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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | 7 | ||
8 | #include <avr/io.h> |
8 | #include <avr/io.h> |
9 | #include <avr/interrupt.h> |
9 | #include <avr/interrupt.h> |
10 | #include <avr/pgmspace.h> |
10 | #include <avr/pgmspace.h> |
11 | #include <avr/wdt.h> |
11 | #include <avr/wdt.h> |
12 | #include <stdarg.h> |
12 | #include <stdarg.h> |
13 | #include <string.h> |
13 | #include <string.h> |
14 | 14 | ||
15 | #include "main.h" |
15 | #include "main.h" |
16 | #include "menu.h" |
16 | #include "menu.h" |
17 | #include "timer0.h" |
17 | #include "timer0.h" |
18 | #include "uart0.h" |
18 | #include "uart0.h" |
19 | #include "ubx.h" |
19 | #include "ubx.h" |
20 | #include "printf_P.h" |
20 | #include "printf_P.h" |
21 | 21 | ||
22 | 22 | ||
23 | #define FC_ADDRESS 1 |
23 | #define FC_ADDRESS 1 |
24 | #define NC_ADDRESS 2 |
24 | #define NC_ADDRESS 2 |
25 | #define MK3MAG_ADDRESS 3 |
25 | #define MK3MAG_ADDRESS 3 |
26 | 26 | ||
27 | #define FM_ADDRESS 10 // FOLLOW ME |
27 | #define FM_ADDRESS 10 // FOLLOW ME |
28 | 28 | ||
29 | #define FALSE 0 |
29 | #define FALSE 0 |
30 | #define TRUE 1 |
30 | #define TRUE 1 |
- | 31 | ||
31 | 32 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
|
32 | 33 | ||
33 | //int8_t test __attribute__ ((section (".noinit"))); |
34 | //int8_t test __attribute__ ((section (".noinit"))); |
34 | uint8_t Request_VerInfo = FALSE; |
35 | uint8_t Request_VerInfo = FALSE; |
35 | uint8_t Request_Display = FALSE; |
36 | uint8_t Request_Display = FALSE; |
36 | uint8_t Request_Display1 = FALSE; |
37 | uint8_t Request_Display1 = FALSE; |
37 | uint8_t Request_ExternalControl = FALSE; |
38 | uint8_t Request_ExternalControl = FALSE; |
38 | uint8_t Request_DebugData = FALSE; |
39 | uint8_t Request_DebugData = FALSE; |
39 | uint8_t Request_DebugLabel = 255; |
40 | uint8_t Request_DebugLabel = 255; |
40 | uint8_t Request_SendFollowMe = FALSE; |
41 | uint8_t Request_SendFollowMe = FALSE; |
41 | uint8_t DisplayLine = 0; |
42 | uint8_t DisplayLine = 0; |
- | 43 | uint8_t DisplayKeys = 0; |
|
42 | 44 | ||
43 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
45 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
44 | volatile uint8_t rxd_buffer_locked = FALSE; |
46 | volatile uint8_t rxd_buffer_locked = FALSE; |
45 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
47 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
46 | volatile uint8_t txd_complete = TRUE; |
48 | volatile uint8_t txd_complete = TRUE; |
47 | volatile uint8_t ReceivedBytes = 0; |
49 | volatile uint8_t ReceivedBytes = 0; |
48 | volatile uint8_t *pRxData = 0; |
50 | volatile uint8_t *pRxData = 0; |
49 | volatile uint8_t RxDataLen = 0; |
51 | volatile uint8_t RxDataLen = 0; |
50 | 52 | ||
51 | uint8_t PcAccess = 100; |
53 | uint8_t PcAccess = 100; |
- | 54 | uint16_t AboTimeOut = 0; |
|
52 | 55 | ||
53 | ExternControl_t ExternControl; |
56 | ExternControl_t ExternControl; |
54 | DebugOut_t DebugOut; |
57 | DebugOut_t DebugOut; |
55 | UART_VersionInfo_t UART_VersionInfo; |
58 | UART_VersionInfo_t UART_VersionInfo; |
56 | 59 | ||
57 | uint16_t DebugData_Timer; |
60 | uint16_t DebugData_Timer; |
58 | uint16_t DebugData_Interval = 0; // in 1ms |
61 | uint16_t DebugData_Interval = 0; // in 1ms |
59 | uint16_t Display_Timer; |
62 | uint16_t Display_Timer; |
60 | uint16_t Display_Interval = 0; // in 1 ms |
63 | uint16_t Display_Interval = 0; |
61 | 64 | ||
62 | Waypoint_t FollowMe; |
65 | Waypoint_t FollowMe; |
63 | 66 | ||
64 | // keep lables in flash to save 512 bytes of sram space |
67 | // keep lables in flash to save 512 bytes of sram space |
65 | const prog_uint8_t ANALOG_LABEL[32][16] = |
68 | const prog_uint8_t ANALOG_LABEL[32][16] = |
66 | { |
69 | { |
67 | //1234567890123456 |
70 | //1234567890123456 |
68 | "Analog_Ch0 ", //0 |
71 | "Analog_Ch0 ", //0 |
69 | "Analog_Ch1 ", |
72 | "Analog_Ch1 ", |
70 | "Analog_Ch2 ", |
73 | "Analog_Ch2 ", |
71 | "Analog_Ch3 ", |
74 | "Analog_Ch3 ", |
72 | "Analog_Ch4 ", |
75 | "Analog_Ch4 ", |
73 | "Analog_Ch5 ", //5 |
76 | "Analog_Ch5 ", //5 |
74 | "Analog_Ch6 ", |
