WebSVN - MK3Mag - Diff - Rev 28 and 29 - /branches/MK3Mag V0.14 Code Redesign Killagreg/uart.c


/*#######################################################################################
MK3Mag 3D-Magnet sensor
!!! THIS IS NOT FREE SOFTWARE !!!
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 05.2008 Holger Buss
// + Thanks to Ilja Fähnrich (P_Latzhalter)
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
// +     In case of doubt please contact: info@MikroKopter.de
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include "main.h"
#include "uart.h"
#include "timer0.h"
#include "twislave.h"
 
 
#define FALSE   0
#define TRUE    1
 
// keep buffers as small as possible
#define TXD_BUFFER_LEN  100
#define RXD_BUFFER_LEN  30
 
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 txd_complete = TRUE;
volatile uint8_t ReceivedBytes = 0;
 
#define VERSION_INFO    0x01
#define DEBUG_DATA              0x02
#define DEBUG_LABEL             0x04
#define COMPASS_HEADING 0x08
 
uint8_t RequestFlags = 0x00;
uint8_t RequestDebugLabel = 0;
 
uint8_t PC_Connected = 0;
uint8_t FC_Connected = 0;
 
uint8_t MySlaveAddr = 0;
 
 
struct DebugOut_t               DebugOut;
struct ExternData_t             ExternData;
struct ExternControl_t  ExternControl;
struct VersionInfo_t    VersionInfo;
 
uint16_t  Debug_Timer;
 
const uint8_t ANALOG_LABEL[32][16] =
{
   //1234567890123456
    "Magnet X        ", //0
    "Magnet Y        ",
    "Magnet Z        ",
    "RawMagnet X     ",
    "RawMagnet Y     ",
    "RawMagnet Z     ", //5
    "Attitude Nick   ",
    "Attitude Roll   ",
    "Magnet X Offset ",
    "Magnet X Range  ",
    "Magnet Y Offset ", //10
    "Magnet Y Range  ",
    "Magnet Z Offset ",
    "Magnet Z Range  ",
    "Calstate        ",
    "Heading         ", //15
    "User0           ",
    "User1           ",
    "Acc X           ",
    "Acc Y           ",
    "Acc Z           ", //20
    "RawAcc X        ",
    "RawAcc Y        ",
    "RawAcc Z        ",
    "Acc X Offset    ",
    "Acc Y Offset    ", //25
    "Acc Z Offset    ",
    "Analog27        ",
    "Analog28        ",
    "Analog29        ",
    "I2C Error       ", //30
    "I2C Okay        "
};
 
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void USART0_Init (void)
{
        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
 
        // set RXD0 (PD0) as an input pin tristate
        DDRD  &= ~(1 << DDD0);
        PORTD &= ~(1 << PORTD0);
        // set TXD0 (PD1) as an output pin
        DDRD  |= (1 << DDD1);
        PORTD &= ~(1 << PORTD1);
 
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation
        UCSR0A |= (1 << U2X0);
 
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |=  (1 << UCSZ01);
        UCSR0C |=  (1 << UCSZ00);
 
        // enable receiver and transmitter
        UCSR0B |= (1 << RXEN0);
        UCSR0B |= (1 << TXEN0);
 
        // flush receive buffer
        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        rxd_buffer_locked = FALSE;
        txd_complete = TRUE;
 
 
        VersionInfo.Major = VERSION_MAJOR;
        VersionInfo.Minor = VERSION_MINOR;
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
 
 
    // Version beim Start ausgeben (nicht schön, aber geht... )
        USART0_putchar ('\n');
        USART0_putchar ('C');
        USART0_putchar ('P');
        USART0_putchar (':');
        USART0_putchar ('V');
        USART0_putchar (0x30 + VERSION_MAJOR);
        USART0_putchar ('.');
        USART0_putchar (0x30 + VERSION_MINOR/10);
        USART0_putchar (0x30 + VERSION_MINOR%10);
    USART0_putchar ('\n');
}
 
// ---------------------------------------------------------------------------------
void USART0_EnableTXD(void)
{
        DDRD |= (1<<DDD1);                      // set TXD pin as output
        PORTD &= ~(1 << PORTD1);
        UCSR0B |= (1 << TXEN0);         // enable TX in USART
        UCSR0B |= (1 << TXCIE0);        // disable TX-Interrupt
}
 
// ---------------------------------------------------------------------------------
void USART0_DisableTXD(void)
{
        while(!txd_complete){ };
 
        UCSR0B &= ~(1 << TXCIE0);   // disable TX-Interrupt
        UCSR0B &= ~(1 << TXEN0);        // disable TXD in USART
        DDRD &= ~(1<<DDD1);             // set TXD pin as input
        PORTD &= ~(1 << PORTD1);
}
 
