root / scout_avr / src / Atmega128rfa1.cpp @ aadf0a75
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1 | 88fb3a79 | Tom Mullins | #include "Atmega128rfa1.h" |
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2 | 812788aa | Tom Mullins | #include "bom.h" |
3 | 88fb3a79 | Tom Mullins | |
4 | extern "C" |
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5 | { |
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6 | #include <avr/io.h> |
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7 | #include <avr/interrupt.h> |
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8 | 49090532 | Tom Mullins | void __cxa_pure_virtual(void) {} |
9 | 88fb3a79 | Tom Mullins | } |
10 | |||
11 | 812788aa | Tom Mullins | #define T0_KHZ 76 |
12 | #define T0_OCR (F_CPU / 1000 / T0_KHZ) // 210 ticks |
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13 | #define T0_ERROR (F_CPU / 1000 - T0_OCR*T0_KHZ) // 40 ticks/ms |
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14 | |||
15 | unsigned char t0_count, t0_error; |
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16 | 88fb3a79 | Tom Mullins | unsigned long millis; |
17 | |||
18 | aadf0a75 | Tom Mullins | int rx_start, rx_end;
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19 | 20f94878 | Tom Mullins | char rx_buffer[RX_BUFFER_SIZE];
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20 | |||
21 | 88fb3a79 | Tom Mullins | Atmega128rfa1::Atmega128rfa1() |
22 | { |
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23 | } |
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24 | |||
25 | ISR(TIMER0_COMPA_vect) |
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26 | { |
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27 | 812788aa | Tom Mullins | bom_isr(); |
28 | |||
29 | // F_CPU = T0_OCR * T0_KHZ + T0_ERROR
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30 | // every millisecond, accumulate T0_ERROR, and when it reaches T0_OCR skip
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31 | // one iteration
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32 | t0_count++; |
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33 | if (t0_count >= T0_KHZ) {
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34 | t0_error += T0_ERROR; |
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35 | if (t0_error < T0_OCR) {
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36 | t0_count = 0;
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37 | } else {
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38 | t0_count = -1;
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39 | t0_error -= T0_OCR; |
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40 | } |
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41 | millis++; |
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42 | } |
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43 | 88fb3a79 | Tom Mullins | } |
44 | |||
45 | 807483bf | Tom Mullins | ISR(USART0_RX_vect) |
46 | 20f94878 | Tom Mullins | { |
47 | char data = UDR0;
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48 | aadf0a75 | Tom Mullins | int new_end = rx_end+1; |
49 | if (new_end == RX_BUFFER_SIZE) {
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50 | new_end = 0;
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51 | } |
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52 | if (new_end == rx_start)
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53 | 20f94878 | Tom Mullins | { |
54 | // TODO warn of buffer overflow?
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55 | } |
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56 | else
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57 | { |
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58 | rx_buffer[rx_end] = data; |
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59 | aadf0a75 | Tom Mullins | rx_end = new_end; |
60 | 20f94878 | Tom Mullins | } |
61 | } |
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62 | |||
63 | 88fb3a79 | Tom Mullins | void Atmega128rfa1::init()
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64 | { |
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65 | // === init serial ===
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66 | 49090532 | Tom Mullins | // baud = F_CPU / (16 (UBRR + 1))
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67 | 1c3c96ce | Tom Mullins | uint16_t ubrr = F_CPU / 16 / BAUD_RATE - 1; |
68 | 49090532 | Tom Mullins | UBRR0H = ubrr >> 8;
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69 | UBRR0L = ubrr; |
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70 | 88fb3a79 | Tom Mullins | // UMSEL0 = 0, asynchronous usart
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71 | // UPM0 = 0, parity check disabled
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72 | // USBS0 = 0, 1 stop bit
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73 | // UCSZ0 = 3, 8-bit
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74 | 20f94878 | Tom Mullins | UCSR0B = _BV(RXCIE0) | _BV(RXEN0) | _BV(TXEN0); |
75 | 88fb3a79 | Tom Mullins | UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); |
76 | |||
77 | // === init time ===
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78 | // COM0x = 0, pin OC0x not used
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79 | // WGM0 = 2, clear timer on compare match, TOP = OCRA
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80 | 812788aa | Tom Mullins | // CS0 = 1, no prescaler
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81 | 88fb3a79 | Tom Mullins | TCCR0A = _BV(WGM01); |
82 | 812788aa | Tom Mullins | TCCR0B = _BV(CS00); |
83 | 88fb3a79 | Tom Mullins | // enable interrupt on compare match A
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84 | TIMSK0 = _BV(OCIE0A); |
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85 | 812788aa | Tom Mullins | OCR0A = T0_OCR; |
86 | 88fb3a79 | Tom Mullins | millis = 0;
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87 | 20f94878 | Tom Mullins | |
88 | sei(); |
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89 | 88fb3a79 | Tom Mullins | } |
90 | |||
91 | int Atmega128rfa1::read()
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92 | { |
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93 | aadf0a75 | Tom Mullins | int ret;
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94 | cf115e3d | Tom Mullins | cli(); |
95 | 20f94878 | Tom Mullins | if (rx_start == rx_end)
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96 | aadf0a75 | Tom Mullins | ret = -1;
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97 | 20f94878 | Tom Mullins | else
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98 | { |
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99 | aadf0a75 | Tom Mullins | ret = rx_buffer[rx_start]; |
100 | 20f94878 | Tom Mullins | rx_start++; |
101 | if (rx_start == RX_BUFFER_SIZE)
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102 | rx_start = 0;
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103 | } |
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104 | cf115e3d | Tom Mullins | sei(); |
105 | aadf0a75 | Tom Mullins | return ret;
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106 | 88fb3a79 | Tom Mullins | } |
107 | |||
108 | void Atmega128rfa1::write(uint8_t* data, int length) |
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109 | { |
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110 | // TODO make this non-blocking with a tx buffer
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111 | int i;
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112 | for (i = 0; i < length; i++) |
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113 | { |
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114 | while (!(UCSR0A & _BV(UDRE0)));
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115 | UDR0 = data[i]; |
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116 | } |
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117 | } |
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118 | |||
119 | unsigned long Atmega128rfa1::time() |
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120 | { |
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121 | unsigned long ret; |
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122 | cli(); |
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123 | ret = millis; |
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124 | sei(); |
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125 | return ret;
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126 | } |