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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 1 | ingob | 3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 7 | #include <stdarg.h> |
| 8 | #include <string.h> |
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| 1490 | killagreg | 9 | #include <avr/pgmspace.h> |
| 1 | ingob | 10 | #include "main.h" |
| 11 | #include "uart.h" |
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| 1438 | ingob | 12 | #include "libfc.h" |
| 1622 | killagreg | 13 | #include "eeprom.h" |
| 1 | ingob | 14 | |
| 1054 | killagreg | 15 | |
| 1636 | ingob | 16 | |
| 1054 | killagreg | 17 | #define FC_ADDRESS 1 |
| 18 | #define NC_ADDRESS 2 |
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| 19 | #define MK3MAG_ADDRESS 3 |
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| 1622 | killagreg | 20 | #define BL_CTRL_ADDRESS 5 |
| 1054 | killagreg | 21 | |
| 1415 | killagreg | 22 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 1441 | ingob | 23 | #define MAX_SENDE_BUFF 160 |
| 24 | #define MAX_EMPFANGS_BUFF 160 |
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| 1657 | killagreg | 25 | |
| 26 | |||
| 27 | #define BLPARAM_REVISION 1 |
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| 28 | #define MASK_SET_PWM_SCALING 0x01 |
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| 29 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 30 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 31 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 32 | #define MASK_SET_BITCONFIG 0x10 |
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| 33 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 34 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 35 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 36 | |||
| 37 | typedef struct |
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| 38 | { |
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| 39 | unsigned char Revision; // revision of parameter structure |
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| 40 | unsigned char Address; // target address |
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| 41 | unsigned char PwmScaling; // maximum value of pwm setpoint |
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| 42 | unsigned char CurrentLimit; // current limit in 1A steps |
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| 43 | unsigned char TemperatureLimit; // in °C |
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| 44 | unsigned char CurrentScaling; // scaling factor for current measurement |
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| 45 | unsigned char BitConfig; // see defines above |
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| 46 | unsigned char SetMask; // filter for active paramters |
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| 47 | unsigned char Checksum; // checksum for parameter sturcture |
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| 48 | } __attribute__((packed)) BLParameter_t; |
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| 49 | |||
| 50 | |||
| 1053 | killagreg | 51 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 52 | unsigned char DisplayLine = 0; |
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| 1 | ingob | 53 | unsigned volatile char SioTmp = 0; |
| 54 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 55 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 56 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 57 | unsigned volatile char CntCrcError = 0; |
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| 58 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 1441 | ingob | 59 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 60 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 61 | |||
| 1051 | killagreg | 62 | unsigned char *pRxData = 0; |
| 63 | unsigned char RxDataLen = 0; |
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| 1 | ingob | 64 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 65 | unsigned volatile char PC_MotortestActive = 0; |
| 1636 | ingob | 66 | unsigned char DebugTextAnforderung = 255; |
| 1051 | killagreg | 67 | |
| 1636 | ingob | 68 | |
| 69 | |||
| 1 | ingob | 70 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 71 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 72 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 73 | unsigned char ConfirmFrame; |
| 1 | ingob | 74 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 75 | struct str_ExternControl ExternControl; |
| 1 | ingob | 76 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 77 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 78 | struct str_Data3D Data3D; |
| 1 | ingob | 79 | |
