reorganize telemetry code bash serial

This commit is contained in:
midelic 2016-08-27 10:43:59 +01:00 committed by GitHub
parent 46a4d5aa63
commit 94f1efaab7

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@ -446,4 +446,382 @@ void frskyUpdate()
} }
//Serial TX
#ifdef XMEGA
ISR(USARTC0_DRE_vect)
#else
#if defined STM32_board
#ifdef __cplusplus
extern "C" {
#endif
void __irq_usart3()
#else
ISR(USART_UDRE_vect)
#endif
#endif
{ // Transmit interrupt
#if defined STM32_board
if(USART3_BASE->SR & USART_SR_TXE) {
#endif
if(tx_head!=tx_tail)
{
if(++tx_tail>=TXBUFFER_SIZE)//head
tx_tail=0;
#ifdef XMEGA
USARTC0.DATA = tx_buff[tx_tail] ;
#else
#if defined STM32_board
USART3_BASE->DR=tx_buff[tx_tail];//clears TXE bit
#else
UDR0=tx_buff[tx_tail];
#endif
#endif
}
if (tx_tail == tx_head)
#ifdef XMEGA
USARTC0.CTRLA &= ~0x03 ;
#else
#if defined STM32_board
USART3_BASE->CR1 &= ~USART_CR1_TXEIE;//disable interrupt
}
#else
UCSR0B &= ~(1<<UDRIE0); // Check if all data is transmitted . if yes disable transmitter UDRE interrupt
#endif
#endif
}
#if defined STM32_board
#ifdef __cplusplus
}
#endif
#endif
#ifndef BASH_SERIAL
void Serial_write(uint8_t data)
{
cli(); // disable global int
if(++tx_head>=TXBUFFER_SIZE)
tx_head=0;
tx_buff[tx_head]=data;
#ifdef XMEGA
USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;
#else
#if defined STM32_board
USART3_BASE->CR1 |= USART_CR1_TXEIE;
#else
UCSR0B |= (1<<UDRIE0);//enable UDRE interrupt
#endif
#endif
sei(); // enable global int
}
static void Mprotocol_serial_init()
{
#ifdef XMEGA
PORTC.OUTSET = 0x08 ;
PORTC.DIRSET = 0x08 ;
USARTC0.BAUDCTRLA = 19 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x2B ;
USARTC0.DATA ;
#else
#if defined STM32_board
Serial1.begin(100000,SERIAL_8E2);//USART2
Serial2.begin(100000,SERIAL_8E2);//USART3
USART2_BASE->CR1 |= USART_CR1_PCE_BIT;
USART3_BASE->CR1 &= ~ USART_CR1_RE;//disable
USART2_BASE->CR1 &= ~ USART_CR1_TE;//disable transmit
#else
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0A = 0 ; // Clear X2 bit
//Set frame format to 8 data bits, even parity, 2 stop bits
UCSR0C = (1<<UPM01)|(1<<USBS0)|(1<<UCSZ01)|(1<<UCSZ00);
while ( UCSR0A & (1 << RXC0) )//flush receive buffer
UDR0;
//enable reception and RC complete interrupt
UCSR0B = (1<<RXEN0)|(1<<RXCIE0);//rx enable and interrupt
#ifdef DEBUG_TX
TX_SET_OUTPUT;
#else
#ifndef STM32_board
UCSR0B |= (1<<TXEN0);//tx enable
#endif
#endif
#endif
#endif
}
static void PPM_Telemetry_serial_init()
{
#ifdef XMEGA
USARTC0.BAUDCTRLA = 207 ;
USARTC0.BAUDCTRLB = 0 ;
USARTC0.CTRLB = 0x18 ;
USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
USARTC0.CTRLC = 0x03 ;
#else
#if defined STM32_board
Serial1.begin(9600);
#else
//9600 bauds
UBRR0H = 0x00;
UBRR0L = 0x67;
UCSR0A = 0 ; // Clear X2 bit
//Set frame format to 8 data bits, none, 1 stop bit
UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);
UCSR0B = (1<<TXEN0);//tx enable
#endif
#endif
}
#endif
#ifdef BASH_SERIAL
// Routines for bit-bashed serial output
// Speed is 0 for 100K and 1 for 9600
void initTXSerial( uint8_t speed)
{
TIMSK0 = 0 ; // Stop all timer 0 interrupts
#ifdef INVERT_SERIAL
PORTD &= ~2 ;
#else
