d_bt.r

乐高机器人的源码,开发平台是IAR_for_AVR.

                                          Avail = 0;\
                                        }


#define   BTSend(OutputBuffer, BytesToSend)\
                                        {\
                                          UWORD Avail;\
                                          AVAILOutBuf(Avail);\
                                          if (BytesToSend < (Avail - 1))\
                                          {\
                                            memcpy(&(OutDma[DmaBufPtr][0]), OutputBuffer, BytesToSend);\
                                            *AT91C_US1_TNPR = (unsigned int)&(OutDma[DmaBufPtr][0]);\
                                            *AT91C_US1_TNCR = BytesToSend;\
                                            DmaBufPtr = (DmaBufPtr + 1) % NO_OF_DMA_OUTBUFFERS;\
                                          }\
                                        }


#define   BTSendMsg(OutputBuffer, BytesToSend, MsgSize)\
                                        {\
                                          UWORD Avail;\
                                          AVAILOutBuf(Avail);\
                                          if (BytesToSend < (Avail - 1))\
                                          {\
                                            if (2 == LengthSize)\
                                            {\
                                              OutDma[DmaBufPtr][0] = (UBYTE)MsgSize;\
                                              OutDma[DmaBufPtr][1] = (UBYTE)(MsgSize>>8);\
                                            }\
                                            else\
                                            {\
                                              OutDma[DmaBufPtr][0] = (UBYTE)MsgSize;\
                                            }\
                                            memcpy(&(OutDma[DmaBufPtr][LengthSize]), OutputBuffer, BytesToSend);\
                                            *AT91C_US1_TNPR = (unsigned int)&(OutDma[DmaBufPtr][0]);\
                                            *AT91C_US1_TNCR = BytesToSend + LengthSize;\
                                            DmaBufPtr = (DmaBufPtr + 1) % NO_OF_DMA_OUTBUFFERS;\
                                          }\
                                        }


#define   BTReceivedData(pByteCnt, pToGo)\
                                        {\
                                          UWORD InCnt, Cnt;\
                                          *pByteCnt = 0;\
                                          *pToGo    = 0;\
                                          InCnt = (SIZE_OF_INBUF - *AT91C_US1_RCR);\
                                          if (*AT91C_US1_RNCR == 0)\
                                          {\
                                            InCnt = SIZE_OF_INBUF;\
                                          }\
                                          InCnt -= InBufOutCnt; /* Remove already read bytes */\
                                          if (InCnt)\
                                          {\
                                            if (0 == FullRxLength)  /* FullRxLength still to be calculated */\
                                            {\
                                              while((MsgIn < LengthSize) && (InCnt > 0))\
                                              {\
                                                pBuffer[MsgIn] = InBuf[InBufInPtr][InBufOutCnt];\
                                                MsgIn++;\
                                                InBufOutCnt++;\
                                                InCnt--;\
                                              }\
                                              if (LengthSize == MsgIn)\
                                              {\
                                                if (2 == LengthSize)\
                                                {\
                                                  FullRxLength   = pBuffer[1];\
                                                  FullRxLength <<= 8;\
                                                  FullRxLength  |= pBuffer[0];\
                                                  /* Remove Length when in strean mode */\
                                                  MsgIn          = 0;\
                                                }\
                                                else\
                                                {\
                                                  FullRxLength = pBuffer[0];\
                                                }\
                                                RemainingLength = FullRxLength;\
                                              }\
                                              else\
                                              {\
                                                /* Length still not received */\
                                                FullRxLength = 0;\
                                              }\
                                            }\
                                            if (FullRxLength)\
                                            {\
                                              /* Incomming msg in progress */\
                                              /* room for bytes? */\
                                              if (InCnt >= RemainingLength)\
                                              {\
                                                /* Remaining msg bytes are in the buffer   */\
                                                /* Can remaining byte be stored in buffer? */\
                                                if ((MsgIn + RemainingLength) <= SIZE_OF_INBUF)\
                                                {\
                                                  /* All bytes can be stored */\
                                                  for (Cnt = 0; Cnt < RemainingLength; Cnt++)\
                                                  {\
                                                    pBuffer[MsgIn] = InBuf[InBufInPtr][InBufOutCnt];\
                                                    MsgIn++;\
                                                    InBufOutCnt++;\
                                                  }\
                                                  *pByteCnt       = MsgIn;\
                                                  *pToGo          = 0;\
                                                  FullRxLength    = 0;\
                                                  RemainingLength = 0;\
                                                  MsgIn           = 0;\
                                                }\
                                                else\
                                                {\
                                                  for (Cnt = 0; MsgIn < SIZE_OF_INBUF; Cnt++)\
                                                  {\
                                                    pBuffer[MsgIn] = InBuf[InBufInPtr][InBufOutCnt];\
                                                    MsgIn++;\
                                                    InBufOutCnt++;\
                                                  }\
                                                  *pByteCnt        = SIZE_OF_INBUF;\
                                                  RemainingLength -= Cnt;\
                                                  *pToGo           = RemainingLength;\
                                                  MsgIn            = 0;\
                                                }\
                                              }\
                                              else\
                                              {\
                                                if ((InCnt + MsgIn) < SIZE_OF_INBUF)\
                                                {\
                                                  /* Received bytes do not fill up the buffer */\
                                                  for (Cnt = 0; Cnt < InCnt; Cnt++)\
                                                  {\
                                                    pBuffer[MsgIn] = InBuf[InBufInPtr][InBufOutCnt];\
                                                    MsgIn++;\
                                                    InBufOutCnt++;\
                                                  }\
                                                  RemainingLength -= InCnt;\
                                                }\
                                                else\
                                                {\
                                                  /* Received bytes fill up the buffer */\
                                                  for (Cnt = 0; MsgIn < SIZE_OF_INBUF; Cnt++)\
                                                  {\
                                                    pBuffer[MsgIn] = InBuf[InBufInPtr][InBufOutCnt];\
                                                    MsgIn++;\
                                                    InBufOutCnt++;\
                                                  }\
                                                  *pByteCnt        = SIZE_OF_INBUF;\
                                                  RemainingLength -= Cnt; /* Only substract no removed */\
                                                  *pToGo           = RemainingLength;\
                                                  MsgIn            = 0;\
                                                }\
                                              }\
                                            }\
                                          }\
                                          if ((*AT91C_US1_RNCR == 0) && (SIZE_OF_INBUF == InBufOutCnt))\
                                          {\
                                            InBufOutCnt     = 0;\
                                            *AT91C_US1_RNPR = (unsigned int)InBufPtrs[InBufInPtr];\
                                            *AT91C_US1_RNCR = SIZE_OF_INBUF;\
                                            InBufInPtr      = (InBufInPtr + 1) % NO_OF_INBUFFERS;\
                                          }\
                                        }

#define BTExit                          {\
                                          *AT91C_PMC_PCDR = PER_ID7_UART_1;        /* Disable PMC clock for UART 1*/\
                                          *AT91C_US1_IDR  = AT91C_US_TIMEOUT;      /* Disable interrupt on timeout */\
                                          *AT91C_AIC_IDCR = UART1_INQ;             /* Disable PIO interrupt */\
                                          *AT91C_AIC_ICCR = UART1_INQ;             /* Clear interrupt register */\
                                        }


#endif

#ifdef    PCWIN

#endif