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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/wdt.h> |
10 | #include <avr/wdt.h> |
| 11 | #include <stdarg.h> |
11 | #include <stdarg.h> |
| 12 | #include <string.h> |
12 | #include <string.h> |
| 13 | 13 | ||
| 14 | #include "main.h" |
14 | #include "main.h" |
| 15 | #include "menu.h" |
15 | #include "menu.h" |
| 16 | #include "timer0.h" |
16 | #include "timer0.h" |
| 17 | #include "uart0.h" |
17 | #include "uart0.h" |
| 18 | #include "ubx.h" |
18 | #include "ubx.h" |
| 19 | #include "led.h" |
19 | #include "led.h" |
| 20 | 20 | ||
| 21 | 21 | ||
| 22 | #define FC_ADDRESS 1 |
22 | #define FC_ADDRESS 1 |
| 23 | #define NC_ADDRESS 2 |
23 | #define NC_ADDRESS 2 |
| 24 | #define MK3MAG_ADDRESS 3 |
24 | #define MK3MAG_ADDRESS 3 |
| 25 | 25 | ||
| 26 | #define FM_ADDRESS 10 // FOLLOW ME |
26 | #define FM_ADDRESS 10 // FOLLOW ME |
| 27 | 27 | ||
| 28 | #define FALSE 0 |
28 | #define FALSE 0 |
| 29 | #define TRUE 1 |
29 | #define TRUE 1 |
| 30 | 30 | ||
| 31 | //int8_t test __attribute__ ((section (".noinit"))); |
31 | //int8_t test __attribute__ ((section (".noinit"))); |
| 32 | uint8_t Request_VerInfo = FALSE; |
32 | uint8_t Request_VerInfo = FALSE; |
| 33 | uint8_t Request_Display = FALSE; |
33 | uint8_t Request_Display = FALSE; |
| 34 | uint8_t Request_Display1 = FALSE; |
34 | uint8_t Request_Display1 = FALSE; |
| 35 | uint8_t Request_ExternalControl = FALSE; |
35 | uint8_t Request_ExternalControl = FALSE; |
| 36 | uint8_t Request_DebugData = FALSE; |
36 | uint8_t Request_DebugData = FALSE; |
| 37 | uint8_t Request_DebugLabel = 255; |
37 | uint8_t Request_DebugLabel = 255; |
| - | 38 | uint8_t Request_SendFollowMe = FALSE; |
|
| 38 | uint8_t DisplayLine = 0; |
39 | uint8_t DisplayLine = 0; |
| 39 | 40 | ||
| 40 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
41 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| 41 | volatile uint8_t rxd_buffer_locked = FALSE; |
42 | volatile uint8_t rxd_buffer_locked = FALSE; |
| 42 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
43 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| 43 | volatile uint8_t txd_complete = TRUE; |
44 | volatile uint8_t txd_complete = TRUE; |
| 44 | volatile uint8_t ReceivedBytes = 0; |
45 | volatile uint8_t ReceivedBytes = 0; |
| 45 | volatile uint8_t *pRxData = 0; |
46 | volatile uint8_t *pRxData = 0; |
| 46 | volatile uint8_t RxDataLen = 0; |
47 | volatile uint8_t RxDataLen = 0; |
| 47 | 48 | ||
| 48 | uint8_t PcAccess = 100; |
49 | uint8_t PcAccess = 100; |
| 49 | 50 | ||
| 50 | ExternControl_t ExternControl; |
51 | ExternControl_t ExternControl; |
| 51 | DebugOut_t DebugOut; |
52 | DebugOut_t DebugOut; |
| 52 | UART_VersionInfo_t UART_VersionInfo; |
53 | UART_VersionInfo_t UART_VersionInfo; |
| 53 | 54 | ||
| 54 | uint16_t DebugData_Timer; |
55 | uint16_t DebugData_Timer; |
| 55 | uint16_t DebugData_Interval = 500; // in 1ms |
56 | uint16_t DebugData_Interval = 500; // in 1ms |
| - | 57 | ||
| 56 | 58 | Waypoint_t FollowMe; |
|
| 57 | 59 | ||
| 58 | const uint8_t ANALOG_LABEL[32][16] = |
60 | const uint8_t ANALOG_LABEL[32][16] = |
| 59 | { |
61 | { |
| 60 | //1234567890123456 |
62 | //1234567890123456 |
| 61 | "Analog Ch0 ", //0 |
63 | "Analog Ch0 ", //0 |
| 62 | "Analog Ch1 ", |
64 | "Analog Ch1 ", |
| 63 | "Analog Ch2 ", |
65 | "Analog Ch2 ", |
| 64 | "Analog Ch3 ", |
66 | "Analog Ch3 ", |
| 65 | "Analog Ch4 ", |
67 | "Analog Ch4 ", |
| 66 | "Analog Ch5 ", //5 |
68 | "Analog Ch5 ", //5 |
| 67 | "Analog Ch6 ", |
69 | "Analog Ch6 ", |
| 68 | "Analog Ch7 ", |
70 | "Analog Ch7 ", |
| 69 | "UBat ", |
71 | "UBat ", |
| 70 | "Speed_North ", |
72 | "Speed_North ", |
| 71 | "Speed_East ", //10 |
73 | "Speed_East ", //10 |
| 72 | "Speed_Top ", |
74 | "Speed_Top ", |
| 73 | "NumOfSats ", |
75 | "NumOfSats ", |
| 74 | "Pos.Longitude ", |
76 | "Pos.Longitude ", |
| 75 | "Pos.Latitude ", |
77 | "Pos.Latitude ", |
| 76 | "Pos.Altitude ", //15 |
