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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
| 8 | #include <string.h> |
8 | #include <string.h> |
| 9 | #include <avr/pgmspace.h> |
9 | #include <avr/pgmspace.h> |
| 10 | #include "main.h" |
10 | #include "main.h" |
| 11 | #include "uart.h" |
11 | #include "uart.h" |
| 12 | #include "libfc.h" |
12 | #include "libfc.h" |
| 13 | #include "eeprom.h" |
13 | #include "eeprom.h" |
| 14 | 14 | ||
| 15 | #define FC_ADDRESS 1 |
15 | #define FC_ADDRESS 1 |
| 16 | #define NC_ADDRESS 2 |
16 | #define NC_ADDRESS 2 |
| 17 | #define MK3MAG_ADDRESS 3 |
17 | #define MK3MAG_ADDRESS 3 |
| 18 | #define BL_CTRL_ADDRESS 5 |
18 | #define BL_CTRL_ADDRESS 5 |
| 19 | 19 | ||
| 20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 21 | #define MAX_SENDE_BUFF 170 |
21 | #define MAX_SENDE_BUFF 170 |
| 22 | #define MAX_EMPFANGS_BUFF 170 |
22 | #define MAX_EMPFANGS_BUFF 170 |
| 23 | 23 | ||
| 24 | #define BLPARAM_REVISION 1 |
24 | #define BLPARAM_REVISION 1 |
| 25 | #define MASK_SET_PWM_SCALING 0x01 |
25 | #define MASK_SET_PWM_SCALING 0x01 |
| 26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
| 27 | #define MASK_SET_TEMP_LIMIT 0x04 |
27 | #define MASK_SET_TEMP_LIMIT 0x04 |
| 28 | #define MASK_SET_CURRENT_SCALING 0x08 |
28 | #define MASK_SET_CURRENT_SCALING 0x08 |
| 29 | #define MASK_SET_BITCONFIG 0x10 |
29 | #define MASK_SET_BITCONFIG 0x10 |
| 30 | #define MASK_RESET_CAPCOUNTER 0x20 |
30 | #define MASK_RESET_CAPCOUNTER 0x20 |
| 31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
| 32 | #define MASK_SET_SAVE_EEPROM 0x80 |
32 | #define MASK_SET_SAVE_EEPROM 0x80 |
| 33 | 33 | ||
| 34 | typedef struct |
34 | typedef struct |
| 35 | { |
35 | { |
| 36 | unsigned char Revision; // revision of parameter structure |
36 | unsigned char Revision; // revision of parameter structure |
| 37 | unsigned char Address; // target address |
37 | unsigned char Address; // target address |
| 38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
| 39 | unsigned char CurrentLimit; // current limit in 1A steps |
39 | unsigned char CurrentLimit; // current limit in 1A steps |
| 40 | unsigned char TemperatureLimit; // in °C |
40 | unsigned char TemperatureLimit; // in °C |
| 41 | unsigned char CurrentScaling; // scaling factor for current measurement |
41 | unsigned char CurrentScaling; // scaling factor for current measurement |
| 42 | unsigned char BitConfig; // see defines above |
42 | unsigned char BitConfig; // see defines above |
| 43 | unsigned char SetMask; // filter for active paramters |
43 | unsigned char SetMask; // filter for active paramters |
| 44 | unsigned char Checksum; // checksum for parameter sturcture |
44 | unsigned char Checksum; // checksum for parameter sturcture |
| 45 | } __attribute__((packed)) BLParameter_t; |
45 | } __attribute__((packed)) BLParameter_t; |
| 46 | 46 | ||
| 47 | 47 | ||
| 48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 49 | unsigned char DisplayLine = 0; |
49 | unsigned char DisplayLine = 0; |
| 50 | unsigned volatile char SioTmp = 0; |
50 | unsigned volatile char SioTmp = 0; |
| 51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 54 | unsigned volatile char CntCrcError = 0; |
54 | unsigned volatile char CntCrcError = 0; |
| 55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 58 | 58 | ||
| 59 | unsigned char *pRxData = 0; |
59 | unsigned char *pRxData = 0; |
| 60 | unsigned char RxDataLen = 0; |
60 | unsigned char RxDataLen = 0; |
| 61 | unsigned volatile char PC_DebugTimeout = 0; |
61 | unsigned volatile char PC_DebugTimeout = 0; |
| 62 | unsigned volatile char PC_MotortestActive = 0; |
62 | unsigned volatile char PC_MotortestActive = 0; |
| 63 | unsigned char DebugTextAnforderung = 255; |
63 | unsigned char DebugTextAnforderung = 255; |
| 64 | 64 | ||
| 65 | unsigned char PcZugriff = 100; |
65 | unsigned char PcZugriff = 100; |
| 66 | unsigned char MotorTest[16]; |
66 | unsigned char MotorTest[16]; |
| 67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 68 | unsigned char ConfirmFrame; |
68 | unsigned char ConfirmFrame; |
| 69 | struct str_DebugOut DebugOut; |
69 | struct str_DebugOut DebugOut; |
| 70 | struct str_ExternControl ExternControl; |
70 | struct str_ExternControl ExternControl; |
| 71 | struct str_VersionInfo VersionInfo; |
71 | struct str_VersionInfo VersionInfo; |
| 72 | struct str_WinkelOut WinkelOut; |
72 | struct str_WinkelOut WinkelOut; |
| 73 | struct str_Data3D Data3D; |
73 | struct str_Data3D Data3D; |
| 74 | 74 | ||
| 75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 77 | unsigned int AboTimeOut = 0; |
77 | unsigned int AboTimeOut = 0; |
| 78 | unsigned volatile char JetiUpdateModeActive = 0; |
78 | unsigned volatile char JetiUpdateModeActive = 0; |
| 79 | 79 | ||
| 80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 81 | { |
81 | { |
| 82 | //1234567890123456 |
82 | //1234567890123456 |
| 83 | "AngleNick ", //0 |
83 | "AngleNick ", //0 |
| 84 | "AngleRoll ", |
84 | "AngleRoll ", |
| 85 | "AccNick ", |
85 | "AccNick ", |
| 86 | "AccRoll ", |
86 | "AccRoll ", |
| 87 | "YawGyro ", |
87 | "YawGyro ", |
| 88 | "Height Value ", //5 |
88 | "Height Value ", //5 |
| 89 | "AccZ ", |
89 | "AccZ ", |
| 90 | "Gas ", |
90 | "Gas ", |
| 91 | "Compass Value ", |
91 | "Compass Value ", |
| 92 | "Voltage [0.1V] ", |
92 | "Voltage [0.1V] ", |
| 93 | "Receiver Level ", //10 |
93 | "Receiver Level ", //10 |
| 94 | "Gyro Compass ", |
94 | "Gyro Compass ", |
| 95 | "Motor 1 ", |
95 | "Motor 1 ", |