77 | "Analog_Ch6 ", |
75 | "Analog_Ch7 ", |
78 | "Analog_Ch7 ", |
76 | "UBat ", |
79 | "UBat ", |
77 | "SysState ", |
80 | "SysState ", |
78 | "Debug10 ", //10 |
81 | "Debug10 ", //10 |
79 | "Debug11 ", |
82 | "Debug11 ", |
80 | "Debug12 ", |
83 | "Debug12 ", |
81 | "Debug13 ", |
84 | "Debug13 ", |
82 | "Debug14 ", |
85 | "Debug14 ", |
83 | "Debug15 ", //15 |
86 | "Debug15 ", //15 |
84 | "Zellenzahl ", |
87 | "Zellenzahl ", |
85 | "PowerOn ", |
88 | "PowerOn ", |
86 | "Debug18 ", |
89 | "Debug18 ", |
87 | "Debug19 ", |
90 | "Debug19 ", |
88 | "Debug20 ", //20 |
91 | "Debug20 ", //20 |
89 | "Debug21 ", |
92 | "Debug21 ", |
90 | "Debug22 ", |
93 | "Debug22 ", |
91 | "Debug23 ", |
94 | "Debug23 ", |
92 | "Debug24 ", |
95 | "Debug24 ", |
93 | "Debug25 ", //25 |
96 | "Debug25 ", //25 |
94 | "Debug26 ", |
97 | "Debug26 ", |
95 | "Debug27 ", |
98 | "Debug27 ", |
96 | "Debug28 ", |
99 | "Debug28 ", |
97 | "Debug29 ", |
100 | "Debug29 ", |
98 | "Debug30 ", //30 |
101 | "Debug30 ", //30 |
99 | "Debug31 " |
102 | "Debug31 " |
100 | }; |
103 | }; |
101 | 104 | ||
102 | 105 | ||
103 | 106 | ||
104 | /****************************************************************/ |
107 | /****************************************************************/ |
105 | /* Initialization of the USART0 */ |
108 | /* Initialization of the USART0 */ |
106 | /****************************************************************/ |
109 | /****************************************************************/ |
107 | void USART0_Init (void) |
110 | void USART0_Init (void) |
108 | { |
111 | { |
109 | uint8_t sreg = SREG; |
112 | uint8_t sreg = SREG; |
110 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
113 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
111 | 114 | ||
112 | // disable all interrupts before configuration |
115 | // disable all interrupts before configuration |
113 | cli(); |
116 | cli(); |
114 | 117 | ||
115 | // disable RX-Interrupt |
118 | // disable RX-Interrupt |
116 | UCSR0B &= ~(1 << RXCIE0); |
119 | UCSR0B &= ~(1 << RXCIE0); |
117 | // disable TX-Interrupt |
120 | // disable TX-Interrupt |
118 | UCSR0B &= ~(1 << TXCIE0); |
121 | UCSR0B &= ~(1 << TXCIE0); |
119 | 122 | ||
120 | // set direction of RXD0 and TXD0 pins |
123 | // set direction of RXD0 and TXD0 pins |
121 | // set RXD0 (PD0) as an input pin |
124 | // set RXD0 (PD0) as an input pin |
122 | PORTD |= (1 << PORTD0); |
125 | PORTD |= (1 << PORTD0); |
123 | DDRD &= ~(1 << DDD0); |
126 | DDRD &= ~(1 << DDD0); |
124 | // set TXD0 (PD1) as an output pin |
127 | // set TXD0 (PD1) as an output pin |
125 | PORTD |= (1 << PORTD1); |
128 | PORTD |= (1 << PORTD1); |
126 | DDRD |= (1 << DDD1); |
129 | DDRD |= (1 << DDD1); |
127 | 130 | ||
128 | // USART0 Baud Rate Register |
131 | // USART0 Baud Rate Register |
129 | // set clock divider |
132 | // set clock divider |
130 | UBRR0H = (uint8_t)(ubrr >> 8); |
133 | UBRR0H = (uint8_t)(ubrr >> 8); |
131 | UBRR0L = (uint8_t)ubrr; |
134 | UBRR0L = (uint8_t)ubrr; |
132 | 135 | ||
133 | // USART0 Control and Status Register A, B, C |
136 | // USART0 Control and Status Register A, B, C |
134 | 137 | ||
135 | // enable double speed operation in |
138 | // enable double speed operation in |
136 | UCSR0A |= (1 << U2X0); |
139 | UCSR0A |= (1 << U2X0); |
137 | // enable receiver and transmitter in |
140 | // enable receiver and transmitter in |
138 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
141 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
139 | // set asynchronous mode |
142 | // set asynchronous mode |
140 | UCSR0C &= ~(1 << UMSEL01); |
143 | UCSR0C &= ~(1 << UMSEL01); |
141 | UCSR0C &= ~(1 << UMSEL00); |
144 | UCSR0C &= ~(1 << UMSEL00); |
142 | // no parity |
145 | // no parity |
143 | UCSR0C &= ~(1 << UPM01); |
146 | UCSR0C &= ~(1 << UPM01); |
144 | UCSR0C &= ~(1 << UPM00); |
147 | UCSR0C &= ~(1 << UPM00); |
145 | // 1 stop bit |
148 | // 1 stop bit |
146 | UCSR0C &= ~(1 << USBS0); |
149 | UCSR0C &= ~(1 << USBS0); |
147 | // 8-bit |
150 | // 8-bit |
148 | UCSR0B &= ~(1 << UCSZ02); |
151 | UCSR0B &= ~(1 << UCSZ02); |
149 | UCSR0C |= (1 << UCSZ01); |
