Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt und genannt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <avr/pgmspace.h>

#include <stdarg.h>

#include <string.h>

#include "eeprom.h"

#include "menu.h"

#include "timer0.h"

#include "uart0.h"

#include "attitude.h"

#include "rc.h"

#include "externalControl.h"

#include "output.h"

#if defined (USE_MK3MAG)

#include "ubx.h"

#endif

#ifdef USE_MK3MAG

#include "mk3mag.h"

#endif

#define FC_ADDRESS 1

#define NC_ADDRESS 2

#define MK3MAG_ADDRESS 3

#define FALSE   0

#define TRUE    1

//int8_t test __attribute__ ((section (".noinit")));

uint8_t request_VerInfo                 = FALSE;

uint8_t request_ExternalControl         = FALSE;

uint8_t request_Display                 = FALSE;

uint8_t request_Display1                = FALSE;

uint8_t request_DebugData               = FALSE;

uint8_t request_Data3D                  = FALSE;

uint8_t request_DebugLabel              = 255;

uint8_t request_PPMChannels             = FALSE;

uint8_t request_MotorTest               = FALSE;

uint8_t request_variables               = FALSE;

uint8_t DisplayLine = 0;

volatile uint8_t txd_buffer[TXD_BUFFER_LEN];

volatile uint8_t rxd_buffer_locked = FALSE;

volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];

volatile uint8_t txd_complete = TRUE;

volatile uint8_t ReceivedBytes = 0;

volatile uint8_t *pRxData = 0;

volatile uint8_t RxDataLen = 0;

uint8_t motorTestActive  = 0;

uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};

uint8_t ConfirmFrame;

typedef struct {

  int16_t Heading;

} __attribute__((packed)) Heading_t;

DebugOut_t              DebugOut;

Data3D_t                Data3D;

UART_VersionInfo_t      UART_VersionInfo;

uint16_t DebugData_Timer;

uint16_t Data3D_Timer;

uint16_t DebugData_Interval = 500; // in 1ms

uint16_t Data3D_Interval = 0; // in 1ms

#ifdef USE_MK3MAG

int16_t Compass_Timer;

#endif

// keep lables in flash to save 512 bytes of sram space

const prog_uint8_t ANALOG_LABEL[32][16] = {

    //1234567890123456

    "AnglePitch      ", //0

    "AngleRoll       ",

    "AngleYaw        ",

    "GyroPitch(PID)  ",

    "GyroRoll(PID)   ",

    "GyroYaw         ", //5

    "GyroPitch(AC)   ",

    "GyroRoll(AC)    ",

    "GyroYaw(AC)     ",

    "AccPitch (angle)",

    "AccRoll (angle) ", //10

    "UBat            ",

    "Pitch Term      ",

    "Roll Term       ",

    "Yaw Term        ",

    "Throttle Term   ", //15

    "0th O Corr pitch",

    "0th O Corr roll ",

    "DriftCompDelta P",

    "DriftCompDelta R",

    "ADPitchGyroOffs ", //20

    "ADRollGyroOffs  ",

    "M1              ",

    "M2              ",

    "M3              ",

    "M4              ", //25

    "ControlYaw      ",

    "Acc Z           ",

    "DriftCompPitch  ",

    "DriftCompRoll   ",

    "Pitch Noise     ", //30

    "Roll Noise      "

  };

/****************************************************************/

/*              Initialization of the USART0                    */

/****************************************************************/

void usart0_Init (void) {

  uint8_t sreg = SREG;

  uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);

  // disable all interrupts before configuration

  cli();

  // disable RX-Interrupt

  UCSR0B &= ~(1 << RXCIE0);

  // disable TX-Interrupt

  UCSR0B &= ~(1 << TXCIE0);

  // set direction of RXD0 and TXD0 pins

  // set RXD0 (PD0) as an input pin

  PORTD |= (1 << PORTD0);

  DDRD &= ~(1 << DDD0);

  // set TXD0 (PD1) as an output pin

  PORTD |= (1 << PORTD1);

  DDRD |=  (1 << DDD1);

