WebSVN - FlightCtrl - Diff - Rev 741 and 745 - /branches/V0.68d Code Redesign killagreg/uart.c



 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "rc.h"

 
#define FALSE   0

#define TRUE    1
 
//int8_t test __attribute__ ((section (".noinit")));

 
uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];

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;

 
DebugOut_t              DebugOut;
ExternControl_t ExternControl;

                        {   // 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
                        }

}

 
 
 
// --------------------------------------------------------------------------
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;

 
        txd_buffer[pt++] = '#';         // Start character
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)

        AddCRC(pt); // add checksum after data block and initates the transmission
}

 
 
// --------------------------------------------------------------------------
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;
 

                        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)
                        {

void TransmitTxData(void)
{
 static int16_t Debug_Timer = 0;
 if(!txd_complete) return;

 
   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;

   }
 
    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

      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;
     }

 

Rev 741	Rev 745
Line 1...	Line 1...
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
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	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 19...	Line 19...
19	#include "rc.h"	19	#include "rc.h"
Line 20...	Line 20...
20		20
21	#define FALSE 0	21	#define FALSE 0
Line -...	Line 22...
-		22	#define TRUE 1
-		23
22	#define TRUE 1	24	//int8_t test __attribute__ ((section (".noinit")));
Line 23...	Line 25...
23		25
24	uint8_t DebugGetAnforderung = 0, DebugDisplayAnforderung = 0, DebugDataAnforderung = 0, GetVersionAnforderung = 0;	26	uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0;
25		27
26	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	28	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
Line 33...	Line 35...
33	uint8_t NurKanalAnforderung = 0;	35	uint8_t NurKanalAnforderung = 0;
34	uint8_t DebugTextAnforderung = 255;	36	uint8_t DebugTextAnforderung = 255;
35	uint8_t PcAccess = 100;	37	uint8_t PcAccess = 100;
36	uint8_t MotorTest[4] = {0,0,0,0};	38	uint8_t MotorTest[4] = {0,0,0,0};
37	uint8_t DubWiseKeys[4] = {0,0,0,0};	39	uint8_t DubWiseKeys[4] = {0,0,0,0};
38	uint8_t MySlaveAddr;	40	uint8_t MySlaveAddr = 0;
39	uint8_t ConfirmFrame;	41	uint8_t ConfirmFrame;
Line 40...	Line 42...
40		42
41	DebugOut_t DebugOut;	43	DebugOut_t DebugOut;
42	ExternControl_t ExternControl;	44	ExternControl_t ExternControl;
Line 216...	Line 218...
216	{ // checksum valid	218	{ // checksum valid
217	rxd_buffer_locked = TRUE; // lock the rxd buffer	219	rxd_buffer_locked = TRUE; // lock the rxd buffer
218	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes	220	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes
219	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	221	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
220	// if 2nd byte is an 'R' enable watchdog that will result in an reset	222	// if 2nd byte is an 'R' enable watchdog that will result in an reset
221	if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando	223	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
222	}	224	}
223	else	225	else
224	{ // checksum invalid	226	{ // checksum invalid
225	rxd_buffer_locked = FALSE; // unlock rxd buffer	227	rxd_buffer_locked = FALSE; // unlock rxd buffer
226	}	228	}
Line 253...	Line 255...
253	}	255	}
Line 254...	Line 256...
254		256
255		257
256		258
257	// --------------------------------------------------------------------------	259	// --------------------------------------------------------------------------
258	void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len)	260	void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
259	{	261	{
Line 260...	Line 262...
260	uint16_t pt = 0;	262	uint16_t pt = 0;
261	uint8_t a,b,c;	263	uint8_t a,b,c;
262	uint8_t ptr = 0;	264	uint8_t ptr = 0;
Line 263...	Line 265...
263		265
264	txd_buffer[pt++] = '#'; // Start character	266	txd_buffer[pt++] = '#'; // Start character
265	txd_buffer[pt++] = modul; // Address (a=0; b=1,...)	267	txd_buffer[pt++] = module; // Address (a=0; b=1,...)
Line 278...	Line 280...
278	AddCRC(pt); // add checksum after data block and initates the transmission	280	AddCRC(pt); // add checksum after data block and initates the transmission
279	}	281	}
Line 280...	Line 282...
280		282
281		283
282	// --------------------------------------------------------------------------	284	// --------------------------------------------------------------------------
283	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) // Wohin mit den Daten; Wie lang; Wo im rxd_buffer	285	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
284	{	286	{
285	uint8_t a,b,c,d;	287	uint8_t a,b,c,d;
286	uint8_t ptr = 0;	288	uint8_t ptr = 0;
287	uint8_t x,y,z;	289	uint8_t x,y,z;
288	while(len)	290	while(len)
289	{	291	{
