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Rev | Author | Line No. | Line |
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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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32 | holgerb | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
12 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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1 | ingob | 8 | // + Nur für den privaten Gebrauch |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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35 | // + * 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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36 | // + from this software without specific prior written permission. |
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32 | holgerb | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
32 | holgerb | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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42 | // + In case of doubt please contact: info@MikroKopter.de |
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32 | holgerb | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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12 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | holgerb | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
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59 | #include <avr/wdt.h> |
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41 | killagreg | 60 | #include <stdarg.h> |
61 | #include <string.h> |
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1 | ingob | 62 | #include "main.h" |
63 | #include "uart.h" |
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32 | holgerb | 64 | #include "timer0.h" |
65 | #include "twislave.h" |
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1 | ingob | 66 | |
37 | killagreg | 67 | // slave addresses |
68 | #define FC_ADDRESS 1 |
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69 | #define NC_ADDRESS 2 |
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70 | #define MK3MAG_ADDRESS 3 |
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1 | ingob | 71 | |
32 | holgerb | 72 | #define FALSE 0 |
73 | #define TRUE 1 |
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1 | ingob | 74 | |
32 | holgerb | 75 | // keep buffers as small as possible |
76 | #define TXD_BUFFER_LEN 100 |
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77 | #define RXD_BUFFER_LEN 30 |
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1 | ingob | 78 | |
32 | holgerb | 79 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
80 | volatile uint8_t rxd_buffer_locked = FALSE; |
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81 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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82 | volatile uint8_t txd_complete = TRUE; |
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83 | volatile uint8_t ReceivedBytes = 0; |
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41 | killagreg | 84 | volatile uint8_t *pRxData = 0; |
85 | volatile uint8_t RxDataLen = 0; |
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1 | ingob | 86 | |
37 | killagreg | 87 | // send flags |
88 | #define RQST_VERSION_INFO 0x01 |
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89 | #define RQST_DEBUG_DATA 0x02 |
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90 | #define RQST_DEBUG_LABEL 0x04 |
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91 | #define RQST_COMPASS_HEADING 0x08 |
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92 | #define RQST_EXTERN_CTRL 0x10 |
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52 | killagreg | 93 | #define RQST_DISPLAY_DATA 0x20 |
3 | ingob | 94 | |
37 | killagreg | 95 | |
32 | holgerb | 96 | uint8_t RequestFlags = 0x00; |
97 | uint8_t RequestDebugLabel = 0; |
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41 | killagreg | 98 | uint8_t ConfirmFrame = 0; |
52 | killagreg | 99 | uint8_t RemoteKeys = 0; |
100 | uint8_t DisplayLine = 0; |
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101 | uint8_t DisplayBuff[80]; |
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102 | /* |
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103 | const uint8_t DisplayBuff[4][20] = |
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104 | { |
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105 | "++ MK3MAG ++", |
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106 | " ", |
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107 | " ", |
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108 | " " |
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109 | };*/ |
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1 | ingob | 110 | |
52 | killagreg | 111 | uint16_t PC_Connected = 0; |
112 | uint16_t FC_Connected = 0; |
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32 | holgerb | 113 | |
114 | |||
115 | DebugOut_t DebugOut; |
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116 | ExternData_t ExternData; |
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117 | ExternControl_t ExternControl; |
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41 | killagreg | 118 | UART_VersionInfo_t UART_VersionInfo; |
32 | holgerb | 119 | |
41 | killagreg | 120 | uint16_t DebugData_Timer; |
121 | uint16_t DebugData_Interval = 500; |