  // USART0 Baud Rate Register

  // set clock divider

  UBRR0H = (uint8_t)(ubrr >> 8);

  UBRR0L = (uint8_t)ubrr;

  // USART0 Control and Status Register A, B, C

  // enable double speed operation in

  UCSR0A |= (1 << U2X0);

  // enable receiver and transmitter in

  UCSR0B = (1 << TXEN0) | (1 << RXEN0);

  // set asynchronous mode

  UCSR0C &= ~(1 << UMSEL01);

  UCSR0C &= ~(1 << UMSEL00);

  // no parity

  UCSR0C &= ~(1 << UPM01);

  UCSR0C &= ~(1 << UPM00);

  // 1 stop bit

  UCSR0C &= ~(1 << USBS0);

  // 8-bit

  UCSR0B &= ~(1 << UCSZ02);

  UCSR0C |=  (1 << UCSZ01);

  UCSR0C |=  (1 << UCSZ00);

  // flush receive buffer

  while ( UCSR0A & (1<<RXC0) ) UDR0;

  // enable interrupts at the end

  // enable RX-Interrupt

  UCSR0B |= (1 << RXCIE0);

  // enable TX-Interrupt

  UCSR0B |= (1 << TXCIE0);

  // initialize the debug timer

  DebugData_Timer = SetDelay(DebugData_Interval);

  // unlock rxd_buffer

  rxd_buffer_locked = FALSE;

  pRxData = 0;

  RxDataLen = 0;

  // no bytes to send

  txd_complete = TRUE;

#ifdef USE_MK3MAG

  Compass_Timer = SetDelay(220);

#endif

  UART_VersionInfo.SWMajor = VERSION_MAJOR;

  UART_VersionInfo.SWMinor = VERSION_MINOR;

  UART_VersionInfo.SWPatch = VERSION_PATCH;

  UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;

  UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;

  // restore global interrupt flags

  SREG = sreg;

}

/****************************************************************/

/* USART0 transmitter ISR                                       */

/****************************************************************/

ISR(USART0_TX_vect) {

  static uint16_t ptr_txd_buffer = 0;

  uint8_t tmp_tx;

  if(!txd_complete) { // transmission not completed

    ptr_txd_buffer++;                    // die [0] wurde schon gesendet

    tmp_tx = txd_buffer[ptr_txd_buffer];

    // if terminating character or end of txd buffer was reached

    if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) {

      ptr_txd_buffer = 0; // reset txd pointer

      txd_complete = 1; // stop transmission

    }

    UDR0 = tmp_tx; // send current byte will trigger this ISR again

  }

  // transmission completed

  else ptr_txd_buffer = 0;

}

/****************************************************************/

/* USART0 receiver               ISR                            */

/****************************************************************/

ISR(USART0_RX_vect) {

  static uint16_t crc;

  static uint8_t ptr_rxd_buffer = 0;

  uint8_t crc1, crc2;

  uint8_t c;

  c = UDR0;  // catch the received byte

#if (defined (USE_MK3MAG))

  // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart.

  if(CPUType != ATMEGA644P) ubx_parser(c);

#endif

  if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return

  // the rxd buffer is unlocked

  if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received

    rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer

    crc = c; // init crc

  }

#if 0

  else if (ptr_rxd_buffer == 1) { // handle address

    rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer

    crc += c; // update crc

  }

#endif

  else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes

    if(c != '\r') { // no termination character

      rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer

      crc += c; // update crc

    } else { // termination character was received

      // the last 2 bytes are no subject for checksum calculation

      // they are the checksum itself

      crc -= rxd_buffer[ptr_rxd_buffer-2];

      crc -= rxd_buffer[ptr_rxd_buffer-1];

      // calculate checksum from transmitted data

      crc %= 4096;

      crc1 = '=' + crc / 64;

      crc2 = '=' + crc % 64;

