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685 cascade 1
/****************************************************************************
728 cascade 2
 *   Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje               *
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 *   admiralcascade@gmail.com                                               *
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 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
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 *                                                                          *
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 *   This program is free software; you can redistribute it and/or modify   *
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 *   it under the terms of the GNU General Public License as published by   *
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 *   the Free Software Foundation; either version 2 of the License.         *
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 *                                                                          *
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 *   This program is distributed in the hope that it will be useful,        *
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 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
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 *   GNU General Public License for more details.                           *
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 *                                                                          *
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 *   You should have received a copy of the GNU General Public License      *
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 *   along with this program; if not, write to the                          *
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 *   Free Software Foundation, Inc.,                                        *
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 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
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 ****************************************************************************/
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include "main.h"
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#include "usart1.h"
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#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
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volatile uint8_t rxd_buffer_locked = 0;
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volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
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volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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volatile uint8_t ReceivedBytes = 0;
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volatile uint8_t *pRxData = 0;
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volatile uint8_t RxDataLen = 0;
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/* ##########################################################################
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 * USART stuff
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 * ##########################################################################*/
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/**
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 * init usart1
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 */
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void usart1_init() {
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    UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8;
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    UBRR1L = (F_CPU / (16UL * baud)) - 1;
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    // Enable receiver and transmitter; enable RX interrupt
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    UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
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    //asynchronous 8N1
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    UCSR1C = (1 << URSEL1) | (3 << UCSZ10);
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}
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/**
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 * disable the txd pin of usart1
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 */
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void usart1_DisableTXD(void) {
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    UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt
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    UCSR1B &= ~(1 << TXEN1); // disable TX in USART
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    DDRB &= ~(1 << DDB3); // set TXD pin as input
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    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
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}
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64
/**
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 * enable the txd pin of usart1
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 */
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void usart1_EnableTXD(void) {
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    DDRB |= (1 << DDB3); // set TXD pin as output
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    PORTB &= ~(1 << PORTB3); // disable pullup on TXD pin
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    UCSR1B |= (1 << TXEN1); // enable TX in USART
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    UCSR1B |= (1 << TXCIE1); // enable TX-Interrupt
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}
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/**
75
 * send a single <character> through usart1
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 */
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void usart1_putc(unsigned char character) {
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    // wait until UDR ready
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    while (!(UCSR1A & (1 << UDRE1)));
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    UDR1 = character;
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}
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83
/**
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 * send a <string> throught usart1
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 */
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/*void usart1_puts(char *s) {
685 cascade 87
    while (*s) {
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        usart1_putc(*s);
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        s++;
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    }
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}*/
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/**
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 * send a PGM<string> throught usart1
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 */
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void usart1_puts_pgm(const char* string) {
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        while (pgm_read_byte(string) != 0x00)
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                usart1_putc(pgm_read_byte(string++));
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}
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/**
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 * transmit interrupt handler
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 * unused
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 */
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ISR(SIG_USART1_DATA) {
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}
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/*
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 * receive data through usart1
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
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 */
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ISR(SIG_USART1_RECV) {
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    uint8_t c;
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    // catch the received byte
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    c = UDR1;
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
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    static uint16_t crc;
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    static uint8_t ptr_rxd_buffer = 0;
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    static uint8_t c1 = 0;
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    static uint8_t c2 = 0;
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    static uint8_t usart_rx_ok = 0;
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    uint8_t crc1, crc2;
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    // the rxd buffer is unlocked
738 cascade 126
    if (usart_rx_ok == 0) {
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                // if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && (c == 'D' || c == 'V' || c == 'O')) {
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        if ((c2 == '#') && (c1 == 'b' || c1 == 'c') &&
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                        #if FCONLY
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                                (c == 'V' || c == 'D')) { // version and debug
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                        #else
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                                (c == 'V' || c == 'O')) { // version and OSD
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                        #endif
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            usart_rx_ok = 1;
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            rxd_buffer[ptr_rxd_buffer++] = c2;
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            crc = c2;
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            rxd_buffer[ptr_rxd_buffer++] = c1;
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            crc += c1;
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            rxd_buffer[ptr_rxd_buffer++] = c;
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            crc += c;
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            c2 = 0;
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            c1 = 0;
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            LED1_ON
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            LED2_OFF
145
        } else {
146
            c2 = c1;
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            c1 = c;
148
        }
149
    } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
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        if (c != '\r') { // no termination character
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            rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
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            crc += c; // update crc
153
        } else { // termination character was received
154
            // the last 2 bytes are no subject for checksum calculation
155
            // they are the checksum itself
156
            crc -= rxd_buffer[ptr_rxd_buffer - 2];
157
            crc -= rxd_buffer[ptr_rxd_buffer - 1];
158
            // calculate checksum from transmitted data
159
            crc %= 4096;
160
            crc1 = '=' + crc / 64;
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            crc2 = '=' + crc % 64;
162
            // compare checksum to transmitted checksum bytes
163
            if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
164
                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
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                ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
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                rxd_buffer_locked = 1; // lock the rxd buffer
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                LED1_OFF
168
            } else { // checksum invalid
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                rxd_buffer_locked = 0; // unlock rxd buffer
170
                LED2_ON
171
            }
172
            ptr_rxd_buffer = 0; // reset rxd buffer pointer
173
            usart_rx_ok = 0;
174
        }
175
    } else { // rxd buffer overrun
176
        ptr_rxd_buffer = 0; // reset rxd buffer
177
        rxd_buffer_locked = 0; // unlock rxd buffer
178
        usart_rx_ok = 0;
179
        LED2_ON
180
    }
181
}
182
 
