WebSVN - Projects - Diff - Rev 744 and 759


 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <stdarg.h>
#include <string.h>
 
#include "main.h"
#include "menu.h"
#include "timer0.h"
#include "uart0.h"
#include "ubx.h"
#include "printf_P.h"
 
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
 
#define FM_ADDRESS 10 // FOLLOW ME
 
#define FALSE   0
#define TRUE    1
 
 
//int8_t test __attribute__ ((section (".noinit")));
uint8_t Request_VerInfo                 = FALSE;
uint8_t Request_Display                 = FALSE;
uint8_t Request_Display1                = FALSE;
uint8_t Request_ExternalControl = FALSE;
uint8_t Request_DebugData               = FALSE;
uint8_t Request_DebugLabel              = 255;
uint8_t Request_SendFollowMe    = FALSE;
uint8_t DisplayLine = 0;
 
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;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
 
uint8_t PcAccess = 100;
 
ExternControl_t ExternControl;
DebugOut_t              DebugOut;
UART_VersionInfo_t      UART_VersionInfo;
 
uint16_t DebugData_Timer;
uint16_t DebugData_Interval = 0; // in 1ms
uint16_t Display_Timer;
uint16_t Display_Interval = 0; // in 1 ms
 
Waypoint_t FollowMe;
 
// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] =
{
   //1234567890123456
    "Analog_Ch0      ", //0
    "Analog_Ch1      ",
    "Analog_Ch2      ",
    "Analog_Ch3      ",
    "Analog_Ch4      ",
    "Analog_Ch5      ", //5
    "Analog_Ch6      ",
    "Analog_Ch7      ",
    "UBat            ",
    "SysState        ",
    "Debug10         ", //10
    "Debug11         ",
    "Debug12         ",
    "Debug13         ",
    "Debug14         ",
    "Debug15         ", //15
        "Zellenzahl      ",
    "PowerOn         ",
    "Debug18         ",
    "Debug19         ",
    "Debug20         ", //20
    "Debug21         ",
    "Debug22         ",
    "Debug23         ",
    "Debug24         ",
    "Debug25         ", //25
    "Debug26         ",
    "Debug27         ",
    "Debug28         ",
    "Debug29         ",
    "Debug30         ", //30
    "Debug31         "
};
 
 
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void USART0_Init (void)
{
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 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
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |=  (1 << DDD1);
 
        // 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 in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // 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);
 
                // flush receive buffer
        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        // initialize the debug timer
        DebugData_Timer = SetDelay(DebugData_Interval);
 
        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        RxDataLen = 0;
 
        // no bytes to send
        txd_complete = TRUE;
 
        UART_VersionInfo.SWMajor = VERSION_MAJOR;
        UART_VersionInfo.SWMinor = VERSION_MINOR;
        UART_VersionInfo.SWPatch = VERSION_PATCH;
        UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
        UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
        // restore global interrupt flags
    SREG = sreg;
        sei();
    printf("\r\n UART0 init...ok");
}
 
/****************************************************************/
/*               USART0 transmitter ISR                         */
/****************************************************************/
ISR(USART0_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 = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else ptr_txd_buffer = 0;
}
 
/****************************************************************/
/*               USART0 receiver ISR                            */
/****************************************************************/
ISR(USART0_RX_vect)
{
        static uint16_t crc;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t crc1, crc2;
        uint8_t c;
 
        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[ptr_rxd_buffer] = '\r'; // set termination character
                                ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
                                // 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 transmittion (continued in the TXD ISR)
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
{
        va_list ap;
        uint16_t pt = 0;
        uint8_t a,b,c;
        uint8_t ptr = 0;
 
        uint8_t *pdata = 0;
        int len = 0;
 
        txd_buffer[pt++] = '#';                 // Start character
        txd_buffer[pt++] = 'a' + addr;  // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd;                 // Command
 
        va_start(ap, numofbuffers);
        if(numofbuffers)
        {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }
 
        while(len)
        {
                if(len)
                {
                        a = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                else a = 0;
                if(len)
                {
                        b = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                else b = 0;
                if(len)
                {
                        c = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                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);
        }
        va_end(ap);
        AddCRC(pt); // add checksum after data block and initates the transmission
}
 
 
// --------------------------------------------------------------------------
void Decode64(void)
{
        uint8_t a,b,c,d;
        uint8_t x,y,z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = ReceivedBytes - 6;
 
        while(len)
        {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if(len--) rxd_buffer[ptrOut++] = x; else break;
                if(len--) rxd_buffer[ptrOut++] = y; else break;
                if(len--) rxd_buffer[ptrOut++] = z; else break;
        }
        pRxData = &rxd_buffer[3];
        RxDataLen = ptrOut - 3;
}
 
