mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-14 12:26:06 +01:00
97 lines
2 KiB
C
97 lines
2 KiB
C
#include "AC.h"
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void registerRxHandler(unsigned char code, rxHandler handler)
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{
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rxHandlers[code] = handler;
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}
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ISR(USART0_UDRE_vect)
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{
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// When a transmit is ready to be done again
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TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
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if (holder != NULL) {
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vTaskResume(holder);
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}
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}
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void sendByteAC(unsigned char data)
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{
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while (!bit_is_set(UCSR0A, UDRE0)) {
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vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
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}
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UDR0 = data;
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}
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void sendAC(unsigned char code, void* data, size_t size)
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{
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xSemaphoreTake(sSendAC, 0);
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sendByteAC(code);
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unsigned char* p = data;
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for (int i = 0; i < size; i++) {
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sendByteAC(*p++);
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}
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xSemaphoreGive(sSendAC);
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}
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ISR(USART0_RX_vect)
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{
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// When a character is received
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vTaskResume(tReaderAC);
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}
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unsigned char readByteAC()
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{
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while (!bit_is_set(UCSR0A, RXC0)) {
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vTaskSuspend(tReaderAC);
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}
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return UDR0;
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}
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void readAC(void* data, size_t size)
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{
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unsigned char* p = data;
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for (int i = 0; i < size; i++) {
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*p = readByteAC();
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p++;
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}
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}
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void TaskReaderAC(void* pvParameters)
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{
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(void)pvParameters;
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unsigned char code;
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for (;;) {
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code = readByteAC();
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rxHandler handler = rxHandlers[code];
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if (handler != NULL) {
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handler();
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} else {
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struct A2CI_ERRs err = { ERR_UNKNOWN_CODE };
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sendAC(A2CD_ERR, &err, sizeof(err));
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}
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}
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}
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void configureAC()
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{
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/* Set baud rate */
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UBRR0 = AC_PRESCALER;
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/* Set off UART baud doubler */
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UCSR0A &= ~(1 << U2X0);
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/* Enable transmitter & receiver with interrupts */
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UCSR0B = (1 << RXCIE0 | 1 << UDRIE0 | 1 << TXEN0 | 1 << RXEN0);
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/* Set 8 bits character and 1 stop bit */
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UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
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for (int i = 0; i < 256; i++) {
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rxHandlers[i] = NULL;
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}
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sSendAC = xSemaphoreCreateMutex();
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xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
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}
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