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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | ****************************************************************************/ |
19 | ****************************************************************************/ |
- | 20 | ||
- | 21 | #include <avr/io.h> |
|
- | 22 | #include <avr/interrupt.h> |
|
- | 23 | #include <util/delay.h> |
|
20 | 24 | #include "main.h" |
|
- | 25 | #include "usart1.h" |
|
- | 26 | ||
- | 27 | volatile uint8_t rxd_buffer_locked = 0; |
|
- | 28 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
|
- | 29 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
|
- | 30 | volatile uint8_t ReceivedBytes = 0; |
|
- | 31 | volatile uint8_t *pRxData = 0; |
|
21 | #include "usart1.h" |
32 | volatile uint8_t RxDataLen = 0; |
22 | 33 | ||
23 | /* ########################################################################## |
34 | /* ########################################################################## |
24 | * USART stuff |
35 | * USART stuff |
25 | * ##########################################################################*/ |
36 | * ##########################################################################*/ |
26 | 37 | ||
27 | /** |
38 | /** |
28 | * init usart1 |
39 | * init usart1 |
29 | */ |
40 | */ |
30 | void usart1_init() { |
41 | void usart1_init() { |
31 | UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
42 | UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
32 | UBRR1L = (F_CPU / (16UL * baud)) - 1; |
43 | UBRR1L = (F_CPU / (16UL * baud)) - 1; |
33 | 44 | ||
34 | // Enable receiver and transmitter; enable RX interrupt |
45 | // Enable receiver and transmitter; enable RX interrupt |
35 | UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
46 | UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
36 | 47 | ||
37 | //asynchronous 8N1 |
48 | //asynchronous 8N1 |
38 | UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
49 | UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
39 | } |
50 | } |
40 | 51 | ||
41 | /** |
52 | /** |
42 | * disable the txd pin of usart1 |
53 | * disable the txd pin of usart1 |
43 | */ |
54 | */ |
44 | void usart1_DisableTXD(void) { |
55 | void usart1_DisableTXD(void) { |
45 | UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt |
56 | UCSR1B &= ~(1 << TXCIE1); // disable TX-Interrupt |
46 | UCSR1B &= ~(1 << TXEN1); // disable TXD in USART |
57 | UCSR1B &= ~(1 << TXEN1); // disable TXD in USART |
47 | DDRB &= ~(1<<DDB3); // set TXD pin as input |
58 | DDRB &= ~(1<<DDB3); // set TXD pin as input |
48 | PORTB &= ~(1 << PORTB3); |
59 | PORTB &= ~(1 << PORTB3); |
49 | } |
60 | } |
50 | 61 | ||
51 | /** |
62 | /** |
52 | * enable the txd pin of usart1 |
63 | * enable the txd pin of usart1 |
53 | */ |
64 | */ |
54 | void usart1_EnableTXD(void) { |
65 | void usart1_EnableTXD(void) { |
55 | DDRB |= (1<<DDB3); // set TXD pin as output |
66 | DDRB |= (1<<DDB3); // set TXD pin as output |
56 | PORTB &= ~(1 << PORTB3); |
67 | PORTB &= ~(1 << PORTB3); |
57 | UCSR1B |= (1 << TXEN1); // enable TX in USART |
68 | UCSR1B |= (1 << TXEN1); // enable TX in USART |
58 | UCSR1B |= (1 << TXCIE1); // disable TX-Interrupt |
69 | UCSR1B |= (1 << TXCIE1); // disable TX-Interrupt |
59 | } |
70 | } |
60 | 71 | ||
61 | 72 | ||
62 | /** |
73 | /** |
63 | * send a single <character> through usart1 |
74 | * send a single <character> through usart1 |
64 | */ |
75 | */ |
65 | void usart1_putc(unsigned char character) { |
76 | void usart1_putc(unsigned char character) { |
66 | // wait until UDR ready |
77 | // wait until UDR ready |
67 | while (!(UCSR1A & (1 << UDRE1))); |
78 | while (!(UCSR1A & (1 << UDRE1))); |
68 | UDR1 = character; |
79 | UDR1 = character; |
69 | } |
80 | } |
70 | 81 | ||
71 | /** |
82 | /** |
72 | * send a <string> throught usart1 |
83 | * send a <string> throught usart1 |
73 | */ |
84 | */ |
74 | void usart1_puts(char *s) { |
85 | void usart1_puts(char *s) { |
75 | while (*s) { |
86 | while (*s) { |
76 | usart1_putc(*s); |
87 | usart1_putc(*s); |
77 | s++; |
88 | s++; |
78 | } |
89 | } |
79 | } |
90 | } |
80 | 91 | ||
81 | /** |
92 | /** |
82 | * receive data through usart1 |
93 | * receive data through usart1 |
83 | * portions taken and adapted from |
94 | * portions taken and adapted from |
84 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
95 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
85 | */ |
96 | */ |
86 | ISR(SIG_USART1_RECV) { |
97 | ISR(SIG_USART1_RECV) { |
87 | if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