 
// --------------------------------------------------------------------------
void USART0_ProcessRxData(void)
{
        // if data in the rxd buffer are not locked immediately return
        if(!rxd_buffer_locked) return;
 
        Decode64(); // decode data block in rxd_buffer
 
 
        switch(rxd_buffer[1] - 'a')
        {
                case FM_ADDRESS:
 
                        switch(rxd_buffer[2])
                        {
                                default:
                                        //unsupported command received
                                        break;
                        } // case FC_ADDRESS:
 
                default: // any Slave Address
 
                switch(rxd_buffer[2])
                        {
                                case 'a':// request for labels of the analog debug outputs
                                        Request_DebugLabel = pRxData[0];
                                        if(Request_DebugLabel > 31) Request_DebugLabel = 31;
                                        PcAccess = 255;
                                        break;
 
                                case 'h':// request for display columns
                                        PcAccess = 255;
                                        if((pRxData[0] & 0x80) == 0x00) // old format
                                        {
                                                DisplayLine = 2;
                                                Display_Interval = 0;
                                        }
                                        else // new format
                                        {
                                                RemoteKeys |= ~pRxData[0];
                                                Display_Interval = (unsigned int)pRxData[1] * 10;
                                                DisplayLine = 4;
                                                Request_Display = TRUE;
                                        }
                                        break;
 
                                case 'l':// request for display columns
                                        PcAccess = 255;
                                        MenuItem = pRxData[0];
                                        Request_Display1 = TRUE;
                                        break;
 
                                case 'v': // request for version and board release
                                        Request_VerInfo = TRUE;
                                        break;
 
                                case 'd': // request for the debug data
                                        DebugData_Interval = (uint16_t) pRxData[0] * 10;
                                        if(DebugData_Interval > 0) Request_DebugData = TRUE;
                                        break;
 
                                case 'g':// get external control data
                                        Request_ExternalControl = TRUE;
                                        break;
 
                                default:
                                        //unsupported command received
                                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        RxDataLen = 0;
        rxd_buffer_locked = FALSE;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
int16_t uart_putchar (int8_t c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
 
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
        if(!txd_complete) return;
 
        if(Request_VerInfo && txd_complete)
        {
                SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
                Request_VerInfo = FALSE;
        }
        if( ((Display_Interval && CheckDelay(Display_Timer)) || Request_Display) && txd_complete)
        {
                if(DisplayLine > 3)// new format
                {
                        LCD_PrintMenu();
                        SendOutData('H', FM_ADDRESS, 1, (uint8_t *)DisplayBuff, 80);
                }
                else // old format
                {
                        LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
                        SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
                        if(DisplayLine++ > 3) DisplayLine = 0;
                }
                Display_Timer = SetDelay(Display_Interval);
                Request_Display = FALSE;
        }
        if(Request_Display1 && txd_complete)
        {
                LCD_PrintMenu();
                SendOutData('L', FM_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));
                Request_Display1 = FALSE;
        }
        if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten
        {
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer
                SendOutData('A', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16);
                Request_DebugLabel = 0xFF;
        }
        if(Request_ExternalControl && txd_complete)
        {
                SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl));
                Request_ExternalControl = FALSE;
        }
        if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete)
        {
                SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut));
                DebugData_Timer = SetDelay(DebugData_Interval);
                Request_DebugData = FALSE;
    }
        if(Request_SendFollowMe && txd_complete)
        {
                SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe));
                FollowMe.Position.Status = PROCESSED;
                Request_SendFollowMe = FALSE;
        }
}
 
 

