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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 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 | |||
| 26 | struct str_DebugOut DebugOut; |
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| 27 | |||
| 28 | |||
| 29 | int Debug_Timer; |
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| 30 | |||
| 31 | |||
| 32 | SIGNAL(INT_VEC_TX) |
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| 33 | { |
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| 34 | } |
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| 35 | |||
| 36 | void SendUart(void) |
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| 37 | { |
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| 38 | static unsigned int ptr = 0; |
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| 39 | unsigned char tmp_tx; |
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| 40 | if(!(UCSRA & 0x40)) return; |
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| 41 | if(!UebertragungAbgeschlossen) |
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| 42 | { |
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| 43 | ptr++; // die [0] wurde schon gesendet |
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| 44 | tmp_tx = SendeBuffer[ptr]; |
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| 45 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 46 | { |
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| 47 | ptr = 0; |
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| 48 | UebertragungAbgeschlossen = 1; |
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| 49 | } |
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| 50 | USR |= (1<TXC); |
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| 51 | UDR = tmp_tx; |
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| 52 | } |
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| 53 | else ptr = 0; |
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| 54 | } |
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| 55 | |||
| 56 | |||
| 57 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 58 | //++ Empfangs-Part der Datenübertragung |
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| 59 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 60 | SIGNAL(INT_VEC_RX) |
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| 61 | { |
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| 62 | static unsigned char serPacketCounter = 100; |
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| 63 | SioTmp = UDR; |
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| 64 | #if X3D_SIO == 1 |
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| 65 | if(SioTmp == 0xF5) // Startzeichen |
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| 66 | { |
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| 67 | serPacketCounter = 0; |
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| 68 | } |
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| 69 | else |
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| 70 | { |
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| 71 | if(++serPacketCounter == MOTORADRESSE) // (1-4) |
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| 72 | { |
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| 73 | SIO_Sollwert = SioTmp; |
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| 74 | SIO_Timeout = 200; // werte für 200ms gültig |
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| 75 | } |
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| 76 | else |
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| 77 | { |
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| 78 | if(serPacketCounter > 100) serPacketCounter = 100; |
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| 79 | } |
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| 80 | } |
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| 81 | #endif |
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| 82 | }; |
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| 83 | |||
| 84 | |||
| 85 | // -------------------------------------------------------------------------- |
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| 86 | void AddCRC(unsigned int wieviele) |
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| 87 | { |
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| 88 | unsigned int tmpCRC = 0,i; |
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| 89 | for(i = 0; i < wieviele;i++) |
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| 90 | { |
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| 91 | tmpCRC += SendeBuffer[i]; |
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| 92 | } |
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| 93 | tmpCRC %= 4096; |
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| 94 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 95 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 96 | SendeBuffer[i++] = '\r'; |
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| 97 | UebertragungAbgeschlossen = 0; |
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| 98 | UDR = SendeBuffer[0]; |
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| 99 | } |
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| 100 | |||
| 101 | |||
| 102 | // -------------------------------------------------------------------------- |
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| 103 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 104 | { |
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| 105 | unsigned int pt = 0; |
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| 106 | unsigned char a,b,c; |
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| 107 | unsigned char ptr = 0; |
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| 108 | |||
| 109 | |||
| 110 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 111 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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| 112 | SendeBuffer[pt++] = cmd; // Commando |
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| 113 | |||
| 114 | while(len) |
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| 115 | { |
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| 116 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 117 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 118 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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| 119 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 120 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 121 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 122 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 123 | } |
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| 124 | AddCRC(pt); |
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| 125 | } |
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| 126 | |||
| 127 | |||
| 128 | |||
| 129 | //############################################################################ |
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| 130 | //Routine für die Serielle Ausgabe |
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| 131 | int uart_putchar (char c) |
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| 132 | //############################################################################ |
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| 133 | { |
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| 134 | if (c == '\n') |
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| 135 | uart_putchar('\r'); |
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| 136 | //Warten solange bis Zeichen gesendet wurde |
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| 137 | loop_until_bit_is_set(USR, UDRE); |
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| 138 | //Ausgabe des Zeichens |
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| 139 | UDR = c; |
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| 140 | |||
| 141 | return (0); |
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| 142 | } |
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| 143 | |||
| 144 | // -------------------------------------------------------------------------- |
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| 145 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 146 | { |
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| 147 | } |
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| 148 | |||
| 149 | //############################################################################ |
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| 150 | //INstallation der Seriellen Schnittstelle |
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| 151 | void UART_Init (void) |
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| 152 | //############################################################################ |
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| 153 | { |
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| 154 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 155 | |||
| 156 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 157 | // UART Double Speed (U2X) |
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| 158 | USR |= (1<<U2X); |
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| 159 | // RX-Interrupt Freigabe |
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| 160 | #if X3D_SIO == 1 |
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| 161 | UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
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| 162 | #endif |
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| 163 | // TX-Interrupt Freigabe |
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| 164 | // UCSRB |= (1<<TXCIE); |
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| 165 | |||
| 166 | //Teiler wird gesetzt |
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| 167 | UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
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| 168 | //öffnet einen Kanal für printf (STDOUT) |
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| 169 | fdevopen (uart_putchar, NULL); |
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| 170 | Debug_Timer = SetDelay(200); |
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| 171 | UDR = '*'; |
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| 172 | } |
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| 173 | |||
| 174 | |||
| 175 | |||
| 176 | |||
| 177 | //--------------------------------------------------------------------------------------------- |
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| 178 | void DatenUebertragung(void) |
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| 179 | { |
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| 180 | if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
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| 181 | { |
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| 182 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 183 | Debug_Timer = SetDelay(50); // Sendeintervall |
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| 184 | } |
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| 185 | } |