290	a = rxd_buffer[ptrIn++] - '=';	292	a = rxd_buffer[ptrIn++] - '=';
291	b = rxd_buffer[ptrIn++] - '=';	293	b = rxd_buffer[ptrIn++] - '=';
292	c = rxd_buffer[ptrIn++] - '=';	294	c = rxd_buffer[ptrIn++] - '=';
Line 293...	Line 295...
293	d = rxd_buffer[ptrIn++] - '=';	295	d = rxd_buffer[ptrIn++] - '=';
294	if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden	296	if(ptrIn > max - 2) break;
295		297
Line 326...	Line 328...
326	break;	328	break;
327	case 'c': // extern control with debug request	329	case 'c': // extern control with debug request
328	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);	330	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
329	RemoteButtons \|= ExternControl.RemoteButtons;	331	RemoteButtons \|= ExternControl.RemoteButtons;
330	ConfirmFrame = ExternControl.Frame;	332	ConfirmFrame = ExternControl.Frame;
331	DebugDataAnforderung = 1;	333	DebugDataRequest = 1;
332	break;	334	break;
333	case 'h':// x-1 display columns	335	case 'h':// x-1 display columns
334	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);	336	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
335	RemoteButtons \|= tmp_char_arr2[0];	337	RemoteButtons \|= tmp_char_arr2[0];
336	if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1;	338	if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1;
337	else NurKanalAnforderung = 0; // keine Displaydaten	339	else NurKanalAnforderung = 0; // keine Displaydaten
338	DebugDisplayAnforderung = 1;	340	DebugDisplayRequest = 1;
339	break;	341	break;
340	case 't':// motor test	342	case 't':// motor test
341	Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);	343	Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
342	break;	344	break;
343	case 'k':// keys from DubWise	345	case 'k':// keys from DubWise
344	Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);	346	Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
345	ConfirmFrame = DubWiseKeys[3];	347	ConfirmFrame = DubWiseKeys[3];
346	break;	348	break;
347	case 'v': // get version and board release	349	case 'v': // get version and board release
348	GetVersionAnforderung = 1;	350	GetVersionRequest = 1;
349	break;	351	break;
350	case 'g':// get debug data	352	case 'g':// get debug data
351	DebugGetAnforderung = 1;	353	DebugGetRequest = 1;
352	break;	354	break;
353	case 'q':// get settings	355	case 'q':// get settings
354	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);	356	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
355	if(tmp_char_arr2[0] != 0xff)	357	if(tmp_char_arr2[0] != 0xff)
356	{	358	{
Line 402...	Line 404...
402	void TransmitTxData(void)	404	void TransmitTxData(void)
403	{	405	{
404	static int16_t Debug_Timer = 0;	406	static int16_t Debug_Timer = 0;
405	if(!txd_complete) return;	407	if(!txd_complete) return;
Line 406...	Line 408...
406		408
407	if(DebugGetAnforderung && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen	409	if(DebugGetRequest && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
408	{	410	{
409	SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));	411	SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
410	DebugGetAnforderung = 0;	412	DebugGetRequest = 0;
Line 411...	Line 413...
411	}	413	}
412		414
413	if((CheckDelay(Debug_Timer) \|\| DebugDataAnforderung) && txd_complete)	415	if((CheckDelay(Debug_Timer) \|\| DebugDataRequest) && txd_complete)
414	{	416	{
415	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));	417	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
416	DebugDataAnforderung = 0;	418	DebugDataRequest = 0;
417	Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);	419	Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
418	}	420	}
419	if(DebugTextAnforderung != 255) // Texte für die Analogdaten	421	if(DebugTextAnforderung != 255) // Texte für die Analogdaten
Line 428...	Line 430...
428	txd_buffer[2] = '\r';	430	txd_buffer[2] = '\r';
429	txd_complete = 0;	431	txd_complete = 0;
430	ConfirmFrame = 0;	432	ConfirmFrame = 0;
431	UDR0 = txd_buffer[0];	433	UDR0 = txd_buffer[0];
432	}	434	}
433	if(DebugDisplayAnforderung && txd_complete)	435	if(DebugDisplayRequest && txd_complete)
434	{	436	{
435	LCD_PrintMenu();	437	LCD_PrintMenu();
436	DebugDisplayAnforderung = 0;	438	DebugDisplayRequest = 0;
437	if(++RemotePollDisplayLine == 4 \|\| NurKanalAnforderung)	439	if(++RemotePollDisplayLine == 4 \|\| NurKanalAnforderung)
438	{	440	{
439	SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen	441	SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen
440	RemotePollDisplayLine = -1;	442	RemotePollDisplayLine = -1;
441	}	443	}
442	else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t )&DisplayBuff[20 RemotePollDisplayLine],20); // DisplayZeile übertragen	444	else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t )&DisplayBuff[20 RemotePollDisplayLine],20); // DisplayZeile übertragen
443	}	445	}
444	if(GetVersionAnforderung && txd_complete)	446	if(GetVersionRequest && txd_complete)
445	{	447	{
446	SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));	448	SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
447	GetVersionAnforderung = 0;	449	GetVersionRequest = 0;
448	}	450	}
Line 449...	Line 451...
449		451

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