Rev 744	Rev 759
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include <avr/io.h>	8	#include <avr/io.h>
9	#include <avr/interrupt.h>	9	#include <avr/interrupt.h>
10	#include <avr/pgmspace.h>	10	#include <avr/pgmspace.h>
11	#include <avr/wdt.h>	11	#include <avr/wdt.h>
12	#include <stdarg.h>	12	#include <stdarg.h>
13	#include <string.h>	13	#include <string.h>
14		14
15	#include "main.h"	15	#include "main.h"
16	#include "menu.h"	16	#include "menu.h"
17	#include "timer0.h"	17	#include "timer0.h"
18	#include "uart0.h"	18	#include "uart0.h"
19	#include "ubx.h"	19	#include "ubx.h"
20	#include "printf_P.h"	20	#include "printf_P.h"
21		21
22		22
23	#define FC_ADDRESS 1	23	#define FC_ADDRESS 1
24	#define NC_ADDRESS 2	24	#define NC_ADDRESS 2
25	#define MK3MAG_ADDRESS 3	25	#define MK3MAG_ADDRESS 3
26		26
27	#define FM_ADDRESS 10 // FOLLOW ME	27	#define FM_ADDRESS 10 // FOLLOW ME
28		28
29	#define FALSE 0	29	#define FALSE 0
30	#define TRUE 1	30	#define TRUE 1
31		31
32		32
33	//int8_t test __attribute__ ((section (".noinit")));	33	//int8_t test __attribute__ ((section (".noinit")));
34	uint8_t Request_VerInfo = FALSE;	34	uint8_t Request_VerInfo = FALSE;
35	uint8_t Request_Display = FALSE;	35	uint8_t Request_Display = FALSE;
36	uint8_t Request_Display1 = FALSE;	36	uint8_t Request_Display1 = FALSE;
37	uint8_t Request_ExternalControl = FALSE;	37	uint8_t Request_ExternalControl = FALSE;
38	uint8_t Request_DebugData = FALSE;	38	uint8_t Request_DebugData = FALSE;
39	uint8_t Request_DebugLabel = 255;	39	uint8_t Request_DebugLabel = 255;
40	uint8_t Request_SendFollowMe = FALSE;	40	uint8_t Request_SendFollowMe = FALSE;
41	uint8_t DisplayLine = 0;	41	uint8_t DisplayLine = 0;
42		42
43	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	43	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
44	volatile uint8_t rxd_buffer_locked = FALSE;	44	volatile uint8_t rxd_buffer_locked = FALSE;
45	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	45	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
46	volatile uint8_t txd_complete = TRUE;	46	volatile uint8_t txd_complete = TRUE;
47	volatile uint8_t ReceivedBytes = 0;	47	volatile uint8_t ReceivedBytes = 0;
48	volatile uint8_t *pRxData = 0;	48	volatile uint8_t *pRxData = 0;
49	volatile uint8_t RxDataLen = 0;	49	volatile uint8_t RxDataLen = 0;
50		50
51	uint8_t PcAccess = 100;	51	uint8_t PcAccess = 100;
52		52
53	ExternControl_t ExternControl;	53	ExternControl_t ExternControl;
54	DebugOut_t DebugOut;	54	DebugOut_t DebugOut;
55	UART_VersionInfo_t UART_VersionInfo;	55	UART_VersionInfo_t UART_VersionInfo;
56		56
57	uint16_t DebugData_Timer;	57	uint16_t DebugData_Timer;
58	uint16_t DebugData_Interval = 0; // in 1ms	58	uint16_t DebugData_Interval = 0; // in 1ms
-		59	uint16_t Display_Timer;
59	uint16_t Display_Interval = 0; // in 1 ms	60	uint16_t Display_Interval = 0; // in 1 ms
60		61
61	Waypoint_t FollowMe;	62	Waypoint_t FollowMe;
62		63
63	// keep lables in flash to save 512 bytes of sram space	64	// keep lables in flash to save 512 bytes of sram space
64	const prog_uint8_t ANALOG_LABEL[32][16] =	65	const prog_uint8_t ANALOG_LABEL[32][16] =
65	{	66	{
66	//1234567890123456	67	//1234567890123456
67	"Analog_Ch0 ", //0	68	"Analog_Ch0 ", //0
68	"Analog_Ch1 ",	69	"Analog_Ch1 ",
69	"Analog_Ch2 ",	70	"Analog_Ch2 ",
70	"Analog_Ch3 ",	71	"Analog_Ch3 ",
71	"Analog_Ch4 ",	72	"Analog_Ch4 ",
72	"Analog_Ch5 ", //5	73	"Analog_Ch5 ", //5
73	"Analog_Ch6 ",	74	"Analog_Ch6 ",
74	"Analog_Ch7 ",	75	"Analog_Ch7 ",
75	"UBat ",	76	"UBat ",
76	"SysState ",	77	"SysState ",
77	"Debug10 ", //10	78	"Debug10 ", //10
78	"Debug11 ",	79	"Debug11 ",
79	"Debug12 ",	80	"Debug12 ",
80	"Debug13 ",	81	"Debug13 ",
81	"Debug14 ",	82	"Debug14 ",
82	"Debug15 ", //15	83	"Debug15 ", //15
83	"Zellenzahl ",	84	"Zellenzahl ",
84	"PowerOn ",	85	"PowerOn ",
85	"Debug18 ",	86	"Debug18 ",
86	"Debug19 ",	87	"Debug19 ",
87	"Debug20 ", //20	88	"Debug20 ", //20
88	"Debug21 ",	89	"Debug21 ",
89	"Debug22 ",	90	"Debug22 ",
90	"Debug23 ",	91	"Debug23 ",
91	"Debug24 ",	92	"Debug24 ",
92	"Debug25 ", //25	93	"Debug25 ", //25
93	"Debug26 ",	94	"Debug26 ",
94	"Debug27 ",	95	"Debug27 ",
95	"Debug28 ",	96	"Debug28 ",
96	"Debug29 ",	97	"Debug29 ",
97	"Debug30 ", //30	98	"Debug30 ", //30
