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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 | #define FC_ADDRESS 1 |
| 16 | #define NC_ADDRESS 2 |
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| 17 | #define MK3MAG_ADDRESS 3 |
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| 1622 | killagreg | 18 | #define BL_CTRL_ADDRESS 5 |
| 1054 | killagreg | 19 | |
| 1415 | killagreg | 20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 1760 | holgerb | 21 | #define MAX_SENDE_BUFF 170 |
| 22 | #define MAX_EMPFANGS_BUFF 170 |
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| 1657 | killagreg | 23 | |
| 24 | #define BLPARAM_REVISION 1 |
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| 25 | #define MASK_SET_PWM_SCALING 0x01 |
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| 26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 27 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 28 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 29 | #define MASK_SET_BITCONFIG 0x10 |
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| 30 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 32 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 33 | |||
| 34 | typedef struct |
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| 35 | { |
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| 36 | unsigned char Revision; // revision of parameter structure |
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| 37 | unsigned char Address; // target address |
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| 38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
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| 39 | unsigned char CurrentLimit; // current limit in 1A steps |
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| 40 | unsigned char TemperatureLimit; // in °C |
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| 41 | unsigned char CurrentScaling; // scaling factor for current measurement |
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| 42 | unsigned char BitConfig; // see defines above |
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| 43 | unsigned char SetMask; // filter for active paramters |
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| 44 | unsigned char Checksum; // checksum for parameter sturcture |
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| 45 | } __attribute__((packed)) BLParameter_t; |
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| 46 | |||
| 47 | |||
| 1053 | killagreg | 48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 49 | unsigned char DisplayLine = 0; |
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| 1 | ingob | 50 | unsigned volatile char SioTmp = 0; |
| 51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 54 | unsigned volatile char CntCrcError = 0; |
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| 55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 1441 | ingob | 56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 58 | |||
| 1051 | killagreg | 59 | unsigned char *pRxData = 0; |
| 60 | unsigned char RxDataLen = 0; |
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| 1 | ingob | 61 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 62 | unsigned volatile char PC_MotortestActive = 0; |
| 1636 | ingob | 63 | unsigned char DebugTextAnforderung = 255; |
| 1051 | killagreg | 64 | |
| 1 | ingob | 65 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 66 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 68 | unsigned char ConfirmFrame; |
| 1 | ingob | 69 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 70 | struct str_ExternControl ExternControl; |
| 1 | ingob | 71 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 72 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 73 | struct str_Data3D Data3D; |
| 1 | ingob | 74 | |
| 1399 | killagreg | 75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 1415 | killagreg | 76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 77 | unsigned int AboTimeOut = 0; |
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| 693 | hbuss | 78 | |
| 1490 | killagreg | 79 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 499 | hbuss | 80 | { |
| 1051 | killagreg | 81 | //1234567890123456 |
| 1175 | hbuss | 82 | "AngleNick ", //0 |
| 83 | "AngleRoll ", |
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| 1051 | killagreg | 84 | "AccNick ", |
| 499 | hbuss | 85 | "AccRoll ", |
| 1523 | holgerb | 86 | "YawGyro ", |
| 1521 | killagreg | 87 | "Height Value ", //5 |
| 499 | hbuss | 88 | "AccZ ", |
| 89 | "Gas ", |
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| 1175 | hbuss | 90 | "Compass Value ", |
| 1528 | holgerb | 91 | "Voltage [0.1V] ", |
| 1521 | killagreg | 92 | "Receiver Level ", //10 |
| 93 | "Gyro Compass ", |
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| 94 | "Motor 1 ", |
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| 95 | "Motor 2 ", |
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| 96 | "Motor 3 ", |
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| 97 | "Motor 4 ", //15 |
