Ad van der Weiden / Mbed 2 deprecated tcpft

Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.

Dependencies:   mbed ConfigFile

rs485.c@0:7f26f0680202, 2010-12-31 (annotated)

Committer:
networker
Date:
Fri Dec 31 14:01:14 2010 +0000
Revision:
0:7f26f0680202
initial release: comprises ftlib (no usb), ft-over-ip socket server, and the http server (the html page and java jar I still have to publish somewhere)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
networker 0:7f26f0680202 1 //#define DEBUG //switches PB2 in interrupts and timeouts
networker 0:7f26f0680202 2 #if 0 //for reference only
networker 0:7f26f0680202 3 #define ALLOW_NESTING
networker 0:7f26f0680202 4
networker 0:7f26f0680202 5 #include "data.h"
networker 0:7f26f0680202 6 #include "rs485.h"
networker 0:7f26f0680202 7
networker 0:7f26f0680202 8
networker 0:7f26f0680202 9 #define BAUD 921600
networker 0:7f26f0680202 10 #define DIRPORT PORTD
networker 0:7f26f0680202 11 #define DIRBIT PD4
networker 0:7f26f0680202 12 #define DIRDIR DDRD
networker 0:7f26f0680202 13 #define TRANSMIT asm("sbi %0, %1"::"I" (_SFR_IO_ADDR(DIRPORT)),"I" (DIRBIT));
networker 0:7f26f0680202 14 #define RECEIVE asm("cbi %0, %1"::"I" (_SFR_IO_ADDR(DIRPORT)),"I" (DIRBIT));
networker 0:7f26f0680202 15
networker 0:7f26f0680202 16
networker 0:7f26f0680202 17 uint8_t /*wpos = 0,*/ rpos = 0;
networker 0:7f26f0680202 18 volatile uint8_t rs485_timeout = 0;
networker 0:7f26f0680202 19 volatile uint8_t rs485_delay = 0;
networker 0:7f26f0680202 20 static char* wposp = (char*)&msg.hdr.snd;
networker 0:7f26f0680202 21 static char state = 0;
networker 0:7f26f0680202 22
networker 0:7f26f0680202 23 void init_rs485()
networker 0:7f26f0680202 24 {
networker 0:7f26f0680202 25 /*Set baud rate */
networker 0:7f26f0680202 26 //Enable receiver and transmitter (also interrupts)
networker 0:7f26f0680202 27 // UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0) /*| _BV(UDRIE0)*/;
networker 0:7f26f0680202 28 /* Set frame format: 8data, 1stop bit */
networker 0:7f26f0680202 29 // UCSR0C = (3<<UCSZ00);
networker 0:7f26f0680202 30 //set tranceiver
networker 0:7f26f0680202 31 // RECEIVE;
networker 0:7f26f0680202 32 // DIRDIR |= _BV(DIRBIT); //set enable as output
networker 0:7f26f0680202 33 }
networker 0:7f26f0680202 34
networker 0:7f26f0680202 35 void enable_rx_rs485()
networker 0:7f26f0680202 36 {
networker 0:7f26f0680202 37 UCSR0B |= _BV(RXEN0) | _BV(RXCIE0); //enable uart rx
networker 0:7f26f0680202 38 RECEIVE;
networker 0:7f26f0680202 39 }
networker 0:7f26f0680202 40
networker 0:7f26f0680202 41 void send_rs485()
networker 0:7f26f0680202 42 { rpos = 0;
networker 0:7f26f0680202 43 //set RS485 tranceiver in send mode
networker 0:7f26f0680202 44 TRANSMIT;
networker 0:7f26f0680202 45 //disable rx interrupt
networker 0:7f26f0680202 46 UCSR0B &= ~(_BV(RXCIE0) | _BV(RXEN0));
networker 0:7f26f0680202 47 //enable tx interrupt, will immediately generate int
networker 0:7f26f0680202 48 UCSR0B |= _BV(UDRIE0);
networker 0:7f26f0680202 49 //kick off transmission
networker 0:7f26f0680202 50 // UDR0 = ((char*)&msg)[rpos++];//not necessary, will start by itself
networker 0:7f26f0680202 51 rs485_timeout = sizeof(msg)/8; //just a precaution, transmit should not timeout, timeout is approx. 110% of expected time
networker 0:7f26f0680202 52 }
networker 0:7f26f0680202 53
networker 0:7f26f0680202 54 ISR(USART_RX_vect)
networker 0:7f26f0680202 55 {
networker 0:7f26f0680202 56 SETPIN12;
networker 0:7f26f0680202 57 #ifdef ALLOW_NESTING
networker 0:7f26f0680202 58 MASK_TIMER_INT();
networker 0:7f26f0680202 59 MASK_EXTENSION_INT();
networker 0:7f26f0680202 60 MASK_DISTANCE_INT();
networker 0:7f26f0680202 61 MASK_IR_INT();
networker 0:7f26f0680202 62 //MASK_EEPROM_INT();
networker 0:7f26f0680202 63 sei();
networker 0:7f26f0680202 64 #endif
networker 0:7f26f0680202 65 register char *wp asm("r30") = wposp;
networker 0:7f26f0680202 66 register char data asm("r1");
networker 0:7f26f0680202 67 do
networker 0:7f26f0680202 68 { data = UDR0;
networker 0:7f26f0680202 69 rs485_timeout = 2;//set a timeout of 100-200us equiv. to 10-20 bytes
networker 0:7f26f0680202 70 switch (state)
networker 0:7f26f0680202 71 { case 0: //idle
networker 0:7f26f0680202 72 if (data == 0x02)
networker 0:7f26f0680202 73 state = 1;