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32 | holgerb | 122 | |
123 | const uint8_t ANALOG_LABEL[32][16] = |
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1 | ingob | 124 | { |
37 | killagreg | 125 | //1234567890123456 |
126 | "Magnet X ", //0 |
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127 | "Magnet Y ", |
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128 | "Magnet Z ", |
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129 | "RawMagnet X ", |
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130 | "RawMagnet Y ", |
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131 | "RawMagnet Z ", //5 |
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132 | "Attitude Nick ", |
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133 | "Attitude Roll ", |
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134 | "Magnet X Offset ", |
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135 | "Magnet X Range ", |
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136 | "Magnet Y Offset ", //10 |
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137 | "Magnet Y Range ", |
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138 | "Magnet Z Offset ", |
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139 | "Magnet Z Range ", |
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140 | "Calstate ", |
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141 | "Heading ", //15 |
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142 | "User0 ", |
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143 | "User1 ", |
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144 | "Acc X ", |
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145 | "Acc Y ", |
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146 | "Acc Z ", //20 |
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147 | "RawAcc X ", |
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148 | "RawAcc Y ", |
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149 | "RawAcc Z ", |
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150 | "Acc X Offset ", |
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151 | "Acc Y Offset ", //25 |
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152 | "Acc Z Offset ", |
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153 | "Analog27 ", |
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154 | "Analog28 ", |
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155 | "Analog29 ", |
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156 | "I2C Error ", //30 |
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157 | "I2C Okay " |
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1 | ingob | 158 | }; |
159 | |||
160 | |||
32 | holgerb | 161 | /****************************************************************/ |
162 | /* Initialization of the USART0 */ |
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163 | /****************************************************************/ |
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164 | void USART0_Init (void) |
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165 | { |
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52 | killagreg | 166 | uint8_t i; |
41 | killagreg | 167 | uint8_t sreg = SREG; |
32 | holgerb | 168 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
7 | hbuss | 169 | |
32 | holgerb | 170 | // disable all interrupts before configuration |
171 | cli(); |
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172 | |||
173 | // disable RX-Interrupt |
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174 | UCSR0B &= ~(1 << RXCIE0); |
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175 | // disable TX-Interrupt |
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176 | UCSR0B &= ~(1 << TXCIE0); |
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177 | |||
178 | // set direction of RXD0 and TXD0 pins |
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179 | |||
180 | // set RXD0 (PD0) as an input pin tristate |
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181 | DDRD &= ~(1 << DDD0); |
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182 | PORTD &= ~(1 << PORTD0); |
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183 | // set TXD0 (PD1) as an output pin |
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184 | DDRD |= (1 << DDD1); |
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185 | PORTD &= ~(1 << PORTD1); |
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186 | |||
187 | |||
188 | // USART0 Baud Rate Register |
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189 | // set clock divider |
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190 | UBRR0H = (uint8_t)(ubrr >> 8); |
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191 | UBRR0L = (uint8_t)ubrr; |
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192 | |||
37 | killagreg | 193 | // USART0 Control and Status Register A, B, C |
32 | holgerb | 194 | |
195 | // enable double speed operation |
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196 | UCSR0A |= (1 << U2X0); |
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197 | |||
198 | // set asynchronous mode |
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199 | UCSR0C &= ~(1 << UMSEL01); |
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200 | UCSR0C &= ~(1 << UMSEL00); |
