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1180 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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886 | killagreg | 51 | #include <avr/io.h> |
52 | #include <avr/interrupt.h> |
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53 | #include "main.h" |
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54 | #include "uart1.h" |
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55 | #include "fifo.h" |
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911 | killagreg | 56 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
886 | killagreg | 57 | #include "ubx.h" |
58 | #endif |
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59 | |||
60 | |||
61 | |||
62 | // FIFO-objects and buffers for input and output |
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63 | |||
64 | //#define BUFSIZE_IN 0x96 |
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65 | //volatile uint8_t inbuf[BUFSIZE_IN]; |
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66 | //fifo_t infifo; |
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67 | |||
68 | #define BUFSIZE_OUT 0x96 |
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69 | volatile uint8_t outbuf[BUFSIZE_OUT]; |
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70 | fifo_t outfifo; |
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71 | |||
72 | /****************************************************************/ |
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73 | /* Initialization of the USART1 */ |
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74 | /****************************************************************/ |
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75 | void USART1_Init (void) |
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76 | { |
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77 | // USART1 Control and Status Register A, B, C and baud rate register |
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78 | uint8_t sreg = SREG; |
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79 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART1_BAUD) - 1); |
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80 | |||
81 | // disable all interrupts before reconfiguration |
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82 | cli(); |
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83 | |||
84 | // disable RX-Interrupt |
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85 | UCSR1B &= ~(1 << RXCIE1); |
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86 | // disable TX-Interrupt |
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87 | UCSR1B &= ~(1 << TXCIE1); |
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88 | // disable DRE-Interrupt |
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89 | UCSR1B &= ~(1 << UDRIE1); |
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90 | |||
91 | // set direction of RXD1 and TXD1 pins |
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92 | // set RXD1 (PD2) as an input pin |
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93 | PORTD |= (1 << PORTD2); |
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94 | DDRD &= ~(1 << DDD2); |
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95 | |||
96 | // set TXD1 (PD3) as an output pin |
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97 | PORTD |= (1 << PORTD3); |
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98 | DDRD |= (1 << DDD3); |
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99 | |||
100 | // USART0 Baud Rate Register |
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101 | // set clock divider |
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102 | UBRR1H = (uint8_t)(ubrr>>8); |
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103 | UBRR1L = (uint8_t)ubrr; |
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104 | |||
105 | // enable double speed operation |
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106 | UCSR1A |= (1 << U2X1); |
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107 | // enable receiver and transmitter |
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108 | UCSR1B = (1 << TXEN1) | (1 << RXEN1); |
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109 | // set asynchronous mode |
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110 | UCSR1C &= ~(1 << UMSEL11); |
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111 | UCSR1C &= ~(1 << UMSEL10); |
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112 | // no parity |
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113 | UCSR1C &= ~(1 << UPM11); |
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114 | UCSR1C &= ~(1 << UPM10); |
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115 | // 1 stop bit |
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116 | UCSR1C &= ~(1 << USBS1); |
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117 | // 8-bit |
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118 | UCSR1B &= ~(1 << UCSZ12); |
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119 | UCSR1C |= (1 << UCSZ11); |
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120 | UCSR1C |= (1 << UCSZ10); |
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121 | |||
122 | // flush receive buffer explicit |
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123 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
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124 | |||
125 | // enable interrupts at the end |
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126 | // enable RX-Interrupt |
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127 | UCSR1B |= (1 << RXCIE1); |
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128 | // enable TX-Interrupt |
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129 | UCSR1B |= (1 << TXCIE1); |
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130 | // enable DRE interrupt |
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131 | //UCSR1B |= (1 << UDRIE1); |
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132 | |||
133 | |||
134 | // restore global interrupt flags |
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135 | SREG = sreg; |
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136 | |||
137 | // inint FIFO buffer |
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138 | //fifo_init (&infifo, inbuf, BUFSIZE_IN); |
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139 | //fifo_init (&outfifo, outbuf, BUFSIZE_OUT); |
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140 | } |
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141 | |||
142 | /*int16_t USART1_putc (const uint8_t c) |
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143 | { |
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144 | int16_t ret = fifo_put (&outfifo, c); |
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145 | // create an data register empty interrupt |
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146 | UCSR1B |= (1 << UDRIE1); |
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147 | |||
148 | return ret; |
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149 | } |
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150 | */ |
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151 | /*int16_t USART1_getc_nowait () |
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152 | { |
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153 | return fifo_get_nowait (&infifo); |
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154 | } |
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155 | |||
156 | |||
157 | uint8_t USART1_getc_wait () |
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158 | { |
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159 | return fifo_get_wait (&infifo); |
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160 | } |
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161 | */ |
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162 | |||
163 | /****************************************************************/ |
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164 | /* USART1 data register empty ISR */ |
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165 | /****************************************************************/ |
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166 | /*ISR(USART1_UDRE_vect) |
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167 | { |
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168 | // Move a character from the output buffer to the data register. |
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169 | // When the character was processed the next interrupt is generated. |
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170 | // If the output buffer is empty the DRE-interrupt is disabled. |
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171 | if (outfifo.count > 0) |
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172 | UDR1 = _inline_fifo_get (&outfifo); |
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173 | else |
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174 | UCSR1B &= ~(1 << UDRIE1); |
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175 | } |
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176 | */ |
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177 | |||
178 | /****************************************************************/ |
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179 | /* USART1 transmitter ISR */ |
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180 | /****************************************************************/ |
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181 | /*ISR(USART1_TX_vect) |
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182 | { |
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183 | |||
184 | } |
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185 | */ |
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186 | /****************************************************************/ |
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187 | /* USART1 receiver ISR */ |
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188 | /****************************************************************/ |
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189 | ISR(USART1_RX_vect) |
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190 | { |
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191 | uint8_t c; |
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192 | c = UDR1; // get data byte |
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953 | killagreg | 193 | #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
1180 | killagreg | 194 | ubx_parser(c); // and put it into the ubx protocol parser |
886 | killagreg | 195 | #endif |
196 | } |