| 0,0 → 1,210 |
|---|
| /* |
| * uart.c |
| * |
| * Created: 29.11.2011 19:24:29 |
| * Author: Zbynek |
| * poskocil@email.cz |
| * Funkce pro praci s USARTem - inicializace, prijem a odeslani znaku |
| */ |
| |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include "uart.h" |
| #include "LED.h" |
| #include "Globals.h" |
| #include <avr/interrupt.h> |
| #include <string.h> |
| #include <util/delay.h> |
| |
| |
| |
| |
| /************************************************************************ |
| * Funkce: SIGNAL |
| * Ucel: Funkce se vola pri prijmuti znaku od USART0 |
| * Vstup: Zdroj preruseni |
| * Vystup: Zadny |
| ************************************************************************/ |
| SIGNAL (USART_RX_vect) |
| { |
| char znak = UDR0; |
| if (RX0_buffer.zaplneno_bytu < VELIKOST_PRIJIMACIHO_BUFFERU-1) |
| { |
| RX0_buffer.obsah[RX0_buffer.zaplneno_bytu] = znak; |
| RX0_buffer.obsah[RX0_buffer.zaplneno_bytu+1] = 0; // konec stringu |
| RX0_buffer.zaplneno_bytu++; |
| } |
| else |
| { |
| USART0_smaz_buffer(); |
| RX0_buffer.obsah[RX0_buffer.zaplneno_bytu] = znak; |
| RX0_buffer.zaplneno_bytu++; |
| } |
| |
| if (zacatek_zpravy != 1 && strstr(RX0_buffer.obsah,"$GPGGA") != 0) |
| { |
| zacatek_zpravy = 1; |
| USART0_smaz_buffer(); // aby se zprava ukladala od zacatku bufferu |
| } |
| |
| if (znak == '*' && zacatek_zpravy == 1) // cela zprava je prijata |
| { |
| //USART0_posli_retezec(RX0_buffer.obsah); |
| strcpy(NMEA_retezec.obsah,RX0_buffer.obsah); // NMEA zprava se prekopiruje do NMEA_retezec, aby pri pozadavku na vycteni dat byla data v kuse a nenastal pripad, ze bude NMEA zprava teprve vycitana. |
| NMEA_retezec.zaplneno_bytu = RX0_buffer.zaplneno_bytu; |
| zacatek_zpravy = 0; |
| } |
| } |
| |
| |
| |
| |
| /************************************************************************ |
| * Funkce: dekoduj_zpravu_GPS |
| * Ucel: Z RX0_buffer vytahne informace o soucasne poloze, je tam ulozena cela veta RMC |
| * Vstup: Zadny |
| * Vystup: Zadny |
| ************************************************************************/ |
| void dekoduj_zpravu_GPS (void) |
| { |
| cli(); |
| |
| short i, j = 0, k = 0, l = 0; |
| short pocet_carek = 0; |
| for ( i = 0; i < NMEA_retezec.zaplneno_bytu; i++) |
| { |
| if (pocet_carek == 1) |
| { |
| UTC_time[l] = NMEA_retezec.obsah[i]; |
| l++; |
| } |
| if (pocet_carek == 2 || pocet_carek == 3) |
| { |
| Latitude[k] = NMEA_retezec.obsah[i]; |
| k++; |
| } |
| if (pocet_carek == 4 || pocet_carek == 5) |
| { |
| |
| Longitude[j] = NMEA_retezec.obsah[i]; |
| j++; |
| } |
| if (pocet_carek == 6) |
| { |
| UTC_time[l-1] = 0; |
| Latitude[k-1] = 0; |
| Longitude[j-1] = 0; |
| |
| Status_GPS = NMEA_retezec.obsah[i-1]; |
| j = 0; |
| } |
| |
| if (pocet_carek == 9) |
| { |
| Altitude[j] = NMEA_retezec.obsah[i]; |
| j++; |
| } |
| |
| if (NMEA_retezec.obsah[i] == ',') |
| { |
| pocet_carek++; |
| } |
| if (pocet_carek >9) |
| { |
| Altitude[j-1] = 0; // konec Stringu |
| break; // nema vyznam dal zapisovat, potrebne je zapsano v Altitude |
| } |
| } |
| |
| sei(); |
| } |
| |
