Subversion Repositories BL-Ctrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Regler für Brushless-Motoren

// + ATMEGA8 mit 8MHz

// + (c) 01.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + Keine Garantie auf Fehlerfreiheit

// + Kommerzielle Nutzung nur mit meiner Zustimmung

// + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden

// + www.mikrocontroller.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

#include "uart.h"

#define MAX_SENDE_BUFF     100

#define MAX_EMPFANGS_BUFF  100

unsigned volatile char SIO_Sollwert = 0;

unsigned volatile char SioTmp = 0;

unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];

unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];

unsigned volatile char NeuerDatensatzEmpfangen = 0;

unsigned volatile char UebertragungAbgeschlossen = 1;

unsigned char MeineSlaveAdresse;

unsigned char MotorTest[6] = {0,0,0,0,0,0};

unsigned volatile char AnzahlEmpfangsBytes = 0;

struct str_DebugOut    DebugOut;

int Debug_Timer;

SIGNAL(INT_VEC_TX)

{

}

void SendUart(void)

{

 static unsigned int ptr = 0;

 unsigned char tmp_tx;

 if(!(UCSRA & 0x40)) return;

 if(!UebertragungAbgeschlossen)  

  {

   ptr++;                    // die [0] wurde schon gesendet

   tmp_tx = SendeBuffer[ptr];  

   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))

    {

     ptr = 0;

     UebertragungAbgeschlossen = 1;

    }

   USR |= (1<TXC);

   UDR = tmp_tx;

  }

  else ptr = 0;

}

// --------------------------------------------------------------------------

void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)  // Wohin mit den Daten; Wie lang; Wo im RxdBuffer

{

 unsigned char a,b,c,d;

 unsigned char ptr = 0;

 unsigned char x,y,z;

 while(len)

  {

   a = RxdBuffer[ptrIn++] - '=';

   b = RxdBuffer[ptrIn++] - '=';

   c = RxdBuffer[ptrIn++] - '=';

   d = RxdBuffer[ptrIn++] - '=';

   if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden

   x = (a << 2) | (b >> 4);

   y = ((b & 0x0f) << 4) | (c >> 2);

   z = ((c & 0x03) << 6) | d;

   if(len--) ptrOut[ptr++] = x; else break;

   if(len--) ptrOut[ptr++] = y; else break;

   if(len--) ptrOut[ptr++] = z; else break;

  }

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++ Empfangs-Part der Datenübertragung

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SIGNAL(INT_VEC_RX)

{

#if  X3D_SIO == 1

 static unsigned char serPacketCounter = 100;

    SioTmp = UDR;

        if(SioTmp == 0xF5)     // Startzeichen

         {

          serPacketCounter = 0;

         }

        else

         {

          if(++serPacketCounter == MotorAdresse) // (1-6)

          {

                SIO_Sollwert = SioTmp;

            SIO_Timeout = 200; // werte für 200ms gültig

          }

          else

          {

           if(serPacketCounter > 100) serPacketCounter = 100;

                  }

         }

#else

 static unsigned int crc;

 static unsigned char crc1,crc2,buf_ptr;

 static unsigned char UartState = 0;

 unsigned char CrcOkay = 0;

 SioTmp = UDR;

 if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;

 if(SioTmp == '\r' && UartState == 2)

  {

   UartState = 0;

   crc -= RxdBuffer[buf_ptr-2];

   crc -= RxdBuffer[buf_ptr-1];

   crc %= 4096;

   crc1 = '=' + crc / 64;

   crc2 = '=' + crc % 64;

   CrcOkay = 0;

   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; };

   if(CrcOkay) // Datensatz schon verarbeitet

    {

     //NeuerDatensatzEmpfangen = 1; 

         AnzahlEmpfangsBytes = buf_ptr;

     RxdBuffer[buf_ptr] = '\r';

         if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando

     uart_putchar(RxdBuffer[2]);         

         if (RxdBuffer[2] == 't') // Motortest

            { Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);

                          SIO_Sollwert = MotorTest[MotorAdresse - 1];