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201 | // no parity |
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202 | UCSR0C &= ~(1 << UPM01); |
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203 | UCSR0C &= ~(1 << UPM00); |
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204 | // 1 stop bit |
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205 | UCSR0C &= ~(1 << USBS0); |
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206 | // 8-bit |
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207 | UCSR0B &= ~(1 << UCSZ02); |
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208 | UCSR0C |= (1 << UCSZ01); |
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209 | UCSR0C |= (1 << UCSZ00); |
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210 | |||
211 | // enable receiver and transmitter |
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212 | UCSR0B |= (1 << RXEN0); |
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213 | UCSR0B |= (1 << TXEN0); |
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214 | |||
215 | // flush receive buffer |
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216 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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217 | |||
218 | // enable RX-Interrupt |
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219 | UCSR0B |= (1 << RXCIE0); |
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220 | // enable TX-Interrupt |
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221 | UCSR0B |= (1 << TXCIE0); |
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222 | |||
41 | killagreg | 223 | // initialize the debug timer |
224 | DebugData_Timer = SetDelay(DebugData_Interval); |
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225 | |||
226 | // unlock rxd_buffer |
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32 | holgerb | 227 | rxd_buffer_locked = FALSE; |
41 | killagreg | 228 | pRxData = 0; |
229 | RxDataLen = 0; |
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230 | |||
231 | // no bytes to send |
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32 | holgerb | 232 | txd_complete = TRUE; |
233 | |||
234 | |||
47 | killagreg | 235 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
236 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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237 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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238 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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239 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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32 | holgerb | 240 | |
52 | killagreg | 241 | // send version info at startup |
32 | holgerb | 242 | USART0_putchar ('\n'); |
243 | USART0_putchar ('C'); |
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244 | USART0_putchar ('P'); |
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245 | USART0_putchar (':'); |
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246 | USART0_putchar ('V'); |
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247 | USART0_putchar (0x30 + VERSION_MAJOR); |
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248 | USART0_putchar ('.'); |
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249 | USART0_putchar (0x30 + VERSION_MINOR/10); |
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250 | USART0_putchar (0x30 + VERSION_MINOR%10); |
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41 | killagreg | 251 | USART0_putchar ('a' + VERSION_PATCH); |
32 | holgerb | 252 | USART0_putchar ('\n'); |
41 | killagreg | 253 | |
52 | killagreg | 254 | // prepare display buffer |
255 | for(i=0; i < 80; i++) DisplayBuff[i] = ' '; |
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256 | DisplayBuff[0] = '+'; |
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257 | DisplayBuff[1] = '+'; |
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258 | DisplayBuff[7] = 'M'; |
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259 | DisplayBuff[8] = 'K'; |
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260 | DisplayBuff[9] = '3'; |
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261 | DisplayBuff[10] = 'M'; |
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262 | DisplayBuff[11] = 'A'; |
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263 | DisplayBuff[12] = 'G'; |
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264 | DisplayBuff[18] = '+'; |
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265 | DisplayBuff[19] = '+'; |
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266 | |||
267 | DisplayBuff[47] = 'V'; |
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268 | DisplayBuff[48] = (0x30 + VERSION_MAJOR); |
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269 | DisplayBuff[49] = '.'; |
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270 | DisplayBuff[50] = (0x30 + VERSION_MINOR/10); |
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271 | DisplayBuff[51] = (0x30 + VERSION_MINOR%10); |
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272 | DisplayBuff[52] = ('a' + VERSION_PATCH); |
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273 | |||
41 | killagreg | 274 | // restore global interrupt flags |
275 | SREG = sreg; |
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1 | ingob | 276 | } |