| /************************************************************************ |
| * Funkce: USART0_smaz_buffer |
| * Ucel: Smaze (zaplni nulami) prijimaci buffer |
| * Vstup: Jaky buffer ma smazat (pro USART 0 nebo 1) |
| * Vystup: Zadny |
| ************************************************************************/ |
| void USART0_smaz_buffer (void) |
| { |
| cli(); |
| unsigned char i; |
| |
| for (i=0; i <= VELIKOST_PRIJIMACIHO_BUFFERU;i++) // maze se cely buffer pro jistotu |
| { |
| RX0_buffer.obsah[i] = 0; |
| } |
| RX0_buffer.zaplneno_bytu = 0; |
| |
| |
| sei(); |
| } |
| |
| /************************************************************************ |
| * Funkce: USART_Init() |
| * Ucel: Inicializuje oba USARTy a nastavi rychslost v baud, je treba definovat pozadovanou rychlost pomoci #define UARTn_BAUD_RATE |
| * Zapne preruseni pri prichodu noveho znaku a globalni preruseni |
| * Vstup: Frekvence procesoru |
| * Vystup: Zadny |
| ************************************************************************/ |
| void USART_Init(void) |
| { |
| unsigned int baud; |
| baud = F_CPU/16/UART0_BAUD_RATE -1; |
| /* Set baud rate */ |
| UBRR0H = (unsigned char)(baud>>8); |
| UBRR0L = (unsigned char)baud; |
| /* Enable receiver and transmitter, enable interrupt after receiving a new byte */ |
| UCSR0B = (1<<RXEN0)|(1<<TXEN0)|(1<<RXCIE0); |
| /* Set frame format: 8data, 1stop bit */ |
| UCSR0C = (3<<UCSZ00); |
| |
| USART0_posli_znak('A'); |
| USART0_posli_znak('K'); |
| USART0_posli_znak('\n'); |
| USART0_posli_znak('\r'); |
| //delay_ms(3000); // modulu se musi dat cas na vypocet baud rychlosti |
| } |
| |
| /************************************************************************ |
| * Funkce: USART0_posli_znak() |
| * Ucel: Posle znak po seriove lince, hned pote, co se uvolni vysilaci buffer |
| * Vstup: Znak, ktery se ma odeslat |
| * Vystup: Zadny |
| ************************************************************************/ |
| void USART0_posli_znak( unsigned char data ) |
| { |
| /* Wait for empty transmit buffer */ |
| while ( !( UCSR0A & (1<<UDRE0)) ) |
| ; |
| /* Put data into buffer, sends the data */ |
| UDR0 = data; |
| } |
| |
| /************************************************************************ |
| * Funkce: USART0_posli_retezec() |
| * Ucel: Odesle postupne znak po znaku zadany retezec pres USART0 |
| * Vstup: Retezec k odeslani |
| * Vystup: Zadny |
| ************************************************************************/ |
| void USART0_posli_retezec (const unsigned char *retezec ) |
| { |
| while (*retezec) |
| USART0_posli_znak(*retezec++); |
| |
| } |
| |
| /************************************************************************ |
| * Funkce: USART0_prijmi_znak() |
| * Ucel: Prijme znak ze seriove linky, pokud je nejaky neprecteny znak |
| * Vstup: Zadny |
| * Vystup: Prijaty znak |
| ************************************************************************/ |
| unsigned char USART0_prijmi_znak( void ) |
| { |
| /* Wait for data to be received */ |
| while ( !(UCSR0A & (1<<RXC0)) ) |
| ; |
| /* Get and return received data from buffer */ |
| return UDR0; |
| } |