| 1399 | killagreg | 80 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 1415 | killagreg | 81 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 82 | unsigned int AboTimeOut = 0; |
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| 693 | hbuss | 83 | |
| 1490 | killagreg | 84 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 499 | hbuss | 85 | { |
| 1051 | killagreg | 86 | //1234567890123456 |
| 1175 | hbuss | 87 | "AngleNick ", //0 |
| 88 | "AngleRoll ", |
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| 1051 | killagreg | 89 | "AccNick ", |
| 499 | hbuss | 90 | "AccRoll ", |
| 1523 | holgerb | 91 | "YawGyro ", |
| 1521 | killagreg | 92 | "Height Value ", //5 |
| 499 | hbuss | 93 | "AccZ ", |
| 94 | "Gas ", |
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| 1175 | hbuss | 95 | "Compass Value ", |
| 1528 | holgerb | 96 | "Voltage [0.1V] ", |
| 1521 | killagreg | 97 | "Receiver Level ", //10 |
| 98 | "Gyro Compass ", |
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| 99 | "Motor 1 ", |
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| 100 | "Motor 2 ", |
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| 101 | "Motor 3 ", |
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| 102 | "Motor 4 ", //15 |
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| 929 | hbuss | 103 | " ", |
| 1175 | hbuss | 104 | " ", |
| 1638 | holgerb | 105 | " ", |
| 106 | " ", |
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| 854 | hbuss | 107 | "Servo ", //20 |
| 1521 | killagreg | 108 | "Hovergas ", |
| 1523 | holgerb | 109 | "Current [0.1A] ", |
| 1501 | holgerb | 110 | "Capacity [mAh] ", |
| 720 | ingob | 111 | " ", |
| 1322 | hbuss | 112 | " ", //25 |
| 113 | " ", |
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| 114 | " ", |
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| 115 | "I2C-Error ", |
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| 1521 | killagreg | 116 | " ", // "Navi Serial Data", |
| 720 | ingob | 117 | "GPS_Nick ", //30 |
| 118 | "GPS_Roll " |
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| 499 | hbuss | 119 | }; |
| 120 | |||
| 121 | |||
| 1 | ingob | 122 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 123 | //++ Sende-Part der Datenübertragung |
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| 124 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 125 | ISR(USART0_TX_vect) |
| 1 | ingob | 126 | { |
| 127 | static unsigned int ptr = 0; |
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| 128 | unsigned char tmp_tx; |
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| 1051 | killagreg | 129 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 130 | { |
| 131 | ptr++; // die [0] wurde schon gesendet |
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| 1438 | ingob | 132 | tmp_tx = TxdBuffer[ptr]; |
| 1 | ingob | 133 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 134 | { |
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| 135 | ptr = 0; |
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| 136 | UebertragungAbgeschlossen = 1; |
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| 137 | } |
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| 1561 | killagreg | 138 | UDR0 = tmp_tx; |
| 1051 | killagreg | 139 | } |
| 1 | ingob | 140 | else ptr = 0; |
| 141 | } |
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| 142 | |||
| 143 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 144 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 145 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 146 | ISR(USART0_RX_vect) |
| 1 | ingob | 147 | { |
| 148 | static unsigned int crc; |
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| 149 | static unsigned char crc1,crc2,buf_ptr; |
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| 150 | static unsigned char UartState = 0; |
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| 151 | unsigned char CrcOkay = 0; |
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| 152 | |||
| 1561 | killagreg | 153 | SioTmp = UDR0; |
| 1438 | ingob | 154 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 1051 | killagreg | 155 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 156 | { |
| 157 | UartState = 0; |
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| 158 | crc -= RxdBuffer[buf_ptr-2]; |
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| 159 | crc -= RxdBuffer[buf_ptr-1]; |
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| 160 | crc %= 4096; |
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| 161 | crc1 = '=' + crc / 64; |
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| 162 | crc2 = '=' + crc % 64; |
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| 163 | CrcOkay = 0; |
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| 164 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 165 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 166 | { |
