WebSVN - Projects - Blame - /FollowMe/uart0.c

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

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(root)/FollowMe/uart0.c @ 387 - Rev