78 | "Pos.Altitude ", //15 |
| 77 | "Zellenzahl ", |
79 | "Zellenzahl ", |
| 78 | "PowerOn ", |
80 | "PowerOn ", |
| 79 | "Debug18 ", |
81 | "Debug18 ", |
| 80 | "Debug19 ", |
82 | "Debug19 ", |
| 81 | "Debug20 ", //20 |
83 | "Debug20 ", //20 |
| 82 | "Debug21 ", |
84 | "Debug21 ", |
| 83 | "Debug22 ", |
85 | "Debug22 ", |
| 84 | "Debug23 ", |
86 | "Debug23 ", |
| 85 | "Debug24 ", |
87 | "Debug24 ", |
| 86 | "Debug25 ", //25 |
88 | "Debug25 ", //25 |
| 87 | "Debug26 ", |
89 | "Debug26 ", |
| 88 | "Debug27 ", |
90 | "Debug27 ", |
| 89 | "Debug28 ", |
91 | "Debug28 ", |
| 90 | "Debug29 ", |
92 | "Debug29 ", |
| 91 | "Debug30 ", //30 |
93 | "Debug30 ", //30 |
| 92 | "Debug31 " |
94 | "Debug31 " |
| 93 | }; |
95 | }; |
| 94 | 96 | ||
| 95 | 97 | ||
| 96 | 98 | ||
| 97 | /****************************************************************/ |
99 | /****************************************************************/ |
| 98 | /* Initialization of the USART0 */ |
100 | /* Initialization of the USART0 */ |
| 99 | /****************************************************************/ |
101 | /****************************************************************/ |
| 100 | void USART0_Init (void) |
102 | void USART0_Init (void) |
| 101 | { |
103 | { |
| 102 | uint8_t sreg = SREG; |
104 | uint8_t sreg = SREG; |
| 103 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
105 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| 104 | 106 | ||
| 105 | // disable all interrupts before configuration |
107 | // disable all interrupts before configuration |
| 106 | cli(); |
108 | cli(); |
| 107 | 109 | ||
| 108 | // disable RX-Interrupt |
110 | // disable RX-Interrupt |
| 109 | UCSR0B &= ~(1 << RXCIE0); |
111 | UCSR0B &= ~(1 << RXCIE0); |
| 110 | // disable TX-Interrupt |
112 | // disable TX-Interrupt |
| 111 | UCSR0B &= ~(1 << TXCIE0); |
113 | UCSR0B &= ~(1 << TXCIE0); |
| 112 | 114 | ||
| 113 | // set direction of RXD0 and TXD0 pins |
115 | // set direction of RXD0 and TXD0 pins |
| 114 | // set RXD0 (PD0) as an input pin |
116 | // set RXD0 (PD0) as an input pin |
| 115 | PORTD |= (1 << PORTD0); |
117 | PORTD |= (1 << PORTD0); |
| 116 | DDRD &= ~(1 << DDD0); |
118 | DDRD &= ~(1 << DDD0); |
| 117 | // set TXD0 (PD1) as an output pin |
119 | // set TXD0 (PD1) as an output pin |
| 118 | PORTD |= (1 << PORTD1); |
120 | PORTD |= (1 << PORTD1); |
| 119 | DDRD |= (1 << DDD1); |
121 | DDRD |= (1 << DDD1); |
| 120 | 122 | ||
| 121 | // USART0 Baud Rate Register |
123 | // USART0 Baud Rate Register |
| 122 | // set clock divider |
124 | // set clock divider |
| 123 | UBRR0H = (uint8_t)(ubrr >> 8); |
125 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 124 | UBRR0L = (uint8_t)ubrr; |
126 | UBRR0L = (uint8_t)ubrr; |
| 125 | 127 | ||
| 126 | // USART0 Control and Status Register A, B, C |
128 | // USART0 Control and Status Register A, B, C |
| 127 | 129 | ||
| 128 | // enable double speed operation in |
130 | // enable double speed operation in |
| 129 | UCSR0A |= (1 << U2X0); |
131 | UCSR0A |= (1 << U2X0); |
| 130 | // enable receiver and transmitter in |
132 | // enable receiver and transmitter in |
| 131 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
133 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 132 | // set asynchronous mode |
134 | // set asynchronous mode |
| 133 | UCSR0C &= ~(1 << UMSEL01); |
135 | UCSR0C &= ~(1 << UMSEL01); |
| 134 | UCSR0C &= ~(1 << UMSEL00); |
136 | UCSR0C &= ~(1 << UMSEL00); |
| 135 | // no parity |
137 | // no parity |
| 136 | UCSR0C &= ~(1 << UPM01); |
138 | UCSR0C &= ~(1 << UPM01); |
| 137 | UCSR0C &= ~(1 << UPM00); |
139 | UCSR0C &= ~(1 << UPM00); |
| 138 | // 1 stop bit |
140 | // 1 stop bit |
| 139 | UCSR0C &= ~(1 << USBS0); |
141 | UCSR0C &= ~(1 << USBS0); |
| 140 | // 8-bit |
142 | // 8-bit |
| 141 | UCSR0B &= ~(1 << UCSZ02); |
143 | UCSR0B &= ~(1 << UCSZ02); |
| 142 | UCSR0C |= (1 << UCSZ01); |
144 | UCSR0C |= (1 << UCSZ01); |