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| 1051 | killagreg | 167 | NeuerDatensatzEmpfangen = 1; |
| 168 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 169 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 170 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 171 | { |
| 1435 | killagreg | 172 | LcdClear(); |
| 1232 | hbuss | 173 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 174 | ServoActive = 0; |
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| 1435 | killagreg | 175 | |
| 1253 | killagreg | 176 | } |
| 1051 | killagreg | 177 | } |
| 1 | ingob | 178 | } |
| 179 | else |
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| 180 | switch(UartState) |
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| 181 | { |
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| 182 | case 0: |
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| 183 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 184 | buf_ptr = 0; |
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| 185 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 186 | crc = SioTmp; |
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| 187 | break; |
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| 188 | case 1: // Adresse auswerten |
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| 189 | UartState++; |
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| 190 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 191 | crc += SioTmp; |
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| 192 | break; |
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| 193 | case 2: // Eingangsdaten sammeln |
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| 194 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1490 | killagreg | 195 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 196 | else UartState = 0; |
| 197 | crc += SioTmp; |
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| 198 | break; |
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| 1051 | killagreg | 199 | default: |
| 200 | UartState = 0; |
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| 1 | ingob | 201 | break; |
| 202 | } |
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| 203 | } |
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| 204 | |||
| 205 | |||
| 206 | // -------------------------------------------------------------------------- |
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| 207 | void AddCRC(unsigned int wieviele) |
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| 208 | { |
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| 1051 | killagreg | 209 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 210 | for(i = 0; i < wieviele;i++) |
| 211 | { |
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| 1438 | ingob | 212 | tmpCRC += TxdBuffer[i]; |
| 1 | ingob | 213 | } |
| 214 | tmpCRC %= 4096; |
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| 1438 | ingob | 215 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 216 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 217 | TxdBuffer[i++] = '\r'; |
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| 1 | ingob | 218 | UebertragungAbgeschlossen = 0; |
| 1561 | killagreg | 219 | UDR0 = TxdBuffer[0]; |
| 1 | ingob | 220 | } |
| 221 | |||
| 222 | |||
| 223 | |||
| 224 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 225 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 226 | { |
| 1051 | killagreg | 227 | va_list ap; |
| 1 | ingob | 228 | unsigned int pt = 0; |
| 229 | unsigned char a,b,c; |
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| 230 | unsigned char ptr = 0; |
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| 231 | |||
| 1051 | killagreg | 232 | unsigned char *snd = 0; |
| 233 | int len = 0; |
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| 234 | |||
| 1438 | ingob | 235 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 236 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 237 | TxdBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 238 | |
| 1051 | killagreg | 239 | va_start(ap, BufferAnzahl); |
| 240 | if(BufferAnzahl) |
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| 241 | { |
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| 242 | snd = va_arg(ap, unsigned char*); |
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| 243 | len = va_arg(ap, int); |
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| 244 | ptr = 0; |
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| 245 | BufferAnzahl--; |
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| 246 | } |
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| 1 | ingob | 247 | while(len) |
| 248 | { |