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| 1695 | holgerb | 98 | "16 ", |
| 99 | "17 ", |
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| 1701 | holgerb | 100 | "18 ", |
| 101 | "19 ", |
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| 854 | hbuss | 102 | "Servo ", //20 |
| 1521 | killagreg | 103 | "Hovergas ", |
| 1523 | holgerb | 104 | "Current [0.1A] ", |
| 1501 | holgerb | 105 | "Capacity [mAh] ", |
| 1701 | holgerb | 106 | "24 ", |
| 107 | "25 ", //25 |
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| 108 | "26 ", |
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| 1705 | holgerb | 109 | "27 ", |
| 1322 | hbuss | 110 | "I2C-Error ", |
| 1682 | holgerb | 111 | "BL Limit ", |
| 720 | ingob | 112 | "GPS_Nick ", //30 |
| 113 | "GPS_Roll " |
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| 499 | hbuss | 114 | }; |
| 115 | |||
| 116 | |||
| 1 | ingob | 117 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 118 | //++ Sende-Part der Datenübertragung |
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| 119 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 120 | ISR(USART0_TX_vect) |
| 1 | ingob | 121 | { |
| 122 | static unsigned int ptr = 0; |
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| 123 | unsigned char tmp_tx; |
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| 1051 | killagreg | 124 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 125 | { |
| 126 | ptr++; // die [0] wurde schon gesendet |
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| 1438 | ingob | 127 | tmp_tx = TxdBuffer[ptr]; |
| 1 | ingob | 128 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 129 | { |
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| 130 | ptr = 0; |
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| 131 | UebertragungAbgeschlossen = 1; |
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| 132 | } |
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| 1561 | killagreg | 133 | UDR0 = tmp_tx; |
| 1051 | killagreg | 134 | } |
| 1 | ingob | 135 | else ptr = 0; |
| 136 | } |
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| 137 | |||
| 138 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 139 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 141 | ISR(USART0_RX_vect) |
| 1 | ingob | 142 | { |
| 143 | static unsigned int crc; |
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| 144 | static unsigned char crc1,crc2,buf_ptr; |
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| 145 | static unsigned char UartState = 0; |
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| 146 | unsigned char CrcOkay = 0; |
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| 147 | |||
| 1561 | killagreg | 148 | SioTmp = UDR0; |
| 1438 | ingob | 149 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 1051 | killagreg | 150 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 151 | { |
| 152 | UartState = 0; |
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| 153 | crc -= RxdBuffer[buf_ptr-2]; |
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| 154 | crc -= RxdBuffer[buf_ptr-1]; |
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| 155 | crc %= 4096; |
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| 156 | crc1 = '=' + crc / 64; |
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| 157 | crc2 = '=' + crc % 64; |
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| 158 | CrcOkay = 0; |
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| 159 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 160 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 161 | { |
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| 1051 | killagreg | 162 | NeuerDatensatzEmpfangen = 1; |
| 163 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 164 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 165 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 166 | { |
| 1435 | killagreg | 167 | LcdClear(); |
| 1232 | hbuss | 168 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 169 | ServoActive = 0; |
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| 1435 | killagreg | 170 | |
| 1253 | killagreg | 171 | } |
| 1051 | killagreg | 172 | } |
| 1 | ingob | 173 | } |
| 174 | else |
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| 175 | switch(UartState) |
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| 176 | { |
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| 177 | case 0: |
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| 178 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 179 | buf_ptr = 0; |
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| 180 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 181 | crc = SioTmp; |
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| 182 | break; |
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| 183 | case 1: // Adresse auswerten |
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| 184 | UartState++; |
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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 2: // Eingangsdaten sammeln |