/****************************************************************/
/*               USART0 transmitter ISR                         */
/****************************************************************/
ISR(USART_TX_vect)
{
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if(!txd_complete) // transmission not completed
        {
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
                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 = 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;
        uint8_t crc1, crc2;
        uint8_t c;
        static uint8_t ptr_rxd_buffer = 0;
 
        c = UDR0;  // catch the received byte
 
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                crc = c; // init crc
        }
        #if 0
        else if (ptr_rxd_buffer == 1) // handle address
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                crc += c; // update crc
        }
        #endif
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
        {
                if(c != '\r') // no termination character
                {
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        crc += c; // update crc
                }
                else // termination character was received
                {
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
                        // calculate checksum from transmitted data
                        crc %= 4096;
                        crc1 = '=' + crc / 64;
                        crc2 = '=' + crc % 64;
                        // compare checksum to transmitted checksum bytes
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
                        {   // checksum valid
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
                        }
                        else
                        {       // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        }
        else // rxd buffer overrun
        {
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
}
 
 
// --------------------------------------------------------------------------
void AddCRC(uint16_t datalen)
{
        uint16_t tmpCRC = 0, i;
        for(i = 0; i < datalen; i++)
        {
                tmpCRC += txd_buffer[i];
        }
        tmpCRC %= 4096;
        txd_buffer[i++] = '=' + tmpCRC / 64;
        txd_buffer[i++] = '=' + tmpCRC % 64;
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
{
        uint16_t pt = 0;
        uint8_t a,b,c;
        uint8_t ptr = 0;
 
        txd_buffer[pt++] = '#';         // Start character
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd;         // Command
 
        while(len)
        {
                if(len) { a = snd[ptr++]; len--;} else a = 0;
                if(len) { b = snd[ptr++]; len--;} else b = 0;
                if(len) { c = snd[ptr++]; len--;} else c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + ( c & 0x3f);
        }
        AddCRC(pt); // add checksum after data block and initates the transmission
}
 
 
// --------------------------------------------------------------------------
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
{
        uint8_t a,b,c,d;
        uint8_t ptr = 0;
        uint8_t x,y,z;
        while(len)
        {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                if(ptrIn > max - 2) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if(len--) ptrOut[ptr++] = x; else break;
                if(len--) ptrOut[ptr++] = y; else break;
                if(len--) ptrOut[ptr++] = z; else break;
        }
}
 
 
// --------------------------------------------------------------------------
int16_t USART0_putchar (int8_t c)
{
        // if tx is not enabled return immediatly
        if(!(UCSR0B & (1 << TXEN0))) return (0);
        if (c == '\n') USART0_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
 
// --------------------------------------------------------------------------
void USART0_ProcessRxData(void)
{
        // if data in the rxd buffer are not locked immediately return
        if(!rxd_buffer_locked) return;
 
        uint8_t tmp_char_arr2[2]; // local char buffer
 
        switch(rxd_buffer[2])
        {
           case 'w':// Attitude
                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
 
 
 
                        RequestFlags |= COMPASS_HEADING;
                        AttitudeSource = ATTITUDE_SOURCE_UART;
                        Orientation = ExternData.Orientation;
                        FC_Connected = 255;
                        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++;
                                if(ExternData.CalState == 6) ExternData.CalState = 0;
                        }
                        //ExternData.Attitude[0] = ExternControl.Par1;
            //ExternData.Attitude[1] = ExternControl.Par2;
            PC_Connected = 255;
                        break;
 
                case 'h':// x-1 display columns
                        PC_Connected = 255;
                        break;
 
                case 'v': // get version and board release
                        RequestFlags |= VERSION_INFO;
                        PC_Connected = 255;
                        break;
 
                case 'a':// Labels of the Analog Debug outputs
                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
                        RequestDebugLabel = tmp_char_arr2[0];
                        RequestFlags |= DEBUG_LABEL;
                        PC_Connected = 255;
                        break;
 
                case 'g':// get debug data
                        RequestFlags |= DEBUG_DATA;
                        PC_Connected = 255;
                        break;
        }
        // unlock the rxd buffer after processing
        rxd_buffer_locked = FALSE;
}
 
 
 
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
        if(!(UCSR0B & (1 << TXEN0))) return;
 
        if(!txd_complete) return;
 
    if(CheckDelay(Debug_Timer))
    {
                SetDebugValues();
                SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
                Debug_Timer = SetDelay(250);
    }
 
    if(RequestFlags & DEBUG_LABEL)
    {
                SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
                RequestDebugLabel = 255;
                RequestFlags &= ~DEBUG_LABEL;
        }
 
        if(RequestFlags & VERSION_INFO)
    {
                SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo));
                RequestFlags &= ~VERSION_INFO;
    }
 
        if(RequestFlags & DEBUG_DATA)
        {
                SetDebugValues();
                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
                RequestFlags &= ~DEBUG_DATA;
        }
 
    if(RequestFlags & COMPASS_HEADING)
        {
                SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading));
                RequestFlags &= ~COMPASS_HEADING;
        }
}
 
 
void USART0_Print(int8_t *msg)
{
        uint8_t i = 0;
        while(msg[i] != 0)
        {
                USART0_putchar(msg[i++]);
        }
}
 

