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| Rev 19 | Rev 21 | ||
|---|---|---|---|
| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | 65 | ||
| Line 66... | Line 66... | ||
| 66 | #define FALSE 0 |
66 | #define FALSE 0 |
| 67 | #define TRUE 1 |
67 | #define TRUE 1 |
| Line 68... | Line 68... | ||
| 68 | 68 | ||
| 69 | #define TXD_BUFFER_LEN 100 |
69 | #define TXD_BUFFER_LEN 150 |
| 70 | #define RXD_BUFFER_LEN 100 |
70 | #define RXD_BUFFER_LEN 150 |
| 71 | 71 | ||
| 72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| Line -... | Line 73... | ||
| - | 73 | volatile uint8_t rxd_buffer_locked = FALSE; |
|
| - | 74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
|
| 73 | volatile uint8_t rxd_buffer_locked = FALSE; |
75 | volatile uint8_t txd_complete = TRUE; |
| 74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
76 | volatile uint8_t ReceivedBytes = 0; |
| 75 | volatile uint8_t txd_complete = TRUE; |
77 | |
| 76 | volatile uint8_t ReceivedBytes = 0; |
78 | |
| Line 107... | Line 109... | ||
| 107 | "YOffset ", //10 |
109 | "YOffset ", //10 |
| 108 | "YRange ", |
110 | "YRange ", |
| 109 | "ZOffset ", |
111 | "ZOffset ", |
| 110 | "ZRange ", |
112 | "ZRange ", |
| 111 | "Calstate ", |
113 | "Calstate ", |
| 112 | "Heading Request ", //15 |
114 | "Heading ", //15 |
| 113 | "User0 ", |
115 | "User0 ", |
| 114 | "User1 ", |
116 | "User1 ", |
| 115 | "Analog18 ", |
117 | "Analog18 ", |
| 116 | "Analog19 ", |
118 | "Analog19 ", |
| 117 | "Analog20 ", //20 |
119 | "Analog20 ", //20 |
| Line 160... | Line 162... | ||
| 160 | UBRR0H = (uint8_t)(ubrr >> 8); |
162 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 161 | UBRR0L = (uint8_t)ubrr; |
163 | UBRR0L = (uint8_t)ubrr; |
| Line 162... | Line 164... | ||
| 162 | 164 | ||
| Line 163... | Line 165... | ||
| 163 | // USART0 Control and Status Register A, B, C |
165 | // USART0 Control and Status Register A, B, C |
| 164 | 166 | ||
| 165 | // enable double speed operation in |
167 | // enable double speed operation |
| 166 | UCSR0A |= (1 << U2X0); |
168 | UCSR0A |= (1 << U2X0); |
| 167 | // enable receiver and transmitter in |
169 | // enable receiver and transmitter |
| 168 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
170 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| 169 | // set asynchronous mode |
171 | // set asynchronous mode |
| 170 | UCSR0C &= ~(1 << UMSEL01); |
172 | UCSR0C &= ~(1 << UMSEL01); |
| Line 208... | Line 210... | ||
| 208 | } |
210 | } |
| Line 209... | Line 211... | ||
| 209 | 211 | ||
| 210 | // --------------------------------------------------------------------------------- |
212 | // --------------------------------------------------------------------------------- |
| 211 | void USART0_EnableTXD(void) |
213 | void USART0_EnableTXD(void) |
| - | 214 | { |
|
| 212 | { |
215 | //if(!(UCSR0B & (1 << TXEN0))) return; |
| 213 | DDRD |= (1<<DDD1); // set TXD pin as output |
216 | DDRD |= (1<<DDD1); // set TXD pin as output |
| 214 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
217 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
| Line 215... | Line 218... | ||
| 215 | } |
218 | } |
| 216 | 219 | ||
| 217 | // --------------------------------------------------------------------------------- |
220 | // --------------------------------------------------------------------------------- |
| - | 221 | void USART0_DisableTXD(void) |
|
| - | 222 | { |
|
| - | 223 | //if((UCSR0B & (1 << TXEN0))) return; |
|
| 218 | void USART0_DisableTXD(void) |
224 | while(!txd_complete){ }; |
| 219 | { |
225 | |
| 220 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
226 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
| Line 221... | Line 227... | ||
| 221 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
227 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
| Line 234... | Line 240... | ||
