root / branches / autonomous_recharging / code / projects / autonomous_recharging / charging_station / serial.c @ 116
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1 | 85 | bcoltin | /*
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2 | serial.c - Functions for using the RS232 serial port
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3 | |||
4 | author: Robotics Club, Colony Project
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5 | |||
6 | much code taken from FWR's library, author: Tom Lauwers
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7 | |||
8 | |||
9 | general note - serial -> uart
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10 | serial1 -> uart1
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11 | this is done for clarity purposes
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12 | */
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13 | |||
14 | |||
15 | #include <avr/io.h> |
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16 | #include <stdio.h> |
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17 | #include "serial.h" |
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18 | |||
19 | //setup uart0 (serial)
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20 | void xbee_init(unsigned int ubrr) |
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21 | { |
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22 | /*Set baud rate - baud rates under 4800bps unsupported */
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23 | UBRR0H = 0x00;
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24 | UBRR0L = (unsigned char)ubrr; |
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25 | |||
26 | /*Enable receiver and transmitter */
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27 | UCSR0B |= (1<<RXEN0)|(1<<TXEN0); |
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28 | |||
29 | /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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30 | UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01); |
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31 | } |
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32 | |||
33 | // uart_putchar - Low-level function which puts a value into the
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34 | // Tx buffer for transmission.
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35 | int xbee_putc(char c) |
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36 | { |
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37 | // Wait until buffer is clear for sending
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38 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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39 | // Load buffer with your character
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40 | UDR0 = c; |
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41 | return 0; |
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42 | } |
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43 | |||
44 | int xbee_puts(char *s) |
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45 | { |
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46 | char *t = s;
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47 | while (*t != 0) |
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48 | { |
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49 | xbee_putc(*t); |
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50 | t++; |
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51 | } |
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52 | return 0; |
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53 | } |
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54 | |||
55 | int xbee_puti(int value ) { |
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56 | unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; |
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57 | |||
58 | /* convert int to ascii */
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59 | if(value<0) { xbee_putc('-'); value=-value; } |
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60 | do { position--; *(usb_data+position)=(value%radix)+'0'; value/=radix; } while(value); |
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61 | |||
62 | |||
63 | /* start displaying the number */
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64 | for(;position<=(sizeof(usb_data)-1);position++) |
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65 | { |
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66 | |||
67 | xbee_putc(usb_data[position]); |
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68 | } |
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69 | |||
70 | return 0; |
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71 | } |
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72 | |||
73 | // uart_getchar - Low-level function which waits for the Rx buffer
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74 | // to be filled, and then reads one character out of it.
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75 | // Note that this function blocks on read - it will wait until
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76 | // something fills the Rx buffer.
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77 | int xbee_getc(void) |
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78 | { |
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79 | char c;
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80 | // Wait for the receive buffer to be filled
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81 | loop_until_bit_is_set(UCSR0A, RXC0); |
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82 | |||
83 | // Read the receive buffer
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84 | c = UDR0; |
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85 | return c;
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86 | } |
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87 | |||
88 | // uart_getchar_nb - Low-level function which checks if the Rx buffer
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89 | // is filled, and then reads one character out of it.
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90 | // This is a non blocking version uart_getchar
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91 | int xbee_getc_nb(void) |
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92 | { |
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93 | char c;
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94 | // Wait for the receive buffer to be filled
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95 | //loop_until_bit_is_set(UCSR0A, RXC0);
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96 | if (UCSR0A & _BV(RXC0)){
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97 | // Read the receive buffer
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98 | c = UDR0; |
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99 | return c;
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100 | } |
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101 | return 0; |
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102 | |||
103 | } |
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104 | |||
105 | //setup uart1 (serial1)
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106 | void usb_init( unsigned int ubrr) |
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107 | { |
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108 | /*Set baud rate - baud rates under 4800bps unsupported */
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109 | UBRR1H = 0x00;
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110 | UBRR1L = (unsigned char)ubrr; |
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111 | |||
112 | /*Enable receiver and transmitter */
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113 | UCSR1B |= (1<<RXEN1)|(1<<TXEN1); |
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114 | |||
115 | /* Set frame format: 8data, 1stop bit, asynchronous normal mode */
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116 | UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11); |
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117 | } |
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118 | |||
119 | //put to uart1 (serial1)
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120 | int usb_putc(char c) |
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121 | { |
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122 | // Wait until buffer is clear for sending
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123 | loop_until_bit_is_set(UCSR1A, UDRE1); |
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124 | // Load buffer with your character
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125 | UDR1 = c; |
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126 | return 0; |
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127 | } |
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128 | |||
129 | int usb_puts(char *s) |
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130 | { |
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131 | char *t = s;
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132 | while (*t != 0) |
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133 | { |
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134 | usb_putc(*t); |
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135 | t++; |
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136 | } |
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137 | return 0; |
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138 | } |
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139 | |||
140 | int usb_puti(int value ) { |
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141 | unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; |
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142 | |||
143 | /* convert int to ascii */
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144 | if(value<0) { usb_putc('-'); value=-value; } |
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145 | do { position--; *(usb_data+position)=(value%radix)+'0'; value/=radix; } while(value); |
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146 | |||
147 | |||
148 | /* start displaying the number */
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149 | for(;position<=(sizeof(usb_data)-1);position++) |
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150 | { |
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151 | |||
152 | usb_putc(usb_data[position]); |
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153 | } |
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154 | |||
155 | return 0; |
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156 | } |
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157 | |||
158 | //get from uart1 (serial1)
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159 | int usb_getc(void) |
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160 | { |
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161 | char c;
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162 | // Wait for the receive buffer to be filled
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163 | loop_until_bit_is_set(UCSR1A, RXC1); |
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164 | |||
165 | // Read the receive buffer
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166 | c = UDR1; |
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167 | return c;
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168 | } |
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169 | |||
170 | //get from uart1 non-block
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171 | int usb_getc_nb(void) |
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172 | { |
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173 | char c;
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174 | // Wait for the receive buffer to be filled
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175 | //loop_until_bit_is_set(UCSR1A, RXC1);
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176 | if (UCSR1A & _BV(RXC1)){
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177 | // Read the receive buffer
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178 | c = UDR1; |
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179 | return c;
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180 | } |
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181 | return 0; |
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182 | |||
183 | } |