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| 1051 | killagreg | 249 | if(len) |
| 250 | { |
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| 251 | a = snd[ptr++]; |
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| 252 | len--; |
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| 253 | if((!len) && BufferAnzahl) |
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| 254 | { |
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| 255 | snd = va_arg(ap, unsigned char*); |
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| 256 | len = va_arg(ap, int); |
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| 257 | ptr = 0; |
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| 258 | BufferAnzahl--; |
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| 259 | } |
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| 260 | } |
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| 261 | else a = 0; |
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| 262 | if(len) |
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| 263 | { |
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| 264 | b = snd[ptr++]; |
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| 265 | len--; |
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| 266 | if((!len) && BufferAnzahl) |
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| 267 | { |
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| 268 | snd = va_arg(ap, unsigned char*); |
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| 269 | len = va_arg(ap, int); |
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| 270 | ptr = 0; |
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| 271 | BufferAnzahl--; |
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| 272 | } |
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| 273 | } |
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| 274 | else b = 0; |
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| 275 | if(len) |
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| 276 | { |
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| 277 | c = snd[ptr++]; |
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| 278 | len--; |
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| 279 | if((!len) && BufferAnzahl) |
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| 280 | { |
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| 281 | snd = va_arg(ap, unsigned char*); |
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| 282 | len = va_arg(ap, int); |
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| 283 | ptr = 0; |
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| 284 | BufferAnzahl--; |
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| 285 | } |
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| 286 | } |
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| 287 | else c = 0; |
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| 1438 | ingob | 288 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 289 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 290 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 291 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 1 | ingob | 292 | } |
| 1051 | killagreg | 293 | va_end(ap); |
| 1 | ingob | 294 | AddCRC(pt); |
| 295 | } |
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| 296 | |||
| 297 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 298 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 299 | { |
| 300 | unsigned char a,b,c,d; |
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| 301 | unsigned char x,y,z; |
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| 1051 | killagreg | 302 | unsigned char ptrIn = 3; // start at begin of data block |
| 303 | unsigned char ptrOut = 3; |
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| 304 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
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| 305 | |||
| 1 | ingob | 306 | while(len) |
| 307 | { |
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| 308 | a = RxdBuffer[ptrIn++] - '='; |
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| 309 | b = RxdBuffer[ptrIn++] - '='; |
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| 310 | c = RxdBuffer[ptrIn++] - '='; |
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| 311 | d = RxdBuffer[ptrIn++] - '='; |
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| 312 | |||
| 313 | x = (a << 2) | (b >> 4); |
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| 314 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 315 | z = ((c & 0x03) << 6) | d; |
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| 316 | |||
| 1051 | killagreg | 317 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 318 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 319 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 320 | } |
