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endlich geht mal wieder was

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This commit is contained in:
Tristan Krause 2019-04-02 15:32:51 +02:00
parent d5ca50f475
commit 9414322a19
11 changed files with 481 additions and 412 deletions
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76
firmware/usart.cpp
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@ -1,6 +1,8 @@
#include "usart.h"
void USART::init()
handler_t USART::receive_handler = nullptr;
void USART::init(handler_t handler) volatile
{
UCSR0A = _BV(U2X0);
@ -13,9 +15,11 @@ void USART::init()
UBRR0H = (((F_CPU / (8UL * BAUDRATE))-1) >> 8) & 0xFF;
UBRR0L = ((F_CPU / (8UL * BAUDRATE))-1) & 0xFF;
receive_handler = handler;
send_active = false;
}
void USART::clearInputBuffer()
void USART::clearInputBuffer() volatile
{
uint8_t dummy;
do
@ -29,35 +33,77 @@ void USART::clearInputBuffer()
return;
}
void USART::write(void)
void USART::handleRX(void) volatile
{
send_len = send_pos;
send_pos = 0;
while (!(UCSR0A & (1<<UDRE0)));
UDR0 = send_buffer[send_pos++];
receive_buffer[receive_pos] = UDR0;
receive_pos++;
if(receive_pos >= rq_len[receive_buffer[0]]) // last byte
{
receive_pos = 0;
receive_handler();
}
}
void USART::writeByte(uint8_t b)
void USART::handleTX(void) volatile
{
((MCP23S17*) &beba0)->writePortA(send_pos);
if(send_pos < send_len)
{
while (!(UCSR0A & (1<<UDRE0)));
UDR0 = send_buffer[send_pos++];
}
else
{
send_active = false;
}
}
void USART::initRX(void) volatile
{
receive_pos = 0;
}
void USART::initTX(void) volatile
{
while(send_active);
send_pos = 0;
}
void USART::flush(void) volatile
{
if(send_pos == 0)
return;
send_len = send_pos;
send_pos = 0;
send_active = true;
handleTX();
}
void USART::writeByte(uint8_t b) volatile
{
send_buffer[send_pos++] = b;
}
void USART::writeInt(uint16_t v)
void USART::writeInt(uint16_t v) volatile
{
writeByte(v & 0xFF);
v >>= 8;
writeByte(v & 0xFF);
}
void USART::writeStr(const char* str, uint8_t len)
void USART::writeStr(const char* str, uint8_t len) volatile
{
writeByte(len);
while(len--)
writeByte(*str++);
}
uint8_t USART::writeBlock(uint8_t* ptr, uint8_t len)
uint8_t USART::writeBlock(uint8_t* ptr, uint8_t len) volatile
{
writeByte(len);
@ -79,19 +125,19 @@ uint8_t USART::writeBlock(uint8_t* ptr, uint8_t len)
return readByte();
}
uint8_t USART::readByte()
uint8_t USART::readByte() volatile
{
return receive_buffer[receive_pos++];
}
uint16_t USART::readInt()
uint16_t USART::readInt() volatile
{
uint16_t v = readByte();
v |= readByte() << 8;
return v;
}
void USART::nextByte(uint8_t byte)
void USART::nextByte(uint8_t byte) volatile
{
switch(seq)
{
@ -164,7 +210,7 @@ void USART::nextByte(uint8_t byte)
block_pos++;
}
void USART::readBlock(uint8_t* ptr, uint8_t offset)
void USART::readBlock(uint8_t* ptr, uint8_t offset) volatile
{
ptr += offset;
uint8_t crc = 0x7F;