98 | if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
88 | LED1_ON |
99 | LED1_ON |
89 | static uint16_t crc; |
100 | static uint16_t crc; |
90 | static uint8_t ptr_rxd_buffer = 0; |
101 | static uint8_t ptr_rxd_buffer = 0; |
91 | uint8_t crc1, crc2; |
102 | uint8_t crc1, crc2; |
92 | uint8_t c; |
103 | uint8_t c; |
93 | 104 | ||
94 | c = UDR1; // catch the received byte |
105 | c = UDR1; // catch the received byte |
95 | 106 | ||
96 | // the rxd buffer is unlocked |
107 | // the rxd buffer is unlocked |
97 | if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
108 | if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
98 | { |
109 | { |
99 | /* |
110 | /* |
100 | // skip other datasets |
111 | // skip other datasets |
101 | if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
112 | if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
102 | ptr_rxd_buffer = 0; // reset rxd buffer |
113 | ptr_rxd_buffer = 0; // reset rxd buffer |
103 | rxd_buffer_locked = 0; // unlock rxd buffer |
114 | rxd_buffer_locked = 0; // unlock rxd buffer |
104 | }*/ |
115 | }*/ |
105 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
116 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
106 | crc = c; // init crc |
117 | crc = c; // init crc |
107 | } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
118 | } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
108 | { |
119 | { |
109 | if (c != '\r') // no termination character |
120 | if (c != '\r') // no termination character |
110 | { |
121 | { |
111 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
122 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
112 | crc += c; // update crc |
123 | crc += c; // update crc |
113 | } else // termination character was received |
124 | } else // termination character was received |
114 | { |
125 | { |
115 | // the last 2 bytes are no subject for checksum calculation |
126 | // the last 2 bytes are no subject for checksum calculation |
116 | // they are the checksum itself |
127 | // they are the checksum itself |
117 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
128 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
118 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
129 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
119 | // calculate checksum from transmitted data |
130 | // calculate checksum from transmitted data |
120 | crc %= 4096; |
131 | crc %= 4096; |
121 | crc1 = '=' + crc / 64; |
132 | crc1 = '=' + crc / 64; |
122 | crc2 = '=' + crc % 64; |
133 | crc2 = '=' + crc % 64; |
123 | // compare checksum to transmitted checksum bytes |
134 | // compare checksum to transmitted checksum bytes |
124 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
135 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
125 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
136 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
126 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
137 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
127 | rxd_buffer_locked = 1; // lock the rxd buffer |
138 | rxd_buffer_locked = 1; // lock the rxd buffer |
128 | } else { // checksum invalid |
139 | } else { // checksum invalid |
129 | rxd_buffer_locked = 0; // unlock rxd buffer |
140 | rxd_buffer_locked = 0; // unlock rxd buffer |
130 | } |
141 | } |
131 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
142 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
132 | } |
143 | } |
133 | } else // rxd buffer overrun |
144 | } else // rxd buffer overrun |
134 | { |
145 | { |
135 | ptr_rxd_buffer = 0; // reset rxd buffer |
146 | ptr_rxd_buffer = 0; // reset rxd buffer |
136 | rxd_buffer_locked = 0; // unlock rxd buffer |
147 | rxd_buffer_locked = 0; // unlock rxd buffer |
137 | } |
148 | } |
138 | LED1_OFF |
149 | LED1_OFF |
139 | } |
150 | } |
140 | 151 | ||
141 | /** |
152 | /** |
142 | * Decode the recevied Buffer |
153 | * Decode the recevied Buffer |
143 | * portions taken and adapted from |
154 | * portions taken and adapted from |
144 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
155 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
145 | */ |
156 | */ |
146 | void Decode64(void) { |
157 | void Decode64(void) { |
147 | uint8_t a, b, c, d; |
158 | uint8_t a, b, c, d; |
148 | uint8_t x, y, z; |
159 | uint8_t x, y, z; |
149 | uint8_t ptrIn = 3; |
160 | uint8_t ptrIn = 3; |
150 | uint8_t ptrOut = 3; |
161 | uint8_t ptrOut = 3; |
151 | uint8_t len = ReceivedBytes - 6; |
162 | uint8_t len = ReceivedBytes - 6; |
152 | 163 | ||
153 | while (len) { |
164 | while (len) { |
