diff options
Diffstat (limited to 'comm.c')
| -rw-r--r-- | comm.c | 284 |
1 files changed, 142 insertions, 142 deletions
@@ -1,142 +1,142 @@ -#include "defines.h" -#include <inttypes.h> -#include <util/delay.h> -#include "comm.h" -#include "usart.h" - -static uint8_t comm_send_crc; -static unsigned int comm_send_length; -static unsigned int comm_send_pos; - -static int comm_recv_pos; -static uint8_t comm_recv_crc; -static uint8_t comm_recv_error; - -volatile uint8_t comm_recv_command; -volatile unsigned int comm_recv_length; -volatile uint8_t recv_buffer[RECV_BUFFER]; -volatile uint8_t comm_recv_done; - -static void comm_calc_send_crc(uint8_t inbyte) -{ - uint8_t j; - for (j=0;j<8;j++) - { - uint8_t mix = (comm_send_crc ^ inbyte) & 0x01; - comm_send_crc >>= 1; - if (mix) - comm_send_crc ^= 0x8C; - inbyte >>= 1; - } -} - -static void comm_calc_recv_crc(uint8_t inbyte) -{ - uint8_t j; - for (j=0;j<8;j++) - { - uint8_t mix = (comm_recv_crc ^ inbyte) & 0x01; - comm_recv_crc >>= 1; - if (mix) - comm_recv_crc ^= 0x8C; - inbyte >>= 1; - } -} - -static void comm_send_and_calc(uint8_t data) -{ - comm_calc_send_crc(data); - USART_TransmitByte(data); -#ifdef SEND_DELAY - _delay_us(SEND_DELAY); -#endif -} - -void comm_start(uint8_t command, unsigned int length) -{ - comm_send_crc = 0; - comm_send_and_calc('F'); - comm_send_and_calc(command); - comm_send_and_calc(length & 0xff); - comm_send_and_calc((length >> 8) & 0xff); - comm_send_length = length; - comm_send_pos = 0; - - if (!comm_send_length) - USART_TransmitByte(comm_send_crc); -} - -void comm_send_byte(uint8_t data) -{ - comm_send_and_calc(data); - comm_send_pos++; - - if (comm_send_pos == comm_send_length) - USART_TransmitByte(comm_send_crc); -} - -void comm_proceed(uint8_t data) -{ - if (comm_recv_error && data != 'F') return; - comm_recv_error = 0; - if (!comm_recv_pos) - { - comm_recv_crc = 0; - comm_recv_done = 0; - } - comm_calc_recv_crc(data); - unsigned int l = comm_recv_pos-4; - switch (comm_recv_pos) - { - case 0: - if (data != 'F') - { - comm_recv_error = 1; - comm_start(COMMAND_ERROR_INVALID, 0); - } - break; - case 1: - comm_recv_command = data; - break; - case 2: - comm_recv_length = data; - break; - case 3: - comm_recv_length |= (uint16_t)data << 8; - break; - default: - if (l >= RECV_BUFFER) - { - comm_recv_pos = 0; - comm_recv_error = 1; - comm_start(COMMAND_ERROR_OVERFLOW, 0); - return; - } - else if (l < comm_recv_length) - { - recv_buffer[l] = data; - } else if (l == comm_recv_length) - { - if (!comm_recv_crc) - { - comm_recv_done = 1; - } - else - { - comm_recv_error = 1; - comm_start(COMMAND_ERROR_CRC, 0); - } - comm_recv_pos = 0; - return; - } - break; - } - comm_recv_pos++; -} - -void comm_init() -{ - comm_recv_pos = 0; - comm_recv_done = 0; - comm_recv_error = 0; -} +#include "defines.h"
+#include <inttypes.h>
+#include <util/delay.h>
+#include "comm.h"
+#include "usart.h"
+
+static uint8_t comm_send_crc;
+static unsigned int comm_send_length;
+static unsigned int comm_send_pos;
+
+static int comm_recv_pos;
+static uint8_t comm_recv_crc;
+static uint8_t comm_recv_error;
+
+volatile uint8_t comm_recv_command;
+volatile unsigned int comm_recv_length;
+volatile uint8_t recv_buffer[RECV_BUFFER];
+volatile uint8_t comm_recv_done;
+
+static void comm_calc_send_crc(uint8_t inbyte)
+{
+ uint8_t j;
+ for (j=0;j<8;j++)
+ {
+ uint8_t mix = (comm_send_crc ^ inbyte) & 0x01;
+ comm_send_crc >>= 1;
+ if (mix)
+ comm_send_crc ^= 0x8C;
+ inbyte >>= 1;
+ }
+}
+
+static void comm_calc_recv_crc(uint8_t inbyte)
+{
+ uint8_t j;
+ for (j=0;j<8;j++)
+ {
+ uint8_t mix = (comm_recv_crc ^ inbyte) & 0x01;
+ comm_recv_crc >>= 1;
+ if (mix)
+ comm_recv_crc ^= 0x8C;
+ inbyte >>= 1;
+ }
+}
+
+static void comm_send_and_calc(uint8_t data)
+{
+ comm_calc_send_crc(data);
+ USART_TransmitByte(data);
+#ifdef SEND_DELAY
+ _delay_us(SEND_DELAY);
+#endif
+}
+
+void comm_start(uint8_t command, unsigned int length)
+{
+ comm_send_crc = 0;
+ comm_send_and_calc('F');
+ comm_send_and_calc(command);
+ comm_send_and_calc(length & 0xff);
+ comm_send_and_calc((length >> 8) & 0xff);
+ comm_send_length = length;
+ comm_send_pos = 0;
+
+ if (!comm_send_length)
+ USART_TransmitByte(comm_send_crc);
+}
+
+void comm_send_byte(uint8_t data)
+{
+ comm_send_and_calc(data);
+ comm_send_pos++;
+
+ if (comm_send_pos == comm_send_length)
+ USART_TransmitByte(comm_send_crc);
+}
+
+void comm_proceed(uint8_t data)
+{
+ if (comm_recv_error && data != 'F') return;
+ comm_recv_error = 0;
+ if (!comm_recv_pos)
+ {
+ comm_recv_crc = 0;
+ comm_recv_done = 0;
+ }
+ comm_calc_recv_crc(data);
+ unsigned int l = comm_recv_pos-4;
+ switch (comm_recv_pos)
+ {
+ case 0:
+ if (data != 'F')
+ {
+ comm_recv_error = 1;
+ comm_start(COMMAND_ERROR_INVALID, 0);
+ }
+ break;
+ case 1:
+ comm_recv_command = data;
+ break;
+ case 2:
+ comm_recv_length = data;
+ break;
+ case 3:
+ comm_recv_length |= (uint16_t)data << 8;
+ break;
+ default:
+ if (l >= RECV_BUFFER)
+ {
+ comm_recv_pos = 0;
+ comm_recv_error = 1;
+ comm_start(COMMAND_ERROR_OVERFLOW, 0);
+ return;
+ }
+ else if (l < comm_recv_length)
+ {
+ recv_buffer[l] = data;
+ } else if (l == comm_recv_length)
+ {
+ if (!comm_recv_crc)
+ {
+ comm_recv_done = 1;
+ }
+ else
+ {
+ comm_recv_error = 1;
+ comm_start(COMMAND_ERROR_CRC, 0);
+ }
+ comm_recv_pos = 0;
+ return;
+ }
+ break;
+ }
+ comm_recv_pos++;
+}
+
+void comm_init()
+{
+ comm_recv_pos = 0;
+ comm_recv_done = 0;
+ comm_recv_error = 0;
+}
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