| 143 | UCSR0C |= (1 << UCSZ00); |
145 | UCSR0C |= (1 << UCSZ00); |
| 144 | 146 | ||
| 145 | // flush receive buffer |
147 | // flush receive buffer |
| 146 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
148 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
| 147 | 149 | ||
| 148 | // enable interrupts at the end |
150 | // enable interrupts at the end |
| 149 | // enable RX-Interrupt |
151 | // enable RX-Interrupt |
| 150 | UCSR0B |= (1 << RXCIE0); |
152 | UCSR0B |= (1 << RXCIE0); |
| 151 | // enable TX-Interrupt |
153 | // enable TX-Interrupt |
| 152 | UCSR0B |= (1 << TXCIE0); |
154 | UCSR0B |= (1 << TXCIE0); |
| 153 | 155 | ||
| 154 | // initialize the debug timer |
156 | // initialize the debug timer |
| 155 | DebugData_Timer = SetDelay(DebugData_Interval); |
157 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 156 | 158 | ||
| 157 | // unlock rxd_buffer |
159 | // unlock rxd_buffer |
| 158 | rxd_buffer_locked = FALSE; |
160 | rxd_buffer_locked = FALSE; |
| 159 | pRxData = 0; |
161 | pRxData = 0; |
| 160 | RxDataLen = 0; |
162 | RxDataLen = 0; |
| 161 | 163 | ||
| 162 | // no bytes to send |
164 | // no bytes to send |
| 163 | txd_complete = TRUE; |
165 | txd_complete = TRUE; |
| 164 | 166 | ||
| 165 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
167 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 166 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
168 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 167 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
169 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 168 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
170 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 169 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
171 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 170 | 172 | ||
| 171 | // restore global interrupt flags |
173 | // restore global interrupt flags |
| 172 | SREG = sreg; |
174 | SREG = sreg; |
| 173 | } |
175 | } |
| 174 | 176 | ||
| 175 | /****************************************************************/ |
177 | /****************************************************************/ |
| 176 | /* USART0 transmitter ISR */ |
178 | /* USART0 transmitter ISR */ |
| 177 | /****************************************************************/ |
179 | /****************************************************************/ |
| 178 | ISR(USART0_TX_vect) |
180 | ISR(USART0_TX_vect) |
| 179 | { |
181 | { |
| 180 | static uint16_t ptr_txd_buffer = 0; |
182 | static uint16_t ptr_txd_buffer = 0; |
| 181 | uint8_t tmp_tx; |
183 | uint8_t tmp_tx; |
| 182 | if(!txd_complete) // transmission not completed |
184 | if(!txd_complete) // transmission not completed |
| 183 | { |
185 | { |
| 184 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
186 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
| 185 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
187 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
| 186 | // if terminating character or end of txd buffer was reached |
188 | // if terminating character or end of txd buffer was reached |
| 187 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
189 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| 188 | { |
190 | { |
| 189 | ptr_txd_buffer = 0; // reset txd pointer |
191 | ptr_txd_buffer = 0; // reset txd pointer |
| 190 | txd_complete = 1; // stop transmission |
192 | txd_complete = 1; // stop transmission |
| 191 | } |
193 | } |
| 192 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
194 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| 193 | } |
195 | } |
| 194 | // transmission completed |
196 | // transmission completed |
| 195 | else ptr_txd_buffer = 0; |
197 | else ptr_txd_buffer = 0; |
| 196 | } |
198 | } |
| 197 | 199 | ||
| 198 | /****************************************************************/ |
200 | /****************************************************************/ |
