0,0 → 1,464 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/wdt.h> |
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#include "eeprom.h" |
#include "main.h" |
#include "menu.h" |
#include "timer0.h" |
#include "uart.h" |
#include "fc.h" |
#include "_Settings.h" |
#include "rc.h" |
#include "ubx.h" |
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#define FALSE 0 |
#define TRUE 1 |
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//int8_t test __attribute__ ((section (".noinit"))); |
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uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0; |
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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; |
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uint8_t RemotePollDisplayLine = 0; |
uint8_t NurKanalAnforderung = 0; |
uint8_t DebugTextAnforderung = 255; |
uint8_t PcAccess = 100; |
uint8_t MotorTest[4] = {0,0,0,0}; |
uint8_t DubWiseKeys[4] = {0,0,0,0}; |
uint8_t MySlaveAddr = 0; |
uint8_t ConfirmFrame; |
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DebugOut_t DebugOut; |
ExternControl_t ExternControl; |
VersionInfo_t VersionInfo; |
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const uint8_t ANALOG_TEXT[32][16] = |
{ |
//1234567890123456 |
"IntegralPitch ", //0 |
"IntegralRoll ", |
"AccPitch ", |
"AccRoll ", |
"GyroYaw ", |
"ReadingHeight ", //5 |
"AccZ ", |
"Thrust ", |
"CompassHeading ", |
"Voltage ", |
"Receiver Level ", //10 |
"AnalogOut11 ", |
"Motor VL ", |
"Motor RR ", |
"Motor VR ", |
"Motor RL ", //15 |
"Motor Left ", |
"Motor Right ", |
"MeanAccRoll ", |
"IntegralErrPitch", |
"IntegralErrRoll ", //20 |
"MeanIntPitch ", |
"MeanIntRoll ", |
"NeutralPitch ", |
"RollOffset ", |
"IntRoll*Factor ", //25 |
"ReadingGyroPitch", |
"DirectCorrRoll ", |
"ReadingGyroRoll ", |
"CorrectionRoll ", |
"I-AttRoll ", //30 |
"StickRoll " |
}; |
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/****************************************************************/ |
/* Initialization of the USART0 */ |
/****************************************************************/ |
void USART0_Init (void) |
{ |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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// disable all interrupts before configuration |
cli(); |
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// disable RX-Interrupt |
UCSR0B &= ~(1 << RXCIE0); |
// disable TX-Interrupt |
UCSR0B &= ~(1 << TXCIE0); |
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// 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); |
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// USART0 Baud Rate Register |
// set clock divider |
UBRR0H = (uint8_t)(ubrr >> 8); |
UBRR0L = (uint8_t)ubrr; |
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// USART0 Control and Status Register A, B, C |
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// 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); |
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// flush receive buffer |
while ( UCSR0A & (1<<RXC0) ) UDR0; |
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// enable interrupts at the end |
// enable RX-Interrupt |
UCSR0B |= (1 << RXCIE0); |
// enable TX-Interrupt |
UCSR0B |= (1 << TXCIE0); |
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rxd_buffer_locked = FALSE; |
// restore global interrupt flags |
SREG = sreg; |
} |
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/****************************************************************/ |
/* 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; |
} |
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/****************************************************************/ |
/* 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; |
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c = UDR0; // catch the received byte |
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// If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
// The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
#if defined (__AVR_ATmega644P__) |
if(BoardRelease == 10) ubx_parser(c); |
#else |
ubx_parser(c); |
#endif |
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if(rxd_buffer_locked) return; // if txd buffer is locked immediately return |
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// 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_locked = TRUE; // lock the rxd buffer |
ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
// 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 txd buffer |
} |
} // buffer overrun |
else |
{ |
ptr_rxd_buffer = 0; // reset rxd buffer |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} |
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} |
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// -------------------------------------------------------------------------- |
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 = 0; |
UDR0 = txd_buffer[0]; // initiates the transmittion |
} |
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// -------------------------------------------------------------------------- |
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
{ |
uint16_t pt = 0; |
uint8_t a,b,c; |
uint8_t ptr = 0; |
