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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1198 | - | 1 | |
| 2 | /****************************************************************/ |
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| 3 | /* */ |
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| 4 | /* NG-Video 5,8GHz */ |
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| 5 | /* */ |
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| 6 | /* Copyright (C) 2011 - gebad */ |
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| 7 | /* */ |
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| 8 | /* This code is distributed under the GNU Public License */ |
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| 9 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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| 10 | /* */ |
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| 11 | /****************************************************************/ |
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| 12 | |||
| 13 | #include <avr/io.h> |
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| 14 | #include <avr/interrupt.h> |
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| 15 | |||
| 16 | #include "usart.h" |
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| 17 | |||
| 18 | /********************************************************************************************************************/ |
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| 19 | /* */ |
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| 20 | /* MK Protokoll */ |
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| 21 | /* http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) */ |
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| 22 | /* http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) */ |
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| 23 | /* */ |
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| 24 | /* Slave-Address Part */ |
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| 25 | /* 1 FC */ |
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| 26 | /* 2 NC */ |
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| 27 | /* 3 MK3MAG */ |
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| 28 | /* */ |
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| 29 | /* Auszug von Commands, nur OSD verwendet: */ |
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| 30 | /* Received by NC | Sent by NC */ |
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| 31 | /* | since NC */ |
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| 32 | /* Description ID Address Data | ID Address Data Firmware */ |
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| 33 | /* Debug Request 'd' AnyAddr u8 AutoSendInterval. Value is | 'D' SlaveAddr Debug Data Struct */ |
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| 34 | /* multiplied by 10 in receiver and , | */ |
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| 35 | /* then used as milliseconds. Subsciption | */ |
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| 36 | /* needs to be renewed every 4s. | */ |
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| 37 | /* Request OSD 'o' NC-Addr 1 byte sending interval (in 10ms steps)| 'O' NC-Addr NaviDataStruct 0.12h */ |
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| 38 | /* -Data | */ |
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| 39 | /* Redirect UART 'u' NC-Addr 1 byte param for uart selector (0=FC, | - - - 0.12h */ |
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| 40 | /* 1=MK3MAG, 2=MKGPS), can be switched | */ |
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| 41 | /* back to NC debug by sending the magic | */ |
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| 42 | /* packet "0x1B,0x1B,0x55,0xAA,0x00" | */ |
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| 43 | /* Set 3D-Data 'c' AnyAddr u8 Interval | 'C' NC-Addr struct Data3D 0.14a */ |
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| 44 | /* Interval */ |
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| 45 | /* */ |
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| 46 | /********************************************************************************************************************/ |
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| 47 | |||
| 48 | char rx_buffer[RXD_BUFFER_SIZE]; |
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| 49 | |||
| 50 | volatile uint8_t rx_len; |
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| 51 | volatile uint8_t rx_ready = 0; |
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| 52 | uint8_t rx_GPS; |
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| 53 | char start; |
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| 54 | |||
| 55 | /**************************************************************/ |
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| 56 | /* */ |
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| 57 | /* USART */ |
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| 58 | /* 8 Datenbits, 1 Stopbit, keine Parität */ |
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| 59 | /* */ |
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| 60 | /**************************************************************/ |
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| 61 | |||
| 62 | void USART_Init(unsigned int baud) |
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| 63 | { uint16_t ubrx; |
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| 64 | |||
| 65 | ubrx = F_CPU/(baud * 16L) - 1; |
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| 66 | /* Set baud rate */ |
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| 67 | UBRR0H = (unsigned char)(ubrx>>8); |
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| 68 | UBRR0L = (unsigned char)ubrx; |
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| 69 | /* RX Complete Interrupt Enable, Enable receiver and transmitter */ |
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| 70 | UCSR0B = (1<<RXCIE0) | (1<<RXEN0) | (1<<TXEN0); |
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| 71 | /* Asynchronous USART, no Parity, Set frame format: 8data, 1stop bit */ |
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| 72 | UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); // 8data Bit |
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| 73 | } |
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| 74 | |||
| 75 | void USART_send_Chr(unsigned char data) |
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| 76 | { |
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| 77 | /* Wait for empty transmit Puffer */ |