| 1051 | killagreg | 321 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 322 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 323 | |
| 324 | } |
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| 325 | |||
| 326 | // -------------------------------------------------------------------------- |
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| 327 | void BearbeiteRxDaten(void) |
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| 328 | { |
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| 329 | if(!NeuerDatensatzEmpfangen) return; |
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| 330 | |||
| 1622 | killagreg | 331 | unsigned char tempchar1; |
| 1056 | killagreg | 332 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 333 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 334 | { |
| 335 | case FC_ADDRESS: // FC special commands |
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| 336 | switch(RxdBuffer[2]) |
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| 337 | { |
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| 338 | case 'K':// Kompasswert |
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| 339 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 340 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 341 | break; |
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| 342 | case 't':// Motortest |
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| 1212 | hbuss | 343 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 344 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 345 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 346 | //while(!UebertragungAbgeschlossen); |
| 347 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 348 | PcZugriff = 255; |
| 349 | break; |
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| 1053 | killagreg | 350 | |
| 1209 | hbuss | 351 | case 'n':// "Get Mixer |
| 352 | while(!UebertragungAbgeschlossen); |
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| 1622 | killagreg | 353 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 1636 | ingob | 354 | Debug("Mixer lesen"); |
| 1209 | hbuss | 355 | break; |
| 356 | |||
| 357 | case 'm':// "Write Mixer |
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| 1622 | killagreg | 358 | if(pRxData[0] == EEMIXER_REVISION) |
| 1521 | killagreg | 359 | { |
| 1622 | killagreg | 360 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 361 | MixerTable_WriteToEEProm(); |
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| 1211 | hbuss | 362 | tempchar1 = 1; |
| 1521 | killagreg | 363 | } |
| 1622 | killagreg | 364 | else |
| 365 | { |
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| 366 | tempchar1 = 0; |
||
| 367 | } |
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| 368 | while(!UebertragungAbgeschlossen); |
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| 1211 | hbuss | 369 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 1654 | killagreg | 370 | |
| 1209 | hbuss | 371 | break; |
| 372 | |||
| 1054 | killagreg | 373 | case 'p': // get PPM Channels |
| 374 | GetPPMChannelAnforderung = 1; |
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| 1377 | hbuss | 375 | PcZugriff = 255; |
| 1054 | killagreg | 376 | break; |
| 1053 | killagreg | 377 | |
| 1054 | killagreg | 378 | case 'q':// "Get"-Anforderung für Settings |
| 379 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 380 | if(pRxData[0] == 0xFF) |
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| 381 | { |
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| 1622 | killagreg | 382 | pRxData[0] = GetActiveParamSet(); |
| 1054 | killagreg | 383 | } |
| 1063 | killagreg | 384 | // limit settings range |
| 385 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 386 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 387 | // load requested parameter set |
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| 1622 | killagreg | 388 | ParamSet_ReadFromEEProm(pRxData[0]); |
| 389 | tempchar1 = pRxData[0]; |
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| 1054 | killagreg | 390 | while(!UebertragungAbgeschlossen); |
| 1622 | killagreg | 391 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 1636 | ingob | 392 | Debug("Lese Setting %d", tempchar1); |
| 1654 | killagreg | 393 | |
| 1054 | killagreg | 394 | break; |
| 1051 | killagreg | 395 | |
| 1054 | killagreg | 396 | case 's': // Parametersatz speichern |
| 1622 | killagreg | 397 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| 1054 | killagreg | 398 | { |
| 1622 | killagreg | 399 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 400 | ParamSet_WriteToEEProm(pRxData[0]); |
