| 0,0 → 1,278 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Regler für Brushless-Motoren |
| // + ATMEGA8 mit 8MHz |
| // + (c) 01.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + Keine Garantie auf Fehlerfreiheit |
| // + Kommerzielle Nutzung nur mit meiner Zustimmung |
| // + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
| // + www.mikrocontroller.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include "main.h" |
| #include "uart.h" |
| |
| #define MAX_SENDE_BUFF 100 |
| #define MAX_EMPFANGS_BUFF 100 |
| |
| unsigned volatile char SIO_Sollwert = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned char MeineSlaveAdresse; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| |
| struct str_DebugOut DebugOut; |
| |
| |
| int Debug_Timer; |
| |
| |
| SIGNAL(INT_VEC_TX) |
| { |
| } |
| |
| void SendUart(void) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!(UCSRA & 0x40)) return; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| USR |= (1<TXC); |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| |
| } |
| |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| |
| #if X3D_SIO == 1 |
| static unsigned char serPacketCounter = 100; |
| SioTmp = UDR; |
| if(SioTmp == 0xF5) // Startzeichen |
| { |
| serPacketCounter = 0; |
| } |
| else |
| { |
| if(++serPacketCounter == MotorAdresse) // (1-4) |
| { |
| SIO_Sollwert = SioTmp; |
| SIO_Timeout = 200; // werte für 200ms gültig |
| } |
| else |
| { |
| if(serPacketCounter > 100) serPacketCounter = 100; |
| } |
| } |
| #else |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
| if(CrcOkay) // Datensatz schon verarbeitet |
| { |
| //NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| uart_putchar(RxdBuffer[2]); |
| if (RxdBuffer[2] == 't') // Motortest |
| { Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| SIO_Sollwert = MotorTest[MotorAdresse - 1]; |
| SIO_Timeout = 500; // werte für 500ms gültig |
| |
| } |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| |
| |
| #endif |
| }; |
| |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| |
| |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| |
| |
| |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| |
| return (0); |
| } |
| |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| } |
| |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| |
| UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
| |
| // TX-Interrupt Freigabe |
| // UCSRB |= (1<<TXCIE); |
| |
| //Teiler wird gesetzt |
| UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
| //öffnet einen Kanal für printf (STDOUT) |
| fdevopen (uart_putchar, NULL); |
| Debug_Timer = SetDelay(200); |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':'); |
| uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10); |
| uart_putchar ('\n');uart_putchar('H');uart_putchar('W');uart_putchar (':');uart_putchar('1');uart_putchar('.');uart_putchar ((0x30-10) + HwVersion); |
| uart_putchar ('\n');uart_putchar ('A');uart_putchar ('D');uart_putchar ('R'); uart_putchar (':'); uart_putchar (0x30 + MotorAdresse); |
| |
| } |
| |
| |
| |
| |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(50); // Sendeintervall |
| } |
| } |