98	"Debug31 "	99	"Debug31 "
99	};	100	};
100		101
101		102
102		103
103	/****************************************************************/	104	/****************************************************************/
104	/* Initialization of the USART0 */	105	/* Initialization of the USART0 */
105	/****************************************************************/	106	/****************************************************************/
106	void USART0_Init (void)	107	void USART0_Init (void)
107	{	108	{
108	uint8_t sreg = SREG;	109	uint8_t sreg = SREG;
109	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);	110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
110		111
111	// disable all interrupts before configuration	112	// disable all interrupts before configuration
112	cli();	113	cli();
113		114
114	// disable RX-Interrupt	115	// disable RX-Interrupt
115	UCSR0B &= ~(1 << RXCIE0);	116	UCSR0B &= ~(1 << RXCIE0);
116	// disable TX-Interrupt	117	// disable TX-Interrupt
117	UCSR0B &= ~(1 << TXCIE0);	118	UCSR0B &= ~(1 << TXCIE0);
118		119
119	// set direction of RXD0 and TXD0 pins	120	// set direction of RXD0 and TXD0 pins
120	// set RXD0 (PD0) as an input pin	121	// set RXD0 (PD0) as an input pin
121	PORTD \|= (1 << PORTD0);	122	PORTD \|= (1 << PORTD0);
122	DDRD &= ~(1 << DDD0);	123	DDRD &= ~(1 << DDD0);
123	// set TXD0 (PD1) as an output pin	124	// set TXD0 (PD1) as an output pin
124	PORTD \|= (1 << PORTD1);	125	PORTD \|= (1 << PORTD1);
125	DDRD \|= (1 << DDD1);	126	DDRD \|= (1 << DDD1);
126		127
127	// USART0 Baud Rate Register	128	// USART0 Baud Rate Register
128	// set clock divider	129	// set clock divider
129	UBRR0H = (uint8_t)(ubrr >> 8);	130	UBRR0H = (uint8_t)(ubrr >> 8);
130	UBRR0L = (uint8_t)ubrr;	131	UBRR0L = (uint8_t)ubrr;
131		132
132	// USART0 Control and Status Register A, B, C	133	// USART0 Control and Status Register A, B, C
133		134
134	// enable double speed operation in	135	// enable double speed operation in
135	UCSR0A \|= (1 << U2X0);	136	UCSR0A \|= (1 << U2X0);
136	// enable receiver and transmitter in	137	// enable receiver and transmitter in
137	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
138	// set asynchronous mode	139	// set asynchronous mode
139	UCSR0C &= ~(1 << UMSEL01);	140	UCSR0C &= ~(1 << UMSEL01);
140	UCSR0C &= ~(1 << UMSEL00);	141	UCSR0C &= ~(1 << UMSEL00);
141	// no parity	142	// no parity
142	UCSR0C &= ~(1 << UPM01);	143	UCSR0C &= ~(1 << UPM01);
143	UCSR0C &= ~(1 << UPM00);	144	UCSR0C &= ~(1 << UPM00);
144	// 1 stop bit	145	// 1 stop bit
145	UCSR0C &= ~(1 << USBS0);	146	UCSR0C &= ~(1 << USBS0);
146	// 8-bit	147	// 8-bit
147	UCSR0B &= ~(1 << UCSZ02);	148	UCSR0B &= ~(1 << UCSZ02);
148	UCSR0C \|= (1 << UCSZ01);	149	UCSR0C \|= (1 << UCSZ01);
149	UCSR0C \|= (1 << UCSZ00);	150	UCSR0C \|= (1 << UCSZ00);
150		151
151	// flush receive buffer	152	// flush receive buffer
152	while ( UCSR0A & (1<<RXC0) ) UDR0;	153	while ( UCSR0A & (1<<RXC0) ) UDR0;
153		154
154	// enable interrupts at the end	155	// enable interrupts at the end
155	// enable RX-Interrupt	156	// enable RX-Interrupt
156	UCSR0B \|= (1 << RXCIE0);	157	UCSR0B \|= (1 << RXCIE0);
157	// enable TX-Interrupt	158	// enable TX-Interrupt
158	UCSR0B \|= (1 << TXCIE0);	159	UCSR0B \|= (1 << TXCIE0);
159		160
160	// initialize the debug timer	161	// initialize the debug timer
161	DebugData_Timer = SetDelay(DebugData_Interval);	162	DebugData_Timer = SetDelay(DebugData_Interval);
162		163
163	// unlock rxd_buffer	164	// unlock rxd_buffer
164	rxd_buffer_locked = FALSE;	165	rxd_buffer_locked = FALSE;
165	pRxData = 0;	166	pRxData = 0;
166	RxDataLen = 0;	167	RxDataLen = 0;
167		168
168	// no bytes to send	169	// no bytes to send
169	txd_complete = TRUE;	170	txd_complete = TRUE;
170		171
171	UART_VersionInfo.SWMajor = VERSION_MAJOR;	172	UART_VersionInfo.SWMajor = VERSION_MAJOR;
172	UART_VersionInfo.SWMinor = VERSION_MINOR;	173	UART_VersionInfo.SWMinor = VERSION_MINOR;
173	UART_VersionInfo.SWPatch = VERSION_PATCH;	174	UART_VersionInfo.SWPatch = VERSION_PATCH;
174	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	175	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
175	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	176	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
