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1153 | - | 1 | /***************************************************************************** |
2 | * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
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3 | * taken some ideas from the C-OSD code from CaScAdE * |
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4 | * the MK communication routines are taken from the MK source * |
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5 | * (killagreg version) * |
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6 | * * |
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7 | * This program is free software; you can redistribute it and/or modify * |
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8 | * it under the terms of the GNU General Public License as published by * |
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9 | * the Free Software Foundation; either version 2 of the License. * |
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10 | * * |
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11 | * This program is distributed in the hope that it will be useful, * |
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12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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14 | * GNU General Public License for more details. * |
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15 | * * |
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16 | * You should have received a copy of the GNU General Public License * |
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17 | * along with this program; if not, write to the * |
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18 | * Free Software Foundation, Inc., * |
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19 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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20 | * * |
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21 | *****************************************************************************/ |
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22 | |||
23 | #include <avr/io.h> |
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24 | #include <avr/interrupt.h> |
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25 | #include <avr/pgmspace.h> |
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26 | #include <avr/wdt.h> |
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27 | #include <util/delay.h> |
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28 | #include <stdarg.h> |
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29 | |||
30 | #include "main.h" |
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31 | #include "usart.h" |
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32 | #include "lcd.h" |
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33 | |||
34 | uint8_t buffer[30]; |
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35 | |||
36 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
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37 | volatile uint8_t txd_complete = TRUE; |
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38 | |||
39 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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40 | volatile uint8_t rxd_buffer_locked = FALSE; |
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41 | volatile uint8_t ReceivedBytes = 0; |
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42 | volatile uint8_t *pRxData = 0; |
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43 | volatile uint8_t RxDataLen = 0; |
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44 | |||
45 | volatile uint16_t stat_crc_error = 0; |
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46 | volatile uint16_t stat_overflow_error = 0; |
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47 | |||
48 | volatile uint8_t rx_byte; |
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49 | volatile uint8_t rxFlag = 0; |
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50 | |||
51 | |||
52 | #define UART_RXBUFSIZE 64 |
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53 | #define UART_NO_DATA 0x0100 /* no receive data available */ |
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54 | |||
55 | volatile static uint8_t rxbuf[UART_RXBUFSIZE]; |
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56 | volatile static uint8_t *volatile rxhead, *volatile rxtail; |
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57 | |||
58 | |||
59 | //***************************************************************************** |
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60 | // USART1 transmitter ISR |
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61 | /* |
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62 | ISR (USART1_TX_vect) |
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63 | { |
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64 | static uint16_t ptr_txd1_buffer = 0; |
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65 | uint8_t tmp_tx1; |
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66 | |||
67 | if(!txd1_complete) // transmission not completed |
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68 | { |
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69 | ptr_txd1_buffer++; // [0] was already sent |
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70 | tmp_tx1 = txd1_buffer[ptr_txd1_buffer]; |
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71 | // if terminating character or end of txd buffer was reached |
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72 | if((tmp_tx1 == '\r') || (ptr_txd1_buffer == TXD_BUFFER_LEN)) |
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73 | { |
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74 | ptr_txd1_buffer = 0; // reset txd pointer |
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75 | txd1_complete = TRUE; // stop transmission |
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76 | } |
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77 | UDR1 = tmp_tx1; // send current byte will trigger this ISR again |
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78 | } |
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79 | // transmission completed |
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80 | else ptr_txd1_buffer = 0; |
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81 | } |
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82 | */ |
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83 | |||
84 | |||
85 | |||
86 | |||
87 | |||
88 | |||
89 | #ifdef USART_INT |
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90 | //***************************************************************************** |
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91 | // USART0 transmitter ISR |
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92 | ISR (USART_TXC_vect) |
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93 | { |
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94 | static uint16_t ptr_txd_buffer = 0; |
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95 | uint8_t tmp_tx; |
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96 | |||
97 | if(!txd_complete) // transmission not completed |
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98 | { |
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99 | ptr_txd_buffer++; // [0] was already sent |
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100 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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101 | // if terminating character or end of txd buffer was reached |
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102 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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103 | { |
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104 | ptr_txd_buffer = 0; // reset txd pointer |
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105 | txd_complete = TRUE; // stop transmission |
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106 | } |
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107 | UDR = tmp_tx; // send current byte will trigger this ISR again |
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108 | } |
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109 | // transmission completed |
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110 | else ptr_txd_buffer = 0; |
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111 | } |
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112 | #endif |
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113 | |||
114 | |||
115 | |||
116 | |||
117 | |||
118 | //***************************************************************************** |
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119 | // |