152 | UCSR0C |= (1 << UCSZ01); |
150 | UCSR0C |= (1 << UCSZ00); |
153 | UCSR0C |= (1 << UCSZ00); |
151 | 154 | ||
152 | // flush receive buffer |
155 | // flush receive buffer |
153 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
156 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
154 | 157 | ||
155 | // enable interrupts at the end |
158 | // enable interrupts at the end |
156 | // enable RX-Interrupt |
159 | // enable RX-Interrupt |
157 | UCSR0B |= (1 << RXCIE0); |
160 | UCSR0B |= (1 << RXCIE0); |
158 | // enable TX-Interrupt |
161 | // enable TX-Interrupt |
159 | UCSR0B |= (1 << TXCIE0); |
162 | UCSR0B |= (1 << TXCIE0); |
160 | 163 | ||
161 | // initialize the debug timer |
164 | // initialize the debug timer |
162 | DebugData_Timer = SetDelay(DebugData_Interval); |
165 | DebugData_Timer = SetDelay(DebugData_Interval); |
163 | 166 | ||
164 | // unlock rxd_buffer |
167 | // unlock rxd_buffer |
165 | rxd_buffer_locked = FALSE; |
168 | rxd_buffer_locked = FALSE; |
166 | pRxData = 0; |
169 | pRxData = 0; |
167 | RxDataLen = 0; |
170 | RxDataLen = 0; |
168 | 171 | ||
169 | // no bytes to send |
172 | // no bytes to send |
170 | txd_complete = TRUE; |
173 | txd_complete = TRUE; |
171 | 174 | ||
172 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
175 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
173 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
176 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
174 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
177 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
175 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
178 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
176 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
179 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
177 | 180 | ||
178 | // restore global interrupt flags |
181 | // restore global interrupt flags |
179 | SREG = sreg; |
182 | SREG = sreg; |
180 | sei(); |
183 | sei(); |
181 | printf("\r\n UART0 init...ok"); |
184 | printf("\r\n UART0 init...ok"); |
182 | } |
185 | } |
183 | 186 | ||
184 | /****************************************************************/ |
187 | /****************************************************************/ |
185 | /* USART0 transmitter ISR */ |
188 | /* USART0 transmitter ISR */ |
186 | /****************************************************************/ |
189 | /****************************************************************/ |
187 | ISR(USART0_TX_vect) |
190 | ISR(USART0_TX_vect) |
188 | { |
191 | { |
189 | static uint16_t ptr_txd_buffer = 0; |
192 | static uint16_t ptr_txd_buffer = 0; |
190 | uint8_t tmp_tx; |
193 | uint8_t tmp_tx; |
191 | if(!txd_complete) // transmission not completed |
194 | if(!txd_complete) // transmission not completed |
192 | { |
195 | { |
193 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
196 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
194 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
197 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
195 | // if terminating character or end of txd buffer was reached |
198 | // if terminating character or end of txd buffer was reached |
196 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
199 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
197 | { |
200 | { |
198 | ptr_txd_buffer = 0; // reset txd pointer |
201 | ptr_txd_buffer = 0; // reset txd pointer |
199 | txd_complete = 1; // stop transmission |
202 | txd_complete = 1; // stop transmission |
200 | } |
203 | } |
201 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
204 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
202 | } |
205 | } |
203 | // transmission completed |
206 | // transmission completed |
204 | else ptr_txd_buffer = 0; |
207 | else ptr_txd_buffer = 0; |
205 | } |
208 | } |
206 | 209 | ||
207 | /****************************************************************/ |
210 | /****************************************************************/ |
208 | /* USART0 receiver ISR */ |
211 | /* USART0 receiver ISR */ |
209 | /****************************************************************/ |
