endlich geht mal wieder was

firmware/B15F.hex

@@ -3,264 +3,294 @@
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 :00000001FF

firmware/Makefile

@@ -13,7 +13,7 @@ HEX	= B15F.hex
 MCU	= atmega1284p
 CFLAGS  = -Wall -Wextra -std=c++14 -O3 -mmcu=$(MCU) -DF_CPU=20000000
 LDFLAGS = 
-OBJECTS = main.o spi.o mcp23s17.o tlc5615.o adu.o selftest.o global_vars.o usart.o requests.o
+OBJECTS = main.o spi.o mcp23s17.o tlc5615.o adu.o selftest.o global_vars.o usart.o requests.o interrupts.o
 
 
 COMPILE = $(COMPILER_PATH) $(CFLAGS)
@@ -33,7 +33,7 @@ clean:
 	@echo "Cleaning..."
 	rm -f $(OBJECTS) $(OUTPUT) $(HEX)
 
-upload:
+upload: B15F
 	avrdude -Pusb -p $(MCU) -c avrispmkII -U flash:w:$(HEX)
 
 .cpp.o:

firmware/global_vars.h

@@ -15,10 +15,4 @@ extern volatile TLC5615 dac1;
 extern volatile ADU adu;
 extern volatile USART usart;
 
-extern volatile uint8_t receive_buffer[32];
-extern volatile uint8_t receive_pos;
-extern volatile uint8_t send_buffer[32];
-extern volatile uint8_t send_pos;
-extern volatile uint8_t send_len;
-extern volatile bool send_active;
 #endif // GLOBAL_VARS_H

firmware/interrupts.cpp

@@ -0,0 +1,12 @@
+#include <avr/interrupt.h>
+#include "global_vars.h"
+
+ISR(USART0_RX_vect)
+{
+	usart.handleRX();
+}
+
+ISR(USART0_TX_vect)
+{
+	usart.handleTX();	
+}

firmware/main.cpp

@@ -9,46 +9,8 @@
 
 #define WDT_TIMEOUT WDTO_1S
 
-uint8_t const rq_len[] = {
-	/* RQ_DISC */ 1,
-	/* RQ_TEST */ 2,
-	/* RQ_INFO */ 1,
-	/* RQ_INT */ 3,
-	/* [ reserved ] */ 0,
-	/* RQ_BA0 */ 2,
-	/* RQ_BA1 */ 2,
-	/* RQ_BE0 */ 1,
-	/* RQ_BE1 */ 1,
-	/* RQ_AA0 */ 3,
-	/* RQ_AA1 */ 3,
-	/* RQ_ADC */ 2,
-	/* RQ_ADC_DAC_STROKE */ 9
-};
-
-
-
-
-
 void handleRequest(void);
 
-ISR(USART0_RX_vect)
-{
-	receive_buffer[receive_pos] = UDR0;
-	receive_pos++;
-
-	if(receive_pos == rq_len[receive_buffer[0]]) // last byte
-	{
-		receive_pos = 0;
-		handleRequest();
-	}
-}
-
-ISR(USART0_TX_vect)
-{
-	if(send_pos < send_len)
-		UDR0 = send_buffer[send_pos++];
-}
-
 void initAll()
 {
 	((SPI*) &spi)->init();
@@ -60,7 +22,8 @@ void initAll()
 	((MCP23S17*) &sw)->setDirB(0xFF); // alle Eingang
 
 	((ADU*) &adu)->init();
-	((USART*) &usart)->init();
+	usart.init(&handleRequest);
+	usart.initRX();
 
 	// aktiviere Interrupts
 	sei();
@@ -72,17 +35,14 @@ void initAll()
 }
 
 void handleRequest()
-{	
+{
-	wdt_disable();
-
-	const uint8_t req = ((USART*) &usart)->readByte();
-	send_pos = 0;
-
 	// starte WDT
 	wdt_enable(WDT_TIMEOUT);
 	wdt_reset();
 	
-	//((MCP23S17*) &beba0)->writePortA(receive_buffer[0]);
+	const uint8_t req = usart.readByte();
+	((MCP23S17*) &beba1)->writePortA(req);
+	
 	switch(req)
 	{
 		case RQ_DISC:
@@ -135,34 +95,24 @@ void handleRequest()
 		default:
 			break;
 	}
-	//((MCP23S17*) &beba1)->writePortA(0x00);
 	
-	receive_pos = 0;
+	usart.initRX();
-
+	
+	wdt_disable();
 }
 
 int main()
 {
-
 	initAll();
-
 	
 	// Reset anzeigen
 	((MCP23S17*) &beba0)->writePortA(0xFF);
 	_delay_ms(100);
 	((MCP23S17*) &beba0)->writePortA(0x00);
 
