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#include <avr/io.h>
#include <avr/interrupt.h>
#include "main.h"
#include "uart1.h"
#include "printf_P.h"
#include "ubx.h"
/****************************************************************/
/* Initialization of the USART1 */
/****************************************************************/
void USART1_Init
(void)
{
printf("\r\n UART1 init...");
// USART1 Control and Status Register A, B, C and baud rate register
uint8_t sreg
= SREG
;
uint16_t ubrr
= (uint16_t) ((uint32_t) SYSCLK
/(8 * USART1_BAUD
) - 1);
// disable all interrupts before reconfiguration
cli
();
// disable RX-Interrupt
UCSR1B
&= ~
(1 << RXCIE1
);
// disable TX-Interrupt
UCSR1B
&= ~
(1 << TXCIE1
);
// disable DRE-Interrupt
UCSR1B
&= ~
(1 << UDRIE1
);
// set direction of RXD1 and TXD1 pins
// set RXD1 (PD2) as an input pin
PORTD
|= (1 << PORTD2
);
DDRD
&= ~
(1 << DDD2
);
// set TXD1 (PD3) as an output pin
PORTD
|= (1 << PORTD3
);
DDRD
|= (1 << DDD3
);
// USART0 Baud Rate Register
// set clock divider
UBRR1H
= (uint8_t)(ubrr
>>8);
UBRR1L
= (uint8_t)ubrr
;
// enable double speed operation
UCSR1A
|= (1 << U2X1
);
// enable receiver and transmitter
UCSR1B
= (1 << TXEN1
) | (1 << RXEN1
);
// set asynchronous mode
UCSR1C
&= ~
(1 << UMSEL11
);
UCSR1C
&= ~
(1 << UMSEL10
);
// no parity
UCSR1C
&= ~
(1 << UPM11
);
UCSR1C
&= ~
(1 << UPM10
);
// 1 stop bit
UCSR1C
&= ~
(1 << USBS1
);
// 8-bit
UCSR1B
&= ~
(1 << UCSZ12
);
UCSR1C
|= (1 << UCSZ11
);
UCSR1C
|= (1 << UCSZ10
);
// flush receive buffer explicit
while ( UCSR1A
& (1<<RXC1
) ) UDR1
;
// enable interrupts at the end
// enable RX-Interrupt
UCSR1B
|= (1 << RXCIE1
);
// enable TX-Interrupt
UCSR1B
|= (1 << TXCIE1
);
// enable DRE interrupt
//UCSR1B |= (1 << UDRIE1);
// restore global interrupt flags
SREG
= sreg
;
sei
();
printf("ok");
}
/****************************************************************/
/* USART1 transmitter ISR */
/****************************************************************/
/*ISR(USART1_TX_vect)
{
}
*/
/****************************************************************/
/* USART1 receiver ISR */
/****************************************************************/
ISR
(USART1_RX_vect
)
{
uint8_t c
;
c
= UDR1
; // get data byte
UBX_Parser
(c
); // and put it into the ubx protocol parser
}