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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zulässig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <avr/io.h> |
1 | #include <avr/io.h> |
| 52 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
| 53 | #include "uart1.h" |
3 | #include "uart1.h" |
| 54 | #include "configuration.h" |
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| 55 | #if defined (USE_MK3MAG) |
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| 56 | #else |
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| 57 | #ifdef USE_RC_DSL |
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| 58 | #include "dsl.h" |
4 | #include "ubx.h" |
| 59 | #endif |
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| 60 | #ifdef USE_RC_SPECTRUM |
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| 61 | #include "spectrum.h" |
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| 62 | #endif |
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| 63 | #endif |
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| 64 | - | ||
| 65 | #ifndef USART1_BAUD |
5 | |
| 66 | #define USART1_BAUD 57600 |
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| 67 | #endif |
6 | #define USART1_BAUD 57600 |
| 68 | 7 | ||
| 69 | /****************************************************************/ |
8 | /****************************************************************/ |
| 70 | /* Initialization of the USART1 */ |
9 | /* Initialization of the USART1 */ |
| 71 | /****************************************************************/ |
10 | /****************************************************************/ |
| 72 | void usart1_Init(void) { |
11 | void usart1_init(void) { |
| 73 | // USART1 Control and Status Register A, B, C and baud rate register |
12 | // USART1 Control and Status Register A, B, C and baud rate register |
| 74 | uint8_t sreg = SREG; |
13 | uint8_t sreg = SREG; |
| 75 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART1_BAUD) - 1); |
14 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU / (8 * USART1_BAUD) - 1); |
| 76 | 15 | ||
| 77 | // disable all interrupts before reconfiguration |
16 | // disable all interrupts before reconfiguration |
| 78 | cli(); |
17 | cli(); |
| 79 | - | ||
| 80 | // disable RX-Interrupt |
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| 81 | UCSR1B &= ~(1 << RXCIE1); |
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| 82 | // disable TX-Interrupt |
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| 83 | UCSR1B &= ~(1 << TXCIE1); |
18 | |
| 84 | // disable DRE-Interrupt |
19 | // disable RX-Interrupt, disable TX-Interrupt, disable DRE-Interrupt |
| 85 | UCSR1B &= ~(1 << UDRIE1); |
20 | UCSR1B &= ~ ((1 << RXCIE1) | (1 << TXCIE1) | (1 << UDRIE1)); |
| 86 | 21 | ||
| 87 | // set direction of RXD1 and TXD1 pins |
22 | // set direction of RXD1 and TXD1 pins |
| 88 | // set RXD1 (PD2) as an input pin |
23 | // set RXD1 (PD2) as an input pin, set TXD1 (PD3) as an output pin |
| 89 | PORTD |= (1 << PORTD2); |
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| 90 | DDRD &= ~(1 << DDD2); |
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| 91 | - | ||
| 92 | // set TXD1 (PD3) as an output pin |
24 | PORTD |= (1 << PORTD2) | (1 << PORTD3); |
| 93 | PORTD |= (1 << PORTD3); |
25 | DDRD &= ~(1 << DDD2); |
| 94 | DDRD |= (1 << DDD3); |
26 | DDRD |= (1 << DDD3); |
| 95 | 27 | ||
| 96 | // USART0 Baud Rate Register |
28 | // USART0 Baud Rate Register |
| 97 | // set clock divider |
29 | // set clock divider |
| 98 | UBRR1H = (uint8_t) (ubrr >> 8); |
30 | UBRR1H = (uint8_t) (ubrr >> 8); |
| 99 | UBRR1L = (uint8_t) ubrr; |
31 | UBRR1L = (uint8_t) ubrr; |
| 100 | 32 | ||
| 101 | // enable double speed operation |
33 | // enable double speed operation |
| 102 | UCSR1A |= (1 << U2X1); |
34 | UCSR1A |= (1 << U2X1); |
| 103 | // enable receiver and transmitter |
35 | // enable receiver and transmitter |
| 104 | UCSR1B = (1 << TXEN1) | (1 << RXEN1); |
36 | UCSR1B = (1 << TXEN1) | (1 << RXEN1); |
| 105 | // set asynchronous mode |