Rev 28	Rev 29
1	/*#######################################################################################	1	/*#######################################################################################
2	MK3Mag 3D-Magnet sensor	2	MK3Mag 3D-Magnet sensor
3	!!! THIS IS NOT FREE SOFTWARE !!!	3	!!! THIS IS NOT FREE SOFTWARE !!!
4	#######################################################################################*/	4	#######################################################################################*/
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Copyright (c) 05.2008 Holger Buss	6	// + Copyright (c) 05.2008 Holger Buss
7	// + Thanks to Ilja Fähnrich (P_Latzhalter)	7	// + Thanks to Ilja Fähnrich (P_Latzhalter)
8	// + Nur für den privaten Gebrauch	8	// + Nur für den privaten Gebrauch
9	// + www.MikroKopter.com	9	// + www.MikroKopter.com
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	11	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
12	// + mit unserer Zustimmung zulässig	12	// + mit unserer Zustimmung zulässig
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	14	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
15	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	15	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
16	// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden	16	// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
17	// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de	17	// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
18	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	18	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	19	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
20	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	20	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	22	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	23	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24	// + eindeutig als Ursprung verlinkt werden	24	// + eindeutig als Ursprung verlinkt werden
25	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	25	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	26	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27	// + Benutzung auf eigene Gefahr	27	// + Benutzung auf eigene Gefahr
28	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	28	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	30	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	32	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
33	// + this list of conditions and the following disclaimer.	33	// + this list of conditions and the following disclaimer.
34	// + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	34	// + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems	41	// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
42	// + In case of doubt please contact: info@MikroKopter.de	42	// + In case of doubt please contact: info@MikroKopter.de
43	// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be	43	// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
44	// + clearly linked as origin	44	// + clearly linked as origin
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <avr/io.h>	57	#include <avr/io.h>
58	#include <avr/interrupt.h>	58	#include <avr/interrupt.h>
59	#include <avr/wdt.h>	59	#include <avr/wdt.h>
60	#include "main.h"	60	#include "main.h"
61	#include "uart.h"	61	#include "uart.h"
62	#include "timer0.h"	62	#include "timer0.h"
63	#include "twislave.h"	63	#include "twislave.h"
64		64
65		65
66	#define FALSE 0	66	#define FALSE 0
67	#define TRUE 1	67	#define TRUE 1
-		68
68		69	// keep buffers as small as possible
69	#define TXD_BUFFER_LEN 100	70	#define TXD_BUFFER_LEN 100
70	#define RXD_BUFFER_LEN 100	71	#define RXD_BUFFER_LEN 30
71		72
72	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	73	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
73	volatile uint8_t rxd_buffer_locked = FALSE;	74	volatile uint8_t rxd_buffer_locked = FALSE;
74	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	75	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
75	volatile uint8_t txd_complete = TRUE;	76	volatile uint8_t txd_complete = TRUE;
76	volatile uint8_t ReceivedBytes = 0;	77	volatile uint8_t ReceivedBytes = 0;
77		78
78	#define VERSION_INFO 0x01	79	#define VERSION_INFO 0x01
79	#define DEBUG_DATA 0x02	80	#define DEBUG_DATA 0x02
80	#define DEBUG_LABEL 0x04	81	#define DEBUG_LABEL 0x04
81	#define COMPASS_HEADING 0x08	82	#define COMPASS_HEADING 0x08
82		83
83	uint8_t RequestFlags = 0x00;	84	uint8_t RequestFlags = 0x00;
84	uint8_t RequestDebugLabel = 0;	85	uint8_t RequestDebugLabel = 0;
-		86