176		177
177	// restore global interrupt flags	178	// restore global interrupt flags
178	SREG = sreg;	179	SREG = sreg;
179	sei();	180	sei();
180	printf("\r\n UART0 init...ok");	181	printf("\r\n UART0 init...ok");
181	}	182	}
182		183
183	/****************************************************************/	184	/****************************************************************/
184	/* USART0 transmitter ISR */	185	/* USART0 transmitter ISR */
185	/****************************************************************/	186	/****************************************************************/
186	ISR(USART0_TX_vect)	187	ISR(USART0_TX_vect)
187	{	188	{
188	static uint16_t ptr_txd_buffer = 0;	189	static uint16_t ptr_txd_buffer = 0;
189	uint8_t tmp_tx;	190	uint8_t tmp_tx;
190	if(!txd_complete) // transmission not completed	191	if(!txd_complete) // transmission not completed
191	{	192	{
192	ptr_txd_buffer++; // die [0] wurde schon gesendet	193	ptr_txd_buffer++; // die [0] wurde schon gesendet
193	tmp_tx = txd_buffer[ptr_txd_buffer];	194	tmp_tx = txd_buffer[ptr_txd_buffer];
194	// if terminating character or end of txd buffer was reached	195	// if terminating character or end of txd buffer was reached
195	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))	196	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))
196	{	197	{
197	ptr_txd_buffer = 0; // reset txd pointer	198	ptr_txd_buffer = 0; // reset txd pointer
198	txd_complete = 1; // stop transmission	199	txd_complete = 1; // stop transmission
199	}	200	}
200	UDR0 = tmp_tx; // send current byte will trigger this ISR again	201	UDR0 = tmp_tx; // send current byte will trigger this ISR again
201	}	202	}
202	// transmission completed	203	// transmission completed
203	else ptr_txd_buffer = 0;	204	else ptr_txd_buffer = 0;
204	}	205	}
205		206
206	/****************************************************************/	207	/****************************************************************/
207	/* USART0 receiver ISR */	208	/* USART0 receiver ISR */
208	/****************************************************************/	209	/****************************************************************/
209	ISR(USART0_RX_vect)	210	ISR(USART0_RX_vect)
210	{	211	{
211	static uint16_t crc;	212	static uint16_t crc;
212	static uint8_t ptr_rxd_buffer = 0;	213	static uint8_t ptr_rxd_buffer = 0;
213	uint8_t crc1, crc2;	214	uint8_t crc1, crc2;
214	uint8_t c;	215	uint8_t c;
215		216
216	c = UDR0; // catch the received byte	217	c = UDR0; // catch the received byte
217		218
218	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return	219	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
219		220
220	// the rxd buffer is unlocked	221	// the rxd buffer is unlocked
221	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received	222	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
222	{	223	{
223	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
224	crc = c; // init crc	225	crc = c; // init crc
225	}	226	}
226	#if 0	227	#if 0
227	else if (ptr_rxd_buffer == 1) // handle address	228	else if (ptr_rxd_buffer == 1) // handle address
228	{	229	{
229	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	230	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
230	crc += c; // update crc	231	crc += c; // update crc
231	}	232	}
232	#endif	233	#endif
233	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes	234	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
234	{	235	{
235	if(c != '\r') // no termination character	236	if(c != '\r') // no termination character
236	{	237	{
237	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	238	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
238	crc += c; // update crc	239	crc += c; // update crc
239	}	240	}
240	else // termination character was received	241	else // termination character was received
241	{	242	{
242	// the last 2 bytes are no subject for checksum calculation	243	// the last 2 bytes are no subject for checksum calculation
243	// they are the checksum itself	244	// they are the checksum itself
244	crc -= rxd_buffer[ptr_rxd_buffer-2];	245	crc -= rxd_buffer[ptr_rxd_buffer-2];
245	crc -= rxd_buffer[ptr_rxd_buffer-1];	246	crc -= rxd_buffer[ptr_rxd_buffer-1];
