_t DebugData_Interval = 0; // in 1ms |
| 426 | killagreg | 59 | |
| 60 | Waypoint_t FollowMe; |
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| 61 | |||
| 434 | killagreg | 62 | // keep lables in flash to save 512 bytes of sram space |
| 63 | const prog_uint8_t ANALOG_LABEL[32][16] = |
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| 426 | killagreg | 64 | { |
| 65 | //1234567890123456 |
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| 66 | "Analog_Ch0 ", //0 |
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| 67 | "Analog_Ch1 ", |
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| 68 | "Analog_Ch2 ", |
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| 69 | "Analog_Ch3 ", |
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| 70 | "Analog_Ch4 ", |
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| 71 | "Analog_Ch5 ", //5 |
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| 72 | "Analog_Ch6 ", |
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| 73 | "Analog_Ch7 ", |
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| 74 | "UBat ", |
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| 436 | killagreg | 75 | "SysState ", |
| 76 | "Debug10 ", //10 |
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| 77 | "Debug11 ", |
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| 78 | "Debug12 ", |
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| 79 | "Debug13 ", |
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| 80 | "Debug14 ", |
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| 81 | "Debug15 ", //15 |
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| 426 | killagreg | 82 | "Zellenzahl ", |
| 83 | "PowerOn ", |
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| 84 | "Debug18 ", |
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| 85 | "Debug19 ", |
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| 86 | "Debug20 ", //20 |
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| 87 | "Debug21 ", |
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| 88 | "Debug22 ", |
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| 89 | "Debug23 ", |
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| 90 | "Debug24 ", |
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| 91 | "Debug25 ", //25 |
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| 92 | "Debug26 ", |
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| 93 | "Debug27 ", |
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| 94 | "Debug28 ", |
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| 95 | "Debug29 ", |
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| 96 | "Debug30 ", //30 |
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| 97 | "Debug31 " |
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| 98 | }; |
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| 99 | |||
| 100 | |||
| 101 | |||
| 102 | /****************************************************************/ |
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| 103 | /* Initialization of the USART0 */ |
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| 104 | /****************************************************************/ |
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| 105 | void USART0_Init (void) |
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| 106 | { |
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| 107 | uint8_t sreg = SREG; |
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| 108 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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| 109 | |||
| 110 | // disable all interrupts before configuration |
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| 111 | cli(); |
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| 112 | |||
| 113 | // disable RX-Interrupt |
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| 114 | UCSR0B &= ~(1 << RXCIE0); |
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| 115 | // disable TX-Interrupt |
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| 116 | UCSR0B &= ~(1 << TXCIE0); |
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| 117 | |||
| 118 | // set direction of RXD0 and TXD0 pins |
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| 119 | // set RXD0 (PD0) as an input pin |
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| 120 | PORTD |= (1 << PORTD0); |
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| 121 | DDRD &= ~(1 << DDD0); |
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| 122 | // set TXD0 (PD1) as an output pin |
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| 123 | PORTD |= (1 << PORTD1); |
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| 124 | DDRD |= (1 << DDD1); |
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| 125 | |||
| 126 | // USART0 Baud Rate Register |
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| 127 | // set clock divider |
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| 128 | UBRR0H = (uint8_t)(ubrr >> 8); |
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| 129 | UBRR0L = (uint8_t)ubrr; |
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| 130 | |||
| 131 | // USART0 Control and Status Register A, B, C |
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| 132 | |||
| 133 | // enable double speed operation in |
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| 134 | UCSR0A |= (1 << U2X0); |
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| 135 | // enable receiver and transmitter in |
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| 136 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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| 137 | // set asynchronous mode |
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| 138 | UCSR0C &= ~(1 << UMSEL01); |
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| 139 | UCSR0C &= ~(1 << UMSEL00); |
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| 140 | // no parity |
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| 141 | UCSR0C &= ~(1 << UPM01); |
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| 142 | UCSR0C &= ~(1 << UPM00); |
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| 143 | // 1 stop bit |
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| 144 | UCSR0C &= ~(1 << USBS0); |
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| 145 | // 8-bit |
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| 146 | UCSR0B &= ~(1 << UCSZ02); |
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| 147 | UCSR0C |= (1 << UCSZ01); |
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| 148 | UCSR0C |= (1 << UCSZ00); |
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| 149 | |||
| 150 | // flush receive buffer |
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| 151 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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| 152 | |||
| 153 | // enable interrupts at the end |
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| 154 | // enable RX-Interrupt |
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| 155 | UCSR0B |= (1 << RXCIE0); |
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| 156 | // enable TX-Interrupt |
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| 157 | UCSR0B |= (1 << TXCIE0); |
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| 158 | |||
| 159 | // initialize the debug timer |
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| 160 | DebugData_Timer = SetDelay(DebugData_Interval); |
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| 161 | |||
| 162 | // unlock rxd_buffer |
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| 163 | rxd_buffer_locked = FALSE; |
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| 164 | pRxData = 0; |
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| 165 | RxDataLen = 0; |
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| 166 | |||
| 167 | // no bytes to send |
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| 168 | txd_complete = TRUE; |
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| 169 | |||
| 170 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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| 171 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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| 172 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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| 173 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 174 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 175 | |||
| 176 | // restore global interrupt flags |
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| 177 | SREG = sreg; |
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| 434 | killagreg | 178 | sei(); |
| 179 | printf("\r\n UART0 init...ok"); |
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| 426 | killagreg | 180 | } |
| 181 | |||
| 182 | /****************************************************************/ |
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| 183 | /* USART0 transmitter ISR */ |