| 96 | "Motor 2 ", |
96 | "Motor 2 ", |
| 97 | "Motor 3 ", |
97 | "Motor 3 ", |
| 98 | "Motor 4 ", //15 |
98 | "Motor 4 ", //15 |
| 99 | "16 ", |
99 | "16 ", |
| 100 | "17 ", |
100 | "17 ", |
| 101 | "18 ", |
101 | "18 ", |
| 102 | "19 ", |
102 | "19 ", |
| 103 | "Servo ", //20 |
103 | "Servo ", //20 |
| 104 | "Hovergas ", |
104 | "Hovergas ", |
| 105 | "Current [0.1A] ", |
105 | "Current [0.1A] ", |
| 106 | "Capacity [mAh] ", |
106 | "Capacity [mAh] ", |
| 107 | "24 ", |
107 | "Hight Setpoint ", |
| 108 | "25 ", //25 |
108 | "25 ", //25 |
| 109 | "26 ", |
109 | "26 ", |
| 110 | "Compass Setpoint", |
110 | "Compass Setpoint", |
| 111 | "I2C-Error ", |
111 | "I2C-Error ", |
| 112 | "BL Limit ", |
112 | "BL Limit ", |
| 113 | "GPS_Nick ", //30 |
113 | "GPS_Nick ", //30 |
| 114 | "GPS_Roll " |
114 | "GPS_Roll " |
| 115 | }; |
115 | }; |
| 116 | 116 | ||
| 117 | 117 | ||
| 118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 119 | //++ Sende-Part der Datenübertragung |
119 | //++ Sende-Part der Datenübertragung |
| 120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 121 | ISR(USART0_TX_vect) |
121 | ISR(USART0_TX_vect) |
| 122 | { |
122 | { |
| 123 | static unsigned int ptr = 0; |
123 | static unsigned int ptr = 0; |
| 124 | unsigned char tmp_tx; |
124 | unsigned char tmp_tx; |
| 125 | 125 | ||
| 126 | if(!UebertragungAbgeschlossen) |
126 | if(!UebertragungAbgeschlossen) |
| 127 | { |
127 | { |
| 128 | ptr++; // die [0] wurde schon gesendet |
128 | ptr++; // die [0] wurde schon gesendet |
| 129 | tmp_tx = TxdBuffer[ptr]; |
129 | tmp_tx = TxdBuffer[ptr]; |
| 130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 131 | { |
131 | { |
| 132 | ptr = 0; |
132 | ptr = 0; |
| 133 | UebertragungAbgeschlossen = 1; |
133 | UebertragungAbgeschlossen = 1; |
| 134 | } |
134 | } |
| 135 | UDR0 = tmp_tx; |
135 | UDR0 = tmp_tx; |
| 136 | } |
136 | } |
| 137 | else ptr = 0; |
137 | else ptr = 0; |
| 138 | } |
138 | } |
| 139 | 139 | ||
| 140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 143 | ISR(USART0_RX_vect) |
143 | ISR(USART0_RX_vect) |
| 144 | { |
144 | { |
| 145 | static unsigned int crc; |
145 | static unsigned int crc; |
| 146 | static unsigned char crc1,crc2,buf_ptr; |
146 | static unsigned char crc1,crc2,buf_ptr; |
| 147 | static unsigned char UartState = 0; |
147 | static unsigned char UartState = 0; |
| 148 | unsigned char CrcOkay = 0; |
148 | unsigned char CrcOkay = 0; |
| 149 | 149 | ||
| 150 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
150 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
| 151 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
151 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
| 152 | 152 | ||
| 153 | SioTmp = UDR0; |
153 | SioTmp = UDR0; |
| 154 | 154 | ||
| 155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 156 | if(SioTmp == '\r' && UartState == 2) |
156 | if(SioTmp == '\r' && UartState == 2) |
| 157 | { |
157 | { |
| 158 | UartState = 0; |
158 | UartState = 0; |
| 159 | crc -= RxdBuffer[buf_ptr-2]; |
159 | crc -= RxdBuffer[buf_ptr-2]; |
| 160 | crc -= RxdBuffer[buf_ptr-1]; |
160 | crc -= RxdBuffer[buf_ptr-1]; |
| 161 | crc %= 4096; |
161 | crc %= 4096; |
| 162 | crc1 = '=' + crc / 64; |
162 | crc1 = '=' + crc / 64; |
| 163 | crc2 = '=' + crc % 64; |
163 | crc2 = '=' + crc % 64; |
| 164 | CrcOkay = 0; |
164 | CrcOkay = 0; |
| 165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 167 | { |
167 | { |
| 168 | NeuerDatensatzEmpfangen = 1; |
168 | NeuerDatensatzEmpfangen = 1; |
| 169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 170 | RxdBuffer[buf_ptr] = '\r'; |
170 | RxdBuffer[buf_ptr] = '\r'; |
| 171 | if(RxdBuffer[2] == 'R') |
171 | if(RxdBuffer[2] == 'R') |
| 172 | { |
172 | { |
| 173 | LcdClear(); |
173 | LcdClear(); |
| 174 | wdt_enable(WDTO_250MS); // Reset-Commando |
174 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 175 | ServoActive = 0; |
175 | ServoActive = 0; |
| 176 | } |
176 | } |
| 177 | 177 | ||
| 178 | } |
178 | } |
| 179 | } |
179 | } |
| 180 | else |
180 | else |
| 181 | switch(UartState) |
181 | switch(UartState) |
| 182 | { |
182 | { |
| 183 | case 0: |
183 | case 0: |
| 184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 185 | buf_ptr = 0; |
185 | buf_ptr = 0; |
| 186 | RxdBuffer[buf_ptr++] = SioTmp; |
186 | RxdBuffer[buf_ptr++] = SioTmp; |
| 187 | crc = SioTmp; |
187 | crc = SioTmp; |
| 188 | break; |
188 | break; |
| 189 | case 1: // Adresse auswerten |
189 | case 1: // Adresse auswerten |
| 190 | UartState++; |
190 | UartState++; |
| 191 | RxdBuffer[buf_ptr++] = SioTmp; |
191 | RxdBuffer[buf_ptr++] = SioTmp; |
| 192 | crc += SioTmp; |
192 | crc += SioTmp; |
| 193 | break; |
193 | break; |
| 194 | case 2: // Eingangsdaten sammeln |
194 | case 2: // Eingangsdaten sammeln |
| 195 | RxdBuffer[buf_ptr] = SioTmp; |
195 | RxdBuffer[buf_ptr] = SioTmp; |
| 196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 197 | else UartState = 0; |
197 | else UartState = 0; |
| 198 | crc += SioTmp; |
198 | crc += SioTmp; |
| 199 | break; |
199 | break; |
| 200 | default: |
200 | default: |
| 201 | UartState = 0; |
201 | UartState = 0; |
| 202 | break; |
202 | break; |
| 203 | } |
203 | } |
| 204 | } |
204 | } |
| 205 | 205 | ||
| 206 | 206 | ||
| 207 | // -------------------------------------------------------------------------- |
207 | // -------------------------------------------------------------------------- |
| 208 | void AddCRC(unsigned int wieviele) |
208 | void AddCRC(unsigned int wieviele) |
| 209 | { |
