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12 hbuss 1
/*#######################################################################################
2
MK3Mag 3D-Magnet sensor
32 holgerb 3
!!! THIS IS NOT FREE SOFTWARE !!!
12 hbuss 4
#######################################################################################*/
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Copyright (c) 05.2008 Holger Buss
7
// + Thanks to Ilja Fähnrich (P_Latzhalter)
1 ingob 8
// + Nur für den privaten Gebrauch
12 hbuss 9
// + www.MikroKopter.com
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 11
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
12 hbuss 12
// + mit unserer Zustimmung zulässig
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 14
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
15
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12 hbuss 16
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
17
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 19
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
12 hbuss 20
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
21
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24
// + eindeutig als Ursprung verlinkt werden
25
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27
// + Benutzung auf eigene Gefahr
28
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
12 hbuss 33
// + this list of conditions and the following disclaimer.
34
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36
// +     from this software without specific prior written permission.
32 holgerb 37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
12 hbuss 38
// +     for non-commercial use (directly or indirectly)
32 holgerb 39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
12 hbuss 40
// +     with our written permission
41
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
42
// +     In case of doubt please contact: info@MikroKopter.de
32 holgerb 43
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
44
// +     clearly linked as origin
12 hbuss 45
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 holgerb 55
// +  POSSIBILITY OF SUCH DAMAGE.
12 hbuss 56
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 57
#include <avr/io.h>
58
#include <avr/interrupt.h>
59
#include <avr/wdt.h>
41 killagreg 60
#include <stdarg.h>
61
#include <string.h>
1 ingob 62
#include "main.h"
63
#include "uart.h"
32 holgerb 64
#include "timer0.h"
65
#include "twislave.h"
1 ingob 66
 
37 killagreg 67
// slave addresses
68
#define FC_ADDRESS              1
69
#define NC_ADDRESS              2
70
#define MK3MAG_ADDRESS  3
1 ingob 71
 
32 holgerb 72
#define FALSE   0
73
#define TRUE    1
1 ingob 74
 
32 holgerb 75
// keep buffers as small as possible
76
#define TXD_BUFFER_LEN  100
77
#define RXD_BUFFER_LEN  30
1 ingob 78
 
32 holgerb 79
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
80
volatile uint8_t rxd_buffer_locked = FALSE;
81
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
82
volatile uint8_t txd_complete = TRUE;
83
volatile uint8_t ReceivedBytes = 0;
41 killagreg 84
volatile uint8_t *pRxData = 0;
85
volatile uint8_t RxDataLen = 0;
1 ingob 86
 
37 killagreg 87
// send flags
88
#define RQST_VERSION_INFO               0x01
89
#define RQST_DEBUG_DATA                 0x02
90
#define RQST_DEBUG_LABEL                0x04
91
#define RQST_COMPASS_HEADING    0x08
92
#define RQST_EXTERN_CTRL                0x10
3 ingob 93
 
37 killagreg 94
 
32 holgerb 95
uint8_t RequestFlags = 0x00;
96
uint8_t RequestDebugLabel = 0;
41 killagreg 97
uint8_t ConfirmFrame = 0;
1 ingob 98
 
32 holgerb 99
uint8_t PC_Connected = 0;
100
uint8_t FC_Connected = 0;
101
 
102
 
103
DebugOut_t              DebugOut;
104
ExternData_t    ExternData;
105
ExternControl_t ExternControl;
41 killagreg 106
UART_VersionInfo_t      UART_VersionInfo;
32 holgerb 107
 
41 killagreg 108
uint16_t        DebugData_Timer;
109
uint16_t        DebugData_Interval = 500;
32 holgerb 110
 