      // compare checksum to transmitted checksum bytes

      if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) {

        // checksum valid

        rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character

        ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes

        rxd_buffer_locked = TRUE;          // lock the rxd buffer

        // if 2nd byte is an 'R' enable watchdog that will result in an reset

        if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando

      } else {  // checksum invalid

        rxd_buffer_locked = FALSE; // unlock rxd buffer

      }

      ptr_rxd_buffer = 0; // reset rxd buffer pointer

    }

  } else { // rxd buffer overrun

    ptr_rxd_buffer = 0; // reset rxd buffer

    rxd_buffer_locked = FALSE; // unlock rxd buffer

  }

}

// --------------------------------------------------------------------------

void AddCRC(uint16_t datalen) {

  uint16_t tmpCRC = 0, i;

  for(i = 0; i < datalen; i++) {

    tmpCRC += txd_buffer[i];

  }

  tmpCRC %= 4096;

  txd_buffer[i++] = '=' + tmpCRC / 64;

  txd_buffer[i++] = '=' + tmpCRC % 64;

  txd_buffer[i++] = '\r';

  txd_complete = FALSE;

  UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)

}

// --------------------------------------------------------------------------

// application example:

// SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);

/*

void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...

  va_list ap;

  uint16_t txd_bufferIndex = 0;

  uint8_t *currentBuffer;

  uint8_t currentBufferIndex;

  uint16_t lengthOfCurrentBuffer;

  uint8_t shift = 0;

  txd_buffer[txd_bufferIndex++] = '#';                  // Start character

  txd_buffer[txd_bufferIndex++] = 'a' + addr;           // Address (a=0; b=1,...)

  txd_buffer[txd_bufferIndex++] = cmd;                  // Command

  va_start(ap, numofbuffers);

  while(numofbuffers) {

    currentBuffer = va_arg(ap, uint8_t*);

    lengthOfCurrentBuffer = va_arg(ap, int);

    currentBufferIndex = 0;

    // Encode data: 3 bytes of data are encoded into 4 bytes,

    // where the 2 most significant bits are both 0.

    while(currentBufferIndex != lengthOfCurrentBuffer) {

      if (!shift) txd_buffer[txd_bufferIndex] = 0;

      txd_buffer[txd_bufferIndex]  |= currentBuffer[currentBufferIndex] >> (shift + 2);

      txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;

      shift += 2;

      if (shift == 6) { shift=0; txd_bufferIndex++; }

      currentBufferIndex++;

    }

  }

  // If the number of data bytes was not divisible by 3, stuff

  //  with 0 pseudodata  until length is again divisible by 3.

  if (shift == 2) {

    // We need to stuff with zero bytes at the end.

    txd_buffer[txd_bufferIndex]  &= 0b00110000;

    txd_buffer[++txd_bufferIndex] = 0;

    shift = 4;

  }

  if (shift == 4) {

    // We need to stuff with zero bytes at the end.

    txd_buffer[txd_bufferIndex++] &= 0b00111100;

    txd_buffer[txd_bufferIndex]    = 0;

  }

  va_end(ap);

  AddCRC(pt); // add checksum after data block and initates the transmission

}

*/

void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...

  va_list ap;

  uint16_t pt = 0;

  uint8_t a,b,c;

  uint8_t ptr = 0;

  uint8_t *pdata = 0;

  int len = 0;

  txd_buffer[pt++] = '#';                       // Start character

  txd_buffer[pt++] = 'a' + addr;        // Address (a=0; b=1,...)

  txd_buffer[pt++] = cmd;                       // Command

  va_start(ap, numofbuffers);

  if(numofbuffers) {

    pdata = va_arg(ap, uint8_t*);

    len = va_arg(ap, int);

    ptr = 0;

    numofbuffers--;

  }

  while(len){

    if(len) {

      a = pdata[ptr++];

      len--;

      if((!len) && numofbuffers) {

        pdata = va_arg(ap, uint8_t*);

        len = va_arg(ap, int);

        ptr = 0;

        numofbuffers--;

      }

    }

    else a = 0;

    if(len) {

      b = pdata[ptr++];

      len--;

      if((!len) && numofbuffers) {

        pdata = va_arg(ap, uint8_t*);

        len = va_arg(ap, int);

        ptr = 0;

        numofbuffers--;

      }

    } else b = 0;

    if(len) {

      c = pdata[ptr++];

      len--;

      if((!len) && numofbuffers) {

        pdata = va_arg(ap, uint8_t*);

        len = va_arg(ap, int);

        ptr = 0;

        numofbuffers--;