212 | /****************************************************************/ |
210 | ISR(USART0_RX_vect) |
213 | ISR(USART0_RX_vect) |
211 | { |
214 | { |
212 | static uint16_t crc; |
215 | static uint16_t crc; |
213 | static uint8_t ptr_rxd_buffer = 0; |
216 | static uint8_t ptr_rxd_buffer = 0; |
214 | uint8_t crc1, crc2; |
217 | uint8_t crc1, crc2; |
215 | uint8_t c; |
218 | uint8_t c; |
216 | 219 | ||
217 | c = UDR0; // catch the received byte |
220 | c = UDR0; // catch the received byte |
218 | 221 | ||
219 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
222 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
220 | 223 | ||
221 | // the rxd buffer is unlocked |
224 | // the rxd buffer is unlocked |
222 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
225 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
223 | { |
226 | { |
224 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
227 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
225 | crc = c; // init crc |
228 | crc = c; // init crc |
226 | } |
229 | } |
227 | #if 0 |
230 | #if 0 |
228 | else if (ptr_rxd_buffer == 1) // handle address |
231 | else if (ptr_rxd_buffer == 1) // handle address |
229 | { |
232 | { |
230 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
233 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
231 | crc += c; // update crc |
234 | crc += c; // update crc |
232 | } |
235 | } |
233 | #endif |
236 | #endif |
234 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
237 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
235 | { |
238 | { |
236 | if(c != '\r') // no termination character |
239 | if(c != '\r') // no termination character |
237 | { |
240 | { |
238 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
241 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
239 | crc += c; // update crc |
242 | crc += c; // update crc |
240 | } |
243 | } |
241 | else // termination character was received |
244 | else // termination character was received |
242 | { |
245 | { |
243 | // the last 2 bytes are no subject for checksum calculation |
246 | // the last 2 bytes are no subject for checksum calculation |
244 | // they are the checksum itself |
247 | // they are the checksum itself |
245 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
248 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
246 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
249 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
247 | // calculate checksum from transmitted data |
250 | // calculate checksum from transmitted data |
248 | crc %= 4096; |
251 | crc %= 4096; |
249 | crc1 = '=' + crc / 64; |
252 | crc1 = '=' + crc / 64; |
250 | crc2 = '=' + crc % 64; |
253 | crc2 = '=' + crc % 64; |
251 | // compare checksum to transmitted checksum bytes |
254 | // compare checksum to transmitted checksum bytes |
252 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
255 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
253 | { // checksum valid |
256 | { // checksum valid |
254 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
257 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
255 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
258 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
256 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
259 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
257 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
260 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
258 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
261 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
259 | } |
262 | } |
260 | else |
263 | else |
261 | { // checksum invalid |
264 | { // checksum invalid |
262 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
265 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
263 | } |
266 | } |
264 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
267 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
265 | } |
268 | } |
266 | } |
269 | } |
267 | else // rxd buffer overrun |
270 | else // rxd buffer overrun |
268 | { |
271 | { |
269 | ptr_rxd_buffer = 0; // reset rxd buffer |
