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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
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;
RemoteKeys
|= pRxData
[0];
if(RemoteKeys
) DisplayLine
= 0;
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(Request_Display
&& txd_complete
)
{
LCD_PrintMenu
();
SendOutData
('H', FM_ADDRESS
, 2, &DisplayLine
, sizeof(DisplayLine
), &DisplayBuff
[DisplayLine
* 20], 20);
DisplayLine
++;
if(DisplayLine
>= 4) DisplayLine
= 0;
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
;
}
}