277 | |||
32 | holgerb | 278 | // --------------------------------------------------------------------------------- |
279 | void USART0_EnableTXD(void) |
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1 | ingob | 280 | { |
32 | holgerb | 281 | DDRD |= (1<<DDD1); // set TXD pin as output |
282 | PORTD &= ~(1 << PORTD1); |
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283 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
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284 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
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1 | ingob | 285 | } |
286 | |||
32 | holgerb | 287 | // --------------------------------------------------------------------------------- |
288 | void USART0_DisableTXD(void) |
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1 | ingob | 289 | { |
32 | holgerb | 290 | while(!txd_complete){ }; |
1 | ingob | 291 | |
32 | holgerb | 292 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
293 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
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294 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
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295 | PORTD &= ~(1 << PORTD1); |
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296 | } |
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1 | ingob | 297 | |
32 | holgerb | 298 | /****************************************************************/ |
299 | /* USART0 transmitter ISR */ |
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300 | /****************************************************************/ |
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301 | ISR(USART_TX_vect) |
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302 | { |
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303 | static uint16_t ptr_txd_buffer = 0; |
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304 | uint8_t tmp_tx; |
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305 | if(!txd_complete) // transmission not completed |
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306 | { |
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307 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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308 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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309 | // if terminating character or end of txd buffer was reached |
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310 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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311 | { |
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312 | ptr_txd_buffer = 0; // reset txd pointer |
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313 | txd_complete = TRUE; // stop transmission |
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314 | } |
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315 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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316 | } |
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317 | // transmission completed |
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318 | else ptr_txd_buffer = 0; |
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1 | ingob | 319 | } |
320 | |||
32 | holgerb | 321 | /****************************************************************/ |
322 | /* USART0 receiver ISR */ |
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323 | /****************************************************************/ |
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324 | ISR(USART_RX_vect) |
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1 | ingob | 325 | { |
32 | holgerb | 326 | static uint16_t crc; |
327 | uint8_t crc1, crc2; |
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328 | uint8_t c; |
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329 | static uint8_t ptr_rxd_buffer = 0; |
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1 | ingob | 330 | |
32 | holgerb | 331 | c = UDR0; // catch the received byte |
1 | ingob | 332 | |
32 | holgerb | 333 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
1 | ingob | 334 | |
32 | holgerb | 335 | // the rxd buffer is unlocked |
336 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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337 | { |
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338 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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339 | crc = c; // init crc |
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340 | } |
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341 | #if 0 |
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342 | else if (ptr_rxd_buffer == 1) // handle address |
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343 | { |
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344 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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345 | crc += c; // update crc |
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346 | } |
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347 | #endif |
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348 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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349 | { |
