1 | /*******************************************************************
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2 | *
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3 | * Chip type : ATmega32
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4 | * Clock frequency : 14,745600 MHz
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5 | * lfuse e1 = 1110 0001 -> 0e = 0000 1110
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6 | * hfuse 99 = 1001 1001 -> d9 = 1101 1001
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7 | * avrdude -p atmega32 -P /dev/ttyS0 -b 115200 -c avr910 -U lfuse:w:0x0e:m
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8 | * avrdude -p atmega32 -P /dev/ttyS0 -b 115200 -c avr910 -U hfuse:w:0xd9:m
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9 | *
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10 | * test.c
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11 | *
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12 | * To do:
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13 | *
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14 | ********************************************************************/
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15 |
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16 |
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17 | #include "hardwaredef.h"
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18 |
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19 | #include <avr/io.h>
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20 | #include <avr/interrupt.h>
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21 | #include <inttypes.h>
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22 | #include <stdlib.h>
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23 | #include <util/delay.h>
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24 | #include "test.h"
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25 |
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26 | char sCommandString[BUFFER_LENGHT];
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27 | char sOutString[BUFFER_LENGHT];
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28 |
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29 | int8_t execute (const char *text);
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30 |
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31 | int16_t lCommandPar1;
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32 | int16_t lCommandPar2;
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33 |
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34 | // Status and Error Flags
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35 | volatile int8_t iUartFlags;
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36 | volatile char sInBuffer[BUFFER_LENGHT];
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37 | volatile uint8_t iBufferPtr;
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38 |
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39 | void InitPorts(void) {
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40 | // port inputs
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41 | DDRA &= ~( (1<<SLID_ENC_1) | (1<<SLID_ENC_2) | (1<<SLID_REF) | (1<<TURN_H_END) );
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42 | // DDRB &= ~( (1<<PB6) );
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43 | DDRC &= ~( (1<<VERT_REF) | (1<<VERT_H_END) | (1<<TURN_REF) | (1<<SDA) | (1<<SCL) );
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44 | DDRD &= ~( (1<<VERT_ENC_1) | (1<<VERT_ENC_2) | (1<<TURN_ENC_1) | (1<<TURN_ENC_2));
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45 | // port outputs
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46 | DDRA |= (1 << GRIP) | (1 << RESERVE0) | (1 << RESERVE1);
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47 | DDRB |= (1 << SLID_3A) | (1 << SLID_4A) | (1 << TURN_1A) | (1 << TURN_PWM) | (1 << TURN_2A) | (1 << LASER);
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48 | DDRC |= (1 << VERT_DIRECTION) | (1 << VERT_STOP);
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49 | DDRD |= (1 << VERT_PWM) | (1 << SLID_PWM);
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50 | // activate pullup resistors
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51 | PORTA |= ((1<<SLID_ENC_1) | (1<<SLID_ENC_2) | (1<<SLID_REF) | (1<<GRIP));
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52 | PORTC |= ((1<<SDA) | (1<<SCL));
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53 | }
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54 |
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55 | // ------------------------------------------------------------ IRQ
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56 | ISR(__vector_default) { UsartPuts ("Undefined IRQ"); }
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57 |
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58 |
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59 | // ------------------------------------------------------------ USART
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60 |
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61 | void InitUsart(void) {
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62 | UBRRH = (uint8_t)(UART_BAUD_CALC(UART_BAUD_RATE,F_CPU)>>8); // set baud rate
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63 | UBRRL = (uint8_t)UART_BAUD_CALC(UART_BAUD_RATE,F_CPU);
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64 | UCSRB = (1 << RXEN) | (1 << TXEN) ; // enable receiver and transmitter
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65 | UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0) | (1 << UPM1); // asynchronous 8N1, even Parity
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66 | do UDR; while (UCSRA & (1 << RXC)); // flush receiver
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67 | }
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68 |
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69 |
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70 | char GetCommand (int16_t *lPar1, int16_t *lPar2, char *sComm) {
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71 | //int8_t iRecStrPtr;
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72 | int8_t iTmpBufferPtr;
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73 |
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74 | iTmpBufferPtr = 0;
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75 |
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76 | if (iUartFlags & FLAG_COMM_COMP ) { // Jetzt parsen bis EOS
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77 |
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78 | // UsartPuts ("\n\nHier solls nicht hin\n");
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79 | // iRecStrPtr = 0;