-		87	uint8_t PC_Connected = 0;
85		88	uint8_t FC_Connected = 0;
86		89
87	uint8_t MySlaveAddr = 0;	90	uint8_t MySlaveAddr = 0;
88		91
89		92
90	struct DebugOut_t DebugOut;	93	struct DebugOut_t DebugOut;
91	struct ExternData_t ExternData;	94	struct ExternData_t ExternData;
92	struct ExternControl_t ExternControl;	95	struct ExternControl_t ExternControl;
93	struct VersionInfo_t VersionInfo;	96	struct VersionInfo_t VersionInfo;
94		97
95	uint16_t Debug_Timer;	98	uint16_t Debug_Timer;
96		99
97	const uint8_t ANALOG_LABEL[32][16] =	100	const uint8_t ANALOG_LABEL[32][16] =
98	{	101	{
99	//1234567890123456	102	//1234567890123456
100	"Magnet X ", //0	103	"Magnet X ", //0
101	"Magnet Y ",	104	"Magnet Y ",
102	"Magnet Z ",	105	"Magnet Z ",
103	"RawMagnet X ",	106	"RawMagnet X ",
104	"RawMagnet Y ",	107	"RawMagnet Y ",
105	"RawMagnet Z ", //5	108	"RawMagnet Z ", //5
106	"Attitude Nick ",	109	"Attitude Nick ",
107	"Attitude Roll ",	110	"Attitude Roll ",
108	"Magnet X Offset ",	111	"Magnet X Offset ",
109	"Magnet X Range ",	112	"Magnet X Range ",
110	"Magnet Y Offset ", //10	113	"Magnet Y Offset ", //10
111	"Magnet Y Range ",	114	"Magnet Y Range ",
112	"Magnet Z Offset ",	115	"Magnet Z Offset ",
113	"Magnet Z Range ",	116	"Magnet Z Range ",
114	"Calstate ",	117	"Calstate ",
115	"Heading ", //15	118	"Heading ", //15
116	"User0 ",	119	"User0 ",
117	"User1 ",	120	"User1 ",
118	"Acc X ",	121	"Acc X ",
119	"Acc Y ",	122	"Acc Y ",
120	"Acc Z ", //20	123	"Acc Z ", //20
121	"RawAcc X ",	124	"RawAcc X ",
122	"RawAcc Y ",	125	"RawAcc Y ",
123	"RawAcc Z ",	126	"RawAcc Z ",
124	"Acc X Offset ",	127	"Acc X Offset ",
125	"Acc Y Offset ", //25	128	"Acc Y Offset ", //25
126	"Acc Z Offset ",	129	"Acc Z Offset ",
127	"Analog27 ",	130	"Analog27 ",
128	"Analog28 ",	131	"Analog28 ",
129	"Analog29 ",	132	"Analog29 ",
130	"I2C Error ", //30	133	"I2C Error ", //30
131	"I2C Okay "	134	"I2C Okay "
132	};	135	};
133		136
134		137
135	/****************************************************************/	138	/****************************************************************/
136	/* Initialization of the USART0 */	139	/* Initialization of the USART0 */
137	/****************************************************************/	140	/****************************************************************/
138	void USART0_Init (void)	141	void USART0_Init (void)
139	{	142	{
140	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1);	143	uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1);
141		144
142	// disable all interrupts before configuration	145	// disable all interrupts before configuration
143	cli();	146	cli();
144		147
145	// disable RX-Interrupt	148	// disable RX-Interrupt
146	UCSR0B &= ~(1 << RXCIE0);	149	UCSR0B &= ~(1 << RXCIE0);
147	// disable TX-Interrupt	150	// disable TX-Interrupt
148	UCSR0B &= ~(1 << TXCIE0);	151	UCSR0B &= ~(1 << TXCIE0);
149		152
150	// set direction of RXD0 and TXD0 pins	153	// set direction of RXD0 and TXD0 pins
151		154
152	// set RXD0 (PD0) as an input pin tristate	155	// set RXD0 (PD0) as an input pin tristate
153	DDRD &= ~(1 << DDD0);	156	DDRD &= ~(1 << DDD0);
154	PORTD &= ~(1 << PORTD0);	157	PORTD &= ~(1 << PORTD0);
155	// set TXD0 (PD1) as an output pin	158	// set TXD0 (PD1) as an output pin
156	DDRD \|= (1 << DDD1);	159	DDRD \|= (1 << DDD1);
157	PORTD &= ~(1 << PORTD1);	160	PORTD &= ~(1 << PORTD1);
158		161
159		162
160	// USART0 Baud Rate Register	163	// USART0 Baud Rate Register
161	// set clock divider	164	// set clock divider
162	UBRR0H = (uint8_t)(ubrr >> 8);	165	UBRR0H = (uint8_t)(ubrr >> 8);
163	UBRR0L = (uint8_t)ubrr;	166	UBRR0L = (uint8_t)ubrr;
164		167
165	// USART0 Control and Status Register A, B, C	168	// USART0 Control and Status Register A, B, C
166		169
167	// enable double speed operation	170	// enable double speed operation
168	UCSR0A \|= (1 << U2X0);	171	UCSR0A \|= (1 << U2X0);
169		172
170	// set asynchronous mode	173	// set asynchronous mode
171	UCSR0C &= ~(1 << UMSEL01);	174	UCSR0C &= ~(1 << UMSEL01);
172	UCSR0C &= ~(1 << UMSEL00);	175	UCSR0C &= ~(1 << UMSEL00);
173	// no parity	176	// no parity
174	UCSR0C &= ~(1 << UPM01);	177	UCSR0C &= ~(1 << UPM01);
175	UCSR0C &= ~(1 << UPM00);	178	UCSR0C &= ~(1 << UPM00);
176	// 1 stop bit	179	// 1 stop bit
177	UCSR0C &= ~(1 << USBS0);	180	UCSR0C &= ~(1 << USBS0);
178	// 8-bit	181	// 8-bit
179	UCSR0B &= ~(1 << UCSZ02);	182	UCSR0B &= ~(1 << UCSZ02);
180	UCSR0C \|= (1 << UCSZ01);	183	UCSR0C \|= (1 << UCSZ01);
181	UCSR0C \|= (1 << UCSZ00);	184	UCSR0C \|= (1 << UCSZ00);
182		185
183	// enable receiver and transmitter	186	// enable receiver and transmitter
