| 66,8 → 66,8 |
|---|
| #define FALSE 0 |
| #define TRUE 1 |
| |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 100 |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| 75,6 → 75,8 |
|---|
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| |
| |
| |
| uint8_t RequestVerInfo = FALSE; |
| uint8_t RequestDebugData = FALSE; |
| uint8_t RequestDebugLabel = FALSE; |
| 109,7 → 111,7 |
|---|
| "ZOffset ", |
| "ZRange ", |
| "Calstate ", |
| "Heading Request ", //15 |
| "Heading ", //15 |
| "User0 ", |
| "User1 ", |
| "Analog18 ", |
| 162,9 → 164,9 |
|---|
| |
| // USART0 Control and Status Register A, B, C |
| |
| // enable double speed operation in |
| // enable double speed operation |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| // enable receiver and transmitter |
| UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| 201,7 → 203,7 |
|---|
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':'); |
| uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10); |
| uart_putchar ('\n'); |
| 210,6 → 212,7 |
|---|
| // --------------------------------------------------------------------------------- |
| void USART0_EnableTXD(void) |
| { |
| //if(!(UCSR0B & (1 << TXEN0))) return; |
| DDRD |= (1<<DDD1); // set TXD pin as output |
| UCSR0B |= (1 << TXEN0); // enable TX in USART |
| } |
| 217,6 → 220,9 |
|---|
| // --------------------------------------------------------------------------------- |
| void USART0_DisableTXD(void) |
| { |
| //if((UCSR0B & (1 << TXEN0))) return; |
| while(!txd_complete){ }; |
| |
| UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
| DDRD &= ~(1<<DDD1); // set TXD pin as input |
| } |
| 236,7 → 242,7 |
|---|
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| txd_complete = TRUE; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| 250,9 → 256,9 |
|---|
| ISR(USART_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| static uint8_t ptr_rxd_buffer = 0; |
| |
| c = UDR0; // catch the received byte |
| |
| 381,7 → 387,7 |
|---|
| |
| |
| // -------------------------------------------------------------------------- |
| int16_t uart_putchar (int8_t c) |
| int uart_putchar (int8_t c) |
| { |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| 406,7 → 412,6 |
|---|
| { |
| case 'w':// Attitude |
| Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| DebugOut.Analog[15]++; |
| RequestCompassHeading = TRUE; |
| break; |
| |
| 413,8 → 418,20 |
|---|
| case 'b': // extern control |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| // use right arrow at display for switching the calstate |
| if(ExternControl.RemoteButtons & KEY2) |
| { |
| ExternData.CalState++; |
| if(ExternData.CalState == 6) ExternData.CalState = 0; |
| } |
| ExternData.Attitude[0] = ExternControl.Par1; |
| ExternData.Attitude[1] = ExternControl.Par2; |
| PC_Connected = 255; |
| break; |
| |
| case 'h':// x-1 display columns |