37 | // set asynchronous mode, no parity, 1 stop bit |
| 106 | UCSR1C &= ~(1 << UMSEL11); |
38 | UCSR1C &= ~((1 << UMSEL11) | (1 << UMSEL10) | (1 << UPM11) | (1 << UPM10) | (1 << USBS1)); |
| 107 | UCSR1C &= ~(1 << UMSEL10); |
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| 108 | // no parity |
39 | |
| 109 | UCSR1C &= ~(1 << UPM11); |
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| 110 | UCSR1C &= ~(1 << UPM10); |
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| 111 | // 1 stop bit |
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| 112 | UCSR1C &= ~(1 << USBS1); |
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| 113 | // 8-bit |
40 | // 8-bit |
| 114 | UCSR1B &= ~(1 << UCSZ12); |
41 | UCSR1B &= ~(1 << UCSZ12); |
| 115 | UCSR1C |= (1 << UCSZ11); |
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| 116 | UCSR1C |= (1 << UCSZ10); |
42 | UCSR1C |= (1 << UCSZ11) | (1 << UCSZ10); |
| 117 | 43 | ||
| 118 | // flush receive buffer explicit |
44 | // flush receive buffer explicit |
| 119 | while (UCSR1A & (1 << RXC1)) |
45 | while (UCSR1A & (1 << RXC1)) |
| 120 | UDR1; |
46 | UDR1; |
| 121 | 47 | ||
| 122 | // enable interrupts at the end |
48 | // enable interrupts at the end |
| 123 | // enable RX-Interrupt |
49 | // enable RX-Interrupt |
| 124 | UCSR1B |= (1 << RXCIE1); |
50 | UCSR1B |= (1 << RXCIE1); |
| 125 | // enable TX-Interrupt |
51 | // enable TX-Interrupt |
| 126 | //UCSR1B |= (1 << TXCIE1); |
52 | //UCSR1B |= (1 << TXCIE1); |
| 127 | // enable DRE interrupt |
53 | // enable DRE interrupt |
| 128 | //UCSR1B |= (1 << UDRIE1); |
54 | //UCSR1B |= (1 << UDRIE1); |
| 129 | 55 | ||
| 130 | // restore global interrupt flags |
56 | // restore global interrupt flags |
| 131 | SREG = sreg; |
57 | SREG = sreg; |
| 132 | } |
58 | } |
| 133 | 59 | ||
| 134 | /****************************************************************/ |
60 | /****************************************************************/ |
| 135 | /* USART1 data register empty ISR */ |
61 | /* USART1 data register empty ISR */ |
| 136 | /****************************************************************/ |
62 | /****************************************************************/ |
| 137 | /*ISR(USART1_UDRE_vect) { |
63 | /*ISR(USART1_UDRE_vect) { |
| 138 | } |
64 | } |
| 139 | */ |
65 | */ |
| 140 | 66 | ||
| 141 | /****************************************************************/ |
67 | /****************************************************************/ |
| 142 | /* USART1 transmitter ISR */ |
68 | /* USART1 transmitter ISR */ |
| 143 | /****************************************************************/ |
69 | /****************************************************************/ |
| 144 | /*ISR(USART1_TX_vect) { |
70 | /*ISR(USART1_TX_vect) { |
| 145 | } |
71 | } |
| 146 | */ |
72 | */ |
| 147 | /****************************************************************/ |
73 | /****************************************************************/ |
| 148 | /* USART1 receiver ISR */ |
74 | /* USART1 receiver ISR */ |
| 149 | /****************************************************************/ |
75 | /****************************************************************/ |
| 150 | ISR(USART1_RX_vect) |
76 | ISR(USART1_RX_vect) { |
| 151 | { |
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| 152 | uint8_t c; |
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| 153 | c = UDR1; // get data byte |
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| 154 | #ifdef USE_RC_DSL |
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| 155 | dsl_parser(c); // parse dsl data stream |
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| 156 | #endif |
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| 157 | #ifdef USE_RC_SPECTRUM |
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| 158 | spectrum_parser(c); // parse spectrum data stream |
77 | ubx_parser(UDR1); // get data byte and put it into the ubx protocol parser |
| 159 | #endif |
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| 160 | } |
78 | } |
| 161 | 79 | ||