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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 66 | jan-hendri | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Regler für Brushless-Motoren |
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| 3 | // + ATMEGA8 mit 8MHz |
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| 4 | // + (c) 01.2007 Holger Buss |
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| 5 | // + Nur für den privaten Gebrauch |
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| 6 | // + Keine Garantie auf Fehlerfreiheit |
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| 7 | // + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | // + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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| 9 | // + www.mikrocontroller.com |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | |||
| 12 | #include "main.h" |
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| 13 | #include "uart.h" |
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| 14 | |||
| 15 | #define MAX_SENDE_BUFF 100 |
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| 16 | #define MAX_EMPFANGS_BUFF 100 |
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| 17 | |||
| 18 | unsigned volatile char SIO_Sollwert = 0; |
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| 19 | unsigned volatile char SioTmp = 0; |
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| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 22 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 23 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 24 | unsigned char MeineSlaveAdresse; |
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| 25 | unsigned char MotorTest[4] = {0,0,0,0}; |
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| 26 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 27 | |||
| 28 | struct str_DebugOut DebugOut; |
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| 29 | |||
| 30 | |||
| 31 | int Debug_Timer; |
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| 32 | |||
| 33 | |||
| 34 | SIGNAL(INT_VEC_TX) |
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| 35 | { |
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| 36 | } |
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| 37 | |||
| 38 | void SendUart(void) |
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| 39 | { |
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| 40 | static unsigned int ptr = 0; |
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| 41 | unsigned char tmp_tx; |
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| 42 | if(!(UCSRA & 0x40)) return; |
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| 43 | if(!UebertragungAbgeschlossen) |
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| 44 | { |
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| 45 | ptr++; // die [0] wurde schon gesendet |
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| 46 | tmp_tx = SendeBuffer[ptr]; |
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| 47 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 48 | { |
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| 49 | ptr = 0; |
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| 50 | UebertragungAbgeschlossen = 1; |
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| 51 | } |
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| 52 | USR |= (1<TXC); |
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| 53 | UDR = tmp_tx; |
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| 54 | } |
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| 55 | else ptr = 0; |
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| 56 | } |
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| 57 | |||
| 58 | // -------------------------------------------------------------------------- |
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| 59 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
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| 60 | { |
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| 61 | unsigned char a,b,c,d; |
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| 62 | unsigned char ptr = 0; |
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| 63 | unsigned char x,y,z; |
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| 64 | while(len) |
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| 65 | { |
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| 66 | a = RxdBuffer[ptrIn++] - '='; |
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| 67 | b = RxdBuffer[ptrIn++] - '='; |
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| 68 | c = RxdBuffer[ptrIn++] - '='; |
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| 69 | d = RxdBuffer[ptrIn++] - '='; |
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| 70 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| 71 | |||
| 72 | x = (a << 2) | (b >> 4); |
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| 73 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 74 | z = ((c & 0x03) << 6) | d; |
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| 75 | |||
| 76 | if(len--) ptrOut[ptr++] = x; else break; |
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| 77 | if(len--) ptrOut[ptr++] = y; else break; |
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| 78 | if(len--) ptrOut[ptr++] = z; else break; |
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| 79 | } |
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| 80 | |||
| 81 | } |
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| 82 | |||
| 83 | |||
| 84 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 85 | //++ Empfangs-Part der Datenübertragung |
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| 86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 87 | SIGNAL(INT_VEC_RX) |
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| 88 | { |
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| 89 | |||
| 90 | #if X3D_SIO == 1 |
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| 91 | static unsigned char serPacketCounter = 100; |
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| 92 | SioTmp = UDR; |
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| 93 | if(SioTmp == 0xF5) // Startzeichen |
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| 94 | { |
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| 95 | serPacketCounter = 0; |
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| 96 | } |
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| 97 | else |
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| 98 | { |
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| 99 | if(++serPacketCounter == MotorAdresse) // (1-4) |
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| 100 | { |
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| 101 | SIO_Sollwert = SioTmp; |
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| 102 | SIO_Timeout = 200; // werte für 200ms gültig |
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| 103 | } |
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| 104 | else |
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| 105 | { |
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| 106 | if(serPacketCounter > 100) serPacketCounter = 100; |
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| 107 | } |
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| 108 | } |
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| 109 | #else |
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| 110 | static unsigned int crc; |
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| 111 | static unsigned char crc1,crc2,buf_ptr; |
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| 112 | static unsigned char UartState = 0; |
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| 113 | unsigned char CrcOkay = 0; |
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| 114 | |||
| 115 | SioTmp = UDR; |
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| 116 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 117 | if(SioTmp == '\r' && UartState == 2) |
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| 118 | { |
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| 119 | UartState = 0; |
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| 120 | crc -= RxdBuffer[buf_ptr-2]; |
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| 121 | crc -= RxdBuffer[buf_ptr-1]; |
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| 122 | crc %= 4096; |
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| 123 | crc1 = '=' + crc / 64; |
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| 124 | crc2 = '=' + crc % 64; |
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| 125 | CrcOkay = 0; |
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| 126 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
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| 127 | if(CrcOkay) // Datensatz schon verarbeitet |
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| 128 | { |
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| 129 | //NeuerDatensatzEmpfangen = 1; |
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| 130 | AnzahlEmpfangsBytes = buf_ptr; |
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| 131 | |||
| 132 | RxdBuffer[buf_ptr] = '\r'; |
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| 133 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
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| 134 | uart_putchar(RxdBuffer[2]); |
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| 135 | if (RxdBuffer[2] == 't') // Motortest |
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| 136 | { Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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| 137 | SIO_Sollwert = MotorTest[MotorAdresse - 1]; |