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| 189 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1490 | killagreg | 190 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 191 | else UartState = 0; |
| 192 | crc += SioTmp; |
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| 193 | break; |
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| 1051 | killagreg | 194 | default: |
| 195 | UartState = 0; |
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| 1 | ingob | 196 | break; |
| 197 | } |
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| 198 | } |
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| 199 | |||
| 200 | |||
| 201 | // -------------------------------------------------------------------------- |
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| 202 | void AddCRC(unsigned int wieviele) |
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| 203 | { |
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| 1051 | killagreg | 204 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 205 | for(i = 0; i < wieviele;i++) |
| 206 | { |
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| 1438 | ingob | 207 | tmpCRC += TxdBuffer[i]; |
| 1 | ingob | 208 | } |
| 209 | tmpCRC %= 4096; |
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| 1438 | ingob | 210 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 211 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 212 | TxdBuffer[i++] = '\r'; |
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| 1 | ingob | 213 | UebertragungAbgeschlossen = 0; |
| 1561 | killagreg | 214 | UDR0 = TxdBuffer[0]; |
| 1 | ingob | 215 | } |
| 216 | |||
| 217 | |||
| 218 | |||
| 219 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 220 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 221 | { |
| 1051 | killagreg | 222 | va_list ap; |
| 1 | ingob | 223 | unsigned int pt = 0; |
| 224 | unsigned char a,b,c; |
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| 225 | unsigned char ptr = 0; |
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| 226 | |||
| 1051 | killagreg | 227 | unsigned char *snd = 0; |
| 228 | int len = 0; |
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| 229 | |||
| 1438 | ingob | 230 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 231 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 232 | TxdBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 233 | |
| 1051 | killagreg | 234 | va_start(ap, BufferAnzahl); |
| 235 | if(BufferAnzahl) |
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| 236 | { |
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| 237 | snd = va_arg(ap, unsigned char*); |
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| 238 | len = va_arg(ap, int); |
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| 239 | ptr = 0; |
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| 240 | BufferAnzahl--; |
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| 241 | } |
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| 1 | ingob | 242 | while(len) |
| 243 | { |
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| 1051 | killagreg | 244 | if(len) |
| 245 | { |
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| 246 | a = snd[ptr++]; |
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| 247 | len--; |
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| 248 | if((!len) && BufferAnzahl) |
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| 249 | { |
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| 250 | snd = va_arg(ap, unsigned char*); |
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| 251 | len = va_arg(ap, int); |
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| 252 | ptr = 0; |
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| 253 | BufferAnzahl--; |
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| 254 | } |
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| 255 | } |
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| 256 | else a = 0; |
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| 257 | if(len) |
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| 258 | { |
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| 259 | b = snd[ptr++]; |
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| 260 | len--; |
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| 261 | if((!len) && BufferAnzahl) |
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| 262 | { |
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| 263 | snd = va_arg(ap, unsigned char*); |
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| 264 | len = va_arg(ap, int); |
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| 265 | ptr = 0; |
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| 266 | BufferAnzahl--; |
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| 267 | } |
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| 268 | } |
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| 269 | else b = 0; |
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| 270 | if(len) |
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| 271 | { |
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| 272 | c = snd[ptr++]; |