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350 | if(c != '\r') // no termination character |
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351 | { |
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352 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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353 | crc += c; // update crc |
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354 | } |
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355 | else // termination character was received |
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356 | { |
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357 | // the last 2 bytes are no subject for checksum calculation |
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358 | // they are the checksum itself |
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359 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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360 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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361 | // calculate checksum from transmitted data |
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362 | crc %= 4096; |
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363 | crc1 = '=' + crc / 64; |
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364 | crc2 = '=' + crc % 64; |
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365 | // compare checksum to transmitted checksum bytes |
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366 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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367 | { // checksum valid |
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41 | killagreg | 368 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
369 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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32 | holgerb | 370 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
371 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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372 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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373 | } |
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374 | else |
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375 | { // checksum invalid |
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376 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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377 | } |
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378 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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379 | } |
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380 | } |
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381 | else // rxd buffer overrun |
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382 | { |
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383 | ptr_rxd_buffer = 0; // reset rxd buffer |
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384 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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385 | } |
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1 | ingob | 386 | } |
387 | |||
388 | |||
389 | // -------------------------------------------------------------------------- |
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32 | holgerb | 390 | void AddCRC(uint16_t datalen) |
1 | ingob | 391 | { |
32 | holgerb | 392 | uint16_t tmpCRC = 0, i; |
393 | for(i = 0; i < datalen; i++) |
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394 | { |
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395 | tmpCRC += txd_buffer[i]; |
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396 | } |
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397 | tmpCRC %= 4096; |
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398 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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399 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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400 | txd_buffer[i++] = '\r'; |
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401 | txd_complete = FALSE; |
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402 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
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1 | ingob | 403 | } |
404 | |||
405 | |||
406 | |||
32 | holgerb | 407 | // -------------------------------------------------------------------------- |
46 | killagreg | 408 | void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
1 | ingob | 409 | { |
41 | killagreg | 410 | va_list ap; |
32 | holgerb | 411 | uint16_t pt = 0; |
412 | uint8_t a,b,c; |
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413 | uint8_t ptr = 0; |
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414 | |||
41 | killagreg | 415 | uint8_t *pdata = 0; |
416 | int len = 0; |
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417 | |||
46 | killagreg | 418 | txd_buffer[pt++] = '#'; // Start character |
419 | txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
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420 | txd_buffer[pt++] = cmd; // Command |
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32 | holgerb | 421 | |
41 | killagreg | 422 | va_start(ap, numofbuffers); |
