| 1,4 → 1,4 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| 21,8 → 21,10 |
|---|
| #define FALSE 0 |
| #define TRUE 1 |
| |
| uint8_t DebugGetAnforderung = 0, DebugDisplayAnforderung = 0, DebugDataAnforderung = 0, GetVersionAnforderung = 0; |
| //int8_t test __attribute__ ((section (".noinit"))); |
| |
| uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0; |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| 35,7 → 37,7 |
|---|
| uint8_t PcAccess = 100; |
| uint8_t MotorTest[4] = {0,0,0,0}; |
| uint8_t DubWiseKeys[4] = {0,0,0,0}; |
| uint8_t MySlaveAddr; |
| uint8_t MySlaveAddr = 0; |
| uint8_t ConfirmFrame; |
| |
| DebugOut_t DebugOut; |
| 218,7 → 220,7 |
|---|
| 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 |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| 255,7 → 257,7 |
|---|
| |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
| void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| { |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| 262,7 → 264,7 |
|---|
| uint8_t ptr = 0; |
| |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = modul; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| |
| while(len) |
| 280,7 → 282,7 |
|---|
| |
| |
| // -------------------------------------------------------------------------- |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) // Wohin mit den Daten; Wie lang; Wo im rxd_buffer |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| { |
| uint8_t a,b,c,d; |
| uint8_t ptr = 0; |
| 291,7 → 293,7 |
|---|
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| if(ptrIn > max - 2) break; |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| 328,7 → 330,7 |
|---|
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| DebugDataAnforderung = 1; |
| DebugDataRequest = 1; |
| break; |
| case 'h':// x-1 display columns |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| 335,7 → 337,7 |
|---|
| RemoteButtons |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
| else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| DebugDisplayRequest = 1; |
| break; |
| case 't':// motor test |
| Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
| 345,10 → 347,10 |
|---|
| ConfirmFrame = DubWiseKeys[3]; |
| break; |
| case 'v': // get version and board release |
| GetVersionAnforderung = 1; |
| GetVersionRequest = 1; |
| break; |
| case 'g':// get debug data |
| DebugGetAnforderung = 1; |
| DebugGetRequest = 1; |
| break; |
| case 'q':// get settings |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| 404,16 → 406,16 |
|---|
| static int16_t Debug_Timer = 0; |
| if(!txd_complete) return; |
| |
| if(DebugGetAnforderung && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(DebugGetRequest && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| DebugGetAnforderung = 0; |
| DebugGetRequest = 0; |
| } |
| |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && txd_complete) |
| if((CheckDelay(Debug_Timer) || DebugDataRequest) && txd_complete) |
| { |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| DebugDataRequest = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 430,10 → 432,10 |
|---|
| ConfirmFrame = 0; |
| UDR0 = txd_buffer[0]; |
| } |
| if(DebugDisplayAnforderung && txd_complete) |
| if(DebugDisplayRequest && txd_complete) |
| { |
| LCD_PrintMenu(); |
| DebugDisplayAnforderung = 0; |
| DebugDisplayRequest = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| 441,10 → 443,10 |
|---|
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && txd_complete) |
| if(GetVersionRequest && txd_complete) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| GetVersionRequest = 0; |
| } |
| |
| } |