209 | { |
| 210 | unsigned int tmpCRC = 0,i; |
210 | unsigned int tmpCRC = 0,i; |
| 211 | for(i = 0; i < wieviele;i++) |
211 | for(i = 0; i < wieviele;i++) |
| 212 | { |
212 | { |
| 213 | tmpCRC += TxdBuffer[i]; |
213 | tmpCRC += TxdBuffer[i]; |
| 214 | } |
214 | } |
| 215 | tmpCRC %= 4096; |
215 | tmpCRC %= 4096; |
| 216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 218 | TxdBuffer[i++] = '\r'; |
218 | TxdBuffer[i++] = '\r'; |
| 219 | UebertragungAbgeschlossen = 0; |
219 | UebertragungAbgeschlossen = 0; |
| 220 | UDR0 = TxdBuffer[0]; |
220 | UDR0 = TxdBuffer[0]; |
| 221 | } |
221 | } |
| 222 | 222 | ||
| 223 | 223 | ||
| 224 | 224 | ||
| 225 | // -------------------------------------------------------------------------- |
225 | // -------------------------------------------------------------------------- |
| 226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 227 | { |
227 | { |
| 228 | va_list ap; |
228 | va_list ap; |
| 229 | unsigned int pt = 0; |
229 | unsigned int pt = 0; |
| 230 | unsigned char a,b,c; |
230 | unsigned char a,b,c; |
| 231 | unsigned char ptr = 0; |
231 | unsigned char ptr = 0; |
| 232 | 232 | ||
| 233 | unsigned char *snd = 0; |
233 | unsigned char *snd = 0; |
| 234 | int len = 0; |
234 | int len = 0; |
| 235 | 235 | ||
| 236 | TxdBuffer[pt++] = '#'; // Startzeichen |
236 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 238 | TxdBuffer[pt++] = cmd; // Commando |
238 | TxdBuffer[pt++] = cmd; // Commando |
| 239 | 239 | ||
| 240 | va_start(ap, BufferAnzahl); |
240 | va_start(ap, BufferAnzahl); |
| 241 | if(BufferAnzahl) |
241 | if(BufferAnzahl) |
| 242 | { |
242 | { |
| 243 | snd = va_arg(ap, unsigned char*); |
243 | snd = va_arg(ap, unsigned char*); |
| 244 | len = va_arg(ap, int); |
244 | len = va_arg(ap, int); |
| 245 | ptr = 0; |
245 | ptr = 0; |
| 246 | BufferAnzahl--; |
246 | BufferAnzahl--; |
| 247 | } |
247 | } |
| 248 | while(len) |
248 | while(len) |
| 249 | { |
249 | { |
| 250 | if(len) |
250 | if(len) |
| 251 | { |
251 | { |
| 252 | a = snd[ptr++]; |
252 | a = snd[ptr++]; |
| 253 | len--; |
253 | len--; |
| 254 | if((!len) && BufferAnzahl) |
254 | if((!len) && BufferAnzahl) |
| 255 | { |
255 | { |
| 256 | snd = va_arg(ap, unsigned char*); |
256 | snd = va_arg(ap, unsigned char*); |
| 257 | len = va_arg(ap, int); |
257 | len = va_arg(ap, int); |
| 258 | ptr = 0; |
258 | ptr = 0; |
| 259 | BufferAnzahl--; |
259 | BufferAnzahl--; |
| 260 | } |
260 | } |
| 261 | } |
261 | } |
| 262 | else a = 0; |
262 | else a = 0; |
| 263 | if(len) |
263 | if(len) |
| 264 | { |
264 | { |
| 265 | b = snd[ptr++]; |
265 | b = snd[ptr++]; |
| 266 | len--; |
266 | len--; |
| 267 | if((!len) && BufferAnzahl) |
267 | if((!len) && BufferAnzahl) |
| 268 | { |
268 | { |
| 269 | snd = va_arg(ap, unsigned char*); |
269 | snd = va_arg(ap, unsigned char*); |
| 270 | len = va_arg(ap, int); |
270 | len = va_arg(ap, int); |
| 271 | ptr = 0; |
271 | ptr = 0; |
| 272 | BufferAnzahl--; |
272 | BufferAnzahl--; |
| 273 | } |
273 | } |
| 274 | } |
274 | } |
| 275 | else b = 0; |
275 | else b = 0; |
| 276 | if(len) |
276 | if(len) |
| 277 | { |
277 | { |
| 278 | c = snd[ptr++]; |
278 | c = snd[ptr++]; |
| 279 | len--; |
279 | len--; |
| 280 | if((!len) && BufferAnzahl) |
280 | if((!len) && BufferAnzahl) |
| 281 | { |
281 | { |
| 282 | snd = va_arg(ap, unsigned char*); |
282 | snd = va_arg(ap, unsigned char*); |
| 283 | len = va_arg(ap, int); |
283 | len = va_arg(ap, int); |
| 284 | ptr = 0; |
284 | ptr = 0; |
| 285 | BufferAnzahl--; |
285 | BufferAnzahl--; |
| 286 | } |
286 | } |
| 287 | } |
287 | } |
| 288 | else c = 0; |
288 | else c = 0; |
| 289 | TxdBuffer[pt++] = '=' + (a >> 2); |
289 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 293 | } |
293 | } |
| 294 | va_end(ap); |
294 | va_end(ap); |
| 295 | AddCRC(pt); |
295 | AddCRC(pt); |
| 296 | } |
296 | } |
| 297 | 297 | ||
| 298 | // -------------------------------------------------------------------------- |
298 | // -------------------------------------------------------------------------- |
| 299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 300 | { |
300 | { |
| 301 | unsigned char a,b,c,d; |
301 | unsigned char a,b,c,d; |
| 302 | unsigned char x,y,z; |
302 | unsigned char x,y,z; |
| 303 | unsigned char ptrIn = 3; // start at begin of data block |
303 | unsigned char ptrIn = 3; // start at begin of data block |
| 304 | unsigned char ptrOut = 3; |
304 | unsigned char ptrOut = 3; |
| 305 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
305 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| 306 | 306 | ||
| 307 | while(len) |
307 | while(len) |
| 308 | { |
308 | { |
| 309 | a = RxdBuffer[ptrIn++] - '='; |
309 | a = RxdBuffer[ptrIn++] - '='; |
| 310 | b = RxdBuffer[ptrIn++] - '='; |
310 | b = RxdBuffer[ptrIn++] - '='; |
| 311 | c = RxdBuffer[ptrIn++] - '='; |
311 | c = RxdBuffer[ptrIn++] - '='; |
| 312 | d = RxdBuffer[ptrIn++] - '='; |
312 | d = RxdBuffer[ptrIn++] - '='; |
| 313 | 313 | ||
| 314 | x = (a << 2) | (b >> 4); |
314 | x = (a << 2) | (b >> 4); |
| 315 | y = ((b & 0x0f) << 4) | (c >> 2); |
315 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 316 | z = ((c & 0x03) << 6) | d; |
316 | z = ((c & 0x03) << 6) | d; |
| 317 | 317 | ||
| 318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 321 | } |
321 | } |
| 322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 324 | 324 | ||
| 325 | } |
325 | } |
| 326 | 326 | ||
| 327 | // -------------------------------------------------------------------------- |