42 | killagreg | 423 | if(numofbuffers) |
41 | killagreg | 424 | { |
425 | pdata = va_arg(ap, uint8_t*); |
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426 | len = va_arg(ap, int); |
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427 | ptr = 0; |
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42 | killagreg | 428 | numofbuffers--; |
41 | killagreg | 429 | } |
430 | |||
32 | holgerb | 431 | while(len) |
432 | { |
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41 | killagreg | 433 | if(len) |
434 | { |
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435 | a = pdata[ptr++]; |
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436 | len--; |
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437 | if((!len) && numofbuffers) |
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438 | { |
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439 | pdata = va_arg(ap, uint8_t*); |
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440 | len = va_arg(ap, int); |
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441 | ptr = 0; |
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442 | numofbuffers--; |
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443 | } |
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444 | } |
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445 | else a = 0; |
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446 | if(len) |
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447 | { |
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448 | b = pdata[ptr++]; |
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449 | len--; |
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450 | if((!len) && numofbuffers) |
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451 | { |
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452 | pdata = va_arg(ap, uint8_t*); |
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453 | len = va_arg(ap, int); |
||
454 | ptr = 0; |
||
455 | numofbuffers--; |
||
456 | } |
||
457 | } |
||
458 | else b = 0; |
||
459 | if(len) |
||
460 | { |
||
461 | c = pdata[ptr++]; |
||
462 | len--; |
||
463 | if((!len) && numofbuffers) |
||
464 | { |
||
465 | pdata = va_arg(ap, uint8_t*); |
||
466 | len = va_arg(ap, int); |
||
467 | ptr = 0; |
||
468 | numofbuffers--; |
||
469 | } |
||
470 | } |
||
471 | else c = 0; |
||
32 | holgerb | 472 | txd_buffer[pt++] = '=' + (a >> 2); |
473 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
474 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
475 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
||
476 | } |
||
41 | killagreg | 477 | va_end(ap); |
32 | holgerb | 478 | AddCRC(pt); // add checksum after data block and initates the transmission |
1 | ingob | 479 | } |
480 | |||
32 | holgerb | 481 | |
1 | ingob | 482 | // -------------------------------------------------------------------------- |
41 | killagreg | 483 | void Decode64(void) |
1 | ingob | 484 | { |
32 | holgerb | 485 | uint8_t a,b,c,d; |
486 | uint8_t x,y,z; |
||
41 | killagreg | 487 | uint8_t ptrIn = 3; |
488 | uint8_t ptrOut = 3; |
||
489 | uint8_t len = ReceivedBytes - 6; |
||
490 | |||
32 | holgerb | 491 | while(len) |
492 | { |
||
493 | a = rxd_buffer[ptrIn++] - '='; |
||
494 | b = rxd_buffer[ptrIn++] - '='; |
||
495 | c = rxd_buffer[ptrIn++] - '='; |
||
496 | d = rxd_buffer[ptrIn++] - '='; |
||
41 | killagreg | 497 | //if(ptrIn > ReceivedBytes - 3) break; |
1 | ingob | 498 | |
32 | holgerb | 499 | x = (a << 2) | (b >> 4); |
500 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
501 | z = ((c & 0x03) << 6) | d; |
||
502 | |||
41 | killagreg | 503 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
504 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
||
505 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
||
32 | holgerb | 506 | } |
41 | killagreg | 507 | pRxData = &rxd_buffer[3]; |
508 | RxDataLen = ptrOut - 3; |
||
17 | holgerb | 509 | } |
510 | |||
32 | holgerb | 511 | |
41 | killagreg | 512 | |
32 | holgerb | 513 | // -------------------------------------------------------------------------- |
514 | int16_t USART0_putchar (int8_t c) |
||
1 | ingob | 515 | { |
32 | holgerb | 516 | // if tx is not enabled return immediatly |
517 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
||
518 | if (c == '\n') USART0_putchar('\r'); |
||
519 | // wait until previous character was send |
||
520 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
521 | // send character |
||
522 | UDR0 = c; |
||
523 | return (0); |
||
1 | ingob | 524 | } |
525 | |||
526 | |||
32 | holgerb | 527 | // -------------------------------------------------------------------------- |
528 | void USART0_ProcessRxData(void) |
||
1 | ingob | 529 | { |
32 | holgerb | 530 | // if data in the rxd buffer are not locked immediately return |
531 | if(!rxd_buffer_locked) return; |
||
1 | ingob | 532 | |
46 | killagreg | 533 | Decode64(); // decode data block in rxd_buffer |
534 | |||
45 | ingob | 535 | switch(rxd_buffer[1]-'a') // check Slave Address |
32 | holgerb | 536 | { |
44 | killagreg | 537 | case MK3MAG_ADDRESS: |
46 | killagreg | 538 | |
44 | killagreg | 539 | switch(rxd_buffer[2]) // check for CmdID |
540 | { |
||
541 | case 'w': // old style |
||
542 | case 'k': // Attitude info from FC |
||
543 | memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
||
544 | RequestFlags |= RQST_COMPASS_HEADING; |