| 199 | /* USART0 receiver ISR */ |
201 | /* USART0 receiver ISR */ |
| 200 | /****************************************************************/ |
202 | /****************************************************************/ |
| 201 | ISR(USART0_RX_vect) |
203 | ISR(USART0_RX_vect) |
| 202 | { |
204 | { |
| 203 | static uint16_t crc; |
205 | static uint16_t crc; |
| 204 | static uint8_t ptr_rxd_buffer = 0; |
206 | static uint8_t ptr_rxd_buffer = 0; |
| 205 | uint8_t crc1, crc2; |
207 | uint8_t crc1, crc2; |
| 206 | uint8_t c; |
208 | uint8_t c; |
| 207 | 209 | ||
| 208 | c = UDR0; // catch the received byte |
210 | c = UDR0; // catch the received byte |
| 209 | 211 | ||
| 210 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
212 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| 211 | 213 | ||
| 212 | // the rxd buffer is unlocked |
214 | // the rxd buffer is unlocked |
| 213 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
215 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| 214 | { |
216 | { |
| 215 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
217 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| 216 | crc = c; // init crc |
218 | crc = c; // init crc |
| 217 | } |
219 | } |
| 218 | #if 0 |
220 | #if 0 |
| 219 | else if (ptr_rxd_buffer == 1) // handle address |
221 | else if (ptr_rxd_buffer == 1) // handle address |
| 220 | { |
222 | { |
| 221 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
223 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| 222 | crc += c; // update crc |
224 | crc += c; // update crc |
| 223 | } |
225 | } |
| 224 | #endif |
226 | #endif |
| 225 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
227 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| 226 | { |
228 | { |
| 227 | if(c != '\r') // no termination character |
229 | if(c != '\r') // no termination character |
| 228 | { |
230 | { |
| 229 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
231 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| 230 | crc += c; // update crc |
232 | crc += c; // update crc |
| 231 | } |
233 | } |
| 232 | else // termination character was received |
234 | else // termination character was received |
| 233 | { |
235 | { |
| 234 | // the last 2 bytes are no subject for checksum calculation |
236 | // the last 2 bytes are no subject for checksum calculation |
| 235 | // they are the checksum itself |
237 | // they are the checksum itself |
| 236 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
238 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| 237 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
239 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| 238 | // calculate checksum from transmitted data |
240 | // calculate checksum from transmitted data |
| 239 | crc %= 4096; |
241 | crc %= 4096; |
| 240 | crc1 = '=' + crc / 64; |
242 | crc1 = '=' + crc / 64; |
| 241 | crc2 = '=' + crc % 64; |
243 | crc2 = '=' + crc % 64; |
| 242 | // compare checksum to transmitted checksum bytes |
244 | // compare checksum to transmitted checksum bytes |
| 243 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
245 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| 244 | { // checksum valid |
246 | { // checksum valid |
| 245 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
247 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| 246 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
248 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| 247 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
249 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
| 248 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
250 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| 249 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
251 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| 250 | } |
252 | } |
| 251 | else |
253 | else |
| 252 | { // checksum invalid |
254 | { // checksum invalid |