272 | ptr_rxd_buffer = 0; // reset rxd buffer |
270 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
273 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
271 | } |
274 | } |
272 | 275 | ||
273 | } |
276 | } |
274 | 277 | ||
275 | 278 | ||
276 | // -------------------------------------------------------------------------- |
279 | // -------------------------------------------------------------------------- |
277 | void AddCRC(uint16_t datalen) |
280 | void AddCRC(uint16_t datalen) |
278 | { |
281 | { |
279 | uint16_t tmpCRC = 0, i; |
282 | uint16_t tmpCRC = 0, i; |
280 | for(i = 0; i < datalen; i++) |
283 | for(i = 0; i < datalen; i++) |
281 | { |
284 | { |
282 | tmpCRC += txd_buffer[i]; |
285 | tmpCRC += txd_buffer[i]; |
283 | } |
286 | } |
284 | tmpCRC %= 4096; |
287 | tmpCRC %= 4096; |
285 | txd_buffer[i++] = '=' + tmpCRC / 64; |
288 | txd_buffer[i++] = '=' + tmpCRC / 64; |
286 | txd_buffer[i++] = '=' + tmpCRC % 64; |
289 | txd_buffer[i++] = '=' + tmpCRC % 64; |
287 | txd_buffer[i++] = '\r'; |
290 | txd_buffer[i++] = '\r'; |
288 | txd_complete = FALSE; |
291 | txd_complete = FALSE; |
289 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
292 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
290 | } |
293 | } |
291 | 294 | ||
292 | 295 | ||
293 | 296 | ||
294 | // -------------------------------------------------------------------------- |
297 | // -------------------------------------------------------------------------- |
295 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
298 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
296 | { |
299 | { |
297 | va_list ap; |
300 | va_list ap; |
298 | uint16_t pt = 0; |
301 | uint16_t pt = 0; |
299 | uint8_t a,b,c; |
302 | uint8_t a,b,c; |
300 | uint8_t ptr = 0; |
303 | uint8_t ptr = 0; |
301 | 304 | ||
302 | uint8_t *pdata = 0; |
305 | uint8_t *pdata = 0; |
303 | int len = 0; |
306 | int len = 0; |
304 | 307 | ||
305 | txd_buffer[pt++] = '#'; // Start character |
308 | txd_buffer[pt++] = '#'; // Start character |
306 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
309 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
307 | txd_buffer[pt++] = cmd; // Command |
310 | txd_buffer[pt++] = cmd; // Command |
308 | 311 | ||
309 | va_start(ap, numofbuffers); |
312 | va_start(ap, numofbuffers); |
310 | if(numofbuffers) |
313 | if(numofbuffers) |
311 | { |
314 | { |
312 | pdata = va_arg(ap, uint8_t*); |
315 | pdata = va_arg(ap, uint8_t*); |
313 | len = va_arg(ap, int); |
316 | len = va_arg(ap, int); |
314 | ptr = 0; |
317 | ptr = 0; |
315 | numofbuffers--; |
318 | numofbuffers--; |
316 | } |
319 | } |
317 | 320 | ||
318 | while(len) |
321 | while(len) |
319 | { |
322 | { |
320 | if(len) |
323 | if(len) |
321 | { |
324 | { |
322 | a = pdata[ptr++]; |
325 | a = pdata[ptr++]; |
323 | len--; |
326 | len--; |
324 | if((!len) && numofbuffers) |
327 | if((!len) && numofbuffers) |
325 | { |
328 | { |
326 | pdata = va_arg(ap, uint8_t*); |
329 | pdata = va_arg(ap, uint8_t*); |
327 | len = va_arg(ap, int); |
330 | len = va_arg(ap, int); |
328 | ptr = 0; |
331 | ptr = 0; |
329 | numofbuffers--; |
332 | numofbuffers--; |
330 | } |
333 | } |
331 | } |
334 | } |
332 | else a = 0; |
335 | else a = 0; |
333 | if(len) |
336 | if(len) |
334 | { |
337 | { |
335 | b = pdata[ptr++]; |
338 | b = pdata[ptr++]; |
336 | len--; |
339 | len--; |
337 | if((!len) && numofbuffers) |
340 | if((!len) && numofbuffers) |
338 | { |
341 | { |
339 | pdata = va_arg(ap, uint8_t*); |
342 | pdata = va_arg(ap, uint8_t*); |
340 | len = va_arg(ap, int); |
343 | len = va_arg(ap, int); |
341 | ptr = 0; |
344 | ptr = 0; |
342 | numofbuffers--; |
345 | numofbuffers--; |
343 | } |
346 | } |
344 | } |
347 | } |
345 | else b = 0; |
348 | else b = 0; |
346 | if(len) |
349 | if(len) |
347 | { |
350 | { |
348 | c = pdata[ptr++]; |
351 | c = pdata[ptr++]; |
349 | len--; |
352 | len--; |
350 | if((!len) && numofbuffers) |
353 | if((!len) && numofbuffers) |
351 | { |
354 | { |
352 | pdata = va_arg(ap, uint8_t*); |
355 | pdata = va_arg(ap, uint8_t*); |
353 | len = va_arg(ap, int); |
356 | len = va_arg(ap, int); |