327 | // -------------------------------------------------------------------------- |
| 328 | void BearbeiteRxDaten(void) |
328 | void BearbeiteRxDaten(void) |
| 329 | { |
329 | { |
| 330 | if(!NeuerDatensatzEmpfangen) return; |
330 | if(!NeuerDatensatzEmpfangen) return; |
| 331 | 331 | ||
| 332 | unsigned char tempchar1, tempchar2; |
332 | unsigned char tempchar1, tempchar2; |
| 333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 335 | { |
335 | { |
| 336 | case FC_ADDRESS: // FC special commands |
336 | case FC_ADDRESS: // FC special commands |
| 337 | switch(RxdBuffer[2]) |
337 | switch(RxdBuffer[2]) |
| 338 | { |
338 | { |
| 339 | case 'K':// Kompasswert |
339 | case 'K':// Kompasswert |
| 340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 341 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
341 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 342 | break; |
342 | break; |
| 343 | case 't':// Motortest |
343 | case 't':// Motortest |
| 344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 346 | PC_MotortestActive = 240; |
346 | PC_MotortestActive = 240; |
| 347 | //while(!UebertragungAbgeschlossen); |
347 | //while(!UebertragungAbgeschlossen); |
| 348 | //SendOutData('T', MeineSlaveAdresse, 0); |
348 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 349 | PcZugriff = 255; |
349 | PcZugriff = 255; |
| 350 | break; |
350 | break; |
| 351 | 351 | ||
| 352 | case 'n':// "Get Mixer |
352 | case 'n':// "Get Mixer |
| 353 | while(!UebertragungAbgeschlossen); |
353 | while(!UebertragungAbgeschlossen); |
| 354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 355 | Debug("Mixer lesen"); |
355 | Debug("Mixer lesen"); |
| 356 | break; |
356 | break; |
| 357 | 357 | ||
| 358 | case 'm':// "Write Mixer |
358 | case 'm':// "Write Mixer |
| 359 | if(pRxData[0] == EEMIXER_REVISION) |
359 | if(pRxData[0] == EEMIXER_REVISION) |
| 360 | { |
360 | { |
| 361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 362 | MixerTable_WriteToEEProm(); |
362 | MixerTable_WriteToEEProm(); |
| 363 | tempchar1 = 1; |
363 | tempchar1 = 1; |
| 364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| 365 | } |
365 | } |
| 366 | else |
366 | else |
| 367 | { |
367 | { |
| 368 | tempchar1 = 0; |
368 | tempchar1 = 0; |
| 369 | } |
369 | } |
| 370 | while(!UebertragungAbgeschlossen); |
370 | while(!UebertragungAbgeschlossen); |
| 371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 372 | break; |
372 | break; |
| 373 | 373 | ||
| 374 | case 'p': // get PPM Channels |
374 | case 'p': // get PPM Channels |
| 375 | GetPPMChannelAnforderung = 1; |
375 | GetPPMChannelAnforderung = 1; |
| 376 | PcZugriff = 255; |
376 | PcZugriff = 255; |
| 377 | break; |
377 | break; |
| 378 | 378 | ||
| 379 | case 'q':// "Get"-Anforderung für Settings |
379 | case 'q':// "Get"-Anforderung für Settings |
| 380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| 382 | { |
382 | { |
| 383 | tempchar1 = pRxData[0] - 10; |
383 | tempchar1 = pRxData[0] - 10; |
| 384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 386 | SetDefaultParameter(tempchar1, 1); |
386 | SetDefaultParameter(tempchar1, 1); |
| 387 | } |
387 | } |
| 388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| 389 | { |
389 | { |
| 390 | tempchar1 = pRxData[0] - 20; |
390 | tempchar1 = pRxData[0] - 20; |
| 391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 393 | SetDefaultParameter(tempchar1, 0); |
393 | SetDefaultParameter(tempchar1, 0); |
| 394 | } |
394 | } |
| 395 | else |
395 | else |
| 396 | { |
396 | { |
| 397 | tempchar1 = pRxData[0]; |
397 | tempchar1 = pRxData[0]; |
| 398 | if(tempchar1 == 0xFF) |
398 | if(tempchar1 == 0xFF) |
| 399 | { |
399 | { |
| 400 | tempchar1 = GetActiveParamSet(); |
400 | tempchar1 = GetActiveParamSet(); |
| 401 | } |
401 | } |
| 402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 404 | // load requested parameter set |
404 | // load requested parameter set |
| 405 | ParamSet_ReadFromEEProm(tempchar1); |
405 | ParamSet_ReadFromEEProm(tempchar1); |
| 406 | } |
406 | } |
| 407 | while(!UebertragungAbgeschlossen); |
407 | while(!UebertragungAbgeschlossen); |
| 408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 409 | Debug("Lese Setting %d", tempchar1); |
409 | Debug("Lese Setting %d", tempchar1); |
| 410 | 410 | ||
| 411 | break; |
411 | break; |
| 412 | 412 | ||
| 413 | case 's': // Parametersatz speichern |
413 | case 's': // Parametersatz speichern |
| 414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| 415 | { |
415 | { |
| 416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 417 | ParamSet_WriteToEEProm(pRxData[0]); |
417 | ParamSet_WriteToEEProm(pRxData[0]); |
| 418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 420 | tempchar1 = GetActiveParamSet(); |
420 | tempchar1 = GetActiveParamSet(); |
| 421 | } |
421 | } |
| 422 | else |
422 | else |
| 423 | { |
423 | { |
| 424 | tempchar1 = 0; // mark in response an invlid setting |
424 | tempchar1 = 0; // mark in response an invlid setting |
| 425 | } |
425 | } |
| 426 | while(!UebertragungAbgeschlossen); |
426 | while(!UebertragungAbgeschlossen); |
| 427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 428 | if(!MotorenEin) Piep(tempchar1,110); |
428 | if(!MotorenEin) Piep(tempchar1,110); |
| 429 | LipoDetection(0); |
429 | LipoDetection(0); |
| 430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 431 | break; |
431 | break; |
| 432 | case 'f': // auf anderen Parametersatz umschalten |
432 | case 'f': // auf anderen Parametersatz umschalten |