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| 184 | /****************************************************************/ |
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| 185 | ISR(USART0_TX_vect) |
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| 186 | { |
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| 187 | static uint16_t ptr_txd_buffer = 0; |
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| 188 | uint8_t tmp_tx; |
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| 189 | if(!txd_complete) // transmission not completed |
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| 190 | { |
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| 191 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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| 192 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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| 193 | // if terminating character or end of txd buffer was reached |
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| 194 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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| 195 | { |
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| 196 | ptr_txd_buffer = 0; // reset txd pointer |
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| 197 | txd_complete = 1; // stop transmission |
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| 198 | } |
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| 199 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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| 200 | } |
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| 201 | // transmission completed |
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| 202 | else ptr_txd_buffer = 0; |
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| 203 | } |
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| 204 | |||
| 205 | /****************************************************************/ |
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| 206 | /* USART0 receiver ISR */ |
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| 207 | /****************************************************************/ |
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| 208 | ISR(USART0_RX_vect) |
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| 209 | { |
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| 210 | static uint16_t crc; |
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| 211 | static uint8_t ptr_rxd_buffer = 0; |
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| 212 | uint8_t crc1, crc2; |
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| 213 | uint8_t c; |
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| 214 | |||
| 215 | c = UDR0; // catch the received byte |
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| 216 | |||
| 217 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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| 218 | |||
| 219 | // the rxd buffer is unlocked |
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| 220 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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| 221 | { |
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| 222 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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| 223 | crc = c; // init crc |
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| 224 | } |
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| 225 | #if 0 |
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| 226 | else if (ptr_rxd_buffer == 1) // handle address |
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| 227 | { |
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| 228 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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| 229 | crc += c; // update crc |
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| 230 | } |
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| 231 | #endif |
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| 232 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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| 233 | { |
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| 234 | if(c != '\r') // no termination character |
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| 235 | { |
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| 236 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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| 237 | crc += c; // update crc |
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| 238 | } |
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| 239 | else // termination character was received |
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| 240 | { |
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| 241 | // the last 2 bytes are no subject for checksum calculation |
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| 242 | // they are the checksum itself |
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| 243 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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| 244 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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| 245 | // calculate checksum from transmitted data |
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| 246 | crc %= 4096; |
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| 247 | crc1 = '=' + crc / 64; |
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| 248 | crc2 = '=' + crc % 64; |
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| 249 | // compare checksum to transmitted checksum bytes |
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| 250 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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| 251 | { // checksum valid |
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| 252 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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| 253 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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| 254 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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| 255 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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| 256 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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| 257 | } |
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| 258 | else |
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| 259 | { // checksum invalid |
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| 260 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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| 261 | } |
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| 262 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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| 263 | } |
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| 264 | } |
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| 265 | else // rxd buffer overrun |
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| 266 | { |
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| 267 | ptr_rxd_buffer = 0; // reset rxd buffer |
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| 268 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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| 269 | } |
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| 270 | |||
| 271 | } |
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| 272 | |||
| 273 | |||
| 274 | // -------------------------------------------------------------------------- |
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| 275 | void AddCRC(uint16_t datalen) |
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| 276 | { |
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| 277 | uint16_t tmpCRC = 0, i; |
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| 278 | for(i = 0; i < datalen; i++) |
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| 279 | { |
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| 280 | tmpCRC += txd_buffer[i]; |
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| 281 | } |
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| 282 | tmpCRC %= 4096; |
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| 283 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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| 284 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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| 285 | txd_buffer[i++] = '\r'; |
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| 286 | txd_complete = FALSE; |
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| 287 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
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| 288 | } |
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| 289 | |||
| 290 | |||
| 291 | |||