111
const uint8_t ANALOG_LABEL[32][16] =
1 ingob 112
{
37 killagreg 113
        //1234567890123456
114
        "Magnet X        ", //0
115
        "Magnet Y        ",
116
        "Magnet Z        ",
117
        "RawMagnet X     ",
118
        "RawMagnet Y     ",
119
        "RawMagnet Z     ", //5
120
        "Attitude Nick   ",
121
        "Attitude Roll   ",
122
        "Magnet X Offset ",
123
        "Magnet X Range  ",
124
        "Magnet Y Offset ", //10
125
        "Magnet Y Range  ",
126
        "Magnet Z Offset ",
127
        "Magnet Z Range  ",
128
        "Calstate        ",
129
        "Heading         ", //15
130
        "User0           ",
131
        "User1           ",
132
        "Acc X           ",
133
        "Acc Y           ",
134
        "Acc Z           ", //20
135
        "RawAcc X        ",
136
        "RawAcc Y        ",
137
        "RawAcc Z        ",
138
        "Acc X Offset    ",
139
        "Acc Y Offset    ", //25
140
        "Acc Z Offset    ",
141
        "Analog27        ",
142
        "Analog28        ",
143
        "Analog29        ",
144
        "I2C Error       ", //30
145
        "I2C Okay        "
1 ingob 146
};
147
 
148
 
32 holgerb 149
/****************************************************************/
150
/*              Initialization of the USART0                    */
151
/****************************************************************/
152
void USART0_Init (void)
153
{
41 killagreg 154
        uint8_t sreg = SREG;
32 holgerb 155
        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1);
7 hbuss 156
 
32 holgerb 157
        // disable all interrupts before configuration
158
        cli();
159
 
160
        // disable RX-Interrupt
161
        UCSR0B &= ~(1 << RXCIE0);
162
        // disable TX-Interrupt
163
        UCSR0B &= ~(1 << TXCIE0);
164
 
165
        // set direction of RXD0 and TXD0 pins
166
 
167
        // set RXD0 (PD0) as an input pin tristate
168
        DDRD  &= ~(1 << DDD0);
169
        PORTD &= ~(1 << PORTD0);
170
        // set TXD0 (PD1) as an output pin
171
        DDRD  |= (1 << DDD1);
172
        PORTD &= ~(1 << PORTD1);
173
 
174
 
175
        // USART0 Baud Rate Register
176
        // set clock divider
177
        UBRR0H = (uint8_t)(ubrr >> 8);
178
        UBRR0L = (uint8_t)ubrr;
179
 
37 killagreg 180
        // USART0 Control and Status Register A, B, C
32 holgerb 181
 
182
        // enable double speed operation
183
        UCSR0A |= (1 << U2X0);
184
 
185
        // set asynchronous mode
186
        UCSR0C &= ~(1 << UMSEL01);
187
        UCSR0C &= ~(1 << UMSEL00);
188
        // no parity
189
        UCSR0C &= ~(1 << UPM01);
190
        UCSR0C &= ~(1 << UPM00);
191
        // 1 stop bit
192
        UCSR0C &= ~(1 << USBS0);
193
        // 8-bit
194
        UCSR0B &= ~(1 << UCSZ02);
195
        UCSR0C |=  (1 << UCSZ01);
196
        UCSR0C |=  (1 << UCSZ00);
197
 
198
        // enable receiver and transmitter
199
        UCSR0B |= (1 << RXEN0);
200
        UCSR0B |= (1 << TXEN0);
201
 
202
        // flush receive buffer
203
        while ( UCSR0A & (1<<RXC0) ) UDR0;
204
 
205
        // enable RX-Interrupt
206
        UCSR0B |= (1 << RXCIE0);
207
        // enable TX-Interrupt
208
        UCSR0B |= (1 << TXCIE0);
209
 
41 killagreg 210
        // initialize the debug timer
211
        DebugData_Timer = SetDelay(DebugData_Interval);
212
 
213
        // unlock rxd_buffer
32 holgerb 214
        rxd_buffer_locked = FALSE;
41 killagreg 215
        pRxData = 0;
216
        RxDataLen = 0;
217
 