| 253 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
255 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
| 254 | } |
256 | } |
| 255 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
257 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| 256 | } |
258 | } |
| 257 | } |
259 | } |
| 258 | else // rxd buffer overrun |
260 | else // rxd buffer overrun |
| 259 | { |
261 | { |
| 260 | ptr_rxd_buffer = 0; // reset rxd buffer |
262 | ptr_rxd_buffer = 0; // reset rxd buffer |
| 261 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
263 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
| 262 | } |
264 | } |
| 263 | 265 | ||
| 264 | } |
266 | } |
| 265 | 267 | ||
| 266 | 268 | ||
| 267 | // -------------------------------------------------------------------------- |
269 | // -------------------------------------------------------------------------- |
| 268 | void AddCRC(uint16_t datalen) |
270 | void AddCRC(uint16_t datalen) |
| 269 | { |
271 | { |
| 270 | uint16_t tmpCRC = 0, i; |
272 | uint16_t tmpCRC = 0, i; |
| 271 | for(i = 0; i < datalen; i++) |
273 | for(i = 0; i < datalen; i++) |
| 272 | { |
274 | { |
| 273 | tmpCRC += txd_buffer[i]; |
275 | tmpCRC += txd_buffer[i]; |
| 274 | } |
276 | } |
| 275 | tmpCRC %= 4096; |
277 | tmpCRC %= 4096; |
| 276 | txd_buffer[i++] = '=' + tmpCRC / 64; |
278 | txd_buffer[i++] = '=' + tmpCRC / 64; |
| 277 | txd_buffer[i++] = '=' + tmpCRC % 64; |
279 | txd_buffer[i++] = '=' + tmpCRC % 64; |
| 278 | txd_buffer[i++] = '\r'; |
280 | txd_buffer[i++] = '\r'; |
| 279 | txd_complete = FALSE; |
281 | txd_complete = FALSE; |
| 280 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
282 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| 281 | } |
283 | } |
| 282 | 284 | ||
| 283 | 285 | ||
| 284 | 286 | ||
| 285 | // -------------------------------------------------------------------------- |
287 | // -------------------------------------------------------------------------- |
| 286 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
288 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
| 287 | { |
289 | { |
| 288 | va_list ap; |
290 | va_list ap; |
| 289 | uint16_t pt = 0; |
291 | uint16_t pt = 0; |
| 290 | uint8_t a,b,c; |
292 | uint8_t a,b,c; |
| 291 | uint8_t ptr = 0; |
293 | uint8_t ptr = 0; |
| 292 | 294 | ||
| 293 | uint8_t *pdata = 0; |
295 | uint8_t *pdata = 0; |
| 294 | int len = 0; |
296 | int len = 0; |
| 295 | 297 | ||
| 296 | txd_buffer[pt++] = '#'; // Start character |
298 | txd_buffer[pt++] = '#'; // Start character |
| 297 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
299 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
| 298 | txd_buffer[pt++] = cmd; // Command |
300 | txd_buffer[pt++] = cmd; // Command |
| 299 | 301 | ||
| 300 | va_start(ap, numofbuffers); |
302 | va_start(ap, numofbuffers); |
| 301 | if(numofbuffers) |
303 | if(numofbuffers) |
| 302 | { |
304 | { |
| 303 | pdata = va_arg(ap, uint8_t*); |
305 | pdata = va_arg(ap, uint8_t*); |
| 304 | len = va_arg(ap, int); |
306 | len = va_arg(ap, int); |
| 305 | ptr = 0; |
307 | ptr = 0; |
| 306 | numofbuffers--; |
308 | numofbuffers--; |
| 307 | } |
309 | } |
| 308 | 310 | ||
| 309 | while(len) |
311 | while(len) |
| 310 | { |
312 | { |
| 311 | if(len) |
313 | if(len) |
| 312 | { |
314 | { |
| 313 | a = pdata[ptr++]; |
315 | a = pdata[ptr++]; |
| 314 | len--; |
316 | len--; |
| 315 | if((!len) && numofbuffers) |
317 | if((!len) && numofbuffers) |
| 316 | { |
318 | { |
| 317 | pdata = va_arg(ap, uint8_t*); |
319 | pdata = va_arg(ap, uint8_t*); |
| 318 | len = va_arg(ap, int); |
320 | len = va_arg(ap, int); |
| 319 | ptr = 0; |
321 | ptr = 0; |
| 320 | numofbuffers--; |
322 | numofbuffers--; |
| 321 | } |
323 | } |
| 322 | } |
324 | } |
| 323 | else a = 0; |
325 | else a = 0; |
| 324 | if(len) |
326 | if(len) |
| 325 | { |
327 | { |
| 326 | b = pdata[ptr++]; |
328 | b = pdata[ptr++]; |
| 327 | len--; |
329 | len--; |