| 234 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
240 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
| 235 | // if terminating character or end of txd buffer was reached |
241 | // if terminating character or end of txd buffer was reached |
| 236 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
242 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| 237 | { |
243 | { |
| 238 | ptr_txd_buffer = 0; // reset txd pointer |
244 | ptr_txd_buffer = 0; // reset txd pointer |
| 239 | txd_complete = 1; // stop transmission |
245 | txd_complete = TRUE; // stop transmission |
| 240 | } |
246 | } |
| 241 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
247 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| 242 | } |
248 | } |
| 243 | // transmission completed |
249 | // transmission completed |
| 244 | else ptr_txd_buffer = 0; |
250 | else ptr_txd_buffer = 0; |
| Line 248... | Line 254... | ||
| 248 | /* USART0 receiver ISR */ |
254 | /* USART0 receiver ISR */ |
| 249 | /****************************************************************/ |
255 | /****************************************************************/ |
| 250 | ISR(USART_RX_vect) |
256 | ISR(USART_RX_vect) |
| 251 | { |
257 | { |
| 252 | static uint16_t crc; |
258 | static uint16_t crc; |
| 253 | static uint8_t ptr_rxd_buffer = 0; |
- | |
| 254 | uint8_t crc1, crc2; |
259 | uint8_t crc1, crc2; |
| 255 | uint8_t c; |
260 | uint8_t c; |
| - | 261 | static uint8_t ptr_rxd_buffer = 0; |
|
| Line 256... | Line 262... | ||
| 256 | 262 | ||
| Line 257... | Line 263... | ||
| 257 | c = UDR0; // catch the received byte |
263 | c = UDR0; // catch the received byte |
| Line 379... | Line 385... | ||
| 379 | } |
385 | } |
| 380 | } |
386 | } |
| Line 381... | Line 387... | ||
| 381 | 387 | ||
| 382 | 388 | ||
| 383 | // -------------------------------------------------------------------------- |
389 | // -------------------------------------------------------------------------- |
| 384 | int16_t uart_putchar (int8_t c) |
390 | int uart_putchar (int8_t c) |
| 385 | { |
391 | { |
| 386 | // if tx is not enabled return immediatly |
392 | // if tx is not enabled return immediatly |
| 387 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
393 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
| Line 404... | Line 410... | ||
| 404 | 410 | ||
| 405 | switch(rxd_buffer[2]) |
411 | switch(rxd_buffer[2]) |
| 406 | { |
412 | { |
| 407 | case 'w':// Attitude |
413 | case 'w':// Attitude |
| 408 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
- | |
| 409 | DebugOut.Analog[15]++; |
414 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| 410 | RequestCompassHeading = TRUE; |
415 | RequestCompassHeading = TRUE; |
| Line 411... | Line 416... | ||
| 411 | break; |
416 | break; |
| 412 | 417 | ||
| 413 | case 'b': // extern control |
418 | case 'b': // extern control |
| - | 419 | case 'c': // extern control with debug request |
|
| - | 420 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
|
| - | 421 | #define KEY1 0x01 |
|
| - | 422 | #define KEY2 0x02 |
|
| - | 423 | #define KEY3 0x04 |
|
| - | 424 | #define KEY4 0x08 |
|
| - | 425 | #define KEY5 0x10 |
|
| - | 426 | // use right arrow at display for switching the calstate |
|
| - | 427 | if(ExternControl.RemoteButtons & KEY2) |
|
| - | 428 | { |
|
| - | 429 | ExternData.CalState++; |
|
| 414 | case 'c': // extern control with debug request |
430 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
| 415 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
431 | } |
| - | 432 | ExternData.Attitude[0] = ExternControl.Par1; |
|
| 416 | ExternData.Attitude[0] = ExternControl.Par1; |
433 | ExternData.Attitude[1] = ExternControl.Par2; |
| Line 417... | Line 434... | ||
| 417 | ExternData.Attitude[1] = ExternControl.Par2; |
434 | PC_Connected = 255; |
| 418 | break; |
435 | break; |
| 419 | 436 | ||