-	uint8_t n = 0;
-	uint8_t block[16];
 	while(1)
 	{
-		//testAll();
+		_delay_ms(10);
-		_delay_ms(1);
-	}
-
-	while(1)
-	{
-		handleRequest();
 	}
 
 	return 0;

firmware/requests.cpp

@@ -2,106 +2,107 @@
 
 void rqTestConnection()
 {
-	uint8_t dummy = ((USART*) &usart)->readByte();
+	usart.initTX();
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	uint8_t dummy = usart.readByte();
-	((USART*) &usart)->writeByte(dummy);
+	usart.writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
+	usart.writeByte(dummy);
+	usart.flush();
 }
 
 void rqBoardInfo()
 {
-	((USART*) &usart)->writeByte(3); // Anzahl an Strings
+	usart.initTX();
-	((USART*) &usart)->write();
+	usart.writeByte(3); // Anzahl an Strings
-
+	usart.writeStr(DATE, sizeof(DATE));
-	send_pos = 0;	
+	usart.writeStr(TIME, sizeof(TIME));
-	((USART*) &usart)->writeStr(DATE, sizeof(DATE));
+	usart.writeStr(FSRC, sizeof(FSRC));
-	((USART*) &usart)->write();
+	usart.writeByte(USART::MSG_OK);
-
+	usart.flush();
-	send_pos = 0;
-	((USART*) &usart)->writeStr(TIME, sizeof(TIME));
-	((USART*) &usart)->write();
-
-	send_pos = 0;
-	((USART*) &usart)->writeStr(FSRC, sizeof(FSRC));
-	((USART*) &usart)->writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
 }
 
 void rqTestIntConv()
 {
-	uint16_t d = ((USART*) &usart)->readInt();
+	usart.initTX();
-	((USART*) &usart)->writeInt(d * 3);
+	uint16_t d = usart.readInt();
-	((USART*) &usart)->write();
+	usart.writeInt(d * 3);
+	usart.flush();
 }
 
 void rqDigitalWrite0()
 {
-	uint8_t port = ((USART*) &usart)->readByte();
+	usart.initTX();
+	uint8_t port = usart.readByte();
 	((MCP23S17*) &beba0)->writePortA(port);
 
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	usart.writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqDigitalWrite1()
 {
-	uint8_t port = ((USART*) &usart)->readByte();
+	usart.initTX();
+	uint8_t port = usart.readByte();
 	((MCP23S17*) &beba1)->writePortA(port);
 
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	usart.writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqDigitalRead0()
 {
+	usart.initTX();
 	uint8_t port = ((MCP23S17*) &beba0)->readPortB();
-	((USART*) &usart)->writeByte(port);
+	usart.writeByte(port);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqDigitalRead1()
 {
+	usart.initTX();
 	uint8_t port = ((MCP23S17*) &beba1)->readPortB();
-	((USART*) &usart)->writeByte(port);
+	usart.writeByte(port);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqAnalogWrite0()
 {
-	uint16_t value = ((USART*) &usart)->readInt();
+	usart.initTX();
+	uint16_t value = usart.readInt();
 	((TLC5615*) &dac0)->setValue(value);
 
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	usart.writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqAnalogWrite1()
 {
-	uint16_t value = ((USART*) &usart)->readInt();
+	usart.initTX();
+	uint16_t value = usart.readInt();
 	((TLC5615*) &dac1)->setValue(value);
 
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	usart.writeByte(USART::MSG_OK);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqAnalogRead()
 {
-	uint8_t channel = ((USART*) &usart)->readByte();
+	usart.initTX();
+	uint8_t channel = usart.readByte();
 	uint16_t value = ((ADU*) &adu)->getValue(channel);
-	((USART*) &usart)->writeInt(value);
+	usart.writeInt(value);
-	((USART*) &usart)->write();
+	usart.flush();
 }
 
 void rqAdcDacStroke()
 {	
-	uint8_t channel_a = ((USART*) &usart)->readByte();
+	uint8_t channel_a = usart.readByte();
-	uint8_t channel_b = ((USART*) &usart)->readByte();
+	uint8_t channel_b = usart.readByte();
 	
-	int16_t start = static_cast<int16_t>(((USART*) &usart)->readInt());
+	int16_t start = static_cast<int16_t>(usart.readInt());
-	int16_t delta = static_cast<int16_t>(((USART*) &usart)->readInt());
+	int16_t delta = static_cast<int16_t>(usart.readInt());
-	int16_t count = static_cast<int16_t>(((USART*) &usart)->readInt());
+	int16_t count = static_cast<int16_t>(usart.readInt());
 
-	//((USART*) &usart)->writeByte(USART::MSG_OK);
+	//usart.writeByte(USART::MSG_OK);
 	
 	count *= delta;
 	((MCP23S17*) &beba1)->writePortA(0xFF);
@@ -113,8 +114,8 @@ void rqAdcDacStroke()
 
 		uint16_t val_a = ((ADU*) &adu)->getValue(channel_a);
 		uint16_t val_b = ((ADU*) &adu)->getValue(channel_b);
-		((USART*) &usart)->writeInt(val_a);
+		usart.writeInt(val_a);
-		((USART*) &usart)->writeInt(val_b);
+		usart.writeInt(val_b);
 