184	UCSR0B \|= (1 << RXEN0);	187	UCSR0B \|= (1 << RXEN0);
185	UCSR0B \|= (1 << TXEN0);	188	UCSR0B \|= (1 << TXEN0);
186		189
187	// flush receive buffer	190	// flush receive buffer
188	while ( UCSR0A & (1<<RXC0) ) UDR0;	191	while ( UCSR0A & (1<<RXC0) ) UDR0;
189		192
190	// enable RX-Interrupt	193	// enable RX-Interrupt
191	UCSR0B \|= (1 << RXCIE0);	194	UCSR0B \|= (1 << RXCIE0);
192	// enable TX-Interrupt	195	// enable TX-Interrupt
193	UCSR0B \|= (1 << TXCIE0);	196	UCSR0B \|= (1 << TXCIE0);
194		197
195	rxd_buffer_locked = FALSE;	198	rxd_buffer_locked = FALSE;
196	txd_complete = TRUE;	199	txd_complete = TRUE;
197		200
198		201
199	VersionInfo.Major = VERSION_MAJOR;	202	VersionInfo.Major = VERSION_MAJOR;
200	VersionInfo.Minor = VERSION_MINOR;	203	VersionInfo.Minor = VERSION_MINOR;
201	VersionInfo.PCCompatible = VERSION_COMPATIBLE;	204	VersionInfo.PCCompatible = VERSION_COMPATIBLE;
202		205
203		206
204	// Version beim Start ausgeben (nicht schön, aber geht... )	207	// Version beim Start ausgeben (nicht schön, aber geht... )
205	uart_putchar ('\n');	208	USART0_putchar ('\n');
206	uart_putchar ('C');	209	USART0_putchar ('C');
207	uart_putchar ('P');	210	USART0_putchar ('P');
208	uart_putchar (':');	211	USART0_putchar (':');
209	uart_putchar ('V');	212	USART0_putchar ('V');
210	uart_putchar (0x30 + VERSION_MAJOR);	213	USART0_putchar (0x30 + VERSION_MAJOR);
-		214	USART0_putchar ('.');
211	uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10);	215	USART0_putchar (0x30 + VERSION_MINOR/10);
212	uart_putchar (0x30 + VERSION_MINOR%10);	216	USART0_putchar (0x30 + VERSION_MINOR%10);
213	uart_putchar ('\n');	217	USART0_putchar ('\n');
214	}	218	}
215		219
216	// ---------------------------------------------------------------------------------	220	// ---------------------------------------------------------------------------------
217	void USART0_EnableTXD(void)	221	void USART0_EnableTXD(void)
218	{	222	{
219	DDRD \|= (1<<DDD1); // set TXD pin as output	223	DDRD \|= (1<<DDD1); // set TXD pin as output
220	PORTD &= ~(1 << PORTD1);	224	PORTD &= ~(1 << PORTD1);
221	UCSR0B \|= (1 << TXEN0); // enable TX in USART	225	UCSR0B \|= (1 << TXEN0); // enable TX in USART
222	UCSR0B \|= (1 << TXCIE0); // disable TX-Interrupt	226	UCSR0B \|= (1 << TXCIE0); // disable TX-Interrupt
223	}	227	}
224		228
225	// ---------------------------------------------------------------------------------	229	// ---------------------------------------------------------------------------------
226	void USART0_DisableTXD(void)	230	void USART0_DisableTXD(void)
227	{	231	{
228	while(!txd_complete){ };	232	while(!txd_complete){ };
229		233
230	UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt	234	UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt
231	UCSR0B &= ~(1 << TXEN0); // disable TXD in USART	235	UCSR0B &= ~(1 << TXEN0); // disable TXD in USART
232	DDRD &= ~(1<<DDD1); // set TXD pin as input	236	DDRD &= ~(1<<DDD1); // set TXD pin as input
233	PORTD &= ~(1 << PORTD1);	237	PORTD &= ~(1 << PORTD1);
234	}	238	}
235		239
236	/****************************************************************/	240	/****************************************************************/
237	/* USART0 transmitter ISR */	241	/* USART0 transmitter ISR */
238	/****************************************************************/	242	/****************************************************************/
239	ISR(USART_TX_vect)	243	ISR(USART_TX_vect)
240	{	244	{
241	static uint16_t ptr_txd_buffer = 0;	245	static uint16_t ptr_txd_buffer = 0;
242	uint8_t tmp_tx;	246	uint8_t tmp_tx;
243	if(!txd_complete) // transmission not completed	247	if(!txd_complete) // transmission not completed
244	{	248	{
245	ptr_txd_buffer++; // die [0] wurde schon gesendet	249	ptr_txd_buffer++; // die [0] wurde schon gesendet
246	tmp_tx = txd_buffer[ptr_txd_buffer];	250	tmp_tx = txd_buffer[ptr_txd_buffer];
247	// if terminating character or end of txd buffer was reached	251	// if terminating character or end of txd buffer was reached
248	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))	252	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))
249	{	253	{
250	ptr_txd_buffer = 0; // reset txd pointer	254	ptr_txd_buffer = 0; // reset txd pointer
251	txd_complete = TRUE; // stop transmission	255	txd_complete = TRUE; // stop transmission
252	}	256	}
253	UDR0 = tmp_tx; // send current byte will trigger this ISR again	257	UDR0 = tmp_tx; // send current byte will trigger this ISR again
254	}	258	}
255	// transmission completed	259	// transmission completed
256	else ptr_txd_buffer = 0;	260	else ptr_txd_buffer = 0;
257	}	261	}
258		262