| 328 | if((!len) && numofbuffers) |
330 | if((!len) && numofbuffers) |
| 329 | { |
331 | { |
| 330 | pdata = va_arg(ap, uint8_t*); |
332 | pdata = va_arg(ap, uint8_t*); |
| 331 | len = va_arg(ap, int); |
333 | len = va_arg(ap, int); |
| 332 | ptr = 0; |
334 | ptr = 0; |
| 333 | numofbuffers--; |
335 | numofbuffers--; |
| 334 | } |
336 | } |
| 335 | } |
337 | } |
| 336 | else b = 0; |
338 | else b = 0; |
| 337 | if(len) |
339 | if(len) |
| 338 | { |
340 | { |
| 339 | c = pdata[ptr++]; |
341 | c = pdata[ptr++]; |
| 340 | len--; |
342 | len--; |
| 341 | if((!len) && numofbuffers) |
343 | if((!len) && numofbuffers) |
| 342 | { |
344 | { |
| 343 | pdata = va_arg(ap, uint8_t*); |
345 | pdata = va_arg(ap, uint8_t*); |
| 344 | len = va_arg(ap, int); |
346 | len = va_arg(ap, int); |
| 345 | ptr = 0; |
347 | ptr = 0; |
| 346 | numofbuffers--; |
348 | numofbuffers--; |
| 347 | } |
349 | } |
| 348 | } |
350 | } |
| 349 | else c = 0; |
351 | else c = 0; |
| 350 | txd_buffer[pt++] = '=' + (a >> 2); |
352 | txd_buffer[pt++] = '=' + (a >> 2); |
| 351 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
353 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 352 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
354 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 353 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
355 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
| 354 | } |
356 | } |
| 355 | va_end(ap); |
357 | va_end(ap); |
| 356 | AddCRC(pt); // add checksum after data block and initates the transmission |
358 | AddCRC(pt); // add checksum after data block and initates the transmission |
| 357 | } |
359 | } |
| 358 | 360 | ||
| 359 | 361 | ||
| 360 | // -------------------------------------------------------------------------- |
362 | // -------------------------------------------------------------------------- |
| 361 | void Decode64(void) |
363 | void Decode64(void) |
| 362 | { |
364 | { |
| 363 | uint8_t a,b,c,d; |
365 | uint8_t a,b,c,d; |
| 364 | uint8_t x,y,z; |
366 | uint8_t x,y,z; |
| 365 | uint8_t ptrIn = 3; |
367 | uint8_t ptrIn = 3; |
| 366 | uint8_t ptrOut = 3; |
368 | uint8_t ptrOut = 3; |
| 367 | uint8_t len = ReceivedBytes - 6; |
369 | uint8_t len = ReceivedBytes - 6; |
| 368 | 370 | ||
| 369 | while(len) |
371 | while(len) |
| 370 | { |
372 | { |
| 371 | a = rxd_buffer[ptrIn++] - '='; |
373 | a = rxd_buffer[ptrIn++] - '='; |
| 372 | b = rxd_buffer[ptrIn++] - '='; |
374 | b = rxd_buffer[ptrIn++] - '='; |
| 373 | c = rxd_buffer[ptrIn++] - '='; |
375 | c = rxd_buffer[ptrIn++] - '='; |
| 374 | d = rxd_buffer[ptrIn++] - '='; |
376 | d = rxd_buffer[ptrIn++] - '='; |
| 375 | //if(ptrIn > ReceivedBytes - 3) break; |
377 | //if(ptrIn > ReceivedBytes - 3) break; |
| 376 | 378 | ||
| 377 | x = (a << 2) | (b >> 4); |
379 | x = (a << 2) | (b >> 4); |
| 378 | y = ((b & 0x0f) << 4) | (c >> 2); |
380 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 379 | z = ((c & 0x03) << 6) | d; |
381 | z = ((c & 0x03) << 6) | d; |
| 380 | 382 | ||
| 381 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
383 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
| 382 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
384 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
| 383 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
385 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
| 384 | } |
386 | } |
| 385 | pRxData = &rxd_buffer[3]; |
387 | pRxData = &rxd_buffer[3]; |
| 386 | RxDataLen = ptrOut - 3; |
388 | RxDataLen = ptrOut - 3; |
| 387 | } |
389 | } |
| 388 | 390 | ||
| 389 | 391 | ||
| 390 | // -------------------------------------------------------------------------- |
392 | // -------------------------------------------------------------------------- |
| 391 | void USART0_ProcessRxData(void) |
393 | void USART0_ProcessRxData(void) |
| 392 | { |
394 | { |
| 393 | // if data in the rxd buffer are not locked immediately return |