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120 | |||
121 | // |
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122 | //uint8_t uart_getc_nb(uint8_t *c) |
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123 | //{ |
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124 | // if (rxhead==rxtail) return 0; |
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125 | // *c = *rxtail; |
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126 | // if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf; |
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127 | // return 1; |
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128 | //} |
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129 | |||
130 | |||
131 | |||
132 | |||
133 | ISR (USART_RXC_vect) |
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134 | { |
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135 | static uint16_t crc; |
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136 | static uint8_t ptr_rxd_buffer = 0; |
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137 | uint8_t crc1, crc2; |
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138 | uint8_t c; |
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139 | |||
140 | if (current_hardware == Wi232) |
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141 | { |
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142 | /* rx_byte = c; |
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143 | rxFlag = 1;*/ |
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144 | |||
145 | |||
146 | int diff; |
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147 | uint8_t c; |
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148 | c=UDR; |
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149 | diff = rxhead - rxtail; |
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150 | if (diff < 0) diff += UART_RXBUFSIZE; |
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151 | if (diff < UART_RXBUFSIZE -1) |
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152 | { |
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153 | *rxhead = c; |
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154 | ++rxhead; |
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155 | if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf; |
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156 | }; |
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157 | // USART_putc (c); |
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158 | return; |
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159 | } |
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160 | |||
161 | |||
162 | if (current_hardware == MKGPS) |
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163 | { |
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164 | /* rx_byte = c; |
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165 | rxFlag = 1;*/ |
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166 | |||
167 | |||
168 | int diff; |
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169 | uint8_t c; |
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170 | c=UDR; |
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171 | diff = rxhead - rxtail; |
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172 | if (diff < 0) diff += UART_RXBUFSIZE; |
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173 | if (diff < UART_RXBUFSIZE -1) |
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174 | { |
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175 | *rxhead = c; |
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176 | ++rxhead; |
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177 | if (rxhead == (rxbuf + UART_RXBUFSIZE)) rxhead = rxbuf; |
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178 | }; |
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179 | |||
180 | return; |
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181 | } |
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182 | |||
183 | c = UDR; // catch the received byte |
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184 | |||
185 | |||
186 | if (rxd_buffer_locked) |
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187 | { |
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188 | return; // if rxd buffer is locked immediately return |
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189 | } |
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190 | |||
191 | |||
192 | |||
193 | // the rxd buffer is unlocked |
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194 | if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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195 | { |
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196 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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197 | crc = c; // init crc |
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198 | } |
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199 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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200 | { |
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201 | if(c != '\r') // no termination character |
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202 | { |
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203 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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204 | crc += c; // update crc |
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205 | } |
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206 | else // termination character was received |
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207 | { |
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208 | // the last 2 bytes are no subject for checksum calculation |
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209 | // they are the checksum itself |
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210 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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211 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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212 | // calculate checksum from transmitted data |
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213 | crc %= 4096; |
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214 | crc1 = '=' + crc / 64; |
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215 | crc2 = '=' + crc % 64; |
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216 | // compare checksum to transmitted checksum bytes |
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217 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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218 | { // checksum valid |
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219 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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220 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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221 | if (mode == rxd_buffer[2]) |
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222 | { |
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223 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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224 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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225 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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226 | } |
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227 | } |
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228 | else |
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229 | { // checksum invalid |
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230 | stat_crc_error++; |
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231 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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232 | } |
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233 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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234 | } |
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235 | } |
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236 | else // rxd buffer overrun |
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237 | { |
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238 | //LED4_TOGGLE; |
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239 | stat_overflow_error++; |
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240 | ptr_rxd_buffer = 0; // reset rxd buffer |
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241 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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242 | } |
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243 | } |
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244 | |||