354 | ptr = 0; |
357 | ptr = 0; |
355 | numofbuffers--; |
358 | numofbuffers--; |
356 | } |
359 | } |
357 | } |
360 | } |
358 | else c = 0; |
361 | else c = 0; |
359 | txd_buffer[pt++] = '=' + (a >> 2); |
362 | txd_buffer[pt++] = '=' + (a >> 2); |
360 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
363 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
361 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
364 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
362 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
365 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
363 | } |
366 | } |
364 | va_end(ap); |
367 | va_end(ap); |
365 | AddCRC(pt); // add checksum after data block and initates the transmission |
368 | AddCRC(pt); // add checksum after data block and initates the transmission |
366 | } |
369 | } |
367 | 370 | ||
368 | 371 | ||
369 | // -------------------------------------------------------------------------- |
372 | // -------------------------------------------------------------------------- |
370 | void Decode64(void) |
373 | void Decode64(void) |
371 | { |
374 | { |
372 | uint8_t a,b,c,d; |
375 | uint8_t a,b,c,d; |
373 | uint8_t x,y,z; |
376 | uint8_t x,y,z; |
374 | uint8_t ptrIn = 3; |
377 | uint8_t ptrIn = 3; |
375 | uint8_t ptrOut = 3; |
378 | uint8_t ptrOut = 3; |
376 | uint8_t len = ReceivedBytes - 6; |
379 | uint8_t len = ReceivedBytes - 6; |
377 | 380 | ||
378 | while(len) |
381 | while(len) |
379 | { |
382 | { |
380 | a = rxd_buffer[ptrIn++] - '='; |
383 | a = rxd_buffer[ptrIn++] - '='; |
381 | b = rxd_buffer[ptrIn++] - '='; |
384 | b = rxd_buffer[ptrIn++] - '='; |
382 | c = rxd_buffer[ptrIn++] - '='; |
385 | c = rxd_buffer[ptrIn++] - '='; |
383 | d = rxd_buffer[ptrIn++] - '='; |
386 | d = rxd_buffer[ptrIn++] - '='; |
384 | //if(ptrIn > ReceivedBytes - 3) break; |
387 | //if(ptrIn > ReceivedBytes - 3) break; |
385 | 388 | ||
386 | x = (a << 2) | (b >> 4); |
389 | x = (a << 2) | (b >> 4); |
387 | y = ((b & 0x0f) << 4) | (c >> 2); |
390 | y = ((b & 0x0f) << 4) | (c >> 2); |
388 | z = ((c & 0x03) << 6) | d; |
391 | z = ((c & 0x03) << 6) | d; |
389 | 392 | ||
390 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
393 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
391 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
394 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
392 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
395 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
393 | } |
396 | } |
394 | pRxData = &rxd_buffer[3]; |
397 | pRxData = &rxd_buffer[3]; |
395 | RxDataLen = ptrOut - 3; |
398 | RxDataLen = ptrOut - 3; |
396 | } |
399 | } |
397 | 400 | ||
398 | 401 | ||
399 | // -------------------------------------------------------------------------- |
402 | // -------------------------------------------------------------------------- |
400 | void USART0_ProcessRxData(void) |
403 | void USART0_ProcessRxData(void) |
401 | { |
404 | { |
402 | // if data in the rxd buffer are not locked immediately return |
405 | // if data in the rxd buffer are not locked immediately return |
403 | if(!rxd_buffer_locked) return; |
406 | if(!rxd_buffer_locked) return; |
404 | 407 | ||
405 | Decode64(); // decode data block in rxd_buffer |
408 | Decode64(); // decode data block in rxd_buffer |
406 | 409 | ||
407 | 410 | ||
408 | switch(rxd_buffer[1] - 'a') |
411 | switch(rxd_buffer[1] - 'a') |
409 | { |
412 | { |
410 | case FM_ADDRESS: |
413 | case FM_ADDRESS: |
411 | 414 | ||
412 | switch(rxd_buffer[2]) |
415 | switch(rxd_buffer[2]) |
413 | { |
416 | { |
414 | default: |
417 | default: |
415 | //unsupported command received |
418 | //unsupported command received |
416 | break; |
419 | break; |
417 | } // case FC_ADDRESS: |
420 | } // case FC_ADDRESS: |
418 | 421 | ||
419 | default: // any Slave Address |
422 | default: // any Slave Address |
420 | 423 | ||
421 | switch(rxd_buffer[2]) |
424 | switch(rxd_buffer[2]) |
422 | { |
425 | { |
423 | case 'a':// request for labels of the analog debug outputs |
426 | case 'a':// request for labels of the analog debug outputs |
424 | Request_DebugLabel = pRxData[0]; |