PORTD |= 2 ;
#endif
DDRD |= 2 ; // TxD pin is an output
UCSR0B &= ~(1<<TXEN0) ;
SerialControl.speed = speed ;
if ( speed == SPEED_9600 )
{
OCR0A = 207 ; // 104uS period
TCCR0A = 3 ;
TCCR0B = 0x0A ; // Fast PMM, 2MHz
}
else // 100K
{
TCCR0A = 0 ;
TCCR0B = 2 ; // Clock/8 (0.5uS)
}
}
void Serial_write( uint8_t byte )
{
uint8_t temp ;
uint8_t temp1 ;
uint8_t byteLo ;
#ifdef INVERT_SERIAL
byte = ~byte ;
#endif
byteLo = byte ;
byteLo >>= 7 ; // Top bit
if ( SerialControl.speed == SPEED_100K )
{
#ifdef INVERT_SERIAL
byteLo |= 0x02 ; // Parity bit
#else
byteLo |= 0xFC ; // Stop bits
#endif
// calc parity
temp = byte ;
temp >>= 4 ;
temp = byte ^ temp ;
temp1 = temp ;
temp1 >>= 2 ;
temp = temp ^ temp1 ;
temp1 = temp ;
temp1 <<= 1 ;
temp ^= temp1 ;
temp &= 0x02 ;
#ifdef INVERT_SERIAL
byteLo ^= temp ;
#else
byteLo |= temp ;
#endif
}
else
{
byteLo |= 0xFE ; // Stop bit
}
byte <<= 1 ;
#ifdef INVERT_SERIAL
byte |= 1 ; // Start bit
#endif
uint8_t next = (SerialControl.head + 2) & 0x3f ;
if ( next != SerialControl.tail )
{
SerialControl.data[SerialControl.head] = byte ;
SerialControl.data[SerialControl.head+1] = byteLo ;
SerialControl.head = next ;
}
cli() ;
if ( SerialControl.busy == 0 )
{
sei() ;
// Start the transmission here
#ifdef INVERT_SERIAL
GPIOR2 = 0 ;
#else
GPIOR2 = 0x01 ;
#endif
if ( SerialControl.speed == SPEED_100K )
{
GPIOR1 = 1 ;
OCR0B = TCNT0 + 40 ;
OCR0A = OCR0B + 210 ;
TIFR0 = (1<<OCF0A) | (1<<OCF0B) ;
TIMSK0 |= (1<<OCIE0B) ;
SerialControl.busy = 1 ;
}
else
{
GPIOR1 = 1 ;
TIFR0 = (1<<TOV0) ;
TIMSK0 |= (1<<TOIE0) ;
SerialControl.busy = 1 ;
}
}
else
{
sei() ;
}
}
// Assume timer0 at 0.5uS clock
ISR(TIMER0_COMPA_vect)
{
uint8_t byte ;
byte = GPIOR0 ;
if ( byte & 0x01 )
{
PORTD |= 0x02 ;
}
else
{
PORTD &= ~0x02 ;
}
byte /= 2 ; // Generates shorter code than byte >>= 1
GPIOR0 = byte ;
if ( --GPIOR1 == 0 )
{
TIMSK0 &= ~(1<<OCIE0A) ;
GPIOR1 = 3 ;
}
else
{
OCR0A += 20 ;
}
}
ISR(TIMER0_COMPB_vect)
{
uint8_t byte ;
byte = GPIOR2 ;
if ( byte & 0x01 )
{
PORTD |= 0x02 ;
}
else
{
PORTD &= ~0x02 ;
}
byte /= 2 ; // Generates shorter code than byte >>= 1
GPIOR2 = byte ;
if ( --GPIOR1 == 0 )
{
// prepare next byte and allow for 2 stop bits
struct t_serial_bash *ptr = &SerialControl ;
if ( ptr->head != ptr->tail )
{
GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ;
ptr->tail = ( ptr->tail + 2 ) & 0x3F ;
GPIOR1 = 8 ;
OCR0A = OCR0B + 40 ;
OCR0B = OCR0A + 8 * 20 ;
TIMSK0 |= (1<<OCIE0A) ;
}
else
{
SerialControl.busy = 0 ;
TIMSK0 &= ~(1<<OCIE0B) ;
}
}
else
{
OCR0B += 20 ;
}
}
ISR(TIMER0_OVF_vect)
{
uint8_t byte ;
if ( GPIOR1 > 2 )
{
byte = GPIOR0 ;
}
else
{
byte = GPIOR2 ;
}
if ( byte & 0x01 )
{
PORTD |= 0x02 ;
}
else
{
PORTD &= ~0x02 ;
}
byte /= 2 ; // Generates shorter code than byte >>= 1
if ( GPIOR1 > 2 )
{
GPIOR0 = byte ;
}
else
{
GPIOR2 = byte ;
}
if ( --GPIOR1 == 0 )
{
// prepare next byte
struct t_serial_bash *ptr = &SerialControl ;
if ( ptr->head != ptr->tail )
{
GPIOR0 = ptr->data[ptr->tail] ;
GPIOR2 = ptr->data[ptr->tail+1] ;
ptr->tail = ( ptr->tail + 2 ) & 0x3F ;
GPIOR1 = 10 ;
}
else
{
SerialControl.busy = 0 ;
TIMSK0 &= ~(1<<TOIE0) ;
}
}
}
#endif// BASH_SERIAL
#endif #endif