0,0 → 1,524 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/wdt.h> |
#include <stdarg.h> |
#include <string.h> |
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#include "main.h" |
#include "menu.h" |
#include "timer0.h" |
#include "uart0.h" |
#include "ubx.h" |
#include "led.h" |
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#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
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#define FM_ADDRESS 10 // FOLLOW ME |
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#define FALSE 0 |
#define TRUE 1 |
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uint8_t text[100]; // globally used text buffer |
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//int8_t test __attribute__ ((section (".noinit"))); |
uint8_t Request_VerInfo = FALSE; |
uint8_t Request_Display = FALSE; |
uint8_t Request_Display1 = FALSE; |
uint8_t Request_ExternalControl = FALSE; |
uint8_t Request_DebugData = FALSE; |
uint8_t Request_DebugLabel = 255; |
uint8_t Request_SendFollowMe = FALSE; |
uint8_t DisplayLine = 0; |
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volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
volatile uint8_t rxd_buffer_locked = FALSE; |
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
volatile uint8_t txd_complete = TRUE; |
volatile uint8_t ReceivedBytes = 0; |
volatile uint8_t *pRxData = 0; |
volatile uint8_t RxDataLen = 0; |
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uint8_t PcAccess = 100; |
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ExternControl_t ExternControl; |
DebugOut_t DebugOut; |
UART_VersionInfo_t UART_VersionInfo; |
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uint16_t DebugData_Timer; |
uint16_t DebugData_Interval = 500; // in 1ms |
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Waypoint_t FollowMe; |
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const uint8_t ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"Analog_Ch0 ", //0 |
"Analog_Ch1 ", |
"Analog_Ch2 ", |
"Analog_Ch3 ", |
"Analog_Ch4 ", |
"Analog_Ch5 ", //5 |
"Analog_Ch6 ", |
"Analog_Ch7 ", |
"UBat ", |
"Speed_North ", |
"Speed_East ", //10 |
"Speed_Top ", |
"NumOfSats ", |
"Pos.Longitude ", |
"Pos.Latitude ", |
"Pos.Altitude ", //15 |
"Zellenzahl ", |
"PowerOn ", |
"Debug18 ", |
"Debug19 ", |
"Debug20 ", //20 |
"Debug21 ", |
"Debug22 ", |
"Debug23 ", |
"Debug24 ", |
"Debug25 ", //25 |
"Debug26 ", |
"Debug27 ", |
"Debug28 ", |
"Debug29 ", |
"Debug30 ", //30 |
"Debug31 " |
}; |
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/****************************************************************/ |
/* Initialization of the USART0 */ |
/****************************************************************/ |
void USART0_Init (void) |
{ |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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// disable all interrupts before configuration |
cli(); |
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// disable RX-Interrupt |
UCSR0B &= ~(1 << RXCIE0); |
// disable TX-Interrupt |
UCSR0B &= ~(1 << TXCIE0); |
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// set direction of RXD0 and TXD0 pins |
// set RXD0 (PD0) as an input pin |
PORTD |= (1 << PORTD0); |
DDRD &= ~(1 << DDD0); |
// set TXD0 (PD1) as an output pin |
PORTD |= (1 << PORTD1); |
DDRD |= (1 << DDD1); |
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// USART0 Baud Rate Register |
// set clock divider |
UBRR0H = (uint8_t)(ubrr >> 8); |
UBRR0L = (uint8_t)ubrr; |
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// USART0 Control and Status Register A, B, C |
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// enable double speed operation in |
UCSR0A |= (1 << U2X0); |
// enable receiver and transmitter in |
UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
// set asynchronous mode |
UCSR0C &= ~(1 << UMSEL01); |
UCSR0C &= ~(1 << UMSEL00); |
// no parity |
UCSR0C &= ~(1 << UPM01); |
UCSR0C &= ~(1 << UPM00); |
// 1 stop bit |
UCSR0C &= ~(1 << USBS0); |
// 8-bit |
UCSR0B &= ~(1 << UCSZ02); |
UCSR0C |= (1 << UCSZ01); |
UCSR0C |= (1 << UCSZ00); |
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// flush receive buffer |
while ( UCSR0A & (1<<RXC0) ) UDR0; |
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// enable interrupts at the end |
// enable RX-Interrupt |
UCSR0B |= (1 << RXCIE0); |
// enable TX-Interrupt |
UCSR0B |= (1 << TXCIE0); |
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// initialize the debug timer |
DebugData_Timer = SetDelay(DebugData_Interval); |
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// unlock rxd_buffer |
rxd_buffer_locked = FALSE; |
pRxData = 0; |
RxDataLen = 0; |