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| 273 | len--; |
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| 274 | if((!len) && BufferAnzahl) |
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| 275 | { |
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| 276 | snd = va_arg(ap, unsigned char*); |
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| 277 | len = va_arg(ap, int); |
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| 278 | ptr = 0; |
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| 279 | BufferAnzahl--; |
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| 280 | } |
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| 281 | } |
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| 282 | else c = 0; |
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| 1438 | ingob | 283 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 284 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 285 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 286 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 1 | ingob | 287 | } |
| 1051 | killagreg | 288 | va_end(ap); |
| 1 | ingob | 289 | AddCRC(pt); |
| 290 | } |
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| 291 | |||
| 292 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 293 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 294 | { |
| 295 | unsigned char a,b,c,d; |
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| 296 | unsigned char x,y,z; |
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| 1051 | killagreg | 297 | unsigned char ptrIn = 3; // start at begin of data block |
| 298 | unsigned char ptrOut = 3; |
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| 299 | 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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| 300 | |||
| 1 | ingob | 301 | while(len) |
| 302 | { |
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| 303 | a = RxdBuffer[ptrIn++] - '='; |
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| 304 | b = RxdBuffer[ptrIn++] - '='; |
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| 305 | c = RxdBuffer[ptrIn++] - '='; |
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| 306 | d = RxdBuffer[ptrIn++] - '='; |
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| 307 | |||
| 308 | x = (a << 2) | (b >> 4); |
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| 309 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 310 | z = ((c & 0x03) << 6) | d; |
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| 311 | |||
| 1051 | killagreg | 312 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 313 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 314 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 315 | } |
| 1051 | killagreg | 316 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 317 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 318 | |
| 319 | } |
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| 320 | |||
| 321 | // -------------------------------------------------------------------------- |
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| 322 | void BearbeiteRxDaten(void) |
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| 323 | { |
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| 324 | if(!NeuerDatensatzEmpfangen) return; |
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| 325 | |||
| 1665 | killagreg | 326 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 327 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 328 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 329 | { |
| 330 | case FC_ADDRESS: // FC special commands |
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| 331 | switch(RxdBuffer[2]) |
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| 332 | { |
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| 333 | case 'K':// Kompasswert |
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| 334 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 335 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 336 | break; |
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| 337 | case 't':// Motortest |
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| 1212 | hbuss | 338 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 339 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 340 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 341 | //while(!UebertragungAbgeschlossen); |
| 342 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 343 | PcZugriff = 255; |
| 344 | break; |
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| 1053 | killagreg | 345 | |
| 1209 | hbuss | 346 | case 'n':// "Get Mixer |
| 347 | while(!UebertragungAbgeschlossen); |
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| 1622 | killagreg | 348 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 1636 | ingob | 349 | Debug("Mixer lesen"); |
| 1209 | hbuss | 350 | break; |
| 351 | |||
| 352 | case 'm':// "Write Mixer |
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| 1622 | killagreg | 353 | if(pRxData[0] == EEMIXER_REVISION) |
| 1521 | killagreg | 354 | { |