| 433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 434 | tempchar1 = GetActiveParamSet(); |
434 | tempchar1 = GetActiveParamSet(); |
| 435 | while(!UebertragungAbgeschlossen); |
435 | while(!UebertragungAbgeschlossen); |
| 436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 437 | if(!MotorenEin) Piep(tempchar1,110); |
437 | if(!MotorenEin) Piep(tempchar1,110); |
| 438 | LipoDetection(0); |
438 | LipoDetection(0); |
| 439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 440 | break; |
440 | break; |
| 441 | case 'y':// serial Potis |
441 | case 'y':// serial Potis |
| 442 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
442 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
| 443 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
443 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
| 444 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
444 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
| 445 | break; |
445 | break; |
| 446 | 446 | ||
| 447 | case 'u': // request BL parameter |
447 | case 'u': // request BL parameter |
| 448 | Debug("Reading BL %d", pRxData[0]); |
448 | Debug("Reading BL %d", pRxData[0]); |
| 449 | // try to read BL configuration |
449 | // try to read BL configuration |
| 450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 452 | else tempchar1 = 0; |
452 | else tempchar1 = 0; |
| 453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 455 | break; |
455 | break; |
| 456 | 456 | ||
| 457 | case 'w': // write BL parameter |
457 | case 'w': // write BL parameter |
| 458 | Debug("Writing BL %d", pRxData[0]); |
458 | Debug("Writing BL %d", pRxData[0]); |
| 459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| 460 | { |
460 | { |
| 461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| 462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 464 | else tempchar1 = 0; // indicate error |
464 | else tempchar1 = 0; // indicate error |
| 465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 467 | } |
467 | } |
| 468 | break; |
468 | break; |
| 469 | case 'j': |
469 | case 'j': |
| 470 | tempchar1 = LIBFC_GetCPUType(); |
470 | tempchar1 = LIBFC_GetCPUType(); |
| 471 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
471 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| 472 | { |
472 | { |
| 473 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
473 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| 474 | 474 | ||
| 475 | cli(); |
475 | cli(); |
| 476 | 476 | ||
| 477 | // UART0 & UART1 disable RX and TX-Interrupt |
477 | // UART0 & UART1 disable RX and TX-Interrupt |
| 478 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
478 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| 479 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
479 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| 480 | 480 | ||
| 481 | // UART0 & UART1 disable receiver and transmitter |
481 | // UART0 & UART1 disable receiver and transmitter |
| 482 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
482 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| 483 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
483 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| 484 | 484 | ||
| 485 | // UART0 & UART1 flush receive buffer explicit |
485 | // UART0 & UART1 flush receive buffer explicit |
| 486 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
486 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
| 487 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
487 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
| 488 | 488 | ||
| 489 | 489 | ||
| 490 | if (pRxData[0] == 0) |
490 | if (pRxData[0] == 0) |
| 491 | { |
491 | { |
| 492 | JetiUpdateModeActive = 1; |
492 | JetiUpdateModeActive = 1; |
| 493 | 493 | ||
| 494 | // UART0 & UART1 set baudrate |
494 | // UART0 & UART1 set baudrate |
| 495 | UBRR1H = (uint8_t)(ubrr>>8); |
495 | UBRR1H = (uint8_t)(ubrr>>8); |
| 496 | UBRR1L = (uint8_t)ubrr; |
496 | UBRR1L = (uint8_t)ubrr; |
| 497 | UBRR0H = UBRR1H; |
497 | UBRR0H = UBRR1H; |
| 498 | UBRR0L = UBRR1L; |
498 | UBRR0L = UBRR1L; |
| 499 | // UART1 no parity |
499 | // UART1 no parity |
| 500 | UCSR1C &= ~(1 << UPM11); |
500 | UCSR1C &= ~(1 << UPM11); |
| 501 | UCSR1C &= ~(1 << UPM10); |
501 | UCSR1C &= ~(1 << UPM10); |
| 502 | // UART1 8-bit |
502 | // UART1 8-bit |
| 503 | UCSR1B &= ~(1 << UCSZ12); |
503 | UCSR1B &= ~(1 << UCSZ12); |
| 504 | UCSR1C |= (1 << UCSZ11); |
504 | UCSR1C |= (1 << UCSZ11); |
| 505 | UCSR1C |= (1 << UCSZ10); |
505 | UCSR1C |= (1 << UCSZ10); |
| 506 | } |
506 | } |
| 507 | else JetiUpdateModeActive = 2; |
507 | else JetiUpdateModeActive = 2; |
| 508 | 508 | ||
| 509 | // UART0 & UART1 1 stop bit |
509 | // UART0 & UART1 1 stop bit |
| 510 | UCSR1C &= ~(1 << USBS1); |
510 | UCSR1C &= ~(1 << USBS1); |
| 511 | UCSR0C &= ~(1 << USBS0); |
511 | UCSR0C &= ~(1 << USBS0); |
| 512 | // UART1 clear 9th bit |
512 | // UART1 clear 9th bit |
| 513 | UCSR1B &= ~(1<<TXB81); |
513 | UCSR1B &= ~(1<<TXB81); |
| 514 | // enable receiver and transmitter for UART0 and UART1 |
514 | // enable receiver and transmitter for UART0 and UART1 |
| 515 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
515 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| 516 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
516 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| 517 | // enable RX-Interrupt for UART0 and UART1 |
517 | // enable RX-Interrupt for UART0 and UART1 |
| 518 | UCSR0B |= (1 << RXCIE0); |