395 | // if data in the rxd buffer are not locked immediately return |
| 394 | if(!rxd_buffer_locked) return; |
396 | if(!rxd_buffer_locked) return; |
| 395 | 397 | ||
| 396 | Decode64(); // decode data block in rxd_buffer |
398 | Decode64(); // decode data block in rxd_buffer |
| 397 | 399 | ||
| 398 | 400 | ||
| 399 | switch(rxd_buffer[1] - 'a') |
401 | switch(rxd_buffer[1] - 'a') |
| 400 | { |
402 | { |
| 401 | case FM_ADDRESS: |
403 | case FM_ADDRESS: |
| 402 | 404 | ||
| 403 | switch(rxd_buffer[2]) |
405 | switch(rxd_buffer[2]) |
| 404 | { |
406 | { |
| 405 | default: |
407 | default: |
| 406 | //unsupported command received |
408 | //unsupported command received |
| 407 | break; |
409 | break; |
| 408 | } // case FC_ADDRESS: |
410 | } // case FC_ADDRESS: |
| 409 | 411 | ||
| 410 | default: // any Slave Address |
412 | default: // any Slave Address |
| 411 | 413 | ||
| 412 | switch(rxd_buffer[2]) |
414 | switch(rxd_buffer[2]) |
| 413 | { |
415 | { |
| 414 | case 'a':// request for labels of the analog debug outputs |
416 | case 'a':// request for labels of the analog debug outputs |
| 415 | Request_DebugLabel = pRxData[0]; |
417 | Request_DebugLabel = pRxData[0]; |
| 416 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
418 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
| 417 | PcAccess = 255; |
419 | PcAccess = 255; |
| 418 | break; |
420 | break; |
| 419 | 421 | ||
| 420 | case 'h':// request for display columns |
422 | case 'h':// request for display columns |
| 421 | PcAccess = 255; |
423 | PcAccess = 255; |
| 422 | RemoteKeys |= pRxData[0]; |
424 | RemoteKeys |= pRxData[0]; |
| 423 | if(RemoteKeys) DisplayLine = 0; |
425 | if(RemoteKeys) DisplayLine = 0; |
| 424 | Request_Display = TRUE; |
426 | Request_Display = TRUE; |
| 425 | break; |
427 | break; |
| 426 | 428 | ||
| 427 | case 'l':// request for display columns |
429 | case 'l':// request for display columns |
| 428 | PcAccess = 255; |
430 | PcAccess = 255; |
| 429 | MenuItem = pRxData[0]; |
431 | MenuItem = pRxData[0]; |
| 430 | Request_Display1 = TRUE; |
432 | Request_Display1 = TRUE; |
| 431 | break; |
433 | break; |
| 432 | 434 | ||
| 433 | case 'v': // request for version and board release |
435 | case 'v': // request for version and board release |
| 434 | Request_VerInfo = TRUE; |
436 | Request_VerInfo = TRUE; |
| 435 | break; |
437 | break; |
| 436 | 438 | ||
| 437 | case 'd': // request for the debug data |
439 | case 'd': // request for the debug data |
| 438 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
440 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| 439 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
441 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
| 440 | break; |
442 | break; |
| 441 | 443 | ||
| 442 | case 'g':// get external control data |
444 | case 'g':// get external control data |
| 443 | Request_ExternalControl = TRUE; |
445 | Request_ExternalControl = TRUE; |
| 444 | break; |
446 | break; |
| 445 | 447 | ||
| 446 | default: |
448 | default: |
| 447 | //unsupported command received |
449 | //unsupported command received |
| 448 | break; |
450 | break; |
| 449 | } |
451 | } |
| 450 | break; // default: |
452 | break; // default: |
| 451 | } |
453 | } |
| 452 | // unlock the rxd buffer after processing |
454 | // unlock the rxd buffer after processing |
| 453 | pRxData = 0; |
455 | pRxData = 0; |
| 454 | RxDataLen = 0; |
456 | RxDataLen = 0; |
| 455 | rxd_buffer_locked = FALSE; |
457 | rxd_buffer_locked = FALSE; |
| 456 | } |
458 | } |
| 457 | 459 | ||
| 458 | //############################################################################ |
460 | //############################################################################ |
| 459 | //Routine für die Serielle Ausgabe |
461 | //Routine für die Serielle Ausgabe |
| 460 | int16_t uart_putchar (int8_t c) |
462 | int16_t uart_putchar (int8_t c) |
| 461 | //############################################################################ |