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| 1054 | killagreg | 401 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 402 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1622 | killagreg | 403 | tempchar1 = GetActiveParamSet(); |
| 1054 | killagreg | 404 | } |
| 1058 | killagreg | 405 | else |
| 406 | { |
||
| 407 | tempchar1 = 0; // mark in response an invlid setting |
||
| 408 | } |
||
| 409 | while(!UebertragungAbgeschlossen); |
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| 410 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1405 | hbuss | 411 | if(!MotorenEin) Piep(tempchar1,110); |
| 412 | LipoDetection(0); |
||
| 1626 | killagreg | 413 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1054 | killagreg | 414 | break; |
| 1405 | hbuss | 415 | case 'f': // auf anderen Parametersatz umschalten |
| 1622 | killagreg | 416 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 417 | tempchar1 = GetActiveParamSet(); |
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| 1405 | hbuss | 418 | while(!UebertragungAbgeschlossen); |
| 419 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 420 | if(!MotorenEin) Piep(tempchar1,110); |
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| 421 | LipoDetection(0); |
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| 1626 | killagreg | 422 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1405 | hbuss | 423 | break; |
| 1391 | killagreg | 424 | case 'y':// serial Potis |
| 425 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
||
| 426 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
||
| 427 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
||
| 428 | break; |
||
| 429 | |||
| 1056 | killagreg | 430 | } // case FC_ADDRESS: |
| 1054 | killagreg | 431 | |
| 432 | default: // any Slave Address |
||
| 1056 | killagreg | 433 | |
| 1054 | killagreg | 434 | switch(RxdBuffer[2]) |
| 435 | { |
||
| 436 | // 't' comand placed here only for compatibility to BL |
||
| 437 | case 't':// Motortest |
||
| 1654 | killagreg | 438 | if(AnzahlEmpfangsBytes > 10) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 1212 | hbuss | 439 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 1054 | killagreg | 440 | while(!UebertragungAbgeschlossen); |
| 441 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 1212 | hbuss | 442 | PC_MotortestActive = 250; |
| 1054 | killagreg | 443 | PcZugriff = 255; |
| 1638 | holgerb | 444 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 445 | break; |
| 446 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 447 | case 'K':// Kompasswert |
||
| 448 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 449 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 450 | break; |
||
| 451 | case 'a':// Texte der Analogwerte |
||
| 452 | DebugTextAnforderung = pRxData[0]; |
||
| 453 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 454 | PcZugriff = 255; |
||
| 455 | break; |
||
| 456 | case 'b': |
||
| 457 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 458 | ConfirmFrame = ExternControl.Frame; |
||
| 459 | PcZugriff = 255; |
||
| 460 | break; |
||
| 1171 | hbuss | 461 | case 'c': // Poll the 3D-Data |
| 462 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 463 | Intervall3D = pRxData[0] * 10; |
||
| 1417 | killagreg | 464 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1171 | hbuss | 465 | break; |
| 1054 | killagreg | 466 | case 'd': // Poll the debug data |
| 1438 | ingob | 467 | PcZugriff = 255; |
| 1399 | killagreg | 468 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 1171 | hbuss | 469 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1415 | killagreg | 470 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 471 | break; |
| 472 | |||
| 473 | case 'h':// x-1 Displayzeilen |
||
| 1059 | hbuss | 474 | PcZugriff = 255; |
| 1399 | killagreg | 475 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 476 | { |
||
| 477 | DisplayLine = 2; |
||
| 478 | Display_Interval = 0; |
||
| 479 | } |
||
| 480 | else // new format |
||
| 481 | { |
||
| 482 | RemoteKeys |= ~pRxData[0]; |
||
| 483 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 484 | DisplayLine = 4; |
||
| 1415 | killagreg | 485 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1399 | killagreg | 486 | } |
| 1054 | killagreg | 487 | DebugDisplayAnforderung = 1; |
| 488 | break; |
||
| 489 | |||
| 490 | case 'l':// x-1 Displayzeilen |
||
| 1059 | hbuss | 491 | PcZugriff = 255; |
| 1054 | killagreg | 492 | MenuePunkt = pRxData[0]; |
| 493 | DebugDisplayAnforderung1 = 1; |
||
| 494 | break; |
||
| 495 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 496 | GetVersionAnforderung = 1; |
||
| 497 | break; |
||
| 498 | |||
| 499 | case 'g':// |
||
| 500 | GetExternalControl = 1; |
||
| 501 | break; |
||
| 1657 | killagreg | 502 | |
| 503 | case 'u': // request BL parameter |
