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1115 | - | 1 | |
2 | /****************************************************************/ |
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3 | /* */ |
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4 | /* NG-Video 5,8GHz */ |
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5 | /* */ |
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6 | /* Copyright (C) 2011 - gebad */ |
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7 | /* */ |
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8 | /* This code is distributed under the GNU Public License */ |
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9 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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10 | /* */ |
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11 | /****************************************************************/ |
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12 | |||
13 | #include <avr/io.h> |
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14 | #include <avr/interrupt.h> |
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15 | |||
16 | #include "usart.h" |
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17 | |||
18 | /********************************************************************************************************************/ |
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19 | /* */ |
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20 | /* MK Protokoll */ |
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21 | /* http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) */ |
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22 | /* http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) */ |
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23 | /* */ |
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24 | /* Slave-Address Part */ |
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25 | /* 1 FC */ |
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26 | /* 2 NC */ |
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27 | /* 3 MK3MAG */ |
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28 | /* */ |
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29 | /* Auszug von Commands, nur OSD verwendet: */ |
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30 | /* Received by NC | Sent by NC */ |
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31 | /* | since NC */ |
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32 | /* Description ID Address Data | ID Address Data Firmware */ |
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33 | /* Debug Request 'd' AnyAddr u8 AutoSendInterval. Value is | 'D' SlaveAddr Debug Data Struct */ |
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34 | /* multiplied by 10 in receiver and , | */ |
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35 | /* then used as milliseconds. Subsciption | */ |
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36 | /* needs to be renewed every 4s. | */ |
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37 | /* Request OSD 'o' NC-Addr 1 byte sending interval (in 10ms steps)| 'O' NC-Addr NaviDataStruct 0.12h */ |
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38 | /* -Data | */ |
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39 | /* Redirect UART 'u' NC-Addr 1 byte param for uart selector (0=FC, | - - - 0.12h */ |
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40 | /* 1=MK3MAG, 2=MKGPS), can be switched | */ |
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41 | /* back to NC debug by sending the magic | */ |
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42 | /* packet "0x1B,0x1B,0x55,0xAA,0x00" | */ |
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43 | /* Set 3D-Data 'c' AnyAddr u8 Interval | 'C' NC-Addr struct Data3D 0.14a */ |
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44 | /* Interval */ |
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45 | /* */ |
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46 | /********************************************************************************************************************/ |
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47 | |||
48 | char rx_buffer[RXD_BUFFER_SIZE]; |
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49 | |||
50 | volatile uint8_t rx_len; |
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51 | volatile uint8_t rx_ready = 0; |
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52 | uint8_t rx_GPS; |
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53 | char start; |
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54 | |||
55 | /**************************************************************/ |
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56 | /* */ |
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57 | /* USART */ |
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58 | /* 8 Datenbits, 1 Stopbit, keine Parität */ |
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59 | /* */ |
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60 | /**************************************************************/ |
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61 | |||
62 | void USART_Init(unsigned int baud) |
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63 | { uint16_t ubrx; |
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64 | |||
65 | ubrx = F_CPU/(baud * 16L) - 1; |
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66 | /* Set baud rate */ |
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67 | UBRR0H = (unsigned char)(ubrx>>8); |
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68 | UBRR0L = (unsigned char)ubrx; |
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69 | /* RX Complete Interrupt Enable, Enable receiver and transmitter */ |
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70 | UCSR0B = (1<<RXCIE0) | (1<<RXEN0) | (1<<TXEN0); |
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71 | /* Asynchronous USART, no Parity, Set frame format: 8data, 1stop bit */ |
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72 | UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); // 8data Bit |
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73 | } |
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74 | |||
75 | void USART_send_Chr(unsigned char data) |
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76 | { |
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77 | /* Wait for empty transmit Puffer */ |
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78 | while ( !( UCSR0A & (1<<UDRE0)) ) ; |
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79 | /* Put data into Puffer, sends the data */ |