      }

    }

    else c = 0;

    txd_buffer[pt++] = '=' + (a >> 2);

    txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

    txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

    txd_buffer[pt++] = '=' + ( c & 0x3f);

  }

  va_end(ap);

  AddCRC(pt); // add checksum after data block and initates the transmission

}

// --------------------------------------------------------------------------

void Decode64(void) {

  uint8_t a,b,c,d;

  uint8_t x,y,z;

  uint8_t ptrIn = 3;

  uint8_t ptrOut = 3;

  uint8_t len = ReceivedBytes - 6;

  while(len) {

    a = rxd_buffer[ptrIn++] - '=';

    b = rxd_buffer[ptrIn++] - '=';

    c = rxd_buffer[ptrIn++] - '=';

    d = rxd_buffer[ptrIn++] - '=';

    //if(ptrIn > ReceivedBytes - 3) break;

    x = (a << 2) | (b >> 4);

    y = ((b & 0x0f) << 4) | (c >> 2);

    z = ((c & 0x03) << 6) | d;

    if(len--) rxd_buffer[ptrOut++] = x; else break;

    if(len--) rxd_buffer[ptrOut++] = y; else break;

    if(len--) rxd_buffer[ptrOut++] = z; else break;

  }

  pRxData = &rxd_buffer[3];

  RxDataLen = ptrOut - 3;

}

// --------------------------------------------------------------------------

void usart0_ProcessRxData(void) {

  // We control the motorTestActive var from here: Count it down.

  if (motorTestActive) motorTestActive--;

  // if data in the rxd buffer are not locked immediately return

  if(!rxd_buffer_locked) return;

  uint8_t tempchar1, tempchar2;

  Decode64(); // decode data block in rxd_buffer

  switch(rxd_buffer[1] - 'a') {

  case FC_ADDRESS:

    switch(rxd_buffer[2]) {

#ifdef USE_MK3MAG

    case 'K':// compass value

      compassHeading = ((Heading_t *)pRxData)->Heading;

      compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;

      break;

#endif

    case 't': // motor test

      if(RxDataLen > 20) {

        memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest));

      } else {

        memcpy(&motorTest[0], (uint8_t*)pRxData, 4);

      }

      motorTestActive = 255;

      externalControlActive = 255;

      break;

    case 'n':// "Get Mixer Table

      while(!txd_complete); // wait for previous frame to be sent

      SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));

      break;

    case 'm':// "Set Mixer Table

      if(pRxData[0] == EEMIXER_REVISION) {

        memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer));

        MixerTable_WriteToEEProm();

        while(!txd_complete); // wait for previous frame to be sent

        tempchar1 = 1;

      } else {

        tempchar1 = 0;

      }

      SendOutData('M', FC_ADDRESS,  1, &tempchar1, 1);

      break;

    case 'p': // get PPM channels

      request_PPMChannels = TRUE;

      break;

    case 'q':// request settings

      if(pRxData[0] == 0xFF) {

        pRxData[0] = GetParamByte(PID_ACTIVE_SET);

      }

      // limit settings range

      if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1

      else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5

      // load requested parameter set

      ParamSet_ReadFromEEProm(pRxData[0]);

      tempchar1 = pRxData[0];

      tempchar2 = EEPARAM_REVISION;

      while(!txd_complete); // wait for previous frame to be sent

      SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams));

      break;

    case 's': // save settings

      if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off

        {

          if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings

            {

              memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams));

              ParamSet_WriteToEEProm(pRxData[0]);

              /*

                TODO: Remove this encapsulation breach

                turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L;

                turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L;

              */

              tempchar1 = getActiveParamSet();

              beepNumber(tempchar1);

            }

          else

            {

              tempchar1 = 0;    //indicate bad data

            }

          while(!txd_complete); // wait for previous frame to be sent

          SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1));

        }

      break;

    default:

      //unsupported command received

      break;

