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#include "intercom.h"
/** \file
\brief motherboard <-> extruder board protocol
*/
#ifndef SIMULATOR
#include <avr/io.h>
#include <avr/interrupt.h>
#endif
#include "memory_barrier.h"
#include "config_wrapper.h"
#include "delay.h"
#if (defined TEMP_INTERCOM) || (defined EXTRUDER)
#define INTERCOM_BAUD 57600
#define START 0x55
intercom_packet tx; ///< this packet will be sent
intercom_packet rx; ///< the last received packet with correct checksum
intercom_packet _tx; ///< current packet in transmission
intercom_packet _rx; ///< current packet being received
/// pointer to location in transferring packet.
/// since we run half duplex, we can share the pointer between rx and tx
uint8_t packet_pointer;
/// crc for currently transferring packet
/// since we run half duplex, we can share the crc between rx and tx
uint8_t rxcrc;
volatile uint8_t intercom_flags;
void intercom_init(void)
{
#ifdef MOTHERBOARD
#if INTERCOM_BAUD > 38401
UCSR1A = MASK(U2X1);
UBRR1 = (((F_CPU / 8) / INTERCOM_BAUD) - 0.5);
#else
UCSR1A = 0;
UBRR1 = (((F_CPU / 16) / INTERCOM_BAUD) - 0.5);
#endif
UCSR1B = MASK(RXEN1) | MASK(TXEN1);
UCSR1C = MASK(UCSZ11) | MASK(UCSZ10);
UCSR1B |= MASK(RXCIE1) | MASK(TXCIE1);
#else
#if INTERCOM_BAUD > 38401
UCSR0A = MASK(U2X0);
UBRR0 = (((F_CPU / 8) / INTERCOM_BAUD) - 0.5);
#else
UCSR0A = 0;
UBRR0 = (((F_CPU / 16) / INTERCOM_BAUD) - 0.5);
#endif
UCSR0B = MASK(RXEN0) | MASK(TXEN0);
UCSR0C = MASK(UCSZ01) | MASK(UCSZ00);
UCSR0B |= MASK(RXCIE0) | MASK(TXCIE0);
#endif
intercom_flags = 0;
}
void send_temperature(uint8_t index, uint16_t temperature) {
tx.packet.temp[index] = temperature;
}
uint16_t read_temperature(uint8_t index) {
return rx.packet.temp[index];
}
#ifdef MOTHERBOARD
void set_dio(uint8_t index, uint8_t value) {
if (value)
tx.packet.dio |= (1 << index);
else
tx.packet.dio &= ~(1 << index);
}
#else
uint8_t get_dio(uint8_t index) {
return rx.packet.dio & (1 << index);
}
#endif
void set_err(uint8_t err) {
tx.packet.err = err;
}
uint8_t get_err() {
return rx.packet.err;
}
void start_send(void) {
uint8_t txcrc = 0, i;
// atomically update flags
uint8_t sreg = SREG;
cli();
intercom_flags = (intercom_flags & ~FLAG_TX_FINISHED) | FLAG_TX_IN_PROGRESS;
SREG = sreg;
// enable transmit pin
enable_transmit();
// set start byte
tx.packet.start = START;
// set packet type
tx.packet.control_word = 105;
tx.packet.control_index = 0;
// calculate CRC for outgoing packet
for (i = 0; i < (sizeof(intercom_packet_t) - 1); i++) {
txcrc ^= tx.data[i];
}
tx.packet.crc = txcrc;
for (i = 0; i < (sizeof(intercom_packet_t) ); i++) {
_tx.data[i] = tx.data[i];
}
packet_pointer = 0;
// actually start sending the packet
#ifdef MOTHERBOARD
UCSR1B |= MASK(UDRIE1);
#else
UCSR0B |= MASK(UDRIE0);
#endif
}
/*
Interrupts, UART 0 for mendel
*/
// receive data interrupt- stuff into rx
#ifdef MOTHERBOARD
ISR(USART1_RX_vect)
#else
ISR(USART_RX_vect)
#endif
{
// pull character
static uint8_t c;
#ifdef MOTHERBOARD
c = UDR1;
UCSR1A &= ~MASK(FE1) & ~MASK(DOR1) & ~MASK(UPE1);
#else
c = UDR0;
UCSR0A &= ~MASK(FE0) & ~MASK(DOR0) & ~MASK(UPE0);
#endif
// are we waiting for a start byte? is this one?
if ((packet_pointer == 0) && (c == START)) {
rxcrc = _rx.packet.start = START;
packet_pointer = 1;
intercom_flags |= FLAG_RX_IN_PROGRESS;
}
else if (packet_pointer > 0) {
// we're receiving a packet
// calculate CRC (except CRC character!)
if (packet_pointer < (sizeof(intercom_packet_t) - 1))
rxcrc ^= c;
// stuff byte into structure
_rx.data[packet_pointer++] = c;
// last byte?
if (packet_pointer >= sizeof(intercom_packet_t)) {
// reset pointer
packet_pointer = 0;
#ifndef MOTHERBOARD
if (rxcrc == _rx.packet.crc &&
_rx.packet.controller_num == THIS_CONTROLLER_NUM){
#else
if (rxcrc == _rx.packet.crc){
#endif
// correct crc copy packet
static uint8_t i;
for (i = 0; i < (sizeof(intercom_packet_t) ); i++) {
rx.data[i] = _rx.data[i];
}
}
#ifndef MOTHERBOARD
if (rx.packet.controller_num == THIS_CONTROLLER_NUM) {
if (rxcrc != _rx.packet.crc)
tx.packet.err = ERROR_BAD_CRC;
else
intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
// not sure why exactly this delay is needed, but wihtout it first byte never arrives.
// delay_us(150);
// start_send();
}
#else
intercom_flags = (intercom_flags & ~FLAG_RX_IN_PROGRESS) | FLAG_NEW_RX;
#endif
}
}
}
// finished transmitting interrupt- only enabled at end of packet
#ifdef MOTHERBOARD
ISR(USART1_TX_vect)
#else
ISR(USART_TX_vect)
#endif
{
if (packet_pointer >= sizeof(intercom_packet_t)) {
disable_transmit();
packet_pointer = 0;
intercom_flags = (intercom_flags & ~FLAG_TX_IN_PROGRESS) | FLAG_TX_FINISHED;
#ifdef MOTHERBOARD
UCSR1B &= ~MASK(TXCIE1);
#else
UCSR0B &= ~MASK(TXCIE0);
#endif
}
}
// tx queue empty interrupt- send next byte
#ifdef MOTHERBOARD
ISR(USART1_UDRE_vect)
#else
ISR(USART_UDRE_vect)
#endif
{
#ifdef MOTHERBOARD
UDR1 = _tx.data[packet_pointer++];
#else
UDR0 = _tx.data[packet_pointer++];
#endif
if (packet_pointer >= sizeof(intercom_packet_t)) {
#ifdef MOTHERBOARD
UCSR1B &= ~MASK(UDRIE1);
UCSR1B |= MASK(TXCIE1);
#else
UCSR0B &= ~MASK(UDRIE0);
UCSR0B |= MASK(TXCIE0);
#endif
}
}
#endif /* TEMP_INTERCOM */
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