Merge pull request #13 from harp-tech/fw-receive_motor_control_on-_rx

Receive motor control using serial.

Firmware/VestibularVrH2/app.c

@@ -33,8 +33,8 @@ void hwbp_app_initialize(void)
     /* Define versions */
     uint8_t hwH = 1;
     uint8_t hwL = 0;
-    uint8_t fwH = 0;
-    uint8_t fwL = 5;
+    uint8_t fwH = 1;
+    uint8_t fwL = 0;
     uint8_t ass = 0;
 
    	/* Start core */
@@ -90,6 +90,16 @@ void core_callback_initialize_hardware(void)
 
 	/* Initialize encoder */
 	init_quadrature_encoder();
+
+	/* Initialize serial with 100 KHz */
+	uint16_t BSEL = 19;
+	int8_t BSCALE = 0;
+
+	USARTD0_CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc | USART_CHSIZE_8BIT_gc;
+	USARTD0_BAUDCTRLA = *((uint8_t*)&BSEL);
+	USARTD0_BAUDCTRLB = (*(1+(uint8_t*)&BSEL) & 0x0F) | ((BSCALE<<4) & 0xF0);
+	USARTD0_CTRLB = USART_RXEN_bm;
+	USARTD0_CTRLA |= (INT_LEVEL_LOW << 4);
 }
 
 void core_callback_reset_registers(void)

Firmware/VestibularVrH2/app_ios_and_regs.c

@@ -8,6 +8,7 @@
 void init_ios(void)
 {	/* Configure input pins */
 	io_pin2in(&PORTB, 0, PULL_IO_TRISTATE, SENSE_IO_EDGES_BOTH);         // STOP_SWITCH
+	io_pin2in(&PORTD, 2, PULL_IO_TRISTATE, SENSE_IO_EDGES_BOTH);         // RX
 
 	/* Configure input interrupts */
 	io_set_int(&PORTB, INT_LEVEL_LOW, 0, (1<<0), false);                 // STOP_SWITCH

Firmware/VestibularVrH2/interrupts.c

@@ -66,5 +66,50 @@ ISR(ADCA_CH0_vect, ISR_NAKED)
 	app_regs.REG_ANALOG_INPUT = get_analog_input();
 	core_func_send_event(ADD_REG_ANALOG_INPUT, false);
 
+	reti();
+}
+
+/************************************************************************/
+/* EXTERNAL MOTOR CONTROL                                               */
+/************************************************************************/
+bool external_control_first_byte = true;
+int16_t motor_pulse_interval;
+
+ISR(USARTD0_RXC_vect, ISR_NAKED)
+{
+	if (external_control_first_byte)
+	{
+		external_control_first_byte = false;
+
+		motor_pulse_interval = USARTD0_DATA;
+
+		timer_type0_enable(&TCD0, TIMER_PRESCALER_DIV64, 100, INT_LEVEL_LOW);	// 200 us
+	}
+	else
+	{
+		external_control_first_byte = true;
+
+		int16_t temp = USARTD0_DATA;
+
+		motor_pulse_interval |= (temp << 8) & 0xFF00;
+
+		timer_type0_stop(&TCD0);
+
+		app_regs.REG_ANALOG_INPUT = motor_pulse_interval;
+		core_func_send_event(ADD_REG_ANALOG_INPUT, true);
+
+		app_write_REG_IMMEDIATE_PULSES(&motor_pulse_interval);
+	}
+
+	reti();
+}
+
+
+ISR(TCD0_OVF_vect, ISR_NAKED)
+{
+	external_control_first_byte = true;
+
+	timer_type0_stop(&TCD0);
+
 	reti();
 }