246	// calculate checksum from transmitted data	247	// calculate checksum from transmitted data
247	crc %= 4096;	248	crc %= 4096;
248	crc1 = '=' + crc / 64;	249	crc1 = '=' + crc / 64;
249	crc2 = '=' + crc % 64;	250	crc2 = '=' + crc % 64;
250	// compare checksum to transmitted checksum bytes	251	// compare checksum to transmitted checksum bytes
251	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))	252	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
252	{ // checksum valid	253	{ // checksum valid
253	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	254	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
254	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	255	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
255	rxd_buffer_locked = TRUE; // lock the rxd buffer	256	rxd_buffer_locked = TRUE; // lock the rxd buffer
256	// if 2nd byte is an 'R' enable watchdog that will result in an reset	257	// if 2nd byte is an 'R' enable watchdog that will result in an reset
257	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando	258	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
258	}	259	}
259	else	260	else
260	{ // checksum invalid	261	{ // checksum invalid
261	rxd_buffer_locked = FALSE; // unlock rxd buffer	262	rxd_buffer_locked = FALSE; // unlock rxd buffer
262	}	263	}
263	ptr_rxd_buffer = 0; // reset rxd buffer pointer	264	ptr_rxd_buffer = 0; // reset rxd buffer pointer
264	}	265	}
265	}	266	}
266	else // rxd buffer overrun	267	else // rxd buffer overrun
267	{	268	{
268	ptr_rxd_buffer = 0; // reset rxd buffer	269	ptr_rxd_buffer = 0; // reset rxd buffer
269	rxd_buffer_locked = FALSE; // unlock rxd buffer	270	rxd_buffer_locked = FALSE; // unlock rxd buffer
270	}	271	}
271		272
272	}	273	}
273		274
274		275
275	// --------------------------------------------------------------------------	276	// --------------------------------------------------------------------------
276	void AddCRC(uint16_t datalen)	277	void AddCRC(uint16_t datalen)
277	{	278	{
278	uint16_t tmpCRC = 0, i;	279	uint16_t tmpCRC = 0, i;
279	for(i = 0; i < datalen; i++)	280	for(i = 0; i < datalen; i++)
280	{	281	{
281	tmpCRC += txd_buffer[i];	282	tmpCRC += txd_buffer[i];
282	}	283	}
283	tmpCRC %= 4096;	284	tmpCRC %= 4096;
284	txd_buffer[i++] = '=' + tmpCRC / 64;	285	txd_buffer[i++] = '=' + tmpCRC / 64;
285	txd_buffer[i++] = '=' + tmpCRC % 64;	286	txd_buffer[i++] = '=' + tmpCRC % 64;
286	txd_buffer[i++] = '\r';	287	txd_buffer[i++] = '\r';
287	txd_complete = FALSE;	288	txd_complete = FALSE;
288	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	289	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
289	}	290	}
290		291
291		292
292		293
293	// --------------------------------------------------------------------------	294	// --------------------------------------------------------------------------
294	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...	295	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
295	{	296	{
296	va_list ap;	297	va_list ap;
297	uint16_t pt = 0;	298	uint16_t pt = 0;
298	uint8_t a,b,c;	299	uint8_t a,b,c;
299	uint8_t ptr = 0;	300	uint8_t ptr = 0;
300		301
301	uint8_t *pdata = 0;	302	uint8_t *pdata = 0;
302	int len = 0;	303	int len = 0;
303		304
304	txd_buffer[pt++] = '#'; // Start character	305	txd_buffer[pt++] = '#'; // Start character
305	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	306	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
306	txd_buffer[pt++] = cmd; // Command	307	txd_buffer[pt++] = cmd; // Command
307		308
308	va_start(ap, numofbuffers);	309	va_start(ap, numofbuffers);
309	if(numofbuffers)	310	if(numofbuffers)
310	{	311	{
311	pdata = va_arg(ap, uint8_t*);	312	pdata = va_arg(ap, uint8_t*);
312	len = va_arg(ap, int);	313	len = va_arg(ap, int);
313	ptr = 0;	314	ptr = 0;
314	numofbuffers--;	315	numofbuffers--;
315	}	316	}
316		317
317	while(len)	318	while(len)
318	{	319	{
319	if(len)	320	if(len)
320	{	321	{
321	a = pdata[ptr++];	322	a = pdata[ptr++];
322	len--;	323	len--;
323	if((!len) && numofbuffers)	324	if((!len) && numofbuffers)
324	{	325	{
325	pdata = va_arg(ap, uint8_t*);	326	pdata = va_arg(ap, uint8_t*);
326	len = va_arg(ap, int);	327	len = va_arg(ap, int);