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| 78 | while ( !( UCSR0A & (1<<UDRE0)) ) ; |
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| 79 | /* Put data into Puffer, sends the data */ |
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| 80 | UDR0 = data; |
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| 81 | } |
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| 82 | |||
| 83 | void USART_send_Str(char *str ) |
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| 84 | { |
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| 85 | while (*str) { |
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| 86 | USART_send_Chr(*str); |
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| 87 | str++; |
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| 88 | } |
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| 89 | } |
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| 90 | |||
| 91 | /* |
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| 92 | // verwendet Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 93 | // kann auch vereinfacht werden ==> gleich kodierten String senden char *tx_osd = {"#co?]==EH\r\0"} |
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| 94 | // Funktion getestet und funktioniert |
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| 95 | void tx_Mk(unsigned char addr, char cmd, char *data, uint8_t len) |
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| 96 | { char tx_buffer[TXD_BUFFER_SIZE]; |
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| 97 | uint8_t tx_i = 0; |
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| 98 | uint8_t i = 0; |
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| 99 | unsigned char a,b,c; |
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| 100 | unsigned int tmpCRC = 0; |
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| 101 | |||
| 102 | tx_buffer[tx_i++] = '#'; // Start-Byte |
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| 103 | tx_buffer[tx_i++] = 'a' + addr; // Adress |
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| 104 | tx_buffer[tx_i++] = cmd; // Command |
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| 105 | // code64 |
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| 106 | while (len) { |
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| 107 | if (len) { a = data[i++]; len--;} else a = 0; |
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| 108 | if (len) { b = data[i++]; len--;} else b = 0; |
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| 109 | if (len) { c = data[i++]; len--;} else c = 0; |
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| 110 | tx_buffer[tx_i++] = '=' + (a >> 2); |
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| 111 | tx_buffer[tx_i++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 112 | tx_buffer[tx_i++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 113 | tx_buffer[tx_i++] = '=' + (c & 0x3f); |
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| 114 | } |
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| 115 | // add crc |
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| 116 | for (i = 0; i < tx_i; i++) { |
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| 117 | tmpCRC += tx_buffer[i]; |
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| 118 | } |
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| 119 | tmpCRC %= 4096; |
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| 120 | tx_buffer[i++] = '=' + tmpCRC / 64; |
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| 121 | tx_buffer[i++] = '=' + tmpCRC % 64; |
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| 122 | tx_buffer[i++] = '\r'; // End-Byte |
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| 123 | |||
| 124 | tx_buffer[i++] = '\0'; // USART_send_Str(...) ==> End-while |
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| 125 | USART_send_Str(tx_buffer); |
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| 126 | } */ |
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| 127 | |||
| 128 | ISR(USART0_RX_vect) |
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| 129 | { char received; |
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| 130 | static uint8_t line_flag = 1; |
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| 131 | static char* ptr_write = rx_buffer; |
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| 132 | static uint8_t frame = 6; |
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| 133 | |||
| 134 | // von '#' bis '\r' Puffer, einschließlich Satzzeichen schreiben |
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| 135 | received = UDR0; |
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| 136 | if (rx_ready == 0) { |
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| 137 | if ((received == start) && line_flag) { // start '#' oder 0x80 |
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| 138 | line_flag = 0; // MK-Datensatzanfang wurde erkannt |
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| 139 | ptr_write = rx_buffer; // Schreibzeiger auf Anfang Puffer setzen |
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| 140 | rx_len = 0; |
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| 141 | } |
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| 142 | if (line_flag == 0) { // MK/Pololu-Datensatz ? |
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| 143 | *ptr_write = received; |
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| 144 | rx_len++; |
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| 145 | |||
| 146 | /* GPS Datensatzende */ |
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| 147 | if (rx_GPS) { |
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| 148 | if (received == '\r') { // Ende MK-Datensatz ? |
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| 149 | line_flag = 1; |
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| 150 | rx_ready = 1; // Puffer Schreiben sperren, MK-Datensatz kann nun verarbeitet werden |
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| 151 | } |
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| 152 | } |
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| 153 | /* Pololu Micro Serial stark reduziert/vereinfacht; rx_len-Abfrage 1 höher ==> bereits incrementiert */ |
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| 154 | else { |
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| 155 | if ((rx_len == 2) && (received != 0x01)) line_flag = 1; // device |
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| 156 | if ((rx_len == 3) && (received > 0x01)) frame = 6; else frame = 5; // command |
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| 157 | if (rx_len == frame) { |
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| 158 | line_flag = 1; |