245 | |||
246 | /************************************************************************* |
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247 | Function: uart0_getc() |
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248 | Purpose: return byte from ringbuffer |
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249 | Returns: lower byte: received byte from ringbuffer |
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250 | higher byte: last receive error |
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251 | **************************************************************************/ |
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252 | char USART_getc(void) |
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253 | { |
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254 | char val; |
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255 | |||
256 | // while(rxhead==rxtail) ; |
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257 | if (rxhead==rxtail) return val=0; |
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258 | |||
259 | val = *rxtail; |
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260 | if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf; |
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261 | |||
262 | return val; |
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263 | } |
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264 | |||
265 | |||
266 | uint8_t uart_getc_nb(uint8_t *c) |
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267 | { |
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268 | if (rxhead==rxtail) return 0; |
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269 | *c = *rxtail; |
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270 | if (++rxtail == (rxbuf + UART_RXBUFSIZE)) rxtail = rxbuf; |
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271 | return 1; |
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272 | } |
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273 | //***************************************************************************** |
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274 | // |
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275 | |||
276 | |||
277 | |||
278 | |||
279 | |||
280 | //***************************************************************************** |
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281 | // |
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282 | void USART_Init (unsigned int baudrate) |
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283 | { |
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284 | // set clock divider |
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285 | // #undef BAUD |
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286 | //#define BAUD baudrate |
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287 | // #include <util/setbaud.h> |
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288 | // UBRRH = UBRRH_VALUE; |
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289 | // UBRRL = UBRRL_VALUE; |
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290 | |||
291 | UBRRH = (unsigned char)(baudrate>>8); |
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292 | UBRRL = (unsigned char) baudrate; |
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293 | |||
294 | #if USE_2X |
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295 | UCSRA |= (1 << U2X); // enable double speed operation |
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296 | #else |
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297 | UCSRA &= ~(1 << U2X); // disable double speed operation |
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298 | #endif |
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299 | |||
300 | // set 8N1 |
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301 | #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega32__) |
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302 | UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0); |
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303 | #else |
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304 | UCSRC = (1 << UCSZ1) | (1 << UCSZ0); |
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305 | #endif |
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306 | UCSRB &= ~(1 << UCSZ2); |
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307 | |||
308 | // flush receive buffer |
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309 | while ( UCSRA & (1 << RXC) ) UDR; |
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310 | |||
311 | UCSRB |= (1 << RXEN) | (1 << TXEN); |
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312 | #ifdef USART_INT |
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313 | UCSRB |= (1 << RXCIE) | (1 << TXCIE); |
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314 | #else |
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315 | UCSRB |= (1 << RXCIE); |
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316 | #endif |
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317 | |||
318 | rxhead = rxtail = rxbuf; |
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319 | |||
320 | } |
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321 | |||
322 | |||
323 | |||
324 | |||
325 | |||
326 | //***************************************************************************** |
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327 | // disable the txd pin of usart |
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328 | void USART_DisableTXD (void) |
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329 | { |
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330 | #ifdef USART_INT |
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331 | UCSRB &= ~(1 << TXCIE); // disable TX-Interrupt |
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332 | #endif |
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333 | UCSRB &= ~(1 << TXEN); // disable TX in USART |
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334 | DDRB &= ~(1 << DDB3); // set TXD pin as input |
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335 | PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin |
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336 | } |
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337 | |||
338 | //***************************************************************************** |
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339 | // enable the txd pin of usart |
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340 | void USART_EnableTXD (void) |
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341 | { |
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342 | DDRB |= (1 << DDB3); // set TXD pin as output |
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343 | PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin |
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344 | UCSRB |= (1 << TXEN); // enable TX in USART |
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345 | #ifdef USART_INT |
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346 | UCSRB |= (1 << TXCIE); // enable TX-Interrupt |
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347 | #endif |
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348 | } |
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349 | |||
350 | //***************************************************************************** |
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351 | // short script to directly send a request thorugh usart including en- and disabling it |
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352 | // where <address> is the address of the receipient, <label> is which data set to request |
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353 | // and <ms> represents the milliseconds delay between data |
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354 | void USART_request_mk_data (uint8_t cmd, uint8_t addr, uint8_t ms) |
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355 | { |
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356 | USART_EnableTXD (); // re-enable TXD pin |
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357 | |||
358 | unsigned char mstenth = ms/10; |
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359 | SendOutData(cmd, addr, 1, &mstenth, 1); |
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360 | // wait until command transmitted |
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361 | while (txd_complete == FALSE); |
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362 | |||
363 | USART_DisableTXD (); // disable TXD pin again |
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364 | } |
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365 | |||
366 | //***************************************************************************** |