| 1622 | killagreg | 355 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 356 | MixerTable_WriteToEEProm(); |
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| 1211 | hbuss | 357 | tempchar1 = 1; |
| 1702 | holgerb | 358 | VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
| 1521 | killagreg | 359 | } |
| 1622 | killagreg | 360 | else |
| 361 | { |
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| 362 | tempchar1 = 0; |
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| 363 | } |
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| 364 | while(!UebertragungAbgeschlossen); |
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| 1211 | hbuss | 365 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 1209 | hbuss | 366 | break; |
| 367 | |||
| 1054 | killagreg | 368 | case 'p': // get PPM Channels |
| 369 | GetPPMChannelAnforderung = 1; |
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| 1377 | hbuss | 370 | PcZugriff = 255; |
| 1054 | killagreg | 371 | break; |
| 1053 | killagreg | 372 | |
| 1054 | killagreg | 373 | case 'q':// "Get"-Anforderung für Settings |
| 374 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 375 | if(pRxData[0] == 0xFF) |
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| 376 | { |
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| 1622 | killagreg | 377 | pRxData[0] = GetActiveParamSet(); |
| 1054 | killagreg | 378 | } |
| 1063 | killagreg | 379 | // limit settings range |
| 380 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 381 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 382 | // load requested parameter set |
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| 1622 | killagreg | 383 | ParamSet_ReadFromEEProm(pRxData[0]); |
| 384 | tempchar1 = pRxData[0]; |
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| 1054 | killagreg | 385 | while(!UebertragungAbgeschlossen); |
| 1622 | killagreg | 386 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 1636 | ingob | 387 | Debug("Lese Setting %d", tempchar1); |
| 1654 | killagreg | 388 | |
| 1054 | killagreg | 389 | break; |
| 1051 | killagreg | 390 | |
| 1054 | killagreg | 391 | case 's': // Parametersatz speichern |
| 1622 | killagreg | 392 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| 1054 | killagreg | 393 | { |
| 1622 | killagreg | 394 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 395 | ParamSet_WriteToEEProm(pRxData[0]); |
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| 1054 | killagreg | 396 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 397 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1622 | killagreg | 398 | tempchar1 = GetActiveParamSet(); |
| 1054 | killagreg | 399 | } |
| 1058 | killagreg | 400 | else |
| 401 | { |
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| 402 | tempchar1 = 0; // mark in response an invlid setting |
||
| 403 | } |
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| 404 | while(!UebertragungAbgeschlossen); |
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| 405 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1405 | hbuss | 406 | if(!MotorenEin) Piep(tempchar1,110); |
| 407 | LipoDetection(0); |
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| 1626 | killagreg | 408 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1054 | killagreg | 409 | break; |
| 1405 | hbuss | 410 | case 'f': // auf anderen Parametersatz umschalten |
| 1622 | killagreg | 411 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 412 | tempchar1 = GetActiveParamSet(); |
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| 1405 | hbuss | 413 | while(!UebertragungAbgeschlossen); |
| 414 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 415 | if(!MotorenEin) Piep(tempchar1,110); |
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| 416 | LipoDetection(0); |
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| 1626 | killagreg | 417 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1405 | hbuss | 418 | break; |
| 1391 | killagreg | 419 | case 'y':// serial Potis |
| 420 | 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]; |
||
| 421 | 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]; |
||
| 422 | 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]; |
||
| 423 | break; |
||
| 424 | |||
| 1662 | killagreg | 425 | case 'u': // request BL parameter |
| 426 | Debug("Reading BL %d", pRxData[0]); |
||
| 427 | // try to read BL configuration |
||
| 1665 | killagreg | 428 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 1673 | killagreg | 429 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 430 | else tempchar1 = 0; |
||
| 431 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 1674 | ingob | 432 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 1662 | killagreg | 433 | break; |
| 434 | |||
| 435 | case 'w': // write BL parameter |
||
| 436 | Debug("Writing BL %d", pRxData[0]); |
||
| 437 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
| 438 | { |
||
| 439 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
| 1665 | killagreg | 440 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 441 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 442 | else tempchar1 = 0; // indicate error |
