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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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18 | ingob | 63 | |
1 | ingob | 64 | #if X3D_SIO == 1 |
18 | ingob | 65 | SioTmp = UDR; |
1 | ingob | 66 | if(SioTmp == 0xF5) // Startzeichen |
67 | { |
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68 | serPacketCounter = 0; |
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69 | } |
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70 | else |
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71 | { |
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72 | if(++serPacketCounter == MOTORADRESSE) // (1-4) |
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73 | { |
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74 | SIO_Sollwert = SioTmp; |
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75 | SIO_Timeout = 200; // werte für 200ms gültig |
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76 | } |
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77 | else |
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78 | { |
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79 | if(serPacketCounter > 100) serPacketCounter = 100; |
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80 | } |
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81 | } |
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18 | ingob | 82 | #else |
83 | static unsigned int crc; |
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84 | static unsigned char crc1,crc2,buf_ptr; |
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85 | static unsigned char UartState = 0; |
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86 | unsigned char CrcOkay = 0; |
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87 | |||
88 | SioTmp = UDR; |
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89 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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90 | if(SioTmp == '\r' && UartState == 2) |
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91 | { |
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92 | UartState = 0; |
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93 | crc -= RxdBuffer[buf_ptr-2]; |
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94 | crc -= RxdBuffer[buf_ptr-1]; |
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95 | crc %= 4096; |
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96 | crc1 = '=' + crc / 64; |
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97 | crc2 = '=' + crc % 64; |
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98 | CrcOkay = 0; |
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99 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
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100 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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101 | { |
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102 | NeuerDatensatzEmpfangen = 1; |
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103 | |||
104 | RxdBuffer[buf_ptr] = '\r'; |
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105 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
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106 | } |
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107 | } |
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108 | else |
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109 | switch(UartState) |
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110 | { |
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111 | case 0: |
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112 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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113 | buf_ptr = 0; |
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114 | RxdBuffer[buf_ptr++] = SioTmp; |
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115 | crc = SioTmp; |
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116 | break; |
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117 | case 1: // Adresse auswerten |
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118 | UartState++; |
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119 | RxdBuffer[buf_ptr++] = SioTmp; |
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120 | crc += SioTmp; |
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121 | break; |
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122 | case 2: // Eingangsdaten sammeln |
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123 | RxdBuffer[buf_ptr] = SioTmp; |
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124 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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125 | else UartState = 0; |
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126 | crc += SioTmp; |
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127 | break; |
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128 | default: |
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129 | UartState = 0; |
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130 | break; |
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131 | } |
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132 | |||
133 | |||
1 | ingob | 134 | #endif |
135 | }; |
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136 | |||
137 | |||
138 | // -------------------------------------------------------------------------- |
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139 | void AddCRC(unsigned int wieviele) |
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140 | { |
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141 | unsigned int tmpCRC = 0,i; |
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142 | for(i = 0; i < wieviele;i++) |
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143 | { |
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144 | tmpCRC += SendeBuffer[i]; |
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145 | } |
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146 | tmpCRC %= 4096; |
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147 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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148 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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149 | SendeBuffer[i++] = '\r'; |
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150 | UebertragungAbgeschlossen = 0; |
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151 | UDR = SendeBuffer[0]; |
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152 | } |
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153 | |||
154 | |||
155 | // -------------------------------------------------------------------------- |
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156 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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157 | { |
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158 | unsigned int pt = 0; |
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159 | unsigned char a,b,c; |
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160 | unsigned char ptr = 0; |
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161 | |||
162 | |||
163 | SendeBuffer[pt++] = '#'; // Startzeichen |
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164 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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165 | SendeBuffer[pt++] = cmd; // Commando |
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166 | |||
167 | while(len) |
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168 | { |
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169 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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170 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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171 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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172 | SendeBuffer[pt++] = '=' + (a >> 2); |
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173 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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174 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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175 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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176 | } |
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177 | AddCRC(pt); |
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178 | } |
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179 | |||
180 | |||
181 | |||
182 | //############################################################################ |
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183 | //Routine für die Serielle Ausgabe |
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184 | int uart_putchar (char c) |
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185 | //############################################################################ |
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186 | { |
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187 | if (c == '\n') |
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188 | uart_putchar('\r'); |
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189 | //Warten solange bis Zeichen gesendet wurde |
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190 | loop_until_bit_is_set(USR, UDRE); |
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191 | //Ausgabe des Zeichens |
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192 | UDR = c; |
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193 | |||
194 | return (0); |
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195 | } |
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196 | |||
197 | // -------------------------------------------------------------------------- |
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198 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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199 | { |
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200 | } |
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201 | |||
202 | //############################################################################ |
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203 | //INstallation der Seriellen Schnittstelle |
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204 | void UART_Init (void) |
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205 | //############################################################################ |
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206 | { |
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207 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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208 | |||
209 | UCR=(1 << TXEN) | (1 << RXEN); |
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210 | // UART Double Speed (U2X) |
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211 | USR |= (1<<U2X); |
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212 | // RX-Interrupt Freigabe |
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18 | ingob | 213 | |
1 | ingob | 214 | UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
18 | ingob | 215 | |
1 | ingob | 216 | // TX-Interrupt Freigabe |
217 | // UCSRB |= (1<<TXCIE); |
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218 | |||
219 | //Teiler wird gesetzt |
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220 | UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
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221 | //öffnet einen Kanal für printf (STDOUT) |
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222 | fdevopen (uart_putchar, NULL); |
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18 | ingob | 223 | Debug_Timer = SetDelay(200); |
224 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
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225 | uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':'); |
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226 | 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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1 | ingob | 227 | } |
228 | |||
229 | |||
230 | |||
231 | |||
232 | //--------------------------------------------------------------------------------------------- |
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233 | void DatenUebertragung(void) |
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234 | { |
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235 | if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
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236 | { |
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237 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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238 | Debug_Timer = SetDelay(50); // Sendeintervall |
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239 | } |
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240 | } |