| 292 | // -------------------------------------------------------------------------- |
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| 293 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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| 294 | { |
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| 295 | va_list ap; |
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| 296 | uint16_t pt = 0; |
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| 297 | uint8_t a,b,c; |
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| 298 | uint8_t ptr = 0; |
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| 299 | |||
| 300 | uint8_t *pdata = 0; |
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| 301 | int len = 0; |
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| 302 | |||
| 303 | txd_buffer[pt++] = '#'; // Start character |
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| 304 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
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| 305 | txd_buffer[pt++] = cmd; // Command |
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| 306 | |||
| 307 | va_start(ap, numofbuffers); |
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| 308 | if(numofbuffers) |
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| 309 | { |
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| 310 | pdata = va_arg(ap, uint8_t*); |
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| 311 | len = va_arg(ap, int); |
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| 312 | ptr = 0; |
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| 313 | numofbuffers--; |
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| 314 | } |
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| 315 | |||
| 316 | while(len) |
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| 317 | { |
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| 318 | if(len) |
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| 319 | { |
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| 320 | a = pdata[ptr++]; |
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| 321 | len--; |
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| 322 | if((!len) && numofbuffers) |
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| 323 | { |
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| 324 | pdata = va_arg(ap, uint8_t*); |
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| 325 | len = va_arg(ap, int); |
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| 326 | ptr = 0; |
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| 327 | numofbuffers--; |
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| 328 | } |
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| 329 | } |
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| 330 | else a = 0; |
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| 331 | if(len) |
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| 332 | { |
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| 333 | b = pdata[ptr++]; |
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| 334 | len--; |
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| 335 | if((!len) && numofbuffers) |
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| 336 | { |
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| 337 | pdata = va_arg(ap, uint8_t*); |
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| 338 | len = va_arg(ap, int); |
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| 339 | ptr = 0; |
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| 340 | numofbuffers--; |
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| 341 | } |
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| 342 | } |
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| 343 | else b = 0; |
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| 344 | if(len) |
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| 345 | { |
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| 346 | c = pdata[ptr++]; |
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| 347 | len--; |
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| 348 | if((!len) && numofbuffers) |
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| 349 | { |
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| 350 | pdata = va_arg(ap, uint8_t*); |
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| 351 | len = va_arg(ap, int); |
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| 352 | ptr = 0; |
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| 353 | numofbuffers--; |
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| 354 | } |
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| 355 | } |
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| 356 | else c = 0; |
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| 357 | txd_buffer[pt++] = '=' + (a >> 2); |
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| 358 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 359 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 360 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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| 361 | } |
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| 362 | va_end(ap); |
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| 363 | AddCRC(pt); // add checksum after data block and initates the transmission |
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| 364 | } |
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| 365 | |||
| 366 | |||
| 367 | // -------------------------------------------------------------------------- |
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| 368 | void Decode64(void) |
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| 369 | { |
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| 370 | uint8_t a,b,c,d; |
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| 371 | uint8_t x,y,z; |
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| 372 | uint8_t ptrIn = 3; |
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| 373 | uint8_t ptrOut = 3; |
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| 374 | uint8_t len = ReceivedBytes - 6; |
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| 375 | |||
| 376 | while(len) |
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| 377 | { |
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| 378 | a = rxd_buffer[ptrIn++] - '='; |
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| 379 | b = rxd_buffer[ptrIn++] - '='; |
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| 380 | c = rxd_buffer[ptrIn++] - '='; |
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| 381 | d = rxd_buffer[ptrIn++] - '='; |
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| 382 | //if(ptrIn > ReceivedBytes - 3) break; |
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| 383 | |||
| 384 | x = (a << 2) | (b >> 4); |
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| 385 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 386 | z = ((c & 0x03) << 6) | d; |
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| 387 | |||
| 388 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
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| 389 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
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| 390 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
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| 391 | } |
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| 392 | pRxData = &rxd_buffer[3]; |
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| 393 | RxDataLen = ptrOut - 3; |
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| 394 | } |
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| 395 | |||
| 396 | |||
| 397 | // -------------------------------------------------------------------------- |
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| 398 | void USART0_ProcessRxData(void) |
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| 399 | { |
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| 400 | // if data in the rxd buffer are not locked immediately return |
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| 401 | if(!rxd_buffer_locked) return; |
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| 402 | |||
| 403 | Decode64(); // decode data block in rxd_buffer |
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| 404 | |||
| 405 | |||
| 406 | switch(rxd_buffer[1] - 'a') |
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| 407 | { |
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| 408 | case FM_ADDRESS: |
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| 409 | |||
| 410 | switch(rxd_buffer[2]) |
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| 411 | { |
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| 412 | default: |
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| 413 | //unsupported command received |
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| 414 | break; |
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| 415 | } // case FC_ADDRESS: |
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| 416 | |||