218
        // no bytes to send
32 holgerb 219
        txd_complete = TRUE;
220
 
221
 
41 killagreg 222
        UART_VersionInfo.Major = VERSION_MAJOR;
223
        UART_VersionInfo.Minor = VERSION_MINOR;
224
        UART_VersionInfo.Patch = VERSION_PATCH;
225
        UART_VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE;
32 holgerb 226
 
37 killagreg 227
        // Version beim Start ausgeben (nicht schön, aber geht... )
32 holgerb 228
        USART0_putchar ('\n');
229
        USART0_putchar ('C');
230
        USART0_putchar ('P');
231
        USART0_putchar (':');
232
        USART0_putchar ('V');
233
        USART0_putchar (0x30 + VERSION_MAJOR);
234
        USART0_putchar ('.');
235
        USART0_putchar (0x30 + VERSION_MINOR/10);
236
        USART0_putchar (0x30 + VERSION_MINOR%10);
41 killagreg 237
        USART0_putchar ('a' + VERSION_PATCH);
32 holgerb 238
    USART0_putchar ('\n');
41 killagreg 239
 
240
    // restore global interrupt flags
241
    SREG = sreg;
1 ingob 242
}
243
 
32 holgerb 244
// ---------------------------------------------------------------------------------
245
void USART0_EnableTXD(void)
1 ingob 246
{
32 holgerb 247
        DDRD |= (1<<DDD1);                      // set TXD pin as output
248
        PORTD &= ~(1 << PORTD1);
249
        UCSR0B |= (1 << TXEN0);         // enable TX in USART
250
        UCSR0B |= (1 << TXCIE0);        // disable TX-Interrupt
1 ingob 251
}
252
 
32 holgerb 253
// ---------------------------------------------------------------------------------
254
void USART0_DisableTXD(void)
1 ingob 255
{
32 holgerb 256
        while(!txd_complete){ };
1 ingob 257
 
32 holgerb 258
        UCSR0B &= ~(1 << TXCIE0);   // disable TX-Interrupt
259
        UCSR0B &= ~(1 << TXEN0);        // disable TXD in USART
260
        DDRD &= ~(1<<DDD1);             // set TXD pin as input
261
        PORTD &= ~(1 << PORTD1);
262
}
1 ingob 263
 
32 holgerb 264
/****************************************************************/
265
/*               USART0 transmitter ISR                         */
266
/****************************************************************/
267
ISR(USART_TX_vect)
268
{
269
        static uint16_t ptr_txd_buffer = 0;
270
        uint8_t tmp_tx;
271
        if(!txd_complete) // transmission not completed
272
        {
273
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
274
                tmp_tx = txd_buffer[ptr_txd_buffer];
275
                // if terminating character or end of txd buffer was reached
276
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
277
                {
278
                        ptr_txd_buffer = 0; // reset txd pointer
279
                        txd_complete = TRUE; // stop transmission
280
                }
281
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
282
        }
283
        // transmission completed
284
        else ptr_txd_buffer = 0;
1 ingob 285
}
286
 
32 holgerb 287
/****************************************************************/
288
/*               USART0 receiver ISR                            */
289
/****************************************************************/
290
ISR(USART_RX_vect)
1 ingob 291
{
32 holgerb 292
        static uint16_t crc;
293
        uint8_t crc1, crc2;
294
        uint8_t c;
295
        static uint8_t ptr_rxd_buffer = 0;
1 ingob 296
 