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80 | // while ((sInBuffer[iTmpBufferPtr] != 0x00) && (sInBuffer[iTmpBufferPtr] != 0x20)) { // Command, max. String Länge aus ISR gesichert
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81 | // sComm[iRecStrPtr++] = sInBuffer[iTmpBufferPtr++];
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82 | // }
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83 | // sComm[iRecStrPtr++] = 0x00;
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84 |
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85 | return 1;
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86 | } else {
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87 | return 0;
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88 | }
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89 |
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90 | }
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91 |
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92 | void UsartPutc(char c) {
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93 | int temp_Statusreg;
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94 | temp_Statusreg = SREG;
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95 | while(!(UCSRA & (1 << UDRE))); // wait until UDR ready
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96 | UDR = c; // send character
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97 | SREG = temp_Statusreg;
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98 | }
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99 |
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100 | void UsartPuts (char *s) { // loop until *s != NULL
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101 | while (*s) {
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102 | UsartPutc(*s);
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103 | s++;
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104 | }
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105 | }
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106 |
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107 | void PrintByteBinaer(char byte) {
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108 | uint8_t iPos;
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109 | for (iPos=1; iPos<=8; iPos++) {
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110 | if (byte & 0x80)
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111 | UsartPutc(0x31);
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112 | else
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113 | UsartPutc(0x30);
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114 | byte = byte << 1;
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115 | if (!(iPos & 0x03)) UsartPutc(0x20);
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116 | }
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117 | UsartPuts("\n");
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118 | }
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119 |
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120 | // ------------------------------------------------------------ Mainloop
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121 |
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122 |
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123 | int main(void) {
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124 |
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125 | InitUsart();
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126 | InitPorts();
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127 |
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128 |
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129 | // send init string
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130 | UsartPuts ("\n\nVersion 1.00 Andys Testprogramm\n");
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131 |
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132 | if (MCUCSR & (1<<BORF)) // Brown-Out Reset
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133 | UsartPuts("Brown-Out Reset");
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134 | else if (MCUCSR & (1<<PORF)) // Power-On Reset
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135 | UsartPuts("Power-On Reset");
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136 | else if (MCUCSR & (1<<JTRF)) // JTAG Reset
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137 | UsartPuts("JTAG Reset");
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138 | else if (MCUCSR & (1<<EXTRF)) // External Reset
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139 | UsartPuts("External Reset");
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140 | else if (MCUCSR & (1<<WDRF)) // Watchdog Reset
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141 | UsartPuts("Watchdog Reset");
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142 | else
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143 | UsartPuts("Manual Jump");
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144 | UsartPuts ("\nMCUCSR: ");
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145 | PrintByteBinaer(MCUCSR);
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146 | MCUCSR &= 0xE0; // Clear Reset-Status
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147 | UsartPuts ("\n");
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148 |
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149 | sei(); // set global interrupts
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150 |
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151 | UsartPuts ("\n\nReady\n");
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152 |
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153 | while (1) {
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154 | if (GetCommand(&lCommandPar1, &lCommandPar2, sCommandString) !=0) {
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155 | UsartPuts("\n");
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156 | UsartPuts (sCommandString);
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157 | UsartPuts (" ");
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158 | UsartPuts (ltoa(lCommandPar1, sOutString, 10));
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159 | UsartPuts (" ");
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160 | UsartPuts (ltoa(lCommandPar2, sOutString, 10));
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161 | UsartPuts (" -> ");
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162 | UsartPuts("\n>>");
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163 | }
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164 | }
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165 | return 0;
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166 | }
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