| 0,0 → 1,727 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include <avr/pgmspace.h> |
| #include <stdarg.h> |
| #include <string.h> |
| |
| #include "eeprom.h" |
| #include "main.h" |
| #include "menu.h" |
| #include "timer0.h" |
| #include "uart0.h" |
| #include "fc.h" |
| #include "rc.h" |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| #include "ubx.h" |
| #endif |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| |
| |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t Request_VerInfo = FALSE; |
| uint8_t Request_ExternalControl = FALSE; |
| uint8_t Request_Display = FALSE; |
| uint8_t Request_Display1 = FALSE; |
| uint8_t Request_DebugData = FALSE; |
| uint8_t Request_Data3D = FALSE; |
| uint8_t Request_DebugLabel = 255; |
| uint8_t Request_PPMChannels = FALSE; |
| uint8_t Request_MotorTest = FALSE; |
| uint8_t 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 PcAccess = 100; |
| |
| uint8_t MotorTest_Active = 0; |
| uint8_t MotorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
| uint8_t ConfirmFrame; |
| |
| typedef struct |
| { |
| int16_t Heading; |
| } __attribute__((packed)) Heading_t; |
| |
| DebugOut_t DebugOut; |
| Data3D_t Data3D; |
| ExternControl_t ExternControl; |
| 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 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "YawGyro ", |
| "Height Value ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Heading ", |
| "Voltage ", |
| "Receiver Level ", //10 |
| "YawGyro Heading ", |
| "Motor Front ", |
| "Motor Rear ", |
| "Motor Left ", |
| "Motor Right ", //15 |
| " ", |
| " ", |
| " ", |
| "CompassCalState ", |
| "NickServo ", //20 |
| " ", |
| " ", |
| " ", |
| " ", |
| " ", //25 |
| " ", |
| "Kalman Max Drift", |
| " ", |
| "Navi Serial Data", |
| "GPS Nick ", //30 |
| "GPSS Roll " |
| }; |
| |
| |
| |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| |
| // disable all interrupts before configuration |
| cli(); |
| |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| |
| // USART0 Control and Status Register A, B, C |
| |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| |
| // no bytes to send |
| txd_complete = TRUE; |
| |
| #ifdef USE_MK3MAG |
| Compass_Timer = SetDelay(220); |
| #endif |
| |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| |
| c = UDR0; // catch the received byte |
| |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
| if(CPUType != ATMEGA644P) ubx_parser(c); |
| #endif |
| |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| } |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| 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) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| |
| uint8_t tempchar1, tempchar2; |
| |
| Decode64(); // decode data block in rxd_buffer |
| |
| switch(rxd_buffer[1] - 'a') |
| { |
| case FC_ADDRESS: |
| |
| switch(rxd_buffer[2]) |
| { |
| #ifdef USE_MK3MAG |
| case 'K':// compass value |
| CompassHeading = ((Heading_t *)pRxData)->Heading; |
| CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| break; |
| #endif |
| |
| case 't':// motor test |
| if(RxDataLen > 20) // |
| { |
| memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest)); |
| } |
| else |
| { |
| memcpy(&MotorTest[0], (uint8_t*)pRxData, 4); |
| } |
| //Request_MotorTest = TRUE; |
| MotorTest_Active = 255; |
| PcAccess = 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 *) &ParamSet, sizeof(ParamSet)); |
| break; |
| |
| case 's': // save settings |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
| { |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| { |
| memcpy(&ParamSet, (uint8_t*)&pRxData[2], sizeof(ParamSet)); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| tempchar1 = GetActiveParamSet(); |
| Beep(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; |
| PcAccess = 255; |
| break; |
| |
| case 'b': // submit extern control |
| memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcAccess = 255; |
| break; |
| |
| case 'h':// request for display columns |
| PcAccess = 255; |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| Request_Display = TRUE; |
| break; |
| |
| case 'l':// request for display columns |
| PcAccess = 255; |
| MenuItem = pRxData[0]; |
| Request_Display1 = TRUE; |
| break; |
| |
| case 'v': // request for version and board release |
| Request_VerInfo = TRUE; |
| break; |
| |
| case 'g':// get external control data |
| Request_ExternalControl = TRUE; |
| break; |
| |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if(DebugData_Interval > 0) Request_DebugData = TRUE; |
| break; |
| |
| case 'c': // request for the 3D data |
| Data3D_Interval = (uint16_t) pRxData[0] * 10; |
| if(Data3D_Interval > 0) Request_Data3D = TRUE; |
| break; |
| |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int16_t uart_putchar (int8_t c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| |
| |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!txd_complete) return; |
| |
| if(Request_VerInfo && txd_complete) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| Request_VerInfo = FALSE; |
| } |
| if(Request_Display && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| Request_Display = FALSE; |
| } |
| if(Request_Display1 && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
| Request_Display1 = FALSE; |
| } |
| if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
| { |
| uint8_t label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
| Request_DebugLabel = 0xFF; |
| } |
| if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
| { |
| SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| Request_DebugData = FALSE; |
| } |
| if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) |
| { |
| SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| Data3D.AngleRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // 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 *) &ExternControl, sizeof(ExternControl)); |
| Request_ExternalControl = FALSE; |
| } |
| |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| ToMk3Mag.CalState = CompassCalState; |
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(CompassCalState > 4) CompassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| } |
| #endif |
| |
| if(Request_MotorTest && txd_complete) |
| { |
| SendOutData('T', FC_ADDRESS, 0); |
| Request_MotorTest = FALSE; |
| } |
| if(Request_PPMChannels && txd_complete) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
| Request_PPMChannels = FALSE; |
| } |
| } |
| |