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// no bytes to send |
txd_complete = TRUE; |
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UART_VersionInfo.SWMajor = VERSION_MAJOR; |
UART_VersionInfo.SWMinor = VERSION_MINOR; |
UART_VersionInfo.SWPatch = VERSION_PATCH; |
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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// restore global interrupt flags |
SREG = sreg; |
} |
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/****************************************************************/ |
/* USART0 transmitter ISR */ |
/****************************************************************/ |
ISR(USART0_TX_vect) |
{ |
static uint16_t ptr_txd_buffer = 0; |
uint8_t tmp_tx; |
if(!txd_complete) // transmission not completed |
{ |
ptr_txd_buffer++; // die [0] wurde schon gesendet |
tmp_tx = txd_buffer[ptr_txd_buffer]; |
// if terminating character or end of txd buffer was reached |
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
{ |
ptr_txd_buffer = 0; // reset txd pointer |
txd_complete = 1; // stop transmission |
} |
UDR0 = tmp_tx; // send current byte will trigger this ISR again |
} |
// transmission completed |
else ptr_txd_buffer = 0; |
} |
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/****************************************************************/ |
/* USART0 receiver ISR */ |
/****************************************************************/ |
ISR(USART0_RX_vect) |
{ |
static uint16_t crc; |
static uint8_t ptr_rxd_buffer = 0; |
uint8_t crc1, crc2; |
uint8_t c; |
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c = UDR0; // catch the received byte |
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if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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// the rxd buffer is unlocked |
if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
crc = c; // init crc |
} |
#if 0 |
else if (ptr_rxd_buffer == 1) // handle address |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
#endif |
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
{ |
if(c != '\r') // no termination character |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
else // termination character was received |
{ |
// the last 2 bytes are no subject for checksum calculation |
// they are the checksum itself |
crc -= rxd_buffer[ptr_rxd_buffer-2]; |
crc -= rxd_buffer[ptr_rxd_buffer-1]; |
// calculate checksum from transmitted data |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
// compare checksum to transmitted checksum bytes |
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
{ // checksum valid |
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
rxd_buffer_locked = TRUE; // lock the rxd buffer |
// if 2nd byte is an 'R' enable watchdog that will result in an reset |
if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
} |
else |
{ // checksum invalid |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} |
ptr_rxd_buffer = 0; // reset rxd buffer pointer |
} |
} |
else // rxd buffer overrun |
{ |
ptr_rxd_buffer = 0; // reset rxd buffer |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} |
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} |
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// -------------------------------------------------------------------------- |
void AddCRC(uint16_t datalen) |
{ |
uint16_t tmpCRC = 0, i; |
for(i = 0; i < datalen; i++) |
{ |
tmpCRC += txd_buffer[i]; |
} |
tmpCRC %= 4096; |
txd_buffer[i++] = '=' + tmpCRC / 64; |
txd_buffer[i++] = '=' + tmpCRC % 64; |
txd_buffer[i++] = '\r'; |
txd_complete = FALSE; |
UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
} |
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// -------------------------------------------------------------------------- |
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
{ |
va_list ap; |
uint16_t pt = 0; |
uint8_t a,b,c; |
uint8_t ptr = 0; |
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uint8_t *pdata = 0; |
int len = 0; |
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txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
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va_start(ap, numofbuffers); |
if(numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
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while(len) |
{ |
if(len) |
{ |
a = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else c = 0; |
txd_buffer[pt++] = '=' + (a >> 2); |
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
txd_buffer[pt++] = '=' + ( c & 0x3f); |
} |
va_end(ap); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
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// -------------------------------------------------------------------------- |