              SIO_Timeout = 500; // werte für 500ms gültig

                        }

        }                                

  }

  else

  switch(UartState)

  {

   case 0:

          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet

                  buf_ptr = 0;

                  RxdBuffer[buf_ptr++] = SioTmp;

                  crc = SioTmp;

          break;

   case 1: // Adresse auswerten

                  UartState++;

                  RxdBuffer[buf_ptr++] = SioTmp;

                  crc += SioTmp;

                  break;

   case 2: //  Eingangsdaten sammeln

                  RxdBuffer[buf_ptr] = SioTmp;

                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;

                  else UartState = 0;

                  crc += SioTmp;

                  break;

   default:

          UartState = 0;

          break;

  }

#endif

};

// --------------------------------------------------------------------------

void AddCRC(unsigned int wieviele)

{

 unsigned int tmpCRC = 0,i;

 for(i = 0; i < wieviele;i++)

  {

   tmpCRC += SendeBuffer[i];

  }

   tmpCRC %= 4096;

   SendeBuffer[i++] = '=' + tmpCRC / 64;

   SendeBuffer[i++] = '=' + tmpCRC % 64;

   SendeBuffer[i++] = '\r';

  UebertragungAbgeschlossen = 0;

  UDR = SendeBuffer[0];

}

// --------------------------------------------------------------------------

void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)

{

 unsigned int pt = 0;

 unsigned char a,b,c;

 unsigned char ptr = 0;

 SendeBuffer[pt++] = '#';               // Startzeichen

 SendeBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)

 SendeBuffer[pt++] = cmd;                       // Commando

 while(len)

  {

   if(len) { a = snd[ptr++]; len--;} else a = 0;

   if(len) { b = snd[ptr++]; len--;} else b = 0;

   if(len) { c = snd[ptr++]; len--;} else c = 0;

   SendeBuffer[pt++] = '=' + (a >> 2);

   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

   SendeBuffer[pt++] = '=' + ( c & 0x3f);

  }

 AddCRC(pt);

}

//############################################################################

//Routine für die Serielle Ausgabe

int uart_putchar (char c)

//############################################################################

{

        if (c == '\n')

                uart_putchar('\r');

        //Warten solange bis Zeichen gesendet wurde

        loop_until_bit_is_set(USR, UDRE);

        //Ausgabe des Zeichens

        UDR = c;

        return (0);

}

// --------------------------------------------------------------------------

void WriteProgramData(unsigned int pos, unsigned char wert)

{

}

//############################################################################

//INstallation der Seriellen Schnittstelle

void UART_Init (void)

//############################################################################

{

        //Enable TXEN im Register UCR TX-Data Enable & RX Enable

        UCR=(1 << TXEN) | (1 << RXEN);

    // UART Double Speed (U2X)

        USR   |= (1<<U2X);          

        // RX-Interrupt Freigabe

        UCSRB |= (1<<RXCIE);    // serieller Empfangsinterrupt       

        // TX-Interrupt Freigabe

//      UCSRB |= (1<<TXCIE);           

        //Teiler wird gesetzt 

        UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 );

        //öffnet einen Kanal für printf (STDOUT)

        fdevopen (uart_putchar, NULL);

    Debug_Timer = SetDelay(200);  

    // Version beim Start ausgeben (nicht schön, aber geht... ) 

        uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':');

        uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10);

    uart_putchar ('\n');uart_putchar('H');uart_putchar('W');uart_putchar (':');uart_putchar('1');uart_putchar('.');uart_putchar ((0x30-10) + HwVersion);

        uart_putchar ('\n');uart_putchar ('A');uart_putchar ('D');uart_putchar ('R'); uart_putchar (':'); uart_putchar (0x30 + MotorAdresse);

}

//---------------------------------------------------------------------------------------------

void DatenUebertragung(void)  

{

 if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen))      // im Singlestep-Betrieb in jedem Schtitt senden

         {

          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));

          Debug_Timer = SetDelay(50);   // Sendeintervall

         }

}