| 0,0 → 1,699 |
|---|
| #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 "timer0.h" |
| #include "uart0.h" |
| #include "rc.h" |
| #include "externalControl.h" |
| #include "output.h" |
| #include "attitude.h" |
| |
| |
| #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_OutputTest = 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 outputTestActive = 0; |
| uint8_t outputTest[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 |
| "GyroFactorPitch ", |
| "GyroFactorRoll ", |
| "GyroFactorYaw ", |
| "GyroDPitch ", |
| "GyroDRoll ",//10 |
| "GyroDYaw ", |
| "Pitch Term ", |
| "Roll Term ", |
| "Throttle Term ", |
| "Yaw Term ", //15 |
| "0th O Corr pitch", |
| "0th O Corr roll ", |
| "ControlIntePitch", |
| "ControlInteRoll ", |
| "UBat ", //20 |
| "hoverThrottle ", |
| "IPartPitch ", // OK |
| "IPartRoll ", |
| "S3 (THROTTLE) ", |
| "S4 (RUDDER) ", // OK //25 |
| "ControlYaw ", |
| "Airpress. Range ", // OK |
| "DriftCompPitch ", |
| "DriftCompRoll ", |
| "AirpressFiltered", // MISSING //30 |
| "AirpressADC " }; |
| |
| /****************************************************************/ |
| /* 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; |
| |
| 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 (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 outputTestActive var from here: Count it down. |
| if (outputTestActive) |
| outputTestActive--; |
| // 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(&outputTest[0], (uint8_t*) pRxData, sizeof(outputTest)); |
| } else { |
| memcpy(&outputTest[0], (uint8_t*) pRxData, 4); |
| } |
| outputTestActive = 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 are 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]); |
| 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; |
| request_Display = TRUE; |
| break; |
| |
| case 'l':// request for display columns |
| externalControlActive = 255; |
| 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, 0); |
| DisplayLine++; |
| if (DisplayLine >= 4) |
| DisplayLine = 0; |
| request_Display = FALSE; |
| } |
| |
| if (request_Display1 && txd_complete) { |
| // LCD_PrintMenu(); |
| SendOutData('L', FC_ADDRESS, 0); |
| 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_OutputTest && txd_complete) { |
| SendOutData('T', FC_ADDRESS, 0); |
| request_OutputTest = 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; |
| } |
| } |