WebSVN - MK3Mag - Diff - Rev 19 and 21 - /branches/MK3Mag V0.14 Code Redesign Killagreg/uart.c

 #define FALSE   0
 #define TRUE    1
-#define TXD_BUFFER_LEN  100
+#define TXD_BUFFER_LEN  150
-#define RXD_BUFFER_LEN  100
+#define RXD_BUFFER_LEN  150
 volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
+volatile uint8_t rxd_buffer_locked = FALSE;
+volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
-volatile uint8_t rxd_buffer_locked = FALSE;
+volatile uint8_t txd_complete = TRUE;
-volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
+volatile uint8_t ReceivedBytes = 0;
 volatile uint8_t txd_complete = TRUE;
 volatile uint8_t ReceivedBytes = 0;
     "YOffset         ", //10
     "YRange          ",
     "ZOffset         ",
     "ZRange          ",
     "Calstate        ",
-    "Heading Request ", //15
+    "Heading         ", //15
     "User0           ",
     "User1           ",
     "Analog18        ",
     "Analog19        ",
     "Analog20        ", //20
         UBRR0H = (uint8_t)(ubrr >> 8);
         UBRR0L = (uint8_t)ubrr;
         // USART0 Control and Status Register A, B, C
-        // enable double speed operation in
+        // enable double speed operation
         UCSR0A |= (1 << U2X0);
-        // enable receiver and transmitter in
+        // enable receiver and transmitter
         UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
         // set asynchronous mode
         UCSR0C &= ~(1 << UMSEL01);
         VersionInfo.Major = VERSION_MAJOR;
         VersionInfo.Minor = VERSION_MINOR;
     VersionInfo.PCCompatible = VERSION_COMPATIBLE;
-    // Version beim Start ausgeben (nicht schön, aber geht... )
+        // Version beim Start ausgeben (nicht schön, aber geht... )
         uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':');
         uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10);
     uart_putchar ('\n');
+}
+// ---------------------------------------------------------------------------------
-// ---------------------------------------------------------------------------------
+void USART0_EnableTXD(void)
 void USART0_EnableTXD(void)
         //if(!(UCSR0B & (1 << TXEN0))) return;
         DDRD |= (1<<DDD1);              // set TXD pin as output
         UCSR0B |= (1 << TXEN0);         // enable TX in USART
+}
+// ---------------------------------------------------------------------------------
+void USART0_DisableTXD(void)
+{
-// ---------------------------------------------------------------------------------
+        //if((UCSR0B & (1 << TXEN0))) return;
-void USART0_DisableTXD(void)
+        while(!txd_complete){ };
                 tmp_tx = txd_buffer[ptr_txd_buffer];
                 // if terminating character or end of txd buffer was reached
                 if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
+                {
                         ptr_txd_buffer = 0; // reset txd pointer
-                        txd_complete = 1; // stop transmission
+                        txd_complete = TRUE; // stop transmission
+                }
                 UDR0 = tmp_tx; // send current byte will trigger this ISR again
+        }
         // transmission completed
         else ptr_txd_buffer = 0;
 /*               USART0 receiver ISR                            */
 /****************************************************************/
 ISR(USART_RX_vect)
+{
         static uint16_t crc;
-        static uint8_t ptr_rxd_buffer = 0;
         uint8_t crc1, crc2;
         uint8_t c;
+        static uint8_t ptr_rxd_buffer = 0;
         c = UDR0;  // catch the received byte
+        }
+}
 // --------------------------------------------------------------------------
-int16_t uart_putchar (int8_t c)
+int uart_putchar (int8_t c)
+{
         // if tx is not enabled return immediatly
         if(!(UCSR0B & (1 << TXEN0))) return (0);
         switch(rxd_buffer[2])
+        {
            case 'w':// Attitude
-                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
-                        DebugOut.Analog[15]++;
+                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
                         RequestCompassHeading = TRUE;
                         break;
                 case 'b': // extern control
+                case 'c': // extern control with debug request
+                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
+                        #define KEY1    0x01
+                        #define KEY2    0x02
+                        #define KEY3    0x04
+                        #define KEY4    0x08
+                        #define KEY5    0x10
+                        // use right arrow at display for switching the calstate
+                        if(ExternControl.RemoteButtons & KEY2)
+                        {
+                                ExternData.CalState++;
-                case 'c': // extern control with debug request
+                                if(ExternData.CalState == 6) ExternData.CalState = 0;
                         Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
+                        ExternData.Attitude[0] = ExternControl.Par1;
-                        ExternData.Attitude[0] = ExternControl.Par1;
+            ExternData.Attitude[1] = ExternControl.Par2;
-            ExternData.Attitude[1] = ExternControl.Par2;
+            PC_Connected = 255;
                         break;

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(root)/branches/MK3Mag V0.14 Code Redesign Killagreg/uart.c - Rev 19 → 21