/**
* USARTからデータを受信してデータが正しいかを検討する関数
* @param USARTx 対象のUSART
* @param data 受信データを入れる配列
* @param length 受信データ幅
* @return 1なら受信バッファ < length +1
* -1なら受信データがおかしい
*
* この関数による受信データは、
* 0xffが先頭バイト
* 以下MSBが0のデータがlength個続く
*
* なので実際に受信するデータlength+1byteです。先頭の0xffは配列dataに渡す情報には含めません
*
* @Author AOKI
*/
int USART_Readnbyte(USART_TypeDef* USARTx, char* data,short length){
char tempdata[USART_MAX_DATA_SIZE];
int i;
char temp[1];
if(USART_GetRxBufferSize(USARTx) < (length+1)){
return 1;
}
USART_Read(USARTx,temp,1);
if(temp[0] == 0xff){
for(i=0;i<length;i++){
USART_Read(USARTx,temp,1);
if((temp[0] & 0x80) != 0x00){
return -1;
}
tempdata[i] = temp[0];
}
for(i=0;i<length;i++){
data[i] = tempdata[i];
}
return 0;
}
return -1;
}
int platform_s_uart_recv( unsigned id, s32 timeout )
{
AT91S_USART* base = id == 0 ? AT91C_BASE_US0 : AT91C_BASE_US1;
if( timeout == 0 )
{
// Return data only if already available
if( USART_IsDataAvailable( base ) )
return USART_Read( base, 0 );
else
return -1;
}
return USART_Read( base, 0 );
}
/**
* \brief USART handler
*/
void USART_Handler(void)
{
volatile uint32_t status;
status = USART_GetStatus(USART);
if ((status & 0x1) == 1)
printf("%c", USART_Read(USART, 0));
}
void USART2_IRQHandler(void){
// check if the USART2 receive interrupt flag was set
if(USART_GetITStatus(USART2,USART_IT_RXNE) != RESET)
{
USART_ClearITPendingBit(USART2,USART_IT_RXNE);
USART_Read(USART2);
}
}
void Shell_Run()
{
uint8 buf[8];
int len = USART_Read(DEBUG_UART_ID, buf, sizeof(buf));
if(len)
{
Shell_String(Null, buf, len);
}
}
int platform_uart_recv( unsigned id, unsigned timer_id, int timeout )
{
AT91S_USART* base = id == 0 ? AT91C_BASE_US0 : AT91C_BASE_US1;
timer_data_type tmr_start, tmr_crt;
int res;
if( timeout == 0 )
{
// Return data only if already available
if( USART_IsDataAvailable( base ) )
return USART_Read( base, 0 );
else
return -1;
}
else if( timeout == PLATFORM_UART_INFINITE_TIMEOUT )
{
// Wait for data
return USART_Read( base, 0 );
}
else
{
// Receive char with the specified timeout
tmr_start = platform_timer_op( timer_id, PLATFORM_TIMER_OP_START,0 );
while( 1 )
{
if( USART_IsDataAvailable( base ) )
{
res = USART_Read( base, 0 );
break;
}
else
res = -1;
tmr_crt = platform_timer_op( timer_id, PLATFORM_TIMER_OP_READ, 0 );
if( platform_timer_get_diff_us( timer_id, tmr_crt, tmr_start ) >= timeout )
break;
}
return res;
}
}
uint8_t USART_ReadBlockingMode( void ) //阻塞方式接收串口数据
{
uint8_t ret;
if(USART_ReadyRead())
ret = USART_Read();
else
{
UCSRB &= ~(0x01 << RXCIE);
while(!(UCSRA&(1<<RXC)));
ret = UDR;
UCSRB |= (0x01 << RXCIE);
}
return ret;
}
int DebuggerPort_Read( COM_HANDLE ComPortNum, char* Data, size_t size )
{
NATIVE_PROFILE_PAL_COM();
int ret = 0;
switch(ExtractTransport(ComPortNum))
{
case USART_TRANSPORT:
ret = USART_Read( ConvertCOM_ComPort( ComPortNum ), Data, size );
break;
case USB_TRANSPORT:
ret = USB_Read( ConvertCOM_UsbStream( ComPortNum ), Data, size );
break;
case SOCKET_TRANSPORT:
ret = SOCKETS_Read( ConvertCOM_SockPort(ComPortNum), Data, size );
break;
}
return ret;
}
int COM2_read( char* buffer, size_t size )
{
return USART_Read( ConvertCOM_ComPort( COM2 ), buffer, size );
}
void USART1_IRQHandler(void){
// check if the USART1 receive interrupt flag was set
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET){
USART_Read(USART1);
}
}
////////////////////////////////////////////////////////////////////////////////
// USART0 - odbieranie danych po wystapieniu przerwania RXRDY
////////////////////////////////////////////////////////////////////////////////
char UART0_Read(void) {
return USART_Read(AT91C_BASE_US0, 10);
// return (AT91C_BASE_US0->US_RHR & 0xFF);
}
static int uart_recv()
{
return USART_Read( AT91C_BASE_US0, 0 );
}
void TestControllerTick(Rover * rov) {
char dat[2];
char serDat[15];
char len;
if (GetSpanUs(&testController.pingTimer) > FROM_uS(1000000)) {
dat[0]='Z';
dat[1]=testController.inc++;
if (dat[1]=='z')
testController.inc='A';
CommPacket respPkt;
respPkt.target = TARGET_GUI;
respPkt.length = 2;
respPkt.data = dat;
//SendMessage(rov,&respPkt);
StartTimer(&testController.pingTimer);
}
if (USART_RXUsed(&testController.cameraPort)!=0) {
len = USART_Read(&testController.cameraPort, serDat, 15);
CommPacket respPkt;
respPkt.target = TARGET_GUI;
respPkt.length = 2;
respPkt.data = dat;
SendMessage(rov,&respPkt);
dat[0]='S';
dat[1]=serDat[0];
SendMessage(rov,&respPkt);
}
/* char data[2] = { 'X', 'a' };
CommPacket reqPacket;
CommPacket confPacket;
CommPacket * rcvdPacket;
char confdata[6] = {'V','A','L','I','D', 0 };
reqPacket.target = 1;
reqPacket.length = 2;
reqPacket.data = data;
confPacket.target = TARGET_GUI;
confPacket.length = 6;
confPacket.data = confdata;
if (testController.timeoutCounter>15000) { // time to send another message
CommSendPacket(&testController.inf, &reqPacket);
testController.timeoutCounter = 0;
}
else {
testController.timeoutCounter++;
}
if (CommRXPacketsAvailable(&testController.inf)) { // do we have a reply packet to read?
rcvdPacket = CommGetPacket(&testController.inf);
if (rcvdPacket->target==0) {
if (CommRXPacketsAvailable(&testController.inf)==4)
confdata[3] = CommRXPacketsAvailable(&testController.inf);
else
confdata[3] = 'I';
}
confdata[3] = rcvdPacket->data[0];
SendMessage(rov, &confPacket);
CommDeletePacket(rcvdPacket);
free(rcvdPacket);
}*/
}