 		/*union doubleword
 		{
@@ -130,12 +131,12 @@ void rqAdcDacStroke()
 		do
 		{
 			wdt_reset();
-			ret = ((USART*) &usart)->writeBlock(&(dw.byte[0]), 4);
+			ret = usart.writeBlock(&(dw.byte[0]), 4);
 
 			if(ret == 0)
 				return;
 		} while(ret != USART::MSG_OK);*/
 	}
 	
-	((USART*) &usart)->writeByte(USART::MSG_OK);
+	usart.writeByte(USART::MSG_OK);
 }

firmware/requests.h

@@ -18,6 +18,22 @@ constexpr static uint8_t RQ_AA1  = 10;
 constexpr static uint8_t RQ_ADC  = 11;
 constexpr static uint8_t RQ_ADC_DAC_STROKE  = 12;
 
+uint8_t const rq_len[] = {
+	/* RQ_DISC */ 1,
+	/* RQ_TEST */ 2,
+	/* RQ_INFO */ 1,
+	/* RQ_INT */ 3,
+	/* [ reserved ] */ 0,
+	/* RQ_BA0 */ 2,
+	/* RQ_BA1 */ 2,
+	/* RQ_BE0 */ 1,
+	/* RQ_BE1 */ 1,
+	/* RQ_AA0 */ 3,
+	/* RQ_AA1 */ 3,
+	/* RQ_ADC */ 2,
+	/* RQ_ADC_DAC_STROKE */ 9
+};
+
 void rqTestConnection(void);
 void rqBoardInfo(void);
 void rqTestIntConv(void);

firmware/tlc5615.cpp

@@ -1,4 +1,4 @@
-#include "TLC5615.h"
+#include "tlc5615.h"
 
 TLC5615::TLC5615(SPI& spi, uint8_t adr) : spi(spi), adr(adr)
 {

firmware/usart.cpp

@@ -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;
+	receive_buffer[receive_pos] = UDR0;
-	send_pos = 0;
+	receive_pos++;
-	while (!(UCSR0A & (1<<UDRE0)));
+
-	UDR0 = send_buffer[send_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;

firmware/usart.h

@@ -4,13 +4,14 @@
 #include <avr/io.h>
 #include <util/delay.h>
 #include <stdint.h>
+#include <avr/interrupt.h>
+
+class USART;
+#include "global_vars.h"
+#include "requests.h"
 
 
-extern volatile uint8_t receive_buffer[32];
+typedef void (*handler_t)(void);
-extern volatile uint8_t receive_pos;
-extern volatile uint8_t send_buffer[32];
-extern volatile uint8_t send_pos;
-extern volatile uint8_t send_len;
 
 enum BlockSequence
 {
@@ -23,38 +24,57 @@ enum BlockSequence
 
 class USART
 {
-public:
+public: 
-	void init(void);
+	
-	void clearInputBuffer(void);
+	void init(handler_t handler) volatile;
+	void clearInputBuffer(void) volatile;
 
-	void writeByte(uint8_t);
+	void writeByte(uint8_t) volatile;
-	void writeInt(uint16_t);
+	void writeInt(uint16_t) volatile;
-	void writeLong(uint32_t);
+	void writeStr(const char*, uint8_t) volatile;
-	void writeStr(const char*, uint8_t);
 
-	uint8_t writeBlock(uint8_t*, uint8_t);
+	uint8_t readByte(void) volatile;
-	uint8_t readByte(void);
+	uint16_t readInt(void) volatile;
-	uint16_t readInt(void);
+	
-	uint32_t readLong(void);
+	// NEU
-	void write(void);
+	void handleRX(void) volatile;
+	void handleTX(void) volatile;
+	
+	void initRX(void) volatile;
+	void initTX(void) volatile;
+	void flush(void) volatile;
 
-	void nextByte(uint8_t byte);
+	// Blockgedöns
-	void readBlock(uint8_t*, uint8_t);
+	void nextByte(uint8_t byte) volatile;	
+	uint8_t writeBlock(uint8_t*, uint8_t) volatile;
+	void readBlock(uint8_t*, uint8_t) volatile;
 
 	constexpr static uint8_t MSG_OK = 0xFF;
 	constexpr static uint8_t MSG_FAIL = 0xFE;
 
 	uint8_t block_pos = 0;
+	
+	
 
 	// constants
 	constexpr static uint32_t BAUDRATE       = 115200; // 38400
 	constexpr static uint8_t  CRC7_POLY      = 0x91;
 	constexpr static uint8_t  MAX_BLOCK_SIZE = 64;
 	constexpr static uint8_t  BLOCK_END      = 0x80;
+	
+	volatile uint8_t send_buffer[128];
 private:
+	static handler_t receive_handler;
 	uint8_t block_buffer[MAX_BLOCK_SIZE + 3]; // don't store BLOCK_END byte
 	uint8_t crc;
+	
 	BlockSequence seq = BlockSequence::IDLE;
+	
+	volatile uint8_t receive_buffer[32];
+	volatile uint8_t receive_pos;
+	volatile uint8_t send_pos;
+	volatile uint8_t send_len;
+	volatile bool send_active;
 };
 
 #endif // USART_H