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367 | // |
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368 | void USART_putc (char c) |
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369 | { |
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370 | #ifdef USART_INT |
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371 | #else |
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372 | loop_until_bit_is_set(UCSRA, UDRE); |
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373 | UDR = c; |
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374 | #endif |
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375 | } |
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376 | |||
377 | |||
378 | |||
379 | //***************************************************************************** |
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380 | // |
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381 | void USART_puts (char *s) |
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382 | { |
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383 | #ifdef USART_INT |
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384 | #else |
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385 | while (*s) |
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386 | { |
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387 | USART_putc (*s); |
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388 | s++; |
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389 | } |
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390 | #endif |
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391 | } |
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392 | |||
393 | //***************************************************************************** |
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394 | // |
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395 | void USART_puts_p (const char *s) |
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396 | { |
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397 | #ifdef USART_INT |
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398 | #else |
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399 | while (pgm_read_byte(s)) |
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400 | { |
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401 | USART_putc (pgm_read_byte(s)); |
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402 | s++; |
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403 | } |
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404 | #endif |
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405 | } |
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406 | |||
407 | //***************************************************************************** |
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408 | // |
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409 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
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410 | { |
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411 | va_list ap; |
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412 | uint16_t pt = 0; |
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413 | uint8_t a,b,c; |
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414 | uint8_t ptr = 0; |
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415 | uint16_t tmpCRC = 0; |
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416 | |||
417 | uint8_t *pdata = 0; |
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418 | int len = 0; |
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419 | |||
420 | txd_buffer[pt++] = '#'; // Start character |
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421 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
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422 | txd_buffer[pt++] = cmd; // Command |
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423 | |||
424 | va_start(ap, numofbuffers); |
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425 | if(numofbuffers) |
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426 | { |
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427 | pdata = va_arg (ap, uint8_t*); |
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428 | len = va_arg (ap, int); |
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429 | ptr = 0; |
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430 | numofbuffers--; |
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431 | } |
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432 | |||
433 | while(len) |
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434 | { |
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435 | if(len) |
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436 | { |
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437 | a = pdata[ptr++]; |
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438 | len--; |
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439 | if((!len) && numofbuffers) |
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440 | { |
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441 | pdata = va_arg(ap, uint8_t*); |
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442 | len = va_arg(ap, int); |
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443 | ptr = 0; |
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444 | numofbuffers--; |
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445 | } |
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446 | } |
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447 | else a = 0; |
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448 | if(len) |
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449 | { |
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450 | b = pdata[ptr++]; |
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451 | len--; |
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452 | if((!len) && numofbuffers) |
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453 | { |
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454 | pdata = va_arg(ap, uint8_t*); |
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455 | len = va_arg(ap, int); |
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456 | ptr = 0; |
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457 | numofbuffers--; |
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458 | } |
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459 | } |
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460 | else b = 0; |
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461 | if(len) |
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462 | { |
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463 | c = pdata[ptr++]; |
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464 | len--; |
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465 | if((!len) && numofbuffers) |
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466 | { |
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467 | pdata = va_arg(ap, uint8_t*); |
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468 | len = va_arg(ap, int); |
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469 | ptr = 0; |
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470 | numofbuffers--; |
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471 | } |
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472 | } |
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473 | else c = 0; |
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474 | txd_buffer[pt++] = '=' + (a >> 2); |
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475 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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476 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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477 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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478 | } |
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479 | va_end(ap); |
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480 | |||
481 | for(a = 0; a < pt; a++) |
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482 | { |
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483 | tmpCRC += txd_buffer[a]; |
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484 | } |
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485 | tmpCRC %= 4096; |
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486 | txd_buffer[pt++] = '=' + tmpCRC / 64; |
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487 | txd_buffer[pt++] = '=' + tmpCRC % 64; |
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488 | txd_buffer[pt++] = '\r'; |
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489 | |||
490 | txd_complete = FALSE; |
