| 52,23 → 52,24 |
|---|
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "uart1.h" |
| #include "fifo.h" |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| #include "ubx.h" |
| #define USART1_BAUD 57600 |
| #else |
| #ifdef USE_RC_DSL |
| #include "dsl.h" |
| #define USART1_BAUD 38400 |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| #include "spectrum.h" |
| #define USART1_BAUD 115200 |
| #endif |
| #endif |
| |
| #ifndef USART1_BAUD |
| #define USART1_BAUD 57600 |
| #endif |
| |
| |
| // FIFO-objects and buffers for input and output |
| |
| //#define BUFSIZE_IN 0x96 |
| //volatile uint8_t inbuf[BUFSIZE_IN]; |
| //fifo_t infifo; |
| |
| #define BUFSIZE_OUT 0x96 |
| volatile uint8_t outbuf[BUFSIZE_OUT]; |
| fifo_t outfifo; |
| |
| /****************************************************************/ |
| /* Initialization of the USART1 */ |
| /****************************************************************/ |
| 126,7 → 127,7 |
|---|
| // enable RX-Interrupt |
| UCSR1B |= (1 << RXCIE1); |
| // enable TX-Interrupt |
| UCSR1B |= (1 << TXCIE1); |
| //UCSR1B |= (1 << TXCIE1); |
| // enable DRE interrupt |
| //UCSR1B |= (1 << UDRIE1); |
| |
| 134,44 → 135,16 |
|---|
| // restore global interrupt flags |
| SREG = sreg; |
| |
| // inint FIFO buffer |
| //fifo_init (&infifo, inbuf, BUFSIZE_IN); |
| //fifo_init (&outfifo, outbuf, BUFSIZE_OUT); |
| } |
| |
| /*int16_t USART1_putc (const uint8_t c) |
| { |
| int16_t ret = fifo_put (&outfifo, c); |
| // create an data register empty interrupt |
| UCSR1B |= (1 << UDRIE1); |
| |
| return ret; |
| } |
| */ |
| /*int16_t USART1_getc_nowait () |
| { |
| return fifo_get_nowait (&infifo); |
| } |
| |
| |
| uint8_t USART1_getc_wait () |
| { |
| return fifo_get_wait (&infifo); |
| } |
| */ |
| |
| /****************************************************************/ |
| /* USART1 data register empty ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_UDRE_vect) |
| { |
| // Move a character from the output buffer to the data register. |
| // When the character was processed the next interrupt is generated. |
| // If the output buffer is empty the DRE-interrupt is disabled. |
| if (outfifo.count > 0) |
| UDR1 = _inline_fifo_get (&outfifo); |
| else |
| UCSR1B &= ~(1 << UDRIE1); |
| |
| } |
| */ |
| |
| 191,6 → 164,13 |
|---|
| uint8_t c; |
| c = UDR1; // get data byte |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| ubx_parser(c); // and put it into the ubx protocol parser |
| ubx_parser(c); // and put it into the ubx protocol parser |
| #else |
| #ifdef USE_RC_DSL |
| dsl_parser(c); // parse dsl data stream |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| spectrum_parser(c); // parse spectrum data stream |
| #endif |
| #endif |
| } |