32 holgerb 297
        c = UDR0;  // catch the received byte
1 ingob 298
 
32 holgerb 299
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
1 ingob 300
 
32 holgerb 301
        // the rxd buffer is unlocked
302
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
303
        {
304
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
305
                crc = c; // init crc
306
        }
307
        #if 0
308
        else if (ptr_rxd_buffer == 1) // handle address
309
        {
310
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
311
                crc += c; // update crc
312
        }
313
        #endif
314
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
315
        {
316
                if(c != '\r') // no termination character
317
                {
318
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
319
                        crc += c; // update crc
320
                }
321
                else // termination character was received
322
                {
323
                        // the last 2 bytes are no subject for checksum calculation
324
                        // they are the checksum itself
325
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
326
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
327
                        // calculate checksum from transmitted data
328
                        crc %= 4096;
329
                        crc1 = '=' + crc / 64;
330
                        crc2 = '=' + crc % 64;
331
                        // compare checksum to transmitted checksum bytes
332
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
333
                        {   // checksum valid
41 killagreg 334
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
335
                                ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
32 holgerb 336
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
337
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
338
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
339
                        }
340
                        else
341
                        {       // checksum invalid
342
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
343
                        }
344
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
345
                }
346
        }
347
        else // rxd buffer overrun
348
        {
349
                ptr_rxd_buffer = 0; // reset rxd buffer
350
                rxd_buffer_locked = FALSE; // unlock rxd buffer
351
        }
1 ingob 352
}
353
 
354
 
355
// --------------------------------------------------------------------------
32 holgerb 356
void AddCRC(uint16_t datalen)
1 ingob 357
{
32 holgerb 358
        uint16_t tmpCRC = 0, i;
359
        for(i = 0; i < datalen; i++)
360
        {
361
                tmpCRC += txd_buffer[i];
362
        }
363
        tmpCRC %= 4096;
364
        txd_buffer[i++] = '=' + tmpCRC / 64;
365
        txd_buffer[i++] = '=' + tmpCRC % 64;
366
        txd_buffer[i++] = '\r';
367
        txd_complete = FALSE;
368
        UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
1 ingob 369
}
370
 
371
 
372
 
32 holgerb 373
// --------------------------------------------------------------------------
41 killagreg 374
void SendOutData(uint8_t cmd,uint8_t module, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
1 ingob 375
{
41 killagreg 376
        va_list ap;
32 holgerb 377
        uint16_t pt = 0;
378
        uint8_t a,b,c;
379
        uint8_t ptr = 0;
380
 
41 killagreg 381
        uint8_t *pdata = 0;
382
        int len = 0;
383
 
32 holgerb 384
        txd_buffer[pt++] = '#';         // Start character
385
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
386
        txd_buffer[pt++] = cmd;         // Command
387
 
41 killagreg 388
        va_start(ap, numofbuffers);
42 killagreg 389
        if(numofbuffers)
41 killagreg 390
        {
391
                pdata = va_arg(ap, uint8_t*);
392
                len = va_arg(ap, int);
393
                ptr = 0;
42 killagreg 394
                numofbuffers--;
41 killagreg 395
        }
396
 
32 holgerb 397
        while(len)
398
        {
41 killagreg 399
                if(len)
400
                {
401
                        a = pdata[ptr++];
402
                        len--;
403
                        if((!len) && numofbuffers)
404
                        {
405
                                pdata = va_arg(ap, uint8_t*);
406
                                len = va_arg(ap, int);
407
                                ptr = 0;
408
                                numofbuffers--;
409
                        }
410
                }
411
                else a = 0;
412
                if(len)
413
                {
414
                        b = pdata[ptr++];
415
                        len--;
416
                        if((!len) && numofbuffers)
417
                        {
418
                                pdata = va_arg(ap, uint8_t*);
419
                                len = va_arg(ap, int);
420
                                ptr = 0;
421
                                numofbuffers--;
422
                        }
423
                }
424
                else b = 0;
425
                if(len)
426
                {
427
                        c = pdata[ptr++];
428
                        len--;
429
                        if((!len) && numofbuffers)
430
                        {
431
                                pdata = va_arg(ap, uint8_t*);
432
                                len = va_arg(ap, int);
433
                                ptr = 0;
434
                                numofbuffers--;
435
                        }
436
                }
437
                else c = 0;
32 holgerb 438
                txd_buffer[pt++] = '=' + (a >> 2);
439
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
440
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
441
                txd_buffer[pt++] = '=' + ( c & 0x3f);
442
        }
41 killagreg 443
        va_end(ap);
32 holgerb 444
        AddCRC(pt); // add checksum after data block and initates the transmission
1 ingob 445
}
446
 