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491 | #ifdef USART_INT |
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492 | UDR = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
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493 | #else |
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494 | for(a = 0; a < pt; a++) |
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495 | { |
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496 | loop_until_bit_is_set(UCSRA, UDRE); |
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497 | UDR = txd_buffer[a]; |
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498 | set_LED3(); |
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499 | } |
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500 | clr_LED3(); |
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501 | txd_complete = TRUE; |
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502 | #endif |
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503 | } |
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504 | |||
505 | //***************************************************************************** |
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506 | // |
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507 | void Decode64 (void) |
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508 | { |
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509 | uint8_t a,b,c,d; |
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510 | uint8_t ptrIn = 3; |
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511 | uint8_t ptrOut = 3; |
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512 | uint8_t len = ReceivedBytes - 6; |
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513 | |||
514 | while (len) |
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515 | { |
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516 | a = rxd_buffer[ptrIn++] - '='; |
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517 | b = rxd_buffer[ptrIn++] - '='; |
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518 | c = rxd_buffer[ptrIn++] - '='; |
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519 | d = rxd_buffer[ptrIn++] - '='; |
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520 | //if(ptrIn > ReceivedBytes - 3) break; |
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521 | |||
522 | if (len--) |
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523 | rxd_buffer[ptrOut++] = (a << 2) | (b >> 4); |
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524 | else |
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525 | break; |
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526 | if (len--) |
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527 | rxd_buffer[ptrOut++] = ((b & 0x0f) << 4) | (c >> 2); |
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528 | else |
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529 | break; |
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530 | if (len--) |
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531 | rxd_buffer[ptrOut++] = ((c & 0x03) << 6) | d; |
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532 | else |
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533 | break; |
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534 | } |
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535 | pRxData = &rxd_buffer[3]; |
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536 | RxDataLen = ptrOut - 3; |
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537 | } |
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538 | |||
539 | |||
540 | //***************************************************************************** |
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541 | // |
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542 | void SwitchToNC (void) |
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543 | { |
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544 | |||
545 | if(hardware == NC) |
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546 | { |
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547 | // switch to NC |
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548 | USART_putc (0x1b); |
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549 | USART_putc (0x1b); |
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550 | USART_putc (0x55); |
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551 | USART_putc (0xaa); |
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552 | USART_putc (0x00); |
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553 | |||
554 | current_hardware = NC; |
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555 | _delay_ms (50); |
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556 | } |
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557 | } |
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558 | |||
559 | //***************************************************************************** |
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560 | // |
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561 | |||
562 | |||
563 | //***************************************************************************** |
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564 | // |
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565 | void SwitchToWi232 (void) |
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566 | { |
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567 | |||
568 | // if(hardware == NC) |
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569 | { |
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570 | // switch to Wi232 |
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571 | |||
572 | current_hardware = Wi232; |
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573 | _delay_ms (50); |
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574 | } |
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575 | } |
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576 | |||
577 | //***************************************************************************** |
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578 | // |
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579 | void SwitchToFC (void) |
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580 | { |
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581 | uint8_t cmd; |
||
582 | |||
583 | if (current_hardware == NC) |
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584 | { |
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585 | // switch to FC |
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586 | cmd = 0x00; // 0 = FC, 1 = MK3MAG, 2 = MKGPS |
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587 | SendOutData('u', ADDRESS_NC, 1, &cmd, 1); |
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588 | |||
589 | current_hardware = FC; |
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590 | _delay_ms (50); |
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591 | } |
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592 | } |
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593 | |||
594 | //***************************************************************************** |
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595 | // |
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596 | void SwitchToMAG (void) |
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597 | { |
||
598 | uint8_t cmd; |
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599 | |||
600 | if (current_hardware == NC) |
||
601 | { |
||
602 | // switch to MK3MAG |
||
603 | cmd = 0x01; // 0 = FC, 1 = MK3MAG, 2 = MKGPS |
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604 | SendOutData('u', ADDRESS_NC, 1, &cmd, 1); |
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605 | |||
606 | current_hardware = MK3MAG; |
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607 | _delay_ms (50); |
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608 | } |
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609 | } |
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610 | |||
611 | //***************************************************************************** |
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612 | // |
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613 | void SwitchToGPS (void) |
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614 | { |
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615 | uint8_t cmd; |
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616 | if (current_hardware == NC) |
||
617 | { |
||
618 | // switch to MKGPS |
||
619 | cmd = 0x02; // 0 = FC, 1 = MK3MAG, 2 = MKGPS |
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620 | SendOutData('u', ADDRESS_NC, 1, &cmd, 1); |
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621 | |||
622 | current_hardware = MKGPS; |
||
623 | _delay_ms (50); |
||
624 | } |
||
625 | } |