||
| 1662 | killagreg | 443 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 1665 | killagreg | 444 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 1662 | killagreg | 445 | } |
| 446 | break; |
||
| 447 | |||
| 1056 | killagreg | 448 | } // case FC_ADDRESS: |
| 1054 | killagreg | 449 | |
| 450 | default: // any Slave Address |
||
| 1056 | killagreg | 451 | |
| 1054 | killagreg | 452 | switch(RxdBuffer[2]) |
| 453 | { |
||
| 454 | // 't' comand placed here only for compatibility to BL |
||
| 455 | case 't':// Motortest |
||
| 1662 | killagreg | 456 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 1212 | hbuss | 457 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 1054 | killagreg | 458 | while(!UebertragungAbgeschlossen); |
| 459 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 1212 | hbuss | 460 | PC_MotortestActive = 250; |
| 1054 | killagreg | 461 | PcZugriff = 255; |
| 1638 | holgerb | 462 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 463 | break; |
| 464 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 465 | case 'K':// Kompasswert |
||
| 466 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 467 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 468 | break; |
||
| 469 | case 'a':// Texte der Analogwerte |
||
| 470 | DebugTextAnforderung = pRxData[0]; |
||
| 471 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 472 | PcZugriff = 255; |
||
| 473 | break; |
||
| 474 | case 'b': |
||
| 475 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 476 | ConfirmFrame = ExternControl.Frame; |
||
| 477 | PcZugriff = 255; |
||
| 478 | break; |
||
| 1171 | hbuss | 479 | case 'c': // Poll the 3D-Data |
| 480 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 481 | Intervall3D = pRxData[0] * 10; |
||
| 1417 | killagreg | 482 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1171 | hbuss | 483 | break; |
| 1054 | killagreg | 484 | case 'd': // Poll the debug data |
| 1438 | ingob | 485 | PcZugriff = 255; |
| 1399 | killagreg | 486 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 1171 | hbuss | 487 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1415 | killagreg | 488 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 489 | break; |
| 490 | |||
| 491 | case 'h':// x-1 Displayzeilen |
||
| 1059 | hbuss | 492 | PcZugriff = 255; |
| 1399 | killagreg | 493 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 494 | { |
||
| 495 | DisplayLine = 2; |
||
| 496 | Display_Interval = 0; |
||
| 497 | } |
||
| 498 | else // new format |
||
| 499 | { |
||
| 500 | RemoteKeys |= ~pRxData[0]; |
||
| 501 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 502 | DisplayLine = 4; |
||
| 1415 | killagreg | 503 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1399 | killagreg | 504 | } |
| 1054 | killagreg | 505 | DebugDisplayAnforderung = 1; |
| 506 | break; |
||
| 507 | |||
| 508 | case 'l':// x-1 Displayzeilen |
||
| 1059 | hbuss | 509 | PcZugriff = 255; |
| 1054 | killagreg | 510 | MenuePunkt = pRxData[0]; |
| 511 | DebugDisplayAnforderung1 = 1; |
||
| 512 | break; |
||
| 513 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 514 | GetVersionAnforderung = 1; |
||
| 515 | break; |
||
| 516 | |||
| 517 | case 'g':// |
||
| 518 | GetExternalControl = 1; |
||
| 519 | break; |
||
| 1657 | killagreg | 520 | |
| 521 | default: |
||
| 522 | //unsupported command received |
||
| 523 | break; |
||
| 1054 | killagreg | 524 | } |
| 525 | break; // default: |
||
| 526 | } |
||
| 1051 | killagreg | 527 | NeuerDatensatzEmpfangen = 0; |
| 528 | pRxData = 0; |
||
| 529 | RxDataLen = 0; |
||
| 1 | ingob | 530 | } |
| 531 | |||
| 532 | //############################################################################ |
||
| 533 | //Routine für die Serielle Ausgabe |
||
| 1444 | ingob | 534 | void uart_putchar (char c) |
| 1 | ingob | 535 | //############################################################################ |
| 536 | { |
||
| 537 | //Warten solange bis Zeichen gesendet wurde |
||
| 1561 | killagreg | 538 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 1 | ingob | 539 | //Ausgabe des Zeichens |
| 1561 | killagreg | 540 | UDR0 = c; |
| 1 | ingob | 541 | } |
| 542 | |||
| 543 | |||
| 544 | //############################################################################ |
||
| 545 | //INstallation der Seriellen Schnittstelle |
||
| 546 | void UART_Init (void) |
||
| 547 | //############################################################################ |
||
| 548 | { |
||
| 1561 | killagreg | 549 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 550 | |||
| 1 | ingob | 551 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 1561 | killagreg | 552 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 1 | ingob | 553 | // UART Double Speed (U2X) |
| 1561 | killagreg | 554 | UCSR0A |= (1 << U2X0); |
| 1 | ingob | 555 | // RX-Interrupt Freigabe |
| 1561 | killagreg | 556 | UCSR0B |= (1 << RXCIE0); |
| 1 | ingob | 557 | // TX-Interrupt Freigabe |
| 1561 | killagreg | 558 | UCSR0B |= (1 << TXCIE0); |
| 559 | // USART0 Baud Rate Register |