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| 138 | SIO_Timeout = 500; // werte für 500ms gültig |
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| 139 | |||
| 140 | } |
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| 141 | } |
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| 142 | } |
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| 143 | else |
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| 144 | switch(UartState) |
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| 145 | { |
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| 146 | case 0: |
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| 147 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 148 | buf_ptr = 0; |
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| 149 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 150 | crc = SioTmp; |
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| 151 | break; |
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| 152 | case 1: // Adresse auswerten |
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| 153 | UartState++; |
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| 154 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 155 | crc += SioTmp; |
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| 156 | break; |
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| 157 | case 2: // Eingangsdaten sammeln |
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| 158 | RxdBuffer[buf_ptr] = SioTmp; |
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| 159 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 160 | else UartState = 0; |
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| 161 | crc += SioTmp; |
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| 162 | break; |
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| 163 | default: |
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| 164 | UartState = 0; |
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| 165 | break; |
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| 166 | } |
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| 167 | |||
| 168 | |||
| 169 | #endif |
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| 170 | }; |
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| 171 | |||
| 172 | |||
| 173 | // -------------------------------------------------------------------------- |
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| 174 | void AddCRC(unsigned int wieviele) |
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| 175 | { |
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| 176 | unsigned int tmpCRC = 0,i; |
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| 177 | for(i = 0; i < wieviele;i++) |
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| 178 | { |
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| 179 | tmpCRC += SendeBuffer[i]; |
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| 180 | } |
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| 181 | tmpCRC %= 4096; |
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| 182 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 183 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 184 | SendeBuffer[i++] = '\r'; |
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| 185 | UebertragungAbgeschlossen = 0; |
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| 186 | UDR = SendeBuffer[0]; |
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| 187 | } |
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| 188 | |||
| 189 | |||
| 190 | // -------------------------------------------------------------------------- |
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| 191 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 192 | { |
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| 193 | unsigned int pt = 0; |
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| 194 | unsigned char a,b,c; |
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| 195 | unsigned char ptr = 0; |
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| 196 | |||
| 197 | |||
| 198 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 199 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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| 200 | SendeBuffer[pt++] = cmd; // Commando |
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| 201 | |||
| 202 | while(len) |
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| 203 | { |
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| 204 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 205 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 206 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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| 207 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 208 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 209 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 210 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 211 | } |
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| 212 | AddCRC(pt); |
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| 213 | } |
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| 214 | |||
| 215 | |||
| 216 | |||
| 217 | //############################################################################ |
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| 218 | //Routine für die Serielle Ausgabe |
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| 219 | int uart_putchar (char c) |
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| 220 | //############################################################################ |
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| 221 | { |
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| 222 | if (c == '\n') |
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| 223 | uart_putchar('\r'); |
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| 224 | //Warten solange bis Zeichen gesendet wurde |
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| 225 | loop_until_bit_is_set(USR, UDRE); |
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| 226 | //Ausgabe des Zeichens |
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| 227 | UDR = c; |
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| 228 | |||
| 229 | return (0); |
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| 230 | } |
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| 231 | |||
| 232 | // -------------------------------------------------------------------------- |
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| 233 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 234 | { |
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| 235 | } |
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| 236 | |||
| 237 | //############################################################################ |
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| 238 | //INstallation der Seriellen Schnittstelle |
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| 239 | void UART_Init (void) |
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| 240 | //############################################################################ |
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| 241 | { |
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| 242 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 243 | |||
| 244 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 245 | // UART Double Speed (U2X) |
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| 246 | USR |= (1<<U2X); |
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| 247 | // RX-Interrupt Freigabe |
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| 248 | |||
| 249 | UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
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| 250 | |||
| 251 | // TX-Interrupt Freigabe |
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| 252 | // UCSRB |= (1<<TXCIE); |
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| 253 | |||
| 254 | //Teiler wird gesetzt |
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| 255 | UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
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| 256 | //öffnet einen Kanal für printf (STDOUT) |
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| 257 | fdevopen (uart_putchar, NULL); |
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| 258 | Debug_Timer = SetDelay(200); |
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| 259 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
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| 260 | uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':'); |
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| 261 | uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10); |
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| 262 | uart_putchar ('\n');uart_putchar ('A');uart_putchar ('D');uart_putchar ('R'); uart_putchar (':'); uart_putchar (0x30 + MotorAdresse); |
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| 263 | |||
| 264 | } |
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| 265 | |||
| 266 | |||
| 267 | |||
| 268 | |||
| 269 | //--------------------------------------------------------------------------------------------- |
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| 270 | void DatenUebertragung(void) |
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| 271 | { |
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| 272 | if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
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| 273 | { |
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| 274 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 275 | Debug_Timer = SetDelay(50); // Sendeintervall |
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| 276 | } |
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| 277 | } |