||
545 | AttitudeSource = ATTITUDE_SOURCE_UART; |
||
546 | Orientation = ExternData.Orientation; |
||
547 | FC_Connected = 255; |
||
548 | break; |
||
32 | holgerb | 549 | |
44 | killagreg | 550 | default: |
551 | // unsupported command |
||
552 | break; |
||
46 | killagreg | 553 | } // case MK3MAG_ADDRESS: |
32 | holgerb | 554 | |
52 | killagreg | 555 | default: // any Slave Address |
46 | killagreg | 556 | |
44 | killagreg | 557 | switch(rxd_buffer[2]) // check for CmdID |
558 | { |
||
559 | case 'b': // extern control |
||
560 | memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
||
561 | #define KEY1 0x01 |
||
562 | #define KEY2 0x02 |
||
563 | #define KEY3 0x04 |
||
564 | #define KEY4 0x08 |
||
565 | #define KEY5 0x10 |
||
566 | // use right arrow at display for switching the calstate |
||
567 | if(ExternControl.RemoteButtons & KEY2) |
||
568 | { |
||
569 | ExternData.CalState++; |
||
570 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
||
571 | } |
||
572 | ConfirmFrame = ExternControl.Frame; |
||
52 | killagreg | 573 | PC_Connected = 2000; |
44 | killagreg | 574 | break; |
37 | killagreg | 575 | |
44 | killagreg | 576 | case 'd': // request for the debug data |
577 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
||
45 | ingob | 578 | if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
52 | killagreg | 579 | PC_Connected = 2000; |
44 | killagreg | 580 | break; |
32 | holgerb | 581 | |
44 | killagreg | 582 | case 'v': // request version and board release |
583 | RequestFlags |= RQST_VERSION_INFO; |
||
52 | killagreg | 584 | PC_Connected = 2000; |
44 | killagreg | 585 | break; |
32 | holgerb | 586 | |
52 | killagreg | 587 | case 'h': // request display data |
588 | RemoteKeys |= pRxData[0]; |
||
589 | if(RemoteKeys) DisplayLine = 0; |
||
590 | RequestFlags |= RQST_DISPLAY_DATA; |
||
591 | PC_Connected = 2000; |
||
49 | ingob | 592 | break; |
593 | |||
44 | killagreg | 594 | case 'a':// Labels of the Analog Debug outputs |
595 | RequestDebugLabel = pRxData[0]; |
||
596 | RequestFlags |= RQST_DEBUG_LABEL; |
||
52 | killagreg | 597 | PC_Connected = 2000; |
44 | killagreg | 598 | break; |
599 | |||
600 | case 'g':// get extern control data |
||
601 | RequestFlags |= RQST_EXTERN_CTRL; |
||
52 | killagreg | 602 | PC_Connected = 2000; |
44 | killagreg | 603 | break; |
604 | |||
605 | default: |
||
606 | // unsupported command |
||
607 | break; |
||
608 | } |
||
609 | break; // default: |
||
32 | holgerb | 610 | } |
611 | // unlock the rxd buffer after processing |
||
41 | killagreg | 612 | pRxData = 0; |
613 | RxDataLen = 0; |
||
32 | holgerb | 614 | rxd_buffer_locked = FALSE; |
1 | ingob | 615 | } |
616 | |||
617 | |||
32 | holgerb | 618 | |
1 | ingob | 619 | //--------------------------------------------------------------------------------------------- |
32 | holgerb | 620 | void USART0_TransmitTxData(void) |
1 | ingob | 621 | { |
32 | holgerb | 622 | if(!(UCSR0B & (1 << TXEN0))) return; |
623 | |||
624 | if(!txd_complete) return; |
||
625 | |||
41 | killagreg | 626 | if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
37 | killagreg | 627 | { |
44 | killagreg | 628 | SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16); |
41 | killagreg | 629 | RequestDebugLabel = 0xFF; |
630 | RequestFlags &= ~RQST_DEBUG_LABEL; |
||
37 | killagreg | 631 | } |
32 | holgerb | 632 | |
41 | killagreg | 633 | if(ConfirmFrame && txd_complete) |
37 | killagreg | 634 | { |
44 | killagreg | 635 | SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
41 | killagreg | 636 | ConfirmFrame = 0; |
32 | holgerb | 637 | } |
638 | |||
45 | ingob | 639 | if(( (DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
37 | killagreg | 640 | { |
41 | killagreg | 641 | SetDebugValues(); |
44 | killagreg | 642 | SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
41 | killagreg | 643 | DebugData_Timer = SetDelay(DebugData_Interval); |
644 | RequestFlags &= ~RQST_DEBUG_DATA; |
||
37 | killagreg | 645 | } |
32 | holgerb | 646 | |
52 | killagreg | 647 | if((RequestFlags & RQST_DISPLAY_DATA) && txd_complete) |
648 | { |
||
649 | SendOutData('H', MK3MAG_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
||
650 | DisplayLine++; |
||
651 | if(DisplayLine >= 4) DisplayLine = 0; |
||
652 | RequestFlags &= ~RQST_DISPLAY_DATA; |
||
653 | } |
||
41 | killagreg | 654 | |
655 | if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
||
32 | holgerb | 656 | { |
44 | killagreg | 657 | SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
37 | killagreg | 658 | RequestFlags &= ~RQST_EXTERN_CTRL; |
32 | holgerb | 659 | } |
660 | |||
41 | killagreg | 661 | if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
32 | holgerb | 662 | { |
44 | killagreg | 663 | SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC |
37 | killagreg | 664 | RequestFlags &= ~RQST_COMPASS_HEADING; |
665 | } |
||
41 | killagreg | 666 | |
667 | if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
||
668 | { |
||
44 | killagreg | 669 | SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
41 | killagreg | 670 | RequestFlags &= ~RQST_VERSION_INFO; |
671 | } |
||
1 | ingob | 672 | } |
673 | |||
32 | holgerb | 674 | |
675 | void USART0_Print(int8_t *msg) |
||
17 | holgerb | 676 | { |
32 | holgerb | 677 | uint8_t i = 0; |
37 | killagreg | 678 | while(msg[i] != 0) |
679 | { |
||
680 | USART0_putchar(msg[i++]); |
||
681 | } |
||
17 | holgerb | 682 | } |