183
/**
184
 * Decode the recevied Buffer
185
 * portions taken and adapted from
186
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
187
 */
188
void Decode64(void) {
189
    uint8_t a, b, c, d;
190
    uint8_t x, y, z;
191
    uint8_t ptrIn = 3;
192
    uint8_t ptrOut = 3;
193
    uint8_t len = ReceivedBytes - 6;
194
 
195
    while (len) {
196
        a = rxd_buffer[ptrIn++] - '=';
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        b = rxd_buffer[ptrIn++] - '=';
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        c = rxd_buffer[ptrIn++] - '=';
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        d = rxd_buffer[ptrIn++] - '=';
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201
        x = (a << 2) | (b >> 4);
202
        y = ((b & 0x0f) << 4) | (c >> 2);
203
        z = ((c & 0x03) << 6) | d;
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205
        if (len--) rxd_buffer[ptrOut++] = x;
206
        else break;
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        if (len--) rxd_buffer[ptrOut++] = y;
208
        else break;
209
        if (len--) rxd_buffer[ptrOut++] = z;
210
        else break;
211
    }
212
    pRxData = &rxd_buffer[3];
213
    RxDataLen = ptrOut - 3;
214
}
215
 
216
/**
217
 * request Data through USART in special MK format by adding checksum and
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 * encode data in modified Base64
219
 * portions taken and adapted from
220
 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c
221
 */
738 cascade 222
/*void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) {
685 cascade 223
    unsigned int pt = 0;
224
    unsigned char a, b, c;
225
    unsigned char ptr = 0;
226
 
227
    txd_buffer[pt++] = '#'; // Start-Byte
228
    txd_buffer[pt++] = 'a' + addr; // Adress
229
    txd_buffer[pt++] = cmd; // Command
230
    while (len) {
231
        if (len) {
232
            a = snd[ptr++];
233
            len--;
234
        } else a = 0;
235
        if (len) {
236
            b = snd[ptr++];
237
            len--;
238
        } else b = 0;
239
        if (len) {
240
            c = snd[ptr++];
241
            len--;
242
        } else c = 0;
243
        txd_buffer[pt++] = '=' + (a >> 2);
244
        txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
245
        txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
246
        txd_buffer[pt++] = '=' + (c & 0x3f);
247
    }
248
 
249
    // add crc
250
    unsigned int tmpCRC = 0, i;
251
    for (i = 0; i < pt; i++) {
252
        tmpCRC += txd_buffer[i];
253
    }
254
    tmpCRC %= 4096;
255
    txd_buffer[i++] = '=' + tmpCRC / 64;
256
    txd_buffer[i++] = '=' + tmpCRC % 64;
257
    txd_buffer[i++] = '\r';
258
 
259
    usart1_puts((char*) txd_buffer);
738 cascade 260
}*/
685 cascade 261
 
262
/**
263
 * short script to directly send a request thorugh usart including en- and disabling it
264
 * where <address> is the address of the receipient, <label> is which data set to request
265
 * and <ms> represents the milliseconds delay between data
266
 */
738 cascade 267
/*void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) {
685 cascade 268
    // re-enable TXD pin
269
    usart1_EnableTXD();
270
 
271
    unsigned char mstenth = ms / 10;
272
    sendMKData(label, address, &mstenth, 1);
273
    // wait until UDR ready
274
    while (!(UCSR1A & (1 << UDRE1)));
275
    // disable TXD pin again
276
    usart1_DisableTXD();
738 cascade 277
}*/
685 cascade 278
 
279
#endif