518 | UCSR0B |= (1 << RXCIE0); |
| 519 | UCSR1B |= (1 << RXCIE1); |
519 | UCSR1B |= (1 << RXCIE1); |
| 520 | // disable other Interrupts |
520 | // disable other Interrupts |
| 521 | TIMSK0 = 0; |
521 | TIMSK0 = 0; |
| 522 | TIMSK1 = 0; |
522 | TIMSK1 = 0; |
| 523 | TIMSK2 = 0; |
523 | TIMSK2 = 0; |
| 524 | 524 | ||
| 525 | sei(); |
525 | sei(); |
| 526 | } |
526 | } |
| 527 | break; |
527 | break; |
| 528 | 528 | ||
| 529 | } // case FC_ADDRESS: |
529 | } // case FC_ADDRESS: |
| 530 | 530 | ||
| 531 | default: // any Slave Address |
531 | default: // any Slave Address |
| 532 | 532 | ||
| 533 | switch(RxdBuffer[2]) |
533 | switch(RxdBuffer[2]) |
| 534 | { |
534 | { |
| 535 | // 't' comand placed here only for compatibility to BL |
535 | // 't' comand placed here only for compatibility to BL |
| 536 | case 't':// Motortest |
536 | case 't':// Motortest |
| 537 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
537 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 538 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
538 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 539 | while(!UebertragungAbgeschlossen); |
539 | while(!UebertragungAbgeschlossen); |
| 540 | SendOutData('T', MeineSlaveAdresse, 0); |
540 | SendOutData('T', MeineSlaveAdresse, 0); |
| 541 | PC_MotortestActive = 250; |
541 | PC_MotortestActive = 250; |
| 542 | PcZugriff = 255; |
542 | PcZugriff = 255; |
| 543 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
543 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 544 | break; |
544 | break; |
| 545 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
545 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 546 | case 'K':// Kompasswert |
546 | case 'K':// Kompasswert |
| 547 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
547 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 548 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
548 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 549 | break; |
549 | break; |
| 550 | case 'a':// Texte der Analogwerte |
550 | case 'a':// Texte der Analogwerte |
| 551 | DebugTextAnforderung = pRxData[0]; |
551 | DebugTextAnforderung = pRxData[0]; |
| 552 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
552 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 553 | PcZugriff = 255; |
553 | PcZugriff = 255; |
| 554 | break; |
554 | break; |
| 555 | case 'b': |
555 | case 'b': |
| 556 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
556 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 557 | ConfirmFrame = ExternControl.Frame; |
557 | ConfirmFrame = ExternControl.Frame; |
| 558 | PcZugriff = 255; |
558 | PcZugriff = 255; |
| 559 | break; |
559 | break; |
| 560 | case 'c': // Poll the 3D-Data |
560 | case 'c': // Poll the 3D-Data |
| 561 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
561 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 562 | Intervall3D = pRxData[0] * 10; |
562 | Intervall3D = pRxData[0] * 10; |
| 563 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
563 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 564 | break; |
564 | break; |
| 565 | case 'd': // Poll the debug data |
565 | case 'd': // Poll the debug data |
| 566 | PcZugriff = 255; |
566 | PcZugriff = 255; |
| 567 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
567 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 568 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
568 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 569 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
569 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 570 | break; |
570 | break; |
| 571 | 571 | ||
| 572 | case 'h':// x-1 Displayzeilen |
572 | case 'h':// x-1 Displayzeilen |
| 573 | PcZugriff = 255; |
573 | PcZugriff = 255; |
| 574 | if((pRxData[0] & 0x80) == 0x00) // old format |
574 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 575 | { |
575 | { |
| 576 | DisplayLine = 2; |
576 | DisplayLine = 2; |
| 577 | Display_Interval = 0; |
577 | Display_Interval = 0; |
| 578 | } |
578 | } |
| 579 | else // new format |
579 | else // new format |
| 580 | { |
580 | { |
| 581 | RemoteKeys |= ~pRxData[0]; |
581 | RemoteKeys |= ~pRxData[0]; |
| 582 | Display_Interval = (unsigned int)pRxData[1] * 10; |
582 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 583 | DisplayLine = 4; |
583 | DisplayLine = 4; |
| 584 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
584 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 585 | } |
585 | } |
| 586 | DebugDisplayAnforderung = 1; |
586 | DebugDisplayAnforderung = 1; |
| 587 | break; |
587 | break; |
| 588 | 588 | ||
| 589 | case 'l':// x-1 Displayzeilen |
589 | case 'l':// x-1 Displayzeilen |
| 590 | PcZugriff = 255; |
590 | PcZugriff = 255; |
| 591 | MenuePunkt = pRxData[0]; |
591 | MenuePunkt = pRxData[0]; |
| 592 | DebugDisplayAnforderung1 = 1; |
592 | DebugDisplayAnforderung1 = 1; |
| 593 | break; |
593 | break; |
| 594 | case 'v': // Version-Anforderung und Ausbaustufe |
594 | case 'v': // Version-Anforderung und Ausbaustufe |
| 595 | GetVersionAnforderung = 1; |
595 | GetVersionAnforderung = 1; |
| 596 | break; |
596 | break; |
| 597 | 597 | ||
| 598 | case 'g':// |
598 | case 'g':// |
| 599 | GetExternalControl = 1; |
599 | GetExternalControl = 1; |
| 600 | break; |
600 | break; |
| 601 | 601 | ||
| 602 | default: |
602 | default: |
| 603 | //unsupported command received |
603 | //unsupported command received |
| 604 | break; |
604 | break; |
| 605 | } |