||
| 504 | tempchar1 = pRxData[0]; |
||
| 505 | Debug("Reading BL-Parameter %d", tempchar1); |
||
| 506 | if( (tempchar1 > 0) && (tempchar1 <= MAX_MOTORS) ) |
||
| 507 | { |
||
| 508 | BLParameter_t BLParam; |
||
| 509 | tempchar1--; |
||
| 510 | BLParam.Revision = BLPARAM_REVISION; |
||
| 511 | BLParam.Address = tempchar1+1; |
||
| 512 | BLParam.PwmScaling = BLConfig[tempchar1].PwmScaling; |
||
| 513 | BLParam.CurrentLimit = BLConfig[tempchar1].CurrentLimit; |
||
| 514 | BLParam.TemperatureLimit = BLConfig[tempchar1].TempLimit; |
||
| 515 | BLParam.CurrentScaling = BLConfig[tempchar1].CurrentScaling; |
||
| 516 | BLParam.BitConfig = BLConfig[tempchar1].BitConfig; |
||
| 517 | BLParam.SetMask = 0; |
||
| 518 | BLParam.Checksum = RAM_Checksum((uint8_t*)&(BLConfig[tempchar1]), sizeof(BLParam)-1); |
||
| 519 | while(!UebertragungAbgeschlossen); |
||
| 520 | SendOutData('U', FC_ADDRESS, 1, &BLParam, sizeof(BLParam)); |
||
| 521 | } |
||
| 522 | break; |
||
| 523 | |||
| 524 | case 'w': // write BL parameter |
||
| 525 | tempchar1 = 0; |
||
| 526 | if(!(FCFlags & FCFLAG_MOTOR_RUN)) // save parameter only if motors are off |
||
| 527 | { |
||
| 528 | BLParameter_t *pBLParam = (BLParameter_t*)pRxData; |
||
| 529 | // version and address check |
||
| 530 | if( (pBLParam->Revision == BLPARAM_REVISION) && (pBLParam->Address <= MAX_MOTORS) ) |
||
| 531 | { |
||
| 532 | uint8_t i, start, end; |
||
| 533 | if(pBLParam->Address == 0) |
||
| 534 | { // all BLs |
||
| 535 | start = 0; |
||
| 536 | end = MAX_MOTORS - 1; |
||
| 537 | } |
||
| 538 | else |
||
| 539 | { // only one specific |
||
| 540 | start = pBLParam->Address - 1; |
||
| 541 | end = start; |
||
| 542 | } |
||
| 543 | for(i = start; i <= end; i++) |
||
| 544 | { |
||
| 545 | if(pBLParam->SetMask & MASK_SET_DEFAULT_PARAMS) BLConfig_SetDefault(i); |
||
| 546 | else |
||
| 547 | { |
||
| 548 | if(pBLParam->SetMask & MASK_SET_PWM_SCALING) BLConfig[i].PwmScaling = pBLParam->PwmScaling; |
||
| 549 | if(pBLParam->SetMask & MASK_SET_CURRENT_LIMIT) BLConfig[i].CurrentLimit = pBLParam->CurrentLimit; |
||
| 550 | if(pBLParam->SetMask & MASK_SET_TEMP_LIMIT) BLConfig[i].TempLimit = pBLParam->TemperatureLimit; |
||
| 551 | if(pBLParam->SetMask & MASK_SET_CURRENT_SCALING) BLConfig[i].CurrentScaling = pBLParam->CurrentScaling; |
||
| 552 | if(pBLParam->SetMask & MASK_SET_BITCONFIG) BLConfig[i].BitConfig = pBLParam->BitConfig; |
||
| 553 | BLConfig[i].crc = RAM_Checksum((uint8_t*)&(BLConfig[i]), sizeof(BLConfig_t)-1); // update crc |
||
| 554 | |||
| 555 | } |
||
| 556 | if(pBLParam->SetMask & MASK_SET_SAVE_EEPROM) BLConfig_WriteToEEProm(i); |
||
| 557 | } |
||
| 558 | I2C_SendBLConfig(); |
||
| 559 | tempchar1 = 1; |
||
| 560 | } |
||
| 561 | } |
||
| 562 | while(!UebertragungAbgeschlossen); |
||
| 563 | SendOutData('W', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
||
| 564 | break; |
||
| 565 | |||
| 566 | default: |
||
| 567 | //unsupported command received |
||
| 568 | break; |
||
| 1054 | killagreg | 569 | } |
| 570 | break; // default: |
||
| 571 | } |
||
| 1051 | killagreg | 572 | NeuerDatensatzEmpfangen = 0; |
| 573 | pRxData = 0; |
||
| 574 | RxDataLen = 0; |
||
| 1 | ingob | 575 | } |
| 576 | |||
| 577 | //############################################################################ |
||
| 578 | //Routine für die Serielle Ausgabe |
||
| 1444 | ingob | 579 | void uart_putchar (char c) |
| 1 | ingob | 580 | //############################################################################ |
| 581 | { |
||
| 582 | //Warten solange bis Zeichen gesendet wurde |
||
| 1561 | killagreg | 583 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 1 | ingob | 584 | //Ausgabe des Zeichens |
| 1561 | killagreg | 585 | UDR0 = c; |
| 1 | ingob | 586 | } |
| 587 | |||
| 588 | |||
| 589 | //############################################################################ |
||
| 590 | //INstallation der Seriellen Schnittstelle |
||
| 591 | void UART_Init (void) |
||
| 592 | //############################################################################ |
||
| 593 | { |
||
| 1561 | killagreg | 594 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 595 | |||
| 1 | ingob | 596 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 1561 | killagreg | 597 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 1 | ingob | 598 | // UART Double Speed (U2X) |
| 1561 | killagreg | 599 | UCSR0A |= (1 << U2X0); |
| 1 | ingob | 600 | // RX-Interrupt Freigabe |
| 1561 | killagreg | 601 | UCSR0B |= (1 << RXCIE0); |
| 1 | ingob | 602 | // TX-Interrupt Freigabe |
| 1561 | killagreg | 603 | UCSR0B |= (1 << TXCIE0); |
| 604 | // USART0 Baud Rate Register |
||
| 605 | // set clock divider |
||
| 606 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 607 | UBRR0L = (uint8_t)ubrr; |
||