463 | //############################################################################ |
| 462 | { |
464 | { |
| 463 | if (c == '\n') |
465 | if (c == '\n') |
| 464 | uart_putchar('\r'); |
466 | uart_putchar('\r'); |
| 465 | // wait until previous character was send |
467 | // wait until previous character was send |
| 466 | loop_until_bit_is_set(UCSR0A, UDRE0); |
468 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 467 | // send character |
469 | // send character |
| 468 | UDR0 = c; |
470 | UDR0 = c; |
| 469 | return (0); |
471 | return (0); |
| 470 | } |
472 | } |
| 471 | 473 | ||
| 472 | 474 | ||
| 473 | //--------------------------------------------------------------------------------------------- |
475 | //--------------------------------------------------------------------------------------------- |
| 474 | void USART0_TransmitTxData(void) |
476 | void USART0_TransmitTxData(void) |
| 475 | { |
477 | { |
| 476 | if(!txd_complete) return; |
478 | if(!txd_complete) return; |
| 477 | 479 | ||
| 478 | if(Request_VerInfo && txd_complete) |
480 | if(Request_VerInfo && txd_complete) |
| 479 | { |
481 | { |
| 480 | SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
482 | SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 481 | Request_VerInfo = FALSE; |
483 | Request_VerInfo = FALSE; |
| 482 | } |
484 | } |
| 483 | if(Request_Display && txd_complete) |
485 | if(Request_Display && txd_complete) |
| 484 | { |
486 | { |
| 485 | LCD_PrintMenu(); |
487 | LCD_PrintMenu(); |
| 486 | SendOutData('H', FM_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
488 | SendOutData('H', FM_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| 487 | DisplayLine++; |
489 | DisplayLine++; |
| 488 | if(DisplayLine >= 4) DisplayLine = 0; |
490 | if(DisplayLine >= 4) DisplayLine = 0; |
| 489 | Request_Display = FALSE; |
491 | Request_Display = FALSE; |
| 490 | } |
492 | } |
| 491 | if(Request_Display1 && txd_complete) |
493 | if(Request_Display1 && txd_complete) |
| 492 | { |
494 | { |
| 493 | LCD_PrintMenu(); |
495 | LCD_PrintMenu(); |
| 494 | SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
496 | SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
| 495 | Request_Display1 = FALSE; |
497 | Request_Display1 = FALSE; |
| 496 | } |
498 | } |
| 497 | if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
499 | if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
| 498 | { |
500 | { |
| 499 | SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), ANALOG_LABEL[Request_DebugLabel], 16); |
501 | SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), ANALOG_LABEL[Request_DebugLabel], 16); |
| 500 | Request_DebugLabel = 0xFF; |
502 | Request_DebugLabel = 0xFF; |
| 501 | } |
503 | } |
| 502 | if(Request_ExternalControl && txd_complete) |
504 | if(Request_ExternalControl && txd_complete) |
| 503 | { |
505 | { |
| 504 | SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
506 | SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
| 505 | Request_ExternalControl = FALSE; |
507 | Request_ExternalControl = FALSE; |
| 506 | } |
508 | } |
| 507 | if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
509 | if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
| 508 | { |
510 | { |
| 509 | SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
511 | SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
| 510 | DebugData_Timer = SetDelay(DebugData_Interval); |
512 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 511 | Request_DebugData = FALSE; |
513 | Request_DebugData = FALSE; |
| 512 | } |
514 | } |
| - | 515 | if(Request_SendFollowMe && txd_complete) |
|
| - | 516 | { |
|
| - | 517 | SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe)); |
|
| - | 518 | FollowMe.Position.Status = PROCESSED; |
|
| - | 519 | Request_SendFollowMe = FALSE; |
|
| - | 520 | } |
|
| 513 | } |
521 | } |
| 514 | 522 | ||
| 515 | 523 | ||