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txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
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while(len) |
{ |
if(len) { a = snd[ptr++]; len--;} else a = 0; |
if(len) { b = snd[ptr++]; len--;} else b = 0; |
if(len) { c = snd[ptr++]; len--;} 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); |
} |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
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// -------------------------------------------------------------------------- |
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
{ |
uint8_t a,b,c,d; |
uint8_t ptr = 0; |
uint8_t x,y,z; |
while(len) |
{ |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
if(ptrIn > max - 2) break; |
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x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
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if(len--) ptrOut[ptr++] = x; else break; |
if(len--) ptrOut[ptr++] = y; else break; |
if(len--) ptrOut[ptr++] = z; else break; |
} |
} |
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// -------------------------------------------------------------------------- |
void ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if(!rxd_buffer_locked) return; |
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uint8_t tmp_char_arr2[2]; // local buffer |
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PcAccess = 255; |
switch(rxd_buffer[2]) |
{ |
case 'a':// Labels of the Analog Deboug outputs |
Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
DebugTextAnforderung = tmp_char_arr2[0]; |
break; |
case 'b': // extern control |
Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
RemoteButtons |= ExternControl.RemoteButtons; |
ConfirmFrame = ExternControl.Frame; |
break; |
case 'c': // extern control with debug request |
Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
RemoteButtons |= ExternControl.RemoteButtons; |
ConfirmFrame = ExternControl.Frame; |
DebugDataRequest = 1; |
break; |
case 'h':// x-1 display columns |
Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
RemoteButtons |= tmp_char_arr2[0]; |
if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
else NurKanalAnforderung = 0; // keine Displaydaten |
DebugDisplayRequest = 1; |
break; |
case 't':// motor test |
Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
break; |
case 'k':// keys from DubWise |
Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
ConfirmFrame = DubWiseKeys[3]; |
break; |
case 'v': // get version and board release |
GetVersionRequest = 1; |
break; |
case 'g':// get debug data |
DebugGetRequest = 1; |
break; |
case 'q':// get settings |
Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
if(tmp_char_arr2[0] != 0xff) |
{ |
if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
// load requested parameter set |
ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
} |
else // send active parameter set |
SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
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break; |
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case 'l': |
case 'm': |
case 'n': |
case 'o': |
case 'p': // save parameterset |
Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
Beep(GetActiveParamSet()); |
break; |
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} |
// unlock the rxd buffer after processing |
rxd_buffer_locked = FALSE; |
} |
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//############################################################################ |
//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); |
//Ausgabe des Zeichens |
UDR0 = c; |
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return (0); |
} |
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//--------------------------------------------------------------------------------------------- |
void TransmitTxData(void) |
{ |
static int16_t Debug_Timer = 0; |
if(!txd_complete) return; |
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if(DebugGetRequest && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
{ |
SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
DebugGetRequest = 0; |
} |
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if((CheckDelay(Debug_Timer) || DebugDataRequest) && txd_complete) |
{ |
SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
DebugDataRequest = 0; |
Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
} |
if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
{ |
SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
DebugTextAnforderung = 255; |
} |
if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
{ |
txd_buffer[0] = '#'; |
txd_buffer[1] = ConfirmFrame; |
txd_buffer[2] = '\r'; |
txd_complete = 0; |
ConfirmFrame = 0; |
UDR0 = txd_buffer[0]; |
} |
if(DebugDisplayRequest && txd_complete) |
{ |
LCD_PrintMenu(); |
DebugDisplayRequest = 0; |
if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
{ |
SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
RemotePollDisplayLine = -1; |
} |
else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
} |
if(GetVersionRequest && txd_complete) |
{ |
SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
GetVersionRequest = 0; |
} |
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} |
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