259	/****************************************************************/	263	/****************************************************************/
260	/* USART0 receiver ISR */	264	/* USART0 receiver ISR */
261	/****************************************************************/	265	/****************************************************************/
262	ISR(USART_RX_vect)	266	ISR(USART_RX_vect)
263	{	267	{
264	static uint16_t crc;	268	static uint16_t crc;
265	uint8_t crc1, crc2;	269	uint8_t crc1, crc2;
266	uint8_t c;	270	uint8_t c;
267	static uint8_t ptr_rxd_buffer = 0;	271	static uint8_t ptr_rxd_buffer = 0;
268		272
269	c = UDR0; // catch the received byte	273	c = UDR0; // catch the received byte
270		274
271	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return	275	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
272		276
273	// the rxd buffer is unlocked	277	// the rxd buffer is unlocked
274	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received	278	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
275	{	279	{
276	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	280	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
277	crc = c; // init crc	281	crc = c; // init crc
278	}	282	}
279	#if 0	283	#if 0
280	else if (ptr_rxd_buffer == 1) // handle address	284	else if (ptr_rxd_buffer == 1) // handle address
281	{	285	{
282	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	286	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
283	crc += c; // update crc	287	crc += c; // update crc
284	}	288	}
285	#endif	289	#endif
286	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes	290	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
287	{	291	{
288	if(c != '\r') // no termination character	292	if(c != '\r') // no termination character
289	{	293	{
290	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	294	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
291	crc += c; // update crc	295	crc += c; // update crc
292	}	296	}
293	else // termination character was received	297	else // termination character was received
294	{	298	{
295	// the last 2 bytes are no subject for checksum calculation	299	// the last 2 bytes are no subject for checksum calculation
296	// they are the checksum itself	300	// they are the checksum itself
297	crc -= rxd_buffer[ptr_rxd_buffer-2];	301	crc -= rxd_buffer[ptr_rxd_buffer-2];
298	crc -= rxd_buffer[ptr_rxd_buffer-1];	302	crc -= rxd_buffer[ptr_rxd_buffer-1];
299	// calculate checksum from transmitted data	303	// calculate checksum from transmitted data
300	crc %= 4096;	304	crc %= 4096;
301	crc1 = '=' + crc / 64;	305	crc1 = '=' + crc / 64;
302	crc2 = '=' + crc % 64;	306	crc2 = '=' + crc % 64;
303	// compare checksum to transmitted checksum bytes	307	// compare checksum to transmitted checksum bytes
304	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))	308	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
305	{ // checksum valid	309	{ // checksum valid
306	rxd_buffer_locked = TRUE; // lock the rxd buffer	310	rxd_buffer_locked = TRUE; // lock the rxd buffer
307	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes	311	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes
308	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	312	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
309	// if 2nd byte is an 'R' enable watchdog that will result in an reset	313	// if 2nd byte is an 'R' enable watchdog that will result in an reset
310	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando	314	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
311	}	315	}
312	else	316	else
313	{ // checksum invalid	317	{ // checksum invalid
314	rxd_buffer_locked = FALSE; // unlock rxd buffer	318	rxd_buffer_locked = FALSE; // unlock rxd buffer
315	}	319	}
316	ptr_rxd_buffer = 0; // reset rxd buffer pointer	320	ptr_rxd_buffer = 0; // reset rxd buffer pointer
317	}	321	}
318	}	322	}
319	else // rxd buffer overrun	323	else // rxd buffer overrun
320	{	324	{
321	ptr_rxd_buffer = 0; // reset rxd buffer	325	ptr_rxd_buffer = 0; // reset rxd buffer
322	rxd_buffer_locked = FALSE; // unlock rxd buffer	326	rxd_buffer_locked = FALSE; // unlock rxd buffer
323	}	327	}
324	}	328	}
325		329
326		330
327	// --------------------------------------------------------------------------	331	// --------------------------------------------------------------------------
328	void AddCRC(uint16_t datalen)	332	void AddCRC(uint16_t datalen)
329	{	333	{
330	uint16_t tmpCRC = 0, i;	334	uint16_t tmpCRC = 0, i;
331	for(i = 0; i < datalen; i++)	335	for(i = 0; i < datalen; i++)
332	{	336	{