154 | a = rxd_buffer[ptrIn++] - '='; |
165 | a = rxd_buffer[ptrIn++] - '='; |
155 | b = rxd_buffer[ptrIn++] - '='; |
166 | b = rxd_buffer[ptrIn++] - '='; |
156 | c = rxd_buffer[ptrIn++] - '='; |
167 | c = rxd_buffer[ptrIn++] - '='; |
157 | d = rxd_buffer[ptrIn++] - '='; |
168 | d = rxd_buffer[ptrIn++] - '='; |
158 | 169 | ||
159 | x = (a << 2) | (b >> 4); |
170 | x = (a << 2) | (b >> 4); |
160 | y = ((b & 0x0f) << 4) | (c >> 2); |
171 | y = ((b & 0x0f) << 4) | (c >> 2); |
161 | z = ((c & 0x03) << 6) | d; |
172 | z = ((c & 0x03) << 6) | d; |
162 | 173 | ||
163 | if (len--) rxd_buffer[ptrOut++] = x; |
174 | if (len--) rxd_buffer[ptrOut++] = x; |
164 | else break; |
175 | else break; |
165 | if (len--) rxd_buffer[ptrOut++] = y; |
176 | if (len--) rxd_buffer[ptrOut++] = y; |
166 | else break; |
177 | else break; |
167 | if (len--) rxd_buffer[ptrOut++] = z; |
178 | if (len--) rxd_buffer[ptrOut++] = z; |
168 | else break; |
179 | else break; |
169 | } |
180 | } |
170 | pRxData = &rxd_buffer[3]; |
181 | pRxData = &rxd_buffer[3]; |
171 | RxDataLen = ptrOut - 3; |
182 | RxDataLen = ptrOut - 3; |
172 | } |
183 | } |
173 | 184 | ||
174 | /** |
185 | /** |
175 | * request Data through USART in special MK format by adding checksum and |
186 | * request Data through USART in special MK format by adding checksum and |
176 | * encode data in modified Base64 |
187 | * encode data in modified Base64 |
177 | * portions taken and adapted from |
188 | * portions taken and adapted from |
178 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
189 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
179 | */ |
190 | */ |
180 | void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
191 | void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
181 | unsigned int pt = 0; |
192 | unsigned int pt = 0; |
182 | unsigned char a, b, c; |
193 | unsigned char a, b, c; |
183 | unsigned char ptr = 0; |
194 | unsigned char ptr = 0; |
184 | 195 | ||
185 | txd_buffer[pt++] = '#'; // Start-Byte |
196 | txd_buffer[pt++] = '#'; // Start-Byte |
186 | txd_buffer[pt++] = 'a' + addr; // Adress |
197 | txd_buffer[pt++] = 'a' + addr; // Adress |
187 | txd_buffer[pt++] = cmd; // Command |
198 | txd_buffer[pt++] = cmd; // Command |
188 | while (len) { |
199 | while (len) { |
189 | if (len) { |
200 | if (len) { |
190 | a = snd[ptr++]; |
201 | a = snd[ptr++]; |
191 | len--; |
202 | len--; |
192 | } else a = 0; |
203 | } else a = 0; |
193 | if (len) { |
204 | if (len) { |
194 | b = snd[ptr++]; |
205 | b = snd[ptr++]; |
195 | len--; |
206 | len--; |
196 | } else b = 0; |
207 | } else b = 0; |
197 | if (len) { |
208 | if (len) { |
198 | c = snd[ptr++]; |
209 | c = snd[ptr++]; |
199 | len--; |
210 | len--; |
200 | } else c = 0; |
211 | } else c = 0; |
201 | txd_buffer[pt++] = '=' + (a >> 2); |
212 | txd_buffer[pt++] = '=' + (a >> 2); |
202 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
213 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
203 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
214 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
204 | txd_buffer[pt++] = '=' + (c & 0x3f); |
215 | txd_buffer[pt++] = '=' + (c & 0x3f); |
205 | } |
216 | } |
206 | 217 | ||
207 | // add crc |
218 | // add crc |
208 | unsigned int tmpCRC = 0, i; |
219 | unsigned int tmpCRC = 0, i; |
209 | for (i = 0; i < pt; i++) { |
220 | for (i = 0; i < pt; i++) { |
210 | tmpCRC += txd_buffer[i]; |
221 | tmpCRC += txd_buffer[i]; |
211 | } |
222 | } |
212 | tmpCRC %= 4096; |
223 | tmpCRC %= 4096; |
213 | txd_buffer[i++] = '=' + tmpCRC / 64; |
224 | txd_buffer[i++] = '=' + tmpCRC / 64; |
214 | txd_buffer[i++] = '=' + tmpCRC % 64; |
225 | txd_buffer[i++] = '=' + tmpCRC % 64; |
215 | txd_buffer[i++] = '\r'; |
226 | txd_buffer[i++] = '\r'; |
216 | 227 | ||
217 | usart1_puts((char*) txd_buffer); |
228 | usart1_puts((char*) txd_buffer); |
218 | } |
229 | } |
- | 230 | ||
- | 231 | /** |
|
- | 232 | * short script to directly send a request thorugh usart including en- and disabling it |
|
- | 233 | * where <address> is the address of the receipient, <label> is which data set to request |
|
- | 234 | * and <ms> represents the milliseconds delay between data |
|
- | 235 | */ |
|
- | 236 | void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) { |
|
- | 237 | // re-enable TXD pin |
|
- | 238 | usart1_EnableTXD(); |
|
- | 239 | ||
- | 240 | unsigned char mstenth = ms/10; |
|
- | 241 | sendMKData(label, address, &mstenth, 1); |
|
- | 242 | ||
- | 243 | // disable TXD pin again |
|
- | 244 | usart1_DisableTXD(); |
|
- | 245 | } |
|
219 | 246 |