605 | } |
| 606 | break; // default: |
606 | break; // default: |
| 607 | } |
607 | } |
| 608 | NeuerDatensatzEmpfangen = 0; |
608 | NeuerDatensatzEmpfangen = 0; |
| 609 | pRxData = 0; |
609 | pRxData = 0; |
| 610 | RxDataLen = 0; |
610 | RxDataLen = 0; |
| 611 | } |
611 | } |
| 612 | 612 | ||
| 613 | //############################################################################ |
613 | //############################################################################ |
| 614 | //Routine für die Serielle Ausgabe |
614 | //Routine für die Serielle Ausgabe |
| 615 | void uart_putchar (char c) |
615 | void uart_putchar (char c) |
| 616 | //############################################################################ |
616 | //############################################################################ |
| 617 | { |
617 | { |
| 618 | //Warten solange bis Zeichen gesendet wurde |
618 | //Warten solange bis Zeichen gesendet wurde |
| 619 | loop_until_bit_is_set(UCSR0A, UDRE0); |
619 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 620 | //Ausgabe des Zeichens |
620 | //Ausgabe des Zeichens |
| 621 | UDR0 = c; |
621 | UDR0 = c; |
| 622 | } |
622 | } |
| 623 | 623 | ||
| 624 | 624 | ||
| 625 | //############################################################################ |
625 | //############################################################################ |
| 626 | //INstallation der Seriellen Schnittstelle |
626 | //INstallation der Seriellen Schnittstelle |
| 627 | void UART_Init (void) |
627 | void UART_Init (void) |
| 628 | //############################################################################ |
628 | //############################################################################ |
| 629 | { |
629 | { |
| 630 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
630 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 631 | 631 | ||
| 632 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
632 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 633 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
633 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 634 | // UART Double Speed (U2X) |
634 | // UART Double Speed (U2X) |
| 635 | UCSR0A |= (1 << U2X0); |
635 | UCSR0A |= (1 << U2X0); |
| 636 | // RX-Interrupt Freigabe |
636 | // RX-Interrupt Freigabe |
| 637 | UCSR0B |= (1 << RXCIE0); |
637 | UCSR0B |= (1 << RXCIE0); |
| 638 | // TX-Interrupt Freigabe |
638 | // TX-Interrupt Freigabe |
| 639 | UCSR0B |= (1 << TXCIE0); |
639 | UCSR0B |= (1 << TXCIE0); |
| 640 | // USART0 Baud Rate Register |
640 | // USART0 Baud Rate Register |
| 641 | // set clock divider |
641 | // set clock divider |
| 642 | UBRR0H = (uint8_t)(ubrr >> 8); |
642 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 643 | UBRR0L = (uint8_t)ubrr; |
643 | UBRR0L = (uint8_t)ubrr; |
| 644 | 644 | ||
| 645 | Debug_Timer = SetDelay(DebugDataIntervall); |
645 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 646 | Kompass_Timer = SetDelay(220); |
646 | Kompass_Timer = SetDelay(220); |
| 647 | 647 | ||
| 648 | VersionInfo.SWMajor = VERSION_MAJOR; |
648 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 649 | VersionInfo.SWMinor = VERSION_MINOR; |
649 | VersionInfo.SWMinor = VERSION_MINOR; |
| 650 | VersionInfo.SWPatch = VERSION_PATCH; |
650 | VersionInfo.SWPatch = VERSION_PATCH; |
| 651 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
651 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 652 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
652 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 653 | 653 | ||
| 654 | pRxData = 0; |
654 | pRxData = 0; |
| 655 | RxDataLen = 0; |
655 | RxDataLen = 0; |
| 656 | } |
656 | } |
| 657 | 657 | ||
| 658 | //--------------------------------------------------------------------------------------------- |
658 | //--------------------------------------------------------------------------------------------- |
| 659 | void DatenUebertragung(void) |
659 | void DatenUebertragung(void) |
| 660 | { |
660 | { |
| 661 | if(!UebertragungAbgeschlossen) return; |
661 | if(!UebertragungAbgeschlossen) return; |
| 662 | 662 | ||
| 663 | if(CheckDelay(AboTimeOut)) |
663 | if(CheckDelay(AboTimeOut)) |
| 664 | { |
664 | { |
| 665 | Display_Interval = 0; |
665 | Display_Interval = 0; |
| 666 | DebugDataIntervall = 0; |
666 | DebugDataIntervall = 0; |
| 667 | Intervall3D = 0; |
667 | Intervall3D = 0; |
| 668 | } |
668 | } |
| 669 | 669 | ||
| 670 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
670 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 671 | { |
671 | { |
| 672 | if(DisplayLine > 3)// new format |
672 | if(DisplayLine > 3)// new format |
| 673 | { |
673 | { |
| 674 | Menu(); |
674 | Menu(); |
| 675 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
675 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 676 | } |
676 | } |
| 677 | else // old format |
677 | else // old format |
| 678 | { |
678 | { |
| 679 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
679 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 680 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
680 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 681 | if(DisplayLine++ > 3) DisplayLine = 0; |
681 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 682 | } |
682 | } |
| 683 | Display_Timer = SetDelay(Display_Interval); |
683 | Display_Timer = SetDelay(Display_Interval); |
| 684 | DebugDisplayAnforderung = 0; |
684 | DebugDisplayAnforderung = 0; |
| 685 | } |
685 | } |