    } // case FC_ADDRESS:

  default: // any Slave Address

    switch(rxd_buffer[2]) {

      case 'a':// request for labels of the analog debug outputs

        request_DebugLabel = pRxData[0];

        if(request_DebugLabel > 31) request_DebugLabel = 31;

        externalControlActive = 255;

        break;

      case 'b': // submit extern control

        memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl));

        ConfirmFrame = externalControl.frame;

        externalControlActive = 255;

        break;

      case 'h':// request for display columns

        externalControlActive = 255;

        RemoteKeys |= pRxData[0];

        if(RemoteKeys) DisplayLine = 0;

        request_Display = TRUE;

        break;

      case 'l':// request for display columns

        externalControlActive = 255;

        MenuItem = pRxData[0];

        request_Display1 = TRUE;

        break;

      case 'v': // request for version and board release

        request_VerInfo = TRUE;

        break;

    case 'x':

      request_variables = TRUE;

      break;

      case 'g':// get external control data

        request_ExternalControl = TRUE;

        break;

      case 'd': // request for the debug data

        DebugData_Interval = (uint16_t) pRxData[0] * 10;

        if(DebugData_Interval > 0) request_DebugData = TRUE;

        break;

      case 'c': // request for the 3D data

        Data3D_Interval = (uint16_t) pRxData[0] * 10;

        if(Data3D_Interval > 0) request_Data3D = TRUE;

        break;

      default:

        //unsupported command received

        break;

      }

    break; // default:

  }

  // unlock the rxd buffer after processing

  pRxData = 0;

  RxDataLen = 0;

  rxd_buffer_locked = FALSE;

}

/************************************************************************/

/* Routine für die Serielle Ausgabe                                     */

/************************************************************************/

int16_t uart_putchar (int8_t c) {

  if (c == '\n')

    uart_putchar('\r');

  // wait until previous character was send

  loop_until_bit_is_set(UCSR0A, UDRE0);

  // send character

  UDR0 = c;

  return (0);

}

//---------------------------------------------------------------------------------------------

void usart0_TransmitTxData(void) {

  if(!txd_complete) return;

  if(request_VerInfo && txd_complete) {

    SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));

    request_VerInfo = FALSE;

  }

  if(request_Display && txd_complete) {

    LCD_PrintMenu();

    SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20);

    DisplayLine++;

    if(DisplayLine >= 4) DisplayLine = 0;

    request_Display = FALSE;

  }

  if(request_Display1 && txd_complete) {

    LCD_PrintMenu();

    SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));

    request_Display1 = FALSE;

  }

  if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten

    uint8_t label[16]; // local sram buffer

    memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer

    SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16);

    request_DebugLabel = 0xFF;

  }

  if(ConfirmFrame && txd_complete) {   // Datensatz ohne CRC bestätigen

    SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));

    ConfirmFrame = 0;

  }

  if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) && txd_complete) {

    SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut));

    DebugData_Timer = SetDelay(DebugData_Interval);

    request_DebugData = FALSE;

  }

  if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) {

    SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D));

    Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°

    Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°

    Data3D.Heading   = (int16_t)((10 * yawGyroHeading)   / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°

    Data3D_Timer = SetDelay(Data3D_Interval);

    request_Data3D = FALSE;

  }

  if(request_ExternalControl && txd_complete) {

    SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl));

    request_ExternalControl = FALSE;

  }

#ifdef USE_MK3MAG

  if((CheckDelay(Compass_Timer)) && txd_complete) {

    ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL);  // approx. 0.1 deg

    ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL);  // approx. 0.1 deg

    ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];

    ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];

    ToMk3Mag.CalState = compassCalState;

    SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));

    // the last state is 5 and should be send only once to avoid multiple flash writing

    if(compassCalState > 4)  compassCalState = 0;

    Compass_Timer = SetDelay(99);

  }

#endif

  if(request_MotorTest && txd_complete) {

    SendOutData('T', FC_ADDRESS, 0);

    request_MotorTest = FALSE;

  }

  if(request_PPMChannels && txd_complete) {

    SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in));

    request_PPMChannels = FALSE;

  }

  if (request_variables && txd_complete) {

    SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables));

    request_variables = FALSE;

  }

}