void Decode64(void) |
{ |
uint8_t a,b,c,d; |
uint8_t x,y,z; |
uint8_t ptrIn = 3; |
uint8_t ptrOut = 3; |
uint8_t len = ReceivedBytes - 6; |
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while(len) |
{ |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
//if(ptrIn > ReceivedBytes - 3) break; |
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x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
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if(len--) rxd_buffer[ptrOut++] = x; else break; |
if(len--) rxd_buffer[ptrOut++] = y; else break; |
if(len--) rxd_buffer[ptrOut++] = z; else break; |
} |
pRxData = &rxd_buffer[3]; |
RxDataLen = ptrOut - 3; |
} |
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// -------------------------------------------------------------------------- |
void USART0_ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if(!rxd_buffer_locked) return; |
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Decode64(); // decode data block in rxd_buffer |
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switch(rxd_buffer[1] - 'a') |
{ |
case FM_ADDRESS: |
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switch(rxd_buffer[2]) |
{ |
default: |
//unsupported command received |
break; |
} // case FC_ADDRESS: |
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default: // any Slave Address |
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switch(rxd_buffer[2]) |
{ |
case 'a':// request for labels of the analog debug outputs |
Request_DebugLabel = pRxData[0]; |
if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
PcAccess = 255; |
break; |
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case 'h':// request for display columns |
PcAccess = 255; |
RemoteKeys |= pRxData[0]; |
if(RemoteKeys) DisplayLine = 0; |
Request_Display = TRUE; |
break; |
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case 'l':// request for display columns |
PcAccess = 255; |
MenuItem = pRxData[0]; |
Request_Display1 = TRUE; |
break; |
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case 'v': // request for version and board release |
Request_VerInfo = TRUE; |
break; |
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case 'd': // request for the debug data |
DebugData_Interval = (uint16_t) pRxData[0] * 10; |
if(DebugData_Interval > 0) Request_DebugData = TRUE; |
break; |
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case 'g':// get external control data |
Request_ExternalControl = TRUE; |
break; |
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default: |
//unsupported command received |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = 0; |
RxDataLen = 0; |
rxd_buffer_locked = FALSE; |
} |
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//############################################################################ |
//Routine für die Serielle Ausgabe |
int16_t uart_putchar (int8_t c) |
//############################################################################ |
{ |
if (c == '\n') |
uart_putchar('\r'); |
// wait until previous character was send |
loop_until_bit_is_set(UCSR0A, UDRE0); |
// send character |
UDR0 = c; |
return (0); |
} |
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//--------------------------------------------------------------------------------------------- |
void USART0_TransmitTxData(void) |
{ |
if(!txd_complete) return; |
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if(Request_VerInfo && txd_complete) |
{ |
SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
Request_VerInfo = FALSE; |
} |
if(Request_Display && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('H', FM_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
DisplayLine++; |
if(DisplayLine >= 4) DisplayLine = 0; |
Request_Display = FALSE; |
} |
if(Request_Display1 && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
Request_Display1 = FALSE; |
} |
if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
{ |
SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), ANALOG_LABEL[Request_DebugLabel], 16); |
Request_DebugLabel = 0xFF; |
} |
if(Request_ExternalControl && txd_complete) |
{ |
SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
Request_ExternalControl = FALSE; |
} |
if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
{ |
SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
DebugData_Timer = SetDelay(DebugData_Interval); |
Request_DebugData = FALSE; |
} |
if(Request_SendFollowMe && txd_complete) |
{ |
SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); |
FollowMe.Position.Status = PROCESSED; |
Request_SendFollowMe = FALSE; |
} |
} |
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