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/***************************************************************************** Copyright (C) 2009-2017 by Claas Anders "CaScAdE" Rathje ** admiralcascade@gmail.com ** Project-URL: http://www.mylifesucks.de/oss/c-osd/ ** ** This program is free software; you can redistribute it and/or modify ** it under the terms of the GNU General Public License as published by ** the Free Software Foundation; either version 2 of the License. ** ** This program is distributed in the hope that it will be useful, ** but WITHOUT ANY WARRANTY; without even the implied warranty of ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ** GNU General Public License for more details. ** ** You should have received a copy of the GNU General Public License ** along with this program; if not, write to the ** Free Software Foundation, Inc., ** 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *****************************************************************************/#include "main.h"#include <avr/io.h>#include <avr/interrupt.h>#include <util/delay.h>#include "usart1.h"#include "max7456_software_spi.h"#if !(ALLCHARSDEBUG|(WRITECHARS != -1))volatile uint8_t rxd_buffer_locked = 0;volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];//volatile uint8_t txd_buffer[TXD_BUFFER_LEN];volatile uint8_t ReceivedBytes = 0;volatile uint8_t *pRxData = 0;volatile uint8_t RxDataLen = 0;/* ##########################################################################* USART1 stuff* ##########################################################################*//*** init usart1*/void usart1_init() {UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8;UBRR1L = (F_CPU / (16UL * baud)) - 1;// Enable receiver and transmitter; enable RX interruptUCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);//asynchronous 8N1UCSR1C = (1 << URSEL1) | (3 << UCSZ10);}/*** disable the txd pin of usart1*/void usart1_DisableTXD(void) {UCSR1B &= ~(1 << TXCIE1); // disable TX-InterruptUCSR1B &= ~(1 << TXEN1); // disable TX in USARTDDRB &= ~(1 << DDB3); // set TXD pin as inputPORTB &= ~(1 << PORTB3); // disable pullup on TXD pin}/*** enable the txd pin of usart1*/void usart1_EnableTXD(void) {DDRB |= (1 << DDB3); // set TXD pin as outputPORTB &= ~(1 << PORTB3); // disable pullup on TXD pinUCSR1B |= (1 << TXEN1); // enable TX in USARTUCSR1B |= (1 << TXCIE1); // enable TX-Interrupt}/*** send a single <character> through usart1*/void usart1_putc(unsigned char character) {// wait until UDR readywhile (!(UCSR1A & (1 << UDRE1)));UDR1 = character;}/*** send a <string> throught usart1*//*void usart1_puts(char *s) {while (*s) {usart1_putc(*s);s++;}}*//*** send a PGM<string> throught usart1*/void usart1_puts_pgm(const char* string) {while (pgm_read_byte(string) != 0x00)usart1_putc(pgm_read_byte(string++));}/*** transmit interrupt handler* unused*/ISR(USART1_TXC_vect) {}/** receive data through usart1* portions taken and adapted from* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c*/ISR(USART1_RXC_vect) {uint8_t c;// catch the received bytec = UDR1;if (rxd_buffer_locked) return; // if rxd buffer is locked immediately returnstatic uint16_t crc;static uint8_t ptr_rxd_buffer = 0;static uint8_t c1 = 0;static uint8_t c2 = 0;static uint8_t usart_rx_ok = 0;uint8_t crc1, crc2;// the rxd buffer is unlockedif (usart_rx_ok == 0) {// if ((c2 == '#') && (c1 == 'b' || c1 == 'c') && (c == 'D' || c == 'V' || c == 'O')) {if ((c2 == '#') && (c1 == 'b' || c1 == 'c') &&#if FCONLY(c == 'V' || c == 'D' || c == 'Q' || c == 'L')) { // version, debug, settings, LCD#else(c == 'V' || c == 'O' || c == 'Q' || c == 'C')) { // version, OSD, settings, 3D-Data#endifusart_rx_ok = 1;rxd_buffer[ptr_rxd_buffer++] = c2;crc = c2;rxd_buffer[ptr_rxd_buffer++] = c1;crc += c1;rxd_buffer[ptr_rxd_buffer++] = c;crc += c;c2 = 0;c1 = 0;LED1_ONLED2_OFF} else {c2 = c1;c1 = c;}} else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytesif (c != '\r') { // no termination characterrxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffercrc += c; // update crc} else { // termination character was received// the last 2 bytes are no subject for checksum calculation// they are the checksum itselfcrc -= rxd_buffer[ptr_rxd_buffer - 2];crc -= rxd_buffer[ptr_rxd_buffer - 1];// calculate checksum from transmitted datacrc %= 4096;crc1 = '=' + crc / 64;crc2 = '=' + crc % 64;// compare checksum to transmitted checksum bytesif ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum validrxd_buffer[ptr_rxd_buffer] = '\r'; // set termination characterReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytesrxd_buffer_locked = 1; // lock the rxd bufferLED1_OFF} else { // checksum invalidrxd_buffer_locked = 0; // unlock rxd bufferLED2_ON}ptr_rxd_buffer = 0; // reset rxd buffer pointerusart_rx_ok = 0;}} else { // rxd buffer overrunptr_rxd_buffer = 0; // reset rxd bufferrxd_buffer_locked = 0; // unlock rxd bufferusart_rx_ok = 0;LED2_ON}}/*** Decode the recevied Buffer* portions taken and adapted from* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c*/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++] - '=';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;}/*** Request Data through usart1 until a answer is received*/void usart1_request_blocking(unsigned char answer, const char* message) {rxd_buffer[2] = answer + 1; // unvalidate answerwhile (rxd_buffer[2] != answer || (rxd_buffer_locked != 1)) {rxd_buffer_locked = 0;usart1_EnableTXD();usart1_puts_pgm(message);usart1_DisableTXD();static uint8_t wait = 0;wait = 0;// wait for complete answerwhile (rxd_buffer_locked == 0 && wait < 200) {wait++;_delay_ms(10);}_delay_ms(150);}Decode64();}/*** Request UART Redirect from NC to itself*/void usart1_request_nc_uart(void) {usart1_EnableTXD();usart1_putc(0x1B);usart1_putc(0x1B);usart1_putc(0x55);usart1_putc(0xAA);usart1_putc(0x00);usart1_DisableTXD();}/*** request Data through USART in special MK format by adding checksum and* encode data in modified Base64* portions taken and adapted from* http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c*//*void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) {unsigned int pt = 0;unsigned char a, b, c;unsigned char ptr = 0;txd_buffer[pt++] = '#'; // Start-Bytetxd_buffer[pt++] = 'a' + addr; // Adresstxd_buffer[pt++] = cmd; // Commandwhile (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);}// add crcunsigned int tmpCRC = 0, i;for (i = 0; i < pt; i++) {tmpCRC += txd_buffer[i];}tmpCRC %= 4096;txd_buffer[i++] = '=' + tmpCRC / 64;txd_buffer[i++] = '=' + tmpCRC % 64;txd_buffer[i++] = '\r';usart1_puts((char*) txd_buffer);}*//*** short script to directly send a request thorugh usart including en- and disabling it* where <address> is the address of the receipient, <label> is which data set to request* and <ms> represents the milliseconds delay between data*//*void usart1_request_mk_data(uint8_t address, char label, uint8_t ms) {// re-enable TXD pinusart1_EnableTXD();unsigned char mstenth = ms / 10;sendMKData(label, address, &mstenth, 1);// wait until UDR readywhile (!(UCSR1A & (1 << UDRE1)));// disable TXD pin againusart1_DisableTXD();}*/#endif