||
| 560 | // set clock divider |
||
| 561 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 562 | UBRR0L = (uint8_t)ubrr; |
||
| 1 | ingob | 563 | |
| 1051 | killagreg | 564 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 565 | Kompass_Timer = SetDelay(220); |
||
| 566 | |||
| 1058 | killagreg | 567 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 568 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 569 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 570 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 571 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 572 | |
| 573 | pRxData = 0; |
||
| 574 | RxDataLen = 0; |
||
| 1 | ingob | 575 | } |
| 576 | |||
| 577 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 578 | void DatenUebertragung(void) |
| 1 | ingob | 579 | { |
| 1415 | killagreg | 580 | if(!UebertragungAbgeschlossen) return; |
| 1 | ingob | 581 | |
| 1415 | killagreg | 582 | if(CheckDelay(AboTimeOut)) |
| 583 | { |
||
| 584 | Display_Interval = 0; |
||
| 585 | DebugDataIntervall = 0; |
||
| 1417 | killagreg | 586 | Intervall3D = 0; |
| 1415 | killagreg | 587 | } |
| 588 | |||
| 1399 | killagreg | 589 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 1065 | killagreg | 590 | { |
| 1399 | killagreg | 591 | if(DisplayLine > 3)// new format |
| 592 | { |
||
| 1423 | hbuss | 593 | Menu(); |
| 1399 | killagreg | 594 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 595 | } |
||
| 596 | else // old format |
||
| 597 | { |
||
| 598 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 599 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 600 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 601 | } |
||
| 602 | Display_Timer = SetDelay(Display_Interval); |
||
| 1065 | killagreg | 603 | DebugDisplayAnforderung = 0; |
| 604 | } |
||
| 605 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 606 | { |
||
| 607 | Menu(); |
||
| 608 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 609 | DebugDisplayAnforderung1 = 0; |
||
| 610 | } |
||
| 611 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 612 | { |
||
| 613 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 614 | GetVersionAnforderung = 0; |
||
| 1636 | ingob | 615 | Debug_OK("Version gesendet"); |
| 1065 | killagreg | 616 | } |
| 1 | ingob | 617 | |
| 1065 | killagreg | 618 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 619 | { |
||
| 620 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 621 | GetExternalControl = 0; |
||
| 622 | } |
||
| 1051 | killagreg | 623 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 624 | { |
| 1171 | hbuss | 625 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 626 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 627 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 628 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1619 | killagreg | 629 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 630 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 631 | Kompass_Timer = SetDelay(99); |
| 632 | } |
||
| 1171 | hbuss | 633 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 634 | { |
| 1639 | holgerb | 635 | CopyDebugValues(); |
| 1276 | hbuss | 636 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 637 | DebugDataAnforderung = 0; |
| 1055 | ingob | 638 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 639 | } |
| 1171 | hbuss | 640 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 641 | { |
||
| 642 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 643 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 644 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 1685 | holgerb | 645 | Data3D.Centroid[0] = SummeNick >> 9; |
| 646 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
| 647 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
| 1171 | hbuss | 648 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 649 | Timer3D = SetDelay(Intervall3D); |
||
| 650 | } |
||
| 499 | hbuss | 651 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 652 | { |
||
| 1490 | killagreg | 653 | unsigned char label[16]; // local sram buffer |
| 654 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 655 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 499 | hbuss | 656 | DebugTextAnforderung = 255; |
| 657 | } |
||
| 1051 | killagreg | 658 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 659 | { |
| 1054 | killagreg | 660 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 661 | ConfirmFrame = 0; |
| 595 | hbuss | 662 | } |
| 1053 | killagreg | 663 | |
| 1051 | killagreg | 664 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 665 | { |
||
| 1054 | killagreg | 666 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 667 | GetPPMChannelAnforderung = 0; |
| 668 | } |
||
| 1654 | killagreg | 669 | |
| 1636 | ingob | 670 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 671 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 672 | { |
||
| 673 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 674 | SendDebugOutput = 0; |
||
| 675 | } |
||
| 1654 | killagreg | 676 | #endif |
| 1 | ingob | 677 | |
| 678 | } |
||
| 679 | |||
| 1636 | ingob | 680 |