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| 159 | rx_ready = 1; // Puffer Schreiben sperren, Pololu-Datensatz kann nun verarbeitet werden |
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| 160 | } |
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| 161 | } |
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| 162 | |||
| 163 | ptr_write++; |
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| 164 | if(rx_len == RXD_BUFFER_SIZE) line_flag = 1; // ungültiger MK/Pololu-Datensatz ? ==> neu beginnen |
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| 165 | } |
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| 166 | } |
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| 167 | } |
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| 168 | |||
| 169 | // verwendet aus Orginal H&I MK-Software http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 170 | void Decode64(char *ptrOut, uint8_t len, uint8_t ptrIn) |
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| 171 | { unsigned char a,b,c,d; |
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| 172 | unsigned char ptr = 0; |
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| 173 | unsigned char x,y,z; |
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| 174 | |||
| 175 | while(len) |
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| 176 | { |
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| 177 | a = rx_buffer[ptrIn++] - '='; |
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| 178 | b = rx_buffer[ptrIn++] - '='; |
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| 179 | c = rx_buffer[ptrIn++] - '='; |
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| 180 | d = rx_buffer[ptrIn++] - '='; |
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| 181 | |||
| 182 | x = (a << 2) | (b >> 4); |
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| 183 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 184 | z = ((c & 0x03) << 6) | d; |
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| 185 | if(len--) ptrOut[ptr++] = x; else break; |
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| 186 | if(len--) ptrOut[ptr++] = y; else break; |
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| 187 | if(len--) ptrOut[ptr++] = z; else break; |
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| 188 | } |
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| 189 | } |
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| 190 | |||
| 191 | // eingearbeitet Orginal H&I MK-Software mkprotocol.h und mkprotocol.c |
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| 192 | uint8_t rx_line_decode(char rx_ID) |
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| 193 | { uint8_t ret = 0; |
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| 194 | uint8_t crc1,crc2; |
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| 195 | int tmpCRC = 0; |
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| 196 | |||
| 197 | // rx_ready gleichzeitig usart rx_buffer schreiben gesperrt |
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| 198 | if ((rx_ready == 1) && (rx_len > 0) && (rx_buffer[2] == rx_ID)) { |
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| 199 | // Checksumme |
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| 200 | // verwendet http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 201 | for(uint8_t i = 0; i < rx_len - 3;i++) { |
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| 202 | tmpCRC += rx_buffer[i]; |
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| 203 | } |
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| 204 | tmpCRC %= 4096; |
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| 205 | crc1 = '=' + tmpCRC / 64; |
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| 206 | crc2 = '=' + tmpCRC % 64; |
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| 207 | |||
| 208 | if ((crc1 == rx_buffer[rx_len-3]) && (crc2 == rx_buffer[rx_len-2])) { |
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| 209 | Decode64(MK.data_decode, rx_len - 6, 3); // Daten ohne Satzzeichen, header und crc |
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| 210 | ret = 1; |
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| 211 | } |
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| 212 | cli(); |
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| 213 | rx_timeout = 0; // wenn kein gültiger Datensatz für rx_ID ==> Counter wird nicht mehr rückgesetzt |
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| 214 | sei(); |
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| 215 | } |
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| 216 | // für Blinken des Antennenzeichens, MK antwortet immer mit cmd Großbuchstaben |
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| 217 | if ((rx_timeout < RX_TIME_OLD) && (rx_buffer[2] >= 'A') && (rx_buffer[2] <= 'Z')) wi232RX = 1; |
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| 218 | rx_ready = 0; // Puffer Schreiben entsperren, neuer MK-Datensatz kann wieder empfangen/gepuffert werden |
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| 219 | return(ret); |
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| 220 | } |
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| 221 | |||
| 222 | void USART_RX_Mode(uint8_t tracking) |
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| 223 | { |
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| 224 | rx_GPS = (tracking == TRACKING_GPS); |
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| 225 | if (rx_GPS) start ='#'; else start = 0x80; |
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| 226 | } |
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| 227 | |||
| 228 | uint8_t Get_Pololu_cmd(char *ptrOut, uint8_t ptrIn) |
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| 229 | { |
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| 230 | rx_len -=2; // ohne Start-Char und device |
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| 231 | if (rx_ready == 1) { |
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| 232 | for (uint8_t i = 0; i < rx_len; i++) |
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| 233 | ptrOut[i] = rx_buffer[ptrIn++]; // ab Pololu-Command |
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| 234 | } |
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| 235 | else |
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| 236 | rx_len = 0; |
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| 237 | rx_ready = 0; // Puffer Schreiben entsperren, neuer Pololu-Datensatz kann wieder empfangen/gepuffert werden |
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| 238 | return(rx_len); |
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| 239 | } |