| 0,0 → 1,285 |
|---|
| /***************************************************************************** |
| Project : Roboboard |
| Date : 1/14/2007 |
| Author : Gunter Logemann (C) ALL RIGHTS RESERVED |
| |
| Comments: This project is optimized to work with the Mikrocopter (www.mikrokopter.de) |
| |
| Redistributions of this source code (with or without modifications) or parts |
| of this sourcode must retain the above copyright notice, this list of |
| conditions and the following disclaimer. |
| * Neither the name of the copyright holders nor the names of contributors may |
| be used to endorse or promote products derived from this software without |
| specific prior written permission. |
| * The use of this source code permittet for non-commercial use (directly |
| or indirectly) only. |
| * Commercial use Is only permitted with our written permission by |
| Gunter Logemann (gunter@pccon.de) |
| |
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| POSSIBILITY OF SUCH DAMAGE. |
| |
| Chip type : ATmega8 |
| Program type : Application |
| Clock frequency : CPUSPEED |
| *****************************************************************************/ |
| |
| #include <avr/interrupt.h> |
| #include <avr/sleep.h> |
| //#include <avr/signal.h> |
| #include <avr/io.h> |
| //#include <avr/stdio.h> |
| #include "StdDefines.h" |
| #include "Main.h" |
| |
| //#define CPUSPEED_20 |
| //#define CPUSPEED_16 |
| #define CPUSPEED_11059 |
| |
| // Macros |
| #define WatchdogReset() asm("wdr") |
| #define Wait() while(!(SPSR & (1<<SPIF))) |
| |
| |
| // Define CPU speed dependant constants: |
| |
| |
| |
| #define MAX_RX_BUF 100 |
| #define MAX_TX_BUF 100 |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char RxdBuffer[MAX_RX_BUF]; |
| unsigned volatile char TxdBuffer[MAX_TX_BUF]; |
| |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| |
| struct str_VersionInfo VersionInfo; |
| struct str_AnalogData AnalogData; |
| struct str_Exception Exception; |
| |
| // -------------------------------------------------------------------------- |
| int uart_putchar (char c) |
| { |
| UDR = c; |
| return (0); |
| } |
| |
| // -------------------------------------------------------------------------- |
| SIGNAL(SIG_UART_TRANS) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = TxdBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_TX_BUF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| |
| // -------------------------------------------------------------------------- |
| SIGNAL(SIG_UART_RECV) |
| { |
| 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_RX_BUF) |
| 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; |
| CntCrcError++; |
| } |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| } |
| } |
| 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_RX_BUF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += TxdBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| TxdBuffer[i++] = '=' + tmpCRC / 64; |
| TxdBuffer[i++] = '=' + tmpCRC % 64; |
| TxdBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = TxdBuffer[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; |
| |
| TxdBuffer[pt++] = '#'; // Startzeichen |
| TxdBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| TxdBuffer[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; |
| TxdBuffer[pt++] = '=' + (a >> 2); |
| TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| |
| |
| //----------------------------------------------------------------------------- |
| //main |
| //main execution loop |
| //----------------------------------------------------------------------------- |
| int main(void) |
| { |
| |
| // int message structures; |
| VersionInfo.identifier = XIDENTIFIER_VERSION; |
| VersionInfo.majorversion = MAJORVERSION; |
| VersionInfo.minorversion = MINORVERSION; |
| |
| AnalogData.identifier = XIDENTIFIER_ANALOG; |
| |
| Exception.identifier = XIDENTIFIER_EXCEPTION; |
| |
| // PORT D - unused right now |
| PORTD = 0x10; |
| DDRD = 0x00; |
| |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| |
| // USART initialization |
| // Communication Parameters: 8 Data, 1 Stop, No Parity |
| // USART Receiver: On |
| // USART Transmitter: On |
| // USART RX/TX interrupt enable |
| // USART Mode: Asynchronous |
| // USART Baud rate: 57600 |
| UCSRA=0x00; |
| UCSRB=0xD8; |
| UCSRC=0x86; |
| #ifdef CPUSPEED_20 //20.000MHz |
| UBRRH=0x00; |
| UBRRL=0x15; |
| #endif |
| |
| #ifdef CPUSPEED_16 //16.000MHz |
| UBRRH=0x00; |
| UBRRL=0x10; |
| #endif |
| |
| #ifdef CPUSPEED_11059 //11.059MHz |
| UBRRH=0x00; |
| UBRRL=0x0B; |
| #endif |
| |
| |
| // Enable interrupts |
| sei(); |
| |
| NeuerDatensatzEmpfangen = 0; |
| |
| // main loop |
| while (1) |
| { |
| if(NeuerDatensatzEmpfangen==1) { |
| switch(RxdBuffer[3]) |
| { |
| // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
| // version request |
| case XIDENTIFIER_VERSION: |
| SendOutData('X',0x00,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| break; |
| // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
| case XIDENTIFIER_ANALOG: |
| break; |
| // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
| default: |
| Exception.errorcode = ERRORCODE_NOTIMPLEMENTED; |
| SendOutData('X',0x00,(unsigned char *) &Exception,sizeof(VersionInfo)); |
| } |
| NeuerDatensatzEmpfangen=0; |
| } |
| } |
| |
| return(1); |
| } /* main */ |
| |
| |