32 holgerb 447
 
1 ingob 448
// --------------------------------------------------------------------------
41 killagreg 449
void Decode64(void)
1 ingob 450
{
32 holgerb 451
        uint8_t a,b,c,d;
452
        uint8_t x,y,z;
41 killagreg 453
        uint8_t ptrIn = 3;
454
        uint8_t ptrOut = 3;
455
        uint8_t len = ReceivedBytes - 6;
456
 
32 holgerb 457
        while(len)
458
        {
459
                a = rxd_buffer[ptrIn++] - '=';
460
                b = rxd_buffer[ptrIn++] - '=';
461
                c = rxd_buffer[ptrIn++] - '=';
462
                d = rxd_buffer[ptrIn++] - '=';
41 killagreg 463
                //if(ptrIn > ReceivedBytes - 3) break;
1 ingob 464
 
32 holgerb 465
                x = (a << 2) | (b >> 4);
466
                y = ((b & 0x0f) << 4) | (c >> 2);
467
                z = ((c & 0x03) << 6) | d;
468
 
41 killagreg 469
                if(len--) rxd_buffer[ptrOut++] = x; else break;
470
                if(len--) rxd_buffer[ptrOut++] = y; else break;
471
                if(len--) rxd_buffer[ptrOut++] = z; else break;
32 holgerb 472
        }
41 killagreg 473
        pRxData = &rxd_buffer[3];
474
        RxDataLen = ptrOut - 3;
17 holgerb 475
}
476
 
32 holgerb 477
 
41 killagreg 478
 
32 holgerb 479
// --------------------------------------------------------------------------
480
int16_t USART0_putchar (int8_t c)
1 ingob 481
{
32 holgerb 482
        // if tx is not enabled return immediatly
483
        if(!(UCSR0B & (1 << TXEN0))) return (0);
484
        if (c == '\n') USART0_putchar('\r');
485
        // wait until previous character was send
486
        loop_until_bit_is_set(UCSR0A, UDRE0);
487
        // send character
488
        UDR0 = c;
489
        return (0);
1 ingob 490
}
491
 
492
 
32 holgerb 493
// --------------------------------------------------------------------------
494
void USART0_ProcessRxData(void)
1 ingob 495
{
32 holgerb 496
        // if data in the rxd buffer are not locked immediately return
497
        if(!rxd_buffer_locked) return;
1 ingob 498
 
44 killagreg 499
        switch(rxd_buffer[1]) // check Slave Address
32 holgerb 500
        {
44 killagreg 501
                case MK3MAG_ADDRESS:
502
                Decode64(); // decode data block in rxd_buffer
503
                switch(rxd_buffer[2]) // check for CmdID
504
                {
505
                        case 'w': // old style
506
                        case 'k': // Attitude info from FC
507
                                memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData));
508
                                RequestFlags |= RQST_COMPASS_HEADING;
509
                                AttitudeSource = ATTITUDE_SOURCE_UART;
510
                                Orientation = ExternData.Orientation;
511
                                FC_Connected = 255;
512
                                break;
32 holgerb 513
 
44 killagreg 514
                        default:
515
                                // unsupported command
516
                                break;
517
                }
518
                break; // case MK3MAG_ADDRESS:
32 holgerb 519
 
44 killagreg 520
                default: // any Slave Adress
521
                Decode64(); // decode data block in rxd_buffer
522
                switch(rxd_buffer[2]) // check for CmdID
523
                {
524
                        case 'b': // extern control
525
                                memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl));
526
                                #define KEY1    0x01
527
                                #define KEY2    0x02
528
                                #define KEY3    0x04
529
                                #define KEY4    0x08
530
                                #define KEY5    0x10
531
                                // use right arrow at display for switching the calstate
532
                                if(ExternControl.RemoteButtons & KEY2)
533
                                {
534
                                        ExternData.CalState++;
535
                                        if(ExternData.CalState == 6) ExternData.CalState = 0;
536
                                }
537
                                ConfirmFrame = ExternControl.Frame;
538
                                PC_Connected = 255;
539
                                break;
37 killagreg 540
 