327	ptr = 0;	328	ptr = 0;
328	numofbuffers--;	329	numofbuffers--;
329	}	330	}
330	}	331	}
331	else a = 0;	332	else a = 0;
332	if(len)	333	if(len)
333	{	334	{
334	b = pdata[ptr++];	335	b = pdata[ptr++];
335	len--;	336	len--;
336	if((!len) && numofbuffers)	337	if((!len) && numofbuffers)
337	{	338	{
338	pdata = va_arg(ap, uint8_t*);	339	pdata = va_arg(ap, uint8_t*);
339	len = va_arg(ap, int);	340	len = va_arg(ap, int);
340	ptr = 0;	341	ptr = 0;
341	numofbuffers--;	342	numofbuffers--;
342	}	343	}
343	}	344	}
344	else b = 0;	345	else b = 0;
345	if(len)	346	if(len)
346	{	347	{
347	c = pdata[ptr++];	348	c = pdata[ptr++];
348	len--;	349	len--;
349	if((!len) && numofbuffers)	350	if((!len) && numofbuffers)
350	{	351	{
351	pdata = va_arg(ap, uint8_t*);	352	pdata = va_arg(ap, uint8_t*);
352	len = va_arg(ap, int);	353	len = va_arg(ap, int);
353	ptr = 0;	354	ptr = 0;
354	numofbuffers--;	355	numofbuffers--;
355	}	356	}
356	}	357	}
357	else c = 0;	358	else c = 0;
358	txd_buffer[pt++] = '=' + (a >> 2);	359	txd_buffer[pt++] = '=' + (a >> 2);
359	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	360	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
360	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	361	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
361	txd_buffer[pt++] = '=' + ( c & 0x3f);	362	txd_buffer[pt++] = '=' + ( c & 0x3f);
362	}	363	}
363	va_end(ap);	364	va_end(ap);
364	AddCRC(pt); // add checksum after data block and initates the transmission	365	AddCRC(pt); // add checksum after data block and initates the transmission
365	}	366	}
366		367
367		368
368	// --------------------------------------------------------------------------	369	// --------------------------------------------------------------------------
369	void Decode64(void)	370	void Decode64(void)
370	{	371	{
371	uint8_t a,b,c,d;	372	uint8_t a,b,c,d;
372	uint8_t x,y,z;	373	uint8_t x,y,z;
373	uint8_t ptrIn = 3;	374	uint8_t ptrIn = 3;
374	uint8_t ptrOut = 3;	375	uint8_t ptrOut = 3;
375	uint8_t len = ReceivedBytes - 6;	376	uint8_t len = ReceivedBytes - 6;
376		377
377	while(len)	378	while(len)
378	{	379	{
379	a = rxd_buffer[ptrIn++] - '=';	380	a = rxd_buffer[ptrIn++] - '=';
380	b = rxd_buffer[ptrIn++] - '=';	381	b = rxd_buffer[ptrIn++] - '=';
381	c = rxd_buffer[ptrIn++] - '=';	382	c = rxd_buffer[ptrIn++] - '=';
382	d = rxd_buffer[ptrIn++] - '=';	383	d = rxd_buffer[ptrIn++] - '=';
383	//if(ptrIn > ReceivedBytes - 3) break;	384	//if(ptrIn > ReceivedBytes - 3) break;
384		385
385	x = (a << 2) \| (b >> 4);	386	x = (a << 2) \| (b >> 4);
386	y = ((b & 0x0f) << 4) \| (c >> 2);	387	y = ((b & 0x0f) << 4) \| (c >> 2);
387	z = ((c & 0x03) << 6) \| d;	388	z = ((c & 0x03) << 6) \| d;
388		389
389	if(len--) rxd_buffer[ptrOut++] = x; else break;	390	if(len--) rxd_buffer[ptrOut++] = x; else break;
390	if(len--) rxd_buffer[ptrOut++] = y; else break;	391	if(len--) rxd_buffer[ptrOut++] = y; else break;
391	if(len--) rxd_buffer[ptrOut++] = z; else break;	392	if(len--) rxd_buffer[ptrOut++] = z; else break;
392	}	393	}
393	pRxData = &rxd_buffer[3];	394	pRxData = &rxd_buffer[3];
394	RxDataLen = ptrOut - 3;	395	RxDataLen = ptrOut - 3;
395	}	396	}
396		397
397		398
398	// --------------------------------------------------------------------------	399	// --------------------------------------------------------------------------
399	void USART0_ProcessRxData(void)	400	void USART0_ProcessRxData(void)
400	{	401	{
401	// if data in the rxd buffer are not locked immediately return	402	// if data in the rxd buffer are not locked immediately return
402	if(!rxd_buffer_locked) return;	403	if(!rxd_buffer_locked) return;
403		404
404	Decode64(); // decode data block in rxd_buffer	405	Decode64(); // decode data block in rxd_buffer
405		406
406		407
407	switch(rxd_buffer[1] - 'a')	408	switch(rxd_buffer[1] - 'a')
408	{	409	{
409	case FM_ADDRESS:	410	case FM_ADDRESS:
410		411
411	switch(rxd_buffer[2])	412	switch(rxd_buffer[2])
412	{	413	{
413	default:	414	default:
414	//unsupported command received	415	//unsupported command received
415	break;	416	break;
416	} // case FC_ADDRESS:	417	} // case FC_ADDRESS:
417		418
418	default: // any Slave Address	419	default: // any Slave Address
419		420