427 | Request_DebugLabel = pRxData[0]; |
425 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
428 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
426 | PcAccess = 255; |
429 | PcAccess = 255; |
427 | break; |
430 | break; |
428 | 431 | ||
429 | case 'h':// request for display columns |
432 | case 'h':// request for display columns |
430 | PcAccess = 255; |
433 | PcAccess = 255; |
431 | if((pRxData[0] & 0x80) == 0x00) // old format |
434 | if((pRxData[0] & 0x80) == 0x00) // old format |
432 | { |
435 | { |
433 | DisplayLine = 2; |
436 | DisplayLine = 2; |
434 | Display_Interval = 0; |
437 | Display_Interval = 0; |
435 | } |
438 | } |
436 | else // new format |
439 | else // new format |
437 | { |
440 | { |
438 | RemoteKeys |= ~pRxData[0]; |
441 | DisplayKeys |= ~pRxData[0]; |
439 | Display_Interval = (unsigned int)pRxData[1] * 10; |
442 | Display_Interval = (uint16_t) pRxData[1] * 10; |
440 | DisplayLine = 4; |
443 | DisplayLine = 4; |
441 | Request_Display = TRUE; |
444 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
442 | } |
445 | } |
- | 446 | Request_Display = TRUE; |
|
443 | break; |
447 | break; |
444 | 448 | ||
445 | case 'l':// request for display columns |
449 | case 'l':// request for display columns |
446 | PcAccess = 255; |
450 | PcAccess = 255; |
447 | MenuItem = pRxData[0]; |
451 | MenuItem = pRxData[0]; |
448 | Request_Display1 = TRUE; |
452 | Request_Display1 = TRUE; |
449 | break; |
453 | break; |
450 | 454 | ||
451 | case 'v': // request for version and board release |
455 | case 'v': // request for version and board release |
452 | Request_VerInfo = TRUE; |
456 | Request_VerInfo = TRUE; |
453 | break; |
457 | break; |
454 | 458 | ||
455 | case 'd': // request for the debug data |
459 | case 'd': // request for the debug data |
456 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
460 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
457 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
461 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
- | 462 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
458 | break; |
463 | break; |
459 | 464 | ||
460 | case 'g':// get external control data |
465 | case 'g':// get external control data |
461 | Request_ExternalControl = TRUE; |
466 | Request_ExternalControl = TRUE; |
462 | break; |
467 | break; |
463 | 468 | ||
464 | default: |
469 | default: |
465 | //unsupported command received |
470 | //unsupported command received |
466 | break; |
471 | break; |
467 | } |
472 | } |
468 | break; // default: |
473 | break; // default: |
469 | } |
474 | } |
470 | // unlock the rxd buffer after processing |
475 | // unlock the rxd buffer after processing |
471 | pRxData = 0; |
476 | pRxData = 0; |
472 | RxDataLen = 0; |
477 | RxDataLen = 0; |
473 | rxd_buffer_locked = FALSE; |
478 | rxd_buffer_locked = FALSE; |
474 | } |
479 | } |
475 | 480 | ||
476 | //############################################################################ |
481 | //############################################################################ |
477 | //Routine für die Serielle Ausgabe |
482 | //Routine für die Serielle Ausgabe |
478 | int16_t uart_putchar (int8_t c) |
483 | int16_t uart_putchar (int8_t c) |
479 | //############################################################################ |
484 | //############################################################################ |
480 | { |
485 | { |
481 | if (c == '\n') |
486 | if (c == '\n') |
482 | uart_putchar('\r'); |
487 | uart_putchar('\r'); |
483 | // wait until previous character was send |
488 | // wait until previous character was send |
484 | loop_until_bit_is_set(UCSR0A, UDRE0); |
489 | loop_until_bit_is_set(UCSR0A, UDRE0); |
485 | // send character |
490 | // send character |
486 | UDR0 = c; |
491 | UDR0 = c; |
487 | return (0); |
492 | return (0); |
488 | } |
493 | } |
489 | 494 | ||
490 | 495 | ||
491 | //--------------------------------------------------------------------------------------------- |
496 | //--------------------------------------------------------------------------------------------- |
