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Line 95... Line 95...
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 * unused
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 * unused
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 */
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 */
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ISR(SIG_USART1_DATA) {
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ISR(SIG_USART1_DATA) {
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}
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}
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/**
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/*
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 * receive data through usart1
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 * receive data through usart1
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
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 */
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 */
- 
 
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ISR(SIG_USART1_RECV) {
- 
 
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    uint8_t c;
- 
 
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    // catch the received byte
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ISR(SIG_USART1_RECV) {
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    c = UDR1;
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
 - 
 
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    LED1_ON
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
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            static uint16_t crc;
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    static uint16_t crc;
- 
 
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    static uint8_t ptr_rxd_buffer = 0;
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    static uint8_t c1 = 0;
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    static uint8_t c2 = 0;
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    static uint8_t ptr_rxd_buffer = 0;
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    static uint8_t usart_rx_ok = 0;
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    uint8_t crc1, crc2;
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    uint8_t c;
 - 
 
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 - 
 
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    c = UDR1; // catch the received byte
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    uint8_t crc1, crc2;
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    // the rxd buffer is unlocked
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    // the rxd buffer is unlocked
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    if (usart_rx_ok == 0) {
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    if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
 - 
 
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    {
 - 
 
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                /*
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        if ((c2 == '#') && (c1 == 'b') && (c == 'D' || c == 'V' || c == 'O')) {
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                // skip other datasets
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            usart_rx_ok = 1;
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        if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') {
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            rxd_buffer[ptr_rxd_buffer++] = c2;
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                        ptr_rxd_buffer = 0; // reset rxd buffer
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            crc = c2;
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                rxd_buffer_locked = 0; // unlock rxd buffer
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            rxd_buffer[ptr_rxd_buffer++] = c1;
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                }*/
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            crc += c1;
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                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
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            rxd_buffer[ptr_rxd_buffer++] = c;
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            crc += c;
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        crc = c; // init crc
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            c2 = 0;
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            c1 = 0;
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            LED1_ON
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    } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
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            LED2_OFF
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    {
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        } else {
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            c2 = c1;
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        if (c != '\r') // no termination character
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            c1 = c;
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        }
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    } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
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        {
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        if (c != '\r') { // no termination character
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            rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
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            rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
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            crc += c; // update crc
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            crc += c; // update crc
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        } else // termination character was received
 - 
 
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        {
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        } else { // termination character was received
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            // the last 2 bytes are no subject for checksum calculation
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            // the last 2 bytes are no subject for checksum calculation
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            // they are the checksum itself
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            // they are the checksum itself
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            crc -= rxd_buffer[ptr_rxd_buffer - 2];
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            crc -= rxd_buffer[ptr_rxd_buffer - 2];
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            crc -= rxd_buffer[ptr_rxd_buffer - 1];
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            crc -= rxd_buffer[ptr_rxd_buffer - 1];
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            // compare checksum to transmitted checksum bytes
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            // compare checksum to transmitted checksum bytes
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            if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
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            if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid
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                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
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                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
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                ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
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                ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
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                rxd_buffer_locked = 1; // lock the rxd buffer
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                rxd_buffer_locked = 1; // lock the rxd buffer
- 
 
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                LED1_OFF
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            } else { // checksum invalid
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            } else { // checksum invalid
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                rxd_buffer_locked = 0; // unlock rxd buffer
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                rxd_buffer_locked = 0; // unlock rxd buffer
- 
 
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                LED2_ON
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            }
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            }
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            ptr_rxd_buffer = 0; // reset rxd buffer pointer
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            ptr_rxd_buffer = 0; // reset rxd buffer pointer
- 
 
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            usart_rx_ok = 0;
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        }
 159 
        }
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    } else // rxd buffer overrun
 160 
    } else { // rxd buffer overrun
153 
    {
 - 
 
154 
        ptr_rxd_buffer = 0; // reset rxd buffer
 161 
        ptr_rxd_buffer = 0; // reset rxd buffer
155 
        rxd_buffer_locked = 0; // unlock rxd buffer
 162 
        rxd_buffer_locked = 0; // unlock rxd buffer
- 
 
 163 
        usart_rx_ok = 0;
- 
 
 164 
        LED2_ON
156 
    }
 165 
    }
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    LED1_OFF
 - 
 
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}
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}
Line 159... Line 167...
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 167 
 
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/**
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/**
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 * Decode the recevied Buffer
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 * Decode the recevied Buffer