| 417 | default: // any Slave Address |
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| 418 | |||
| 419 | switch(rxd_buffer[2]) |
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| 420 | { |
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| 421 | case 'a':// request for labels of the analog debug outputs |
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| 422 | Request_DebugLabel = pRxData[0]; |
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| 423 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
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| 424 | PcAccess = 255; |
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| 425 | break; |
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| 426 | |||
| 427 | case 'h':// request for display columns |
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| 428 | PcAccess = 255; |
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| 429 | RemoteKeys |= pRxData[0]; |
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| 430 | if(RemoteKeys) DisplayLine = 0; |
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| 431 | Request_Display = TRUE; |
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| 432 | break; |
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| 433 | |||
| 434 | case 'l':// request for display columns |
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| 435 | PcAccess = 255; |
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| 436 | MenuItem = pRxData[0]; |
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| 437 | Request_Display1 = TRUE; |
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| 438 | break; |
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| 439 | |||
| 440 | case 'v': // request for version and board release |
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| 441 | Request_VerInfo = TRUE; |
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| 442 | break; |
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| 443 | |||
| 444 | case 'd': // request for the debug data |
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| 445 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
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| 446 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
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| 447 | break; |
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| 448 | |||
| 449 | case 'g':// get external control data |
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| 450 | Request_ExternalControl = TRUE; |
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| 451 | break; |
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| 452 | |||
| 453 | default: |
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| 454 | //unsupported command received |
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| 455 | break; |
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| 456 | } |
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| 457 | break; // default: |
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| 458 | } |
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| 459 | // unlock the rxd buffer after processing |
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| 460 | pRxData = 0; |
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| 461 | RxDataLen = 0; |
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| 462 | rxd_buffer_locked = FALSE; |
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| 463 | } |
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| 464 | |||
| 465 | //############################################################################ |
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| 466 | //Routine für die Serielle Ausgabe |
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| 467 | int16_t uart_putchar (int8_t c) |
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| 468 | //############################################################################ |
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| 469 | { |
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| 470 | if (c == '\n') |
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| 471 | uart_putchar('\r'); |
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| 472 | // wait until previous character was send |
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| 473 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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| 474 | // send character |
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| 475 | UDR0 = c; |
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| 476 | return (0); |
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| 477 | } |
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| 478 | |||
| 479 | |||
| 480 | //--------------------------------------------------------------------------------------------- |
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| 481 | void USART0_TransmitTxData(void) |
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| 482 | { |
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| 483 | if(!txd_complete) return; |
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| 484 | |||
| 485 | if(Request_VerInfo && txd_complete) |
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| 486 | { |
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| 487 | SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
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| 488 | Request_VerInfo = FALSE; |
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| 489 | } |
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| 490 | if(Request_Display && txd_complete) |
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| 491 | { |
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| 492 | LCD_PrintMenu(); |
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| 493 | SendOutData('H', FM_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
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| 494 | DisplayLine++; |
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| 495 | if(DisplayLine >= 4) DisplayLine = 0; |
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| 496 | Request_Display = FALSE; |
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| 497 | } |
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| 498 | if(Request_Display1 && txd_complete) |
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| 499 | { |
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| 500 | LCD_PrintMenu(); |
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| 501 | SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
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| 502 | Request_Display1 = FALSE; |
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| 503 | } |
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| 504 | if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
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| 505 | { |
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| 434 | killagreg | 506 | uint8_t label[16]; // local sram buffer |
| 507 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
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| 508 | SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
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| 426 | killagreg | 509 | Request_DebugLabel = 0xFF; |
| 510 | } |
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| 511 | if(Request_ExternalControl && txd_complete) |
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| 512 | { |
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| 513 | SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
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| 514 | Request_ExternalControl = FALSE; |
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| 515 | } |
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| 516 | if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
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| 517 | { |
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| 518 | SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
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| 519 | DebugData_Timer = SetDelay(DebugData_Interval); |
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| 520 | Request_DebugData = FALSE; |
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| 521 | } |
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| 522 | if(Request_SendFollowMe && txd_complete) |
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| 523 | { |
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| 524 | SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); |
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| 525 | FollowMe.Position.Status = PROCESSED; |
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| 526 | Request_SendFollowMe = FALSE; |
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| 527 | } |
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| 528 | } |
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| 529 |