| 1 | ingob | 608 | |
| 1051 | killagreg | 609 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 610 | Kompass_Timer = SetDelay(220); |
||
| 611 | |||
| 1058 | killagreg | 612 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 613 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 614 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 615 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 616 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 617 | |
| 618 | pRxData = 0; |
||
| 619 | RxDataLen = 0; |
||
| 1 | ingob | 620 | } |
| 621 | |||
| 622 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 623 | void DatenUebertragung(void) |
| 1 | ingob | 624 | { |
| 1415 | killagreg | 625 | if(!UebertragungAbgeschlossen) return; |
| 1 | ingob | 626 | |
| 1415 | killagreg | 627 | if(CheckDelay(AboTimeOut)) |
| 628 | { |
||
| 629 | Display_Interval = 0; |
||
| 630 | DebugDataIntervall = 0; |
||
| 1417 | killagreg | 631 | Intervall3D = 0; |
| 1415 | killagreg | 632 | } |
| 633 | |||
| 1399 | killagreg | 634 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 1065 | killagreg | 635 | { |
| 1399 | killagreg | 636 | if(DisplayLine > 3)// new format |
| 637 | { |
||
| 1423 | hbuss | 638 | Menu(); |
| 1399 | killagreg | 639 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 640 | } |
||
| 641 | else // old format |
||
| 642 | { |
||
| 643 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 644 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 645 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 646 | } |
||
| 647 | Display_Timer = SetDelay(Display_Interval); |
||
| 1065 | killagreg | 648 | DebugDisplayAnforderung = 0; |
| 649 | } |
||
| 650 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 651 | { |
||
| 652 | Menu(); |
||
| 653 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 654 | DebugDisplayAnforderung1 = 0; |
||
| 655 | } |
||
| 656 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 657 | { |
||
| 658 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 659 | GetVersionAnforderung = 0; |
||
| 1636 | ingob | 660 | Debug_OK("Version gesendet"); |
| 1065 | killagreg | 661 | } |
| 1 | ingob | 662 | |
| 1065 | killagreg | 663 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 664 | { |
||
| 665 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 666 | GetExternalControl = 0; |
||
| 667 | } |
||
| 1051 | killagreg | 668 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 669 | { |
| 1171 | hbuss | 670 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 671 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 672 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 673 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1619 | killagreg | 674 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 675 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 676 | Kompass_Timer = SetDelay(99); |
| 677 | } |
||
| 1171 | hbuss | 678 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 679 | { |
| 1639 | holgerb | 680 | CopyDebugValues(); |
| 1276 | hbuss | 681 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 682 | DebugDataAnforderung = 0; |
| 1055 | ingob | 683 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 684 | } |
| 1171 | hbuss | 685 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 686 | { |
||
| 687 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 688 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 689 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 690 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 691 | Timer3D = SetDelay(Intervall3D); |
||
| 692 | } |
||
| 499 | hbuss | 693 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 694 | { |
||
| 1490 | killagreg | 695 | unsigned char label[16]; // local sram buffer |
| 696 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 697 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 499 | hbuss | 698 | DebugTextAnforderung = 255; |
| 699 | } |
||
| 1051 | killagreg | 700 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 701 | { |
| 1054 | killagreg | 702 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 703 | ConfirmFrame = 0; |
| 595 | hbuss | 704 | } |
| 1053 | killagreg | 705 | |
| 1051 | killagreg | 706 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 707 | { |
||
| 1054 | killagreg | 708 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 709 | GetPPMChannelAnforderung = 0; |
| 710 | } |
||
| 1654 | killagreg | 711 | |
| 1636 | ingob | 712 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 713 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 714 | { |
||
| 715 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 716 | SendDebugOutput = 0; |
||
| 717 | } |
||
| 1654 | killagreg | 718 | #endif |
| 1 | ingob | 719 | |
| 720 | } |
||
| 721 | |||
| 1636 | ingob | 722 |