| 686 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
686 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 687 | { |
687 | { |
| 688 | Menu(); |
688 | Menu(); |
| 689 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
689 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 690 | DebugDisplayAnforderung1 = 0; |
690 | DebugDisplayAnforderung1 = 0; |
| 691 | } |
691 | } |
| 692 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
692 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 693 | { |
693 | { |
| 694 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
694 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 695 | GetVersionAnforderung = 0; |
695 | GetVersionAnforderung = 0; |
| 696 | Debug_OK("Version gesendet"); |
696 | Debug_OK("Version gesendet"); |
| 697 | } |
697 | } |
| 698 | 698 | ||
| 699 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
699 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 700 | { |
700 | { |
| 701 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
701 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 702 | GetExternalControl = 0; |
702 | GetExternalControl = 0; |
| 703 | } |
703 | } |
| 704 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
704 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 705 | { |
705 | { |
| 706 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
706 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 707 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
707 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 708 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
708 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 709 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
709 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 710 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
710 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 711 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
711 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 712 | Kompass_Timer = SetDelay(99); |
712 | Kompass_Timer = SetDelay(99); |
| 713 | } |
713 | } |
| 714 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
714 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 715 | { |
715 | { |
| 716 | CopyDebugValues(); |
716 | CopyDebugValues(); |
| 717 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
717 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 718 | DebugDataAnforderung = 0; |
718 | DebugDataAnforderung = 0; |
| 719 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
719 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 720 | } |
720 | } |
| 721 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
721 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 722 | { |
722 | { |
| 723 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
723 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 724 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
724 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 725 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
725 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 726 | Data3D.Centroid[0] = SummeNick >> 9; |
726 | Data3D.Centroid[0] = SummeNick >> 9; |
| 727 | Data3D.Centroid[1] = SummeRoll >> 9; |
727 | Data3D.Centroid[1] = SummeRoll >> 9; |
| 728 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
728 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| 729 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
729 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 730 | Timer3D = SetDelay(Intervall3D); |
730 | Timer3D = SetDelay(Intervall3D); |
| 731 | } |
731 | } |
| 732 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
732 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 733 | { |
733 | { |
| 734 | unsigned char label[16]; // local sram buffer |
734 | unsigned char label[16]; // local sram buffer |
| 735 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
735 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| 736 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
736 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| 737 | DebugTextAnforderung = 255; |
737 | DebugTextAnforderung = 255; |
| 738 | } |
738 | } |
| 739 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
739 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 740 | { |
740 | { |
| 741 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
741 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 742 | ConfirmFrame = 0; |
742 | ConfirmFrame = 0; |
| 743 | } |
743 | } |
| 744 | 744 | ||
| 745 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
745 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 746 | { |
746 | { |
| 747 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
747 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 748 | GetPPMChannelAnforderung = 0; |
748 | GetPPMChannelAnforderung = 0; |
| 749 | } |
749 | } |
| 750 | 750 | ||
| 751 | #ifdef DEBUG // only include functions if DEBUG is defined |
751 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 752 | if(SendDebugOutput && UebertragungAbgeschlossen) |
752 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 753 | { |
753 | { |
| 754 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
754 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 755 | SendDebugOutput = 0; |
755 | SendDebugOutput = 0; |
| 756 | } |
756 | } |
| 757 | #endif |
757 | #endif |
| 758 | 758 | ||
| 759 | } |
759 | } |
| 760 | 760 | ||
| 761 | 761 | ||
| 762 | 762 | ||