492 | void USART0_TransmitTxData(void) |
497 | void USART0_TransmitTxData(void) |
493 | { |
498 | { |
494 | if(!txd_complete) return; |
499 | if(!txd_complete) return; |
- | 500 | ||
- | 501 | if(CheckDelay(AboTimeOut)) |
|
- | 502 | { |
|
- | 503 | Display_Interval = 0; |
|
- | 504 | DebugData_Interval = 0; |
|
- | 505 | } |
|
495 | 506 | ||
496 | if(Request_VerInfo && txd_complete) |
507 | if(Request_VerInfo && txd_complete) |
497 | { |
508 | { |
498 | SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
509 | SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
499 | Request_VerInfo = FALSE; |
510 | Request_VerInfo = FALSE; |
500 | } |
511 | } |
501 | if( ((Display_Interval && CheckDelay(Display_Timer)) || Request_Display) && txd_complete) |
512 | else if( (((Display_Interval > 0) && CheckDelay(Display_Timer)) || Request_Display) && txd_complete) |
502 | { |
513 | { |
503 | if(DisplayLine > 3)// new format |
514 | if(DisplayLine > 3)// new format |
504 | { |
515 | { |
- | 516 | Menu_Update(DisplayKeys); |
|
505 | LCD_PrintMenu(); |
517 | DisplayKeys = 0; |
506 | SendOutData('H', FM_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
518 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, sizeof(DisplayBuff)); |
507 | } |
519 | } |
508 | else // old format |
520 | else // old format |
509 | { |
521 | { |
510 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
522 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
511 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
523 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
512 | if(DisplayLine++ > 3) DisplayLine = 0; |
524 | if(DisplayLine++ > 3) DisplayLine = 0; |
513 | } |
525 | } |
514 | Display_Timer = SetDelay(Display_Interval); |
526 | Display_Timer = SetDelay(Display_Interval); |
515 | Request_Display = FALSE; |
527 | Request_Display = FALSE; |
516 | } |
528 | } |
517 | if(Request_Display1 && txd_complete) |
529 | else if(Request_Display1 && txd_complete) |
518 | { |
530 | { |
519 | LCD_PrintMenu(); |
531 | Menu_Update(0); |
520 | SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
532 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
521 | Request_Display1 = FALSE; |
533 | Request_Display1 = FALSE; |
522 | } |
534 | } |
523 | if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
535 | else if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
524 | { |
536 | { |
525 | uint8_t label[16]; // local sram buffer |
537 | uint8_t label[16]; // local sram buffer |
526 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
538 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
527 | SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
539 | SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
528 | Request_DebugLabel = 0xFF; |
540 | Request_DebugLabel = 0xFF; |
529 | } |
541 | } |
530 | if(Request_ExternalControl && txd_complete) |
542 | else if(Request_ExternalControl && txd_complete) |
531 | { |
543 | { |
532 | SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
544 | SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
533 | Request_ExternalControl = FALSE; |
545 | Request_ExternalControl = FALSE; |
534 | } |
546 | } |
535 | if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
547 | else if( (((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
536 | { |
548 | { |
537 | SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
549 | SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
538 | DebugData_Timer = SetDelay(DebugData_Interval); |
550 | DebugData_Timer = SetDelay(DebugData_Interval); |
539 | Request_DebugData = FALSE; |
551 | Request_DebugData = FALSE; |
540 | } |
552 | } |
541 | if(Request_SendFollowMe && txd_complete) |
553 | else if(Request_SendFollowMe && txd_complete) |
542 | { |
554 | { |
543 | SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); |
555 | SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); |
544 | FollowMe.Position.Status = PROCESSED; |
556 | FollowMe.Position.Status = PROCESSED; |
545 | Request_SendFollowMe = FALSE; |
557 | Request_SendFollowMe = FALSE; |
546 | } |
558 | } |
547 | } |
559 | } |
548 | 560 | ||
549 | 561 |