networker 0:7f26f0680202 74 else if (data == 0xA0)//this is really a hack, it avoids timeouts in case of a bad start
networker 0:7f26f0680202 75 state = 5;
networker 0:7f26f0680202 76 break;
networker 0:7f26f0680202 77 case 1: //stx
networker 0:7f26f0680202 78 if (data == 0x55)
networker 0:7f26f0680202 79 state = 2;
networker 0:7f26f0680202 80 else
networker 0:7f26f0680202 81 state = 0;
networker 0:7f26f0680202 82 break;
networker 0:7f26f0680202 83 case 2://length H, high byte comes first
networker 0:7f26f0680202 84 msg.hdr.bytesL = data;
networker 0:7f26f0680202 85 state = 3;
networker 0:7f26f0680202 86 break;
networker 0:7f26f0680202 87 case 3://length L, low byte
networker 0:7f26f0680202 88 msg.hdr.bytesH = data;
networker 0:7f26f0680202 89 if (msg.hdr.bytes > sizeof(msg)-7)
networker 0:7f26f0680202 90 state = 0; //message structure cannot accomodate message this size
networker 0:7f26f0680202 91 else
networker 0:7f26f0680202 92 state = 4;
networker 0:7f26f0680202 93 break;
networker 0:7f26f0680202 94 case 4://store
networker 0:7f26f0680202 95 *wp++ = data;
networker 0:7f26f0680202 96 if (wp >= ((char*)&msg.hdr.snd + sizeof(trailer)) + msg.hdr.bytes
networker 0:7f26f0680202 97 && wp <= (char*)&msg + sizeof(message) + 1
networker 0:7f26f0680202 98 )
networker 0:7f26f0680202 99 { //message complete
networker 0:7f26f0680202 100 wp = (char*)&msg.hdr.snd;
networker 0:7f26f0680202 101 rs485_timeout = 0;
networker 0:7f26f0680202 102 //tx_message = find_ad(msg.hdr.rec) > 0;
networker 0:7f26f0680202 103 tx_message = msg.hdr.rec - 3;
networker 0:7f26f0680202 104 if (tx_message >= 0)
networker 0:7f26f0680202 105 { UCSR0B &= ~(_BV(RXCIE0) | _BV(RXEN0)); //disable rec to avoid corruption by new messages
networker 0:7f26f0680202 106 }
networker 0:7f26f0680202 107 state = 0;
networker 0:7f26f0680202 108 }
networker 0:7f26f0680202 109 break;
networker 0:7f26f0680202 110 case 5://wrong start
networker 0:7f26f0680202 111 if (data == 0x15)//after a wrong start A0 i.o. 02, the 55 gets read as 15
networker 0:7f26f0680202 112 { msg.hdr.bytesL = 0;
networker 0:7f26f0680202 113 state = 3;
networker 0:7f26f0680202 114 }
networker 0:7f26f0680202 115 else
networker 0:7f26f0680202 116 state = 0;
networker 0:7f26f0680202 117 default:
networker 0:7f26f0680202 118 break;
networker 0:7f26f0680202 119 }
networker 0:7f26f0680202 120 } while (UCSR0A & _BV(RXC0)); //see if another char is available, now it is fast enough so this is normally not the case
networker 0:7f26f0680202 121 wposp = wp;
networker 0:7f26f0680202 122 #ifdef ALLOW_NESTING
networker 0:7f26f0680202 123 cli();
networker 0:7f26f0680202 124 UNMASK_TIMER_INT();
networker 0:7f26f0680202 125 UNMASK_EXTENSION_INT();
networker 0:7f26f0680202 126 UNMASK_DISTANCE_INT();
networker 0:7f26f0680202 127 UNMASK_IR_INT();
networker 0:7f26f0680202 128 //UNMASK_EEPROM_INT();
networker 0:7f26f0680202 129 #endif
networker 0:7f26f0680202 130 CLRPIN12;
networker 0:7f26f0680202 131 }
networker 0:7f26f0680202 132
networker 0:7f26f0680202 133
networker 0:7f26f0680202 134 ISR(USART_UDRE_vect)
networker 0:7f26f0680202 135 { SETPIN12;
networker 0:7f26f0680202 136 if (rpos > BYTES()+7)
networker 0:7f26f0680202 137 { //last byte was sent
networker 0:7f26f0680202 138 RECEIVE;
networker 0:7f26f0680202 139 UCSR0B &= ~_BV(UDRIE0); //disable tx int
networker 0:7f26f0680202 140 UCSR0B |= _BV(RXCIE0) | _BV(RXEN0); //re-enable rx int
networker 0:7f26f0680202 141 rs485_timeout = 0;
networker 0:7f26f0680202 142 }
networker 0:7f26f0680202 143 else//send 1 byte too many in order to detect that the etx char was sent
networker 0:7f26f0680202 144 UDR0 = ((char*)&msg)[rpos++];
networker 0:7f26f0680202 145 CLRPIN12;
networker 0:7f26f0680202 146 }
networker 0:7f26f0680202 147
networker 0:7f26f0680202 148 void timeout_rs485()
networker 0:7f26f0680202 149 { SETPIN12;
networker 0:7f26f0680202 150 //reset receiver
networker 0:7f26f0680202 151 wposp = (char*)&msg.hdr.snd;
networker 0:7f26f0680202 152 state = 0;
networker 0:7f26f0680202 153 //reset transmitter
networker 0:7f26f0680202 154 rpos = 0;
networker 0:7f26f0680202 155 RECEIVE;
networker 0:7f26f0680202 156 UCSR0B &= ~_BV(UDRIE0); //disable tx int
networker 0:7f26f0680202 157 UCSR0B |= _BV(RXCIE0) | _BV(RXEN0); //re-enable rx int
networker 0:7f26f0680202 158 CLRPIN12;
networker 0:7f26f0680202 159 }
networker 0:7f26f0680202 160 #endif