333	tmpCRC += txd_buffer[i];	337	tmpCRC += txd_buffer[i];
334	}	338	}
335	tmpCRC %= 4096;	339	tmpCRC %= 4096;
336	txd_buffer[i++] = '=' + tmpCRC / 64;	340	txd_buffer[i++] = '=' + tmpCRC / 64;
337	txd_buffer[i++] = '=' + tmpCRC % 64;	341	txd_buffer[i++] = '=' + tmpCRC % 64;
338	txd_buffer[i++] = '\r';	342	txd_buffer[i++] = '\r';
339	txd_complete = FALSE;	343	txd_complete = FALSE;
340	UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)	344	UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
341	}	345	}
342		346
343		347
344		348
345	// --------------------------------------------------------------------------	349	// --------------------------------------------------------------------------
346	void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)	350	void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
347	{	351	{
348	uint16_t pt = 0;	352	uint16_t pt = 0;
349	uint8_t a,b,c;	353	uint8_t a,b,c;
350	uint8_t ptr = 0;	354	uint8_t ptr = 0;
351		355
352	txd_buffer[pt++] = '#'; // Start character	356	txd_buffer[pt++] = '#'; // Start character
353	txd_buffer[pt++] = module; // Address (a=0; b=1,...)	357	txd_buffer[pt++] = module; // Address (a=0; b=1,...)
354	txd_buffer[pt++] = cmd; // Command	358	txd_buffer[pt++] = cmd; // Command
355		359
356	while(len)	360	while(len)
357	{	361	{
358	if(len) { a = snd[ptr++]; len--;} else a = 0;	362	if(len) { a = snd[ptr++]; len--;} else a = 0;
359	if(len) { b = snd[ptr++]; len--;} else b = 0;	363	if(len) { b = snd[ptr++]; len--;} else b = 0;
360	if(len) { c = snd[ptr++]; len--;} else c = 0;	364	if(len) { c = snd[ptr++]; len--;} else c = 0;
361	txd_buffer[pt++] = '=' + (a >> 2);	365	txd_buffer[pt++] = '=' + (a >> 2);
362	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	366	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
363	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	367	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
364	txd_buffer[pt++] = '=' + ( c & 0x3f);	368	txd_buffer[pt++] = '=' + ( c & 0x3f);
365	}	369	}
366	AddCRC(pt); // add checksum after data block and initates the transmission	370	AddCRC(pt); // add checksum after data block and initates the transmission
367	}	371	}
368		372
369		373
370	// --------------------------------------------------------------------------	374	// --------------------------------------------------------------------------
371	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)	375	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
372	{	376	{
373	uint8_t a,b,c,d;	377	uint8_t a,b,c,d;
374	uint8_t ptr = 0;	378	uint8_t ptr = 0;
375	uint8_t x,y,z;	379	uint8_t x,y,z;
376	while(len)	380	while(len)
377	{	381	{
378	a = rxd_buffer[ptrIn++] - '=';	382	a = rxd_buffer[ptrIn++] - '=';
379	b = rxd_buffer[ptrIn++] - '=';	383	b = rxd_buffer[ptrIn++] - '=';
380	c = rxd_buffer[ptrIn++] - '=';	384	c = rxd_buffer[ptrIn++] - '=';
381	d = rxd_buffer[ptrIn++] - '=';	385	d = rxd_buffer[ptrIn++] - '=';
382	if(ptrIn > max - 2) break;	386	if(ptrIn > max - 2) break;
383		387
384	x = (a << 2) \| (b >> 4);	388	x = (a << 2) \| (b >> 4);
385	y = ((b & 0x0f) << 4) \| (c >> 2);	389	y = ((b & 0x0f) << 4) \| (c >> 2);
386	z = ((c & 0x03) << 6) \| d;	390	z = ((c & 0x03) << 6) \| d;
387		391
388	if(len--) ptrOut[ptr++] = x; else break;	392	if(len--) ptrOut[ptr++] = x; else break;
389	if(len--) ptrOut[ptr++] = y; else break;	393	if(len--) ptrOut[ptr++] = y; else break;
390	if(len--) ptrOut[ptr++] = z; else break;	394	if(len--) ptrOut[ptr++] = z; else break;
391	}	395	}
392	}	396	}
393		397
394		398
395	// --------------------------------------------------------------------------	399	// --------------------------------------------------------------------------
396	int uart_putchar (int8_t c)	400	int16_t USART0_putchar (int8_t c)
397	{	401	{
398	// if tx is not enabled return immediatly	402	// if tx is not enabled return immediatly
399	if(!(UCSR0B & (1 << TXEN0))) return (0);	403	if(!(UCSR0B & (1 << TXEN0))) return (0);
400	if (c == '\n') uart_putchar('\r');	404	if (c == '\n') USART0_putchar('\r');
401	// wait until previous character was send	405	// wait until previous character was send
402	loop_until_bit_is_set(UCSR0A, UDRE0);	406	loop_until_bit_is_set(UCSR0A, UDRE0);
403	// send character	407	// send character
404	UDR0 = c;	408	UDR0 = c;
405	return (0);	409	return (0);
406	}	410	}
407		411
408		412
409	// --------------------------------------------------------------------------	413	// --------------------------------------------------------------------------
410	void USART0_ProcessRxData(void)	414	void USART0_ProcessRxData(void)
411	{	415	{
