| 97,40 → 97,45 |
|---|
| ISR(SIG_USART1_DATA) { |
| } |
| |
| /** |
| /* |
| * receive data through usart1 |
| * portions taken and adapted from |
| * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
| */ |
| ISR(SIG_USART1_RECV) { |
| uint8_t c; |
| // catch the received byte |
| c = UDR1; |
| if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| LED1_ON |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| static uint8_t c1 = 0; |
| static uint8_t c2 = 0; |
| static uint8_t usart_rx_ok = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| |
| c = UDR1; // catch the received byte |
| |
| // the rxd buffer is unlocked |
| if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| /* |
| // skip other datasets |
| if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = 0; // unlock rxd buffer |
| }*/ |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if (c != '\r') // no termination character |
| { |
| if (usart_rx_ok == 0) { |
| if ((c2 == '#') && (c1 == 'b') && (c == 'D' || c == 'V' || c == 'O')) { |
| usart_rx_ok = 1; |
| rxd_buffer[ptr_rxd_buffer++] = c2; |
| crc = c2; |
| rxd_buffer[ptr_rxd_buffer++] = c1; |
| crc += c1; |
| rxd_buffer[ptr_rxd_buffer++] = c; |
| crc += c; |
| c2 = 0; |
| c1 = 0; |
| LED1_ON |
| LED2_OFF |
| } else { |
| c2 = c1; |
| c1 = c; |
| } |
| } 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 |
| { |
| } 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]; |
| 144,17 → 149,20 |
|---|
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
| rxd_buffer_locked = 1; // lock the rxd buffer |
| LED1_OFF |
| } else { // checksum invalid |
| rxd_buffer_locked = 0; // unlock rxd buffer |
| LED2_ON |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| usart_rx_ok = 0; |
| } |
| } else // rxd buffer overrun |
| { |
| } else { // rxd buffer overrun |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = 0; // unlock rxd buffer |
| usart_rx_ok = 0; |
| LED2_ON |
| } |
| LED1_OFF |
| } |
| |
| /** |