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80 | UDR0 = data; |
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81 | } |
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82 | |||
83 | void USART_send_Str(char *str ) |
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84 | { |
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85 | while (*str) { |
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86 | USART_send_Chr(*str); |
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87 | str++; |
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88 | } |
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89 | } |
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90 | |||
91 | /* |
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92 | // verwendet Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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93 | // kann auch vereinfacht werden ==> gleich kodierten String senden char *tx_osd = {"#co?]==EH\r\0"} |
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94 | // Funktion getestet und funktioniert |
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95 | void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len) |
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96 | { char tx_buffer[TXD_BUFFER_SIZE]; |
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97 | uint8_t tx_i = 0; |
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98 | uint8_t i = 0; |
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99 | unsigned char a,b,c; |
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100 | unsigned int tmpCRC = 0; |
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101 | |||
102 | tx_buffer[tx_i++] = '#'; // Start-Byte |
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103 | tx_buffer[tx_i++] = 'a' + addr; // Adress |
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104 | tx_buffer[tx_i++] = cmd; // Command |
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105 | // code64 |
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106 | while (len) { |
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107 | if (len) { a = data[i++]; len--;} else a = 0; |
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108 | if (len) { b = data[i++]; len--;} else b = 0; |
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109 | if (len) { c = data[i++]; len--;} else c = 0; |
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110 | tx_buffer[tx_i++] = '=' + (a >> 2); |
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111 | tx_buffer[tx_i++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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112 | tx_buffer[tx_i++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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113 | tx_buffer[tx_i++] = '=' + (c & 0x3f); |
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114 | } |
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115 | // add crc |
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116 | for (i = 0; i < tx_i; i++) { |
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117 | tmpCRC += tx_buffer[i]; |
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118 | } |
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119 | tmpCRC %= 4096; |
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120 | tx_buffer[i++] = '=' + tmpCRC / 64; |
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121 | tx_buffer[i++] = '=' + tmpCRC % 64; |
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122 | tx_buffer[i++] = '\r'; // End-Byte |
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123 | |||
124 | tx_buffer[i++] = '\0'; // USART_send_Str(...) ==> End-while |
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125 | USART_send_Str(tx_buffer); |
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126 | } */ |
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127 | |||
128 | ISR(USART0_RX_vect) |
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129 | { char received; |
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130 | static uint8_t line_flag = 1; |
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131 | static char* ptr_write = rx_buffer; |
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132 | static uint8_t frame = 6; |
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133 | |||
134 | // von '#' bis '\r' Puffer, einschließlich Satzzeichen schreiben |
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135 | received = UDR0; |
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136 | if (rx_ready == 0) { |
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137 | if ((received == start) && line_flag) { // start '#' oder 0x80 |
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138 | line_flag = 0; // MK-Datensatzanfang wurde erkannt |
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139 | ptr_write = rx_buffer; // Schreibzeiger auf Anfang Puffer setzen |
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140 | rx_len = 0; |
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141 | } |
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142 | if (line_flag == 0) { // MK/Pololu-Datensatz ? |
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143 | *ptr_write = received; |
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144 | rx_len++; |
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145 | |||
146 | /* GPS Datensatzende */ |
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147 | if (rx_GPS) { |
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148 | if (received == '\r') { // Ende MK-Datensatz ? |
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149 | line_flag = 1; |
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150 | rx_ready = 1; // Puffer Schreiben sperren, MK-Datensatz kann nun verarbeitet werden |
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151 | } |
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152 | } |
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153 | /* Pololu Micro Serial stark reduziert/vereinfacht; rx_len-Abfrage 1 höher ==> bereits incrementiert */ |
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154 | else { |
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155 | if ((rx_len == 2) && (received != 0x01)) line_flag = 1; // device |
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156 | if ((rx_len == 3) && (received > 0x01)) frame = 6; else frame = 5; // command |
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157 | if (rx_len == frame) { |
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158 | line_flag = 1; |