412	// if data in the rxd buffer are not locked immediately return	416	// if data in the rxd buffer are not locked immediately return
413	if(!rxd_buffer_locked) return;	417	if(!rxd_buffer_locked) return;
414		418
415	uint8_t tmp_char_arr2[2]; // local char buffer	419	uint8_t tmp_char_arr2[2]; // local char buffer
416		420
417	switch(rxd_buffer[2])	421	switch(rxd_buffer[2])
418	{	422	{
419	case 'w':// Attitude	423	case 'w':// Attitude
420	Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);	424	Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
421	I2C_WriteAttitude.Nick = ExternData.Attitude[NICK];	-
422	I2C_WriteAttitude.Nick = ExternData.Attitude[ROLL];	-
423	AttitudeSource = ATTITUDE_SOURCE_UART;	-
424	RequestFlags \|= COMPASS_HEADING;	425	RequestFlags \|= COMPASS_HEADING;
-		426	AttitudeSource = ATTITUDE_SOURCE_UART;
-		427	Orientation = ExternData.Orientation;
-		428	FC_Connected = 255;
425	break;	429	break;
426		430
427	case 'b': // extern control	431	case 'b': // extern control
428	case 'c': // extern control with debug request	432	case 'c': // extern control with debug request
429	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);	433	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
430	#define KEY1 0x01	434	#define KEY1 0x01
431	#define KEY2 0x02	435	#define KEY2 0x02
432	#define KEY3 0x04	436	#define KEY3 0x04
433	#define KEY4 0x08	437	#define KEY4 0x08
434	#define KEY5 0x10	438	#define KEY5 0x10
435	// use right arrow at display for switching the calstate	439	// use right arrow at display for switching the calstate
436	if(ExternControl.RemoteButtons & KEY2)	440	if(ExternControl.RemoteButtons & KEY2)
437	{	441	{
438	ExternData.CalState++;	442	ExternData.CalState++;
439	if(ExternData.CalState == 6) ExternData.CalState = 0;	443	if(ExternData.CalState == 6) ExternData.CalState = 0;
440	}	444	}
441	//ExternData.Attitude[0] = ExternControl.Par1;	445	//ExternData.Attitude[0] = ExternControl.Par1;
442	//ExternData.Attitude[1] = ExternControl.Par2;	446	//ExternData.Attitude[1] = ExternControl.Par2;
443	PC_Connected = 255;	447	PC_Connected = 255;
444	break;	448	break;
445		449
446	case 'h':// x-1 display columns	450	case 'h':// x-1 display columns
447	PC_Connected = 255;	451	PC_Connected = 255;
448	break;	452	break;
449		453
450	case 'v': // get version and board release	454	case 'v': // get version and board release
451	RequestFlags \|= VERSION_INFO;	455	RequestFlags \|= VERSION_INFO;
452	PC_Connected = 255;	456	PC_Connected = 255;
453	break;	457	break;
454		458
455	case 'a':// Labels of the Analog Debug outputs	459	case 'a':// Labels of the Analog Debug outputs
456	Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);	460	Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
457	RequestDebugLabel = tmp_char_arr2[0];	461	RequestDebugLabel = tmp_char_arr2[0];
458	RequestFlags \|= DEBUG_LABEL;	462	RequestFlags \|= DEBUG_LABEL;
459	PC_Connected = 255;	463	PC_Connected = 255;
460	break;	464	break;
461		465
462	case 'g':// get debug data	466	case 'g':// get debug data
463	RequestFlags \|= DEBUG_DATA;	467	RequestFlags \|= DEBUG_DATA;
464	PC_Connected = 255;	468	PC_Connected = 255;
465	break;	469	break;
466	}	470	}
467	// unlock the rxd buffer after processing	471	// unlock the rxd buffer after processing
468	rxd_buffer_locked = FALSE;	472	rxd_buffer_locked = FALSE;
469	}	473	}
470		474
471		475
472		476
473	//---------------------------------------------------------------------------------------------	477	//---------------------------------------------------------------------------------------------
474	void USART0_TransmitTxData(void)	478	void USART0_TransmitTxData(void)
475	{	479	{
476	if(!(UCSR0B & (1 << TXEN0))) return;	480	if(!(UCSR0B & (1 << TXEN0))) return;
477		481
478	if(!txd_complete) return;	482	if(!txd_complete) return;
479		483
480	if(CheckDelay(Debug_Timer))	484	if(CheckDelay(Debug_Timer))
481	{	485	{
482	SetDebugValues();	486	SetDebugValues();
483	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));	487	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
484	Debug_Timer = SetDelay(250);	488	Debug_Timer = SetDelay(250);
485	}	489	}
486		490
487	if(RequestFlags & DEBUG_LABEL)	491	if(RequestFlags & DEBUG_LABEL)
488	{	492	{
489	SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);	493	SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
490	RequestDebugLabel = 255;	494	RequestDebugLabel = 255;
491	RequestFlags &= ~DEBUG_LABEL;	495	RequestFlags &= ~DEBUG_LABEL;
492	}	496	}
493		497

Subversion Repositories MK3Mag

(root)/branches/MK3Mag V0.14 Code Redesign Killagreg/uart.c @ 30 - Rev 28 → 29