420	switch(rxd_buffer[2])	421	switch(rxd_buffer[2])
421	{	422	{
422	case 'a':// request for labels of the analog debug outputs	423	case 'a':// request for labels of the analog debug outputs
423	Request_DebugLabel = pRxData[0];	424	Request_DebugLabel = pRxData[0];
424	if(Request_DebugLabel > 31) Request_DebugLabel = 31;	425	if(Request_DebugLabel > 31) Request_DebugLabel = 31;
425	PcAccess = 255;	426	PcAccess = 255;
426	break;	427	break;
427		428
428	case 'h':// request for display columns	429	case 'h':// request for display columns
429	PcAccess = 255;	430	PcAccess = 255;
430	if((pRxData[0] & 0x80) == 0x00) // old format	431	if((pRxData[0] & 0x80) == 0x00) // old format
431	{	432	{
432	DisplayLine = 2;	433	DisplayLine = 2;
433	Display_Interval = 0;	434	Display_Interval = 0;
434	}	435	}
435	else // new format	436	else // new format
436	{	437	{
437	RemoteKeys \|= ~pRxData[0];	438	RemoteKeys \|= ~pRxData[0];
438	Display_Interval = (unsigned int)pRxData[1] * 10;	439	Display_Interval = (unsigned int)pRxData[1] * 10;
439	DisplayLine = 4;	440	DisplayLine = 4;
440	Request_Display = TRUE;	441	Request_Display = TRUE;
441	}	442	}
442	break;	443	break;
443		444
444	case 'l':// request for display columns	445	case 'l':// request for display columns
445	PcAccess = 255;	446	PcAccess = 255;
446	MenuItem = pRxData[0];	447	MenuItem = pRxData[0];
447	Request_Display1 = TRUE;	448	Request_Display1 = TRUE;
448	break;	449	break;
449		450
450	case 'v': // request for version and board release	451	case 'v': // request for version and board release
451	Request_VerInfo = TRUE;	452	Request_VerInfo = TRUE;
452	break;	453	break;
453		454
454	case 'd': // request for the debug data	455	case 'd': // request for the debug data
455	DebugData_Interval = (uint16_t) pRxData[0] * 10;	456	DebugData_Interval = (uint16_t) pRxData[0] * 10;
456	if(DebugData_Interval > 0) Request_DebugData = TRUE;	457	if(DebugData_Interval > 0) Request_DebugData = TRUE;
457	break;	458	break;
458		459
459	case 'g':// get external control data	460	case 'g':// get external control data
460	Request_ExternalControl = TRUE;	461	Request_ExternalControl = TRUE;
461	break;	462	break;
462		463
463	default:	464	default:
464	//unsupported command received	465	//unsupported command received
465	break;	466	break;
466	}	467	}
467	break; // default:	468	break; // default:
468	}	469	}
469	// unlock the rxd buffer after processing	470	// unlock the rxd buffer after processing
470	pRxData = 0;	471	pRxData = 0;
471	RxDataLen = 0;	472	RxDataLen = 0;
472	rxd_buffer_locked = FALSE;	473	rxd_buffer_locked = FALSE;
473	}	474	}
474		475
475	//############################################################################	476	//############################################################################
476	//Routine für die Serielle Ausgabe	477	//Routine für die Serielle Ausgabe
477	int16_t uart_putchar (int8_t c)	478	int16_t uart_putchar (int8_t c)
478	//############################################################################	479	//############################################################################
479	{	480	{
480	if (c == '\n')	481	if (c == '\n')
481	uart_putchar('\r');	482	uart_putchar('\r');
482	// wait until previous character was send	483	// wait until previous character was send
483	loop_until_bit_is_set(UCSR0A, UDRE0);	484	loop_until_bit_is_set(UCSR0A, UDRE0);
484	// send character	485	// send character
485	UDR0 = c;	486	UDR0 = c;
486	return (0);	487	return (0);
487	}	488	}
488		489
489		490
490	//---------------------------------------------------------------------------------------------	491	//---------------------------------------------------------------------------------------------
491	void USART0_TransmitTxData(void)	492	void USART0_TransmitTxData(void)
492	{	493	{
493	if(!txd_complete) return;	494	if(!txd_complete) return;
494		495
495	if(Request_VerInfo && txd_complete)	496	if(Request_VerInfo && txd_complete)
496	{	497	{
497	SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));	498	SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
498	Request_VerInfo = FALSE;	499	Request_VerInfo = FALSE;
499	}	500	}

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(root)/FollowMe/trunk/uart0.c - Rev 744 → 759