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159 | rx_ready = 1; // Puffer Schreiben sperren, Pololu-Datensatz kann nun verarbeitet werden |
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160 | } |
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161 | } |
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162 | |||
163 | ptr_write++; |
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164 | if(rx_len == RXD_BUFFER_SIZE) line_flag = 1; // ungültiger MK/Pololu-Datensatz ? ==> neu beginnen |
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165 | } |
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166 | } |
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167 | } |
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168 | |||
169 | // verwendet aus Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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170 | void Decode64(char *ptrOut, uint8_t len, uint8_t ptrIn) |
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171 | { unsigned char a,b,c,d; |
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172 | unsigned char ptr = 0; |
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173 | unsigned char x,y,z; |
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174 | |||
175 | while(len) |
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176 | { |
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177 | a = rx_buffer[ptrIn++] - '='; |
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178 | b = rx_buffer[ptrIn++] - '='; |
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179 | c = rx_buffer[ptrIn++] - '='; |
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180 | d = rx_buffer[ptrIn++] - '='; |
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181 | |||
182 | x = (a << 2) | (b >> 4); |
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183 | y = ((b & 0x0f) << 4) | (c >> 2); |
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184 | z = ((c & 0x03) << 6) | d; |
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185 | if(len--) ptrOut[ptr++] = x; else break; |
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186 | if(len--) ptrOut[ptr++] = y; else break; |
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187 | if(len--) ptrOut[ptr++] = z; else break; |
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188 | } |
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189 | } |
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190 | |||
191 | // eingearbeitet Orginal H&I MK-Software mkprotocol.h und mkprotocol.c |
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192 | uint8_t rx_line_decode(char rx_ID) |
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193 | { uint8_t ret = 0; |
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194 | uint8_t crc1,crc2; |
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195 | int tmpCRC = 0; |
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196 | |||
197 | // rx_ready gleichzeitig usart rx_buffer schreiben gesperrt |
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198 | if ((rx_ready == 1) && (rx_len > 0) && (rx_buffer[2] == rx_ID)) { |
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199 | // Checksumme |
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200 | // verwendet http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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201 | for(uint8_t i = 0; i < rx_len - 3;i++) { |
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202 | tmpCRC += rx_buffer[i]; |
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203 | } |
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204 | tmpCRC %= 4096; |
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205 | crc1 = '=' + tmpCRC / 64; |
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206 | crc2 = '=' + tmpCRC % 64; |
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207 | |||
208 | if ((crc1 == rx_buffer[rx_len-3]) && (crc2 == rx_buffer[rx_len-2])) { |
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209 | Decode64(MK.data_decode, rx_len - 6, 3); // Daten ohne Satzzeichen, header und crc |
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210 | ret = 1; |
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211 | } |
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212 | cli(); |
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213 | rx_timeout = 0; // wenn kein gültiger Datensatz für rx_ID ==> Counter wird nicht mehr rückgesetzt |
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214 | sei(); |
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215 | } |
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216 | // für Blinken des Antennenzeichens, MK antwortet immer mit cmd Großbuchstaben |
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217 | if ((rx_timeout < RX_TIME_OLD) && (rx_buffer[2] >= 'A') && (rx_buffer[2] <= 'Z')) wi232RX = 1; |
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218 | rx_ready = 0; // Puffer Schreiben entsperren, neuer MK-Datensatz kann wieder empfangen/gepuffert werden |
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219 | return(ret); |
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220 | } |
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221 | |||
222 | void USART_RX_Mode(uint8_t tracking) |
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223 | { |
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224 | rx_GPS = (tracking == TRACKING_GPS); |
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225 | if (rx_GPS) start ='#'; else start = 0x80; |
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226 | } |
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227 | |||
228 | uint8_t Get_Pololu_cmd(char *ptrOut, uint8_t ptrIn) |
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229 | { |
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230 | rx_len -=2; // ohne Start-Char und device |
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231 | if (rx_ready == 1) { |
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232 | for (uint8_t i = 0; i < rx_len; i++) |
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233 | ptrOut[i] = rx_buffer[ptrIn++]; // ab Pololu-Command |
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234 | } |
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235 | else |
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236 | rx_len = 0; |
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237 | rx_ready = 0; // Puffer Schreiben entsperren, neuer Pololu-Datensatz kann wieder empfangen/gepuffert werden |
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238 | return(rx_len); |
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239 | } |