44 killagreg 541
                        case 'd': // request for the debug data
542
                                DebugData_Interval = (uint16_t) pRxData[0] * 10;
543
                                if(DebugData_Interval) RequestFlags |= RQST_DEBUG_DATA;
544
                                PC_Connected = 255;
545
                                break;
32 holgerb 546
 
44 killagreg 547
                        case 'v': // request version and board release
548
                                RequestFlags |= RQST_VERSION_INFO;
549
                                PC_Connected = 255;
550
                                break;
32 holgerb 551
 
44 killagreg 552
                        case 'a':// Labels of the Analog Debug outputs
553
                                RequestDebugLabel = pRxData[0];
554
                                RequestFlags |= RQST_DEBUG_LABEL;
555
                                PC_Connected = 255;
556
                                break;
557
 
558
                        case 'g':// get extern control data
559
                                RequestFlags |= RQST_EXTERN_CTRL;
560
                                PC_Connected = 255;
561
                                break;
562
 
563
                        default:
564
                                // unsupported command
565
                                break;
566
                }
567
                break; // default:
32 holgerb 568
        }
569
        // unlock the rxd buffer after processing
41 killagreg 570
        pRxData = 0;
571
        RxDataLen = 0;
32 holgerb 572
        rxd_buffer_locked = FALSE;
1 ingob 573
}
574
 
575
 
32 holgerb 576
 
1 ingob 577
//---------------------------------------------------------------------------------------------
32 holgerb 578
void USART0_TransmitTxData(void)
1 ingob 579
{
32 holgerb 580
        if(!(UCSR0B & (1 << TXEN0))) return;
581
 
582
        if(!txd_complete) return;
583
 
41 killagreg 584
        if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete)
37 killagreg 585
        {
44 killagreg 586
                SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16);
41 killagreg 587
                RequestDebugLabel = 0xFF;
588
                RequestFlags &= ~RQST_DEBUG_LABEL;
37 killagreg 589
        }
32 holgerb 590
 
41 killagreg 591
        if(ConfirmFrame && txd_complete)
37 killagreg 592
        {
44 killagreg 593
                SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame));
41 killagreg 594
                ConfirmFrame = 0;
32 holgerb 595
        }
596
 
41 killagreg 597
        if(( (DebugData_Interval && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete)
37 killagreg 598
        {
41 killagreg 599
                SetDebugValues();
44 killagreg 600
                SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut));
41 killagreg 601
                DebugData_Timer = SetDelay(DebugData_Interval);
602
                RequestFlags &= ~RQST_DEBUG_DATA;
37 killagreg 603
        }
32 holgerb 604
 
41 killagreg 605
 
606
        if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete)
32 holgerb 607
        {
44 killagreg 608
                SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl));
37 killagreg 609
                RequestFlags &= ~RQST_EXTERN_CTRL;
32 holgerb 610
        }
611
 
41 killagreg 612
        if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete)
32 holgerb 613
        {
44 killagreg 614
                SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC
37 killagreg 615
                RequestFlags &= ~RQST_COMPASS_HEADING;
616
        }
41 killagreg 617
 
618
        if((RequestFlags & RQST_VERSION_INFO) && txd_complete)
619
        {
44 killagreg 620
                SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
41 killagreg 621
                RequestFlags &= ~RQST_VERSION_INFO;
622
        }
1 ingob 623
}
624
 
32 holgerb 625
 
626
void USART0_Print(int8_t *msg)
17 holgerb 627
{
32 holgerb 628
        uint8_t i = 0;
37 killagreg 629
        while(msg[i] != 0)
630
        {
631
                USART0_putchar(msg[i++]);
632
        }
17 holgerb 633
}