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| Rev 1053 | Rev 1054 | ||
|---|---|---|---|
| Line 7... | Line 7... | ||
| 7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
| 8 | #include <string.h> |
8 | #include <string.h> |
| 9 | #include "main.h" |
9 | #include "main.h" |
| 10 | #include "uart.h" |
10 | #include "uart.h" |
| Line -... | Line 11... | ||
| - | 11 | ||
| - | 12 | ||
| - | 13 | #define FC_ADDRESS 1 |
|
| - | 14 | #define NC_ADDRESS 2 |
|
| - | 15 | #define MK3MAG_ADDRESS 3 |
|
| 11 | 16 | ||
| 12 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 13 | unsigned char DisplayLine = 0; |
18 | unsigned char DisplayLine = 0; |
| 14 | unsigned volatile char SioTmp = 0; |
19 | unsigned volatile char SioTmp = 0; |
| 15 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| Line 278... | Line 283... | ||
| 278 | // -------------------------------------------------------------------------- |
283 | // -------------------------------------------------------------------------- |
| 279 | void BearbeiteRxDaten(void) |
284 | void BearbeiteRxDaten(void) |
| 280 | { |
285 | { |
| 281 | if(!NeuerDatensatzEmpfangen) return; |
286 | if(!NeuerDatensatzEmpfangen) return; |
| Line -... | Line 287... | ||
| - | 287 | ||
| - | 288 | switch(RxdBuffer[1]) // check for Slave Address |
|
| - | 289 | { |
|
| 282 | 290 | case FC_ADDRESS: // FC special commands |
|
| - | 291 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
|
| - | 292 | switch(RxdBuffer[2]) |
|
| - | 293 | { |
|
| - | 294 | case 'K':// Kompasswert |
|
| - | 295 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
| - | 296 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
| - | 297 | break; |
|
| - | 298 | ||
| - | 299 | case 't':// Motortest |
|
| - | 300 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
| - | 301 | while(!UebertragungAbgeschlossen); |
|
| - | 302 | SendOutData('T', MeineSlaveAdresse, 0); |
|
| - | 303 | PcZugriff = 255; |
|
| - | 304 | break; |
|
| - | 305 | ||
| - | 306 | case 'p': // get PPM Channels |
|
| - | 307 | GetPPMChannelAnforderung = 1; |
|
| - | 308 | break; |
|
| - | 309 | ||
| - | 310 | case 'q':// "Get"-Anforderung für Settings |
|
| - | 311 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
|
| - | 312 | if(pRxData[0] == 0xFF) |
|
| - | 313 | { |
|
| - | 314 | pRxData[0] = GetActiveParamSetNumber(); |
|
| - | 315 | } |
|
| - | 316 | else // request active parameter set |
|
| - | 317 | { |
|
| - | 318 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
|
| - | 319 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
|
| - | 320 | // load requested parameter set |
|
| - | 321 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
| - | 322 | } |
|
| - | 323 | while(!UebertragungAbgeschlossen); |
|
| - | 324 | SendOutData('Q', FC_ADDRESS, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
| - | 325 | break; |
|
| - | 326 | ||
| - | 327 | case 's': // Parametersatz speichern |
|
| - | 328 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
|
| - | 329 | { |
|
| - | 330 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
|
| - | 331 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
| - | 332 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
|
| - | 333 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
|
| - | 334 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
|
| - | 335 | Piep(GetActiveParamSetNumber()); |
|
| - | 336 | while(!UebertragungAbgeschlossen); |
|
| - | 337 | SendOutData('S', FC_ADDRESS, 1, &pRxData[0], sizeof(unsigned char)); |
|
| - | 338 | } |
|
| Line 283... | Line -... | ||
| 283 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
- | |
| 284 | - | ||
| 285 | switch(RxdBuffer[2]) |
- | |
| 286 | { |
- | |
| 287 | case 'K':// Kompasswert |
- | |
| 288 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
- | |
| 289 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
| 290 | break; |
- | |
| 291 | case 'a':// Texte der Analogwerte |
- | |
| 292 | DebugTextAnforderung = pRxData[0]; |
- | |
| 293 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
- | |
| 294 | PcZugriff = 255; |
- | |
| 295 | break; |
- | |
| 296 | case 'b': |
- | |
| 297 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
- | |
| 298 | ConfirmFrame = ExternControl.Frame; |
- | |
| 299 | PcZugriff = 255; |
- | |
| 300 | break; |
- | |
| 301 | case 'd': // Poll the debug data |
- | |
| 302 | DebugDataIntervall = pRxData[0] * 10; |
- | |
| 303 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
- | |
| 304 | break; |
- | |
| 305 | - | ||
| 306 | case 'h':// x-1 Displayzeilen |
- | |
| 307 | RemoteKeys |= pRxData[0]; |
- | |
| 308 | if(RemoteKeys) DisplayLine = 0; |
- | |
| 309 | DebugDisplayAnforderung = 1; |
- | |
| 310 | break; |
- | |
| 311 | - | ||
| 312 | case 'l':// x-1 Displayzeilen |
- | |
| 313 | MenuePunkt = pRxData[0]; |
- | |
| 314 | DebugDisplayAnforderung1 = 1; |
- | |
| 315 | break; |
- | |
| 316 | case 't':// Motortest |
- | |
| 317 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
- | |
| 318 | while(!UebertragungAbgeschlossen); |
- | |
| 319 | SendOutData('T', MeineSlaveAdresse, 0); |
- | |
| 320 | PcZugriff = 255; |
- | |
| 321 | break; |
- | |
| 322 | case 'v': // Version-Anforderung und Ausbaustufe |
- | |
| 323 | GetVersionAnforderung = 1; |
- | |
| 324 | break; |
- | |
| 325 | case 'g':// |
- | |
| 326 | GetExternalControl = 1; |
- | |
| 327 | break; |
- | |
| 328 | case 'p': // get PPM Channels |
- | |
| 329 | GetPPMChannelAnforderung = 1; |
- | |
| 330 | break; |
- | |
| 331 | case 'q':// "Get"-Anforderung für Settings |
- | |
| 332 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
- | |
| 333 | if(pRxData[0] == 0xFF) |
- | |
| 334 | { |
339 | break; |
| 335 | pRxData[0] = GetActiveParamSetNumber(); |
340 | |
| 336 | } |
- | |
| 337 | else // request active parameter set |
- | |
| 338 | { |
- | |
| 339 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
- | |
| 340 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
- | |
| 341 | // load requested parameter set |
- | |
| 342 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
| 343 | } |
- | |
| 344 | while(!UebertragungAbgeschlossen); |
- | |
| 345 | SendOutData('Q', MeineSlaveAdresse, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
| 346 | break; |
- | |
| 347 | case 's': // Parametersatz speichern |
- | |
| 348 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
- | |
| 349 | { |
- | |
| 350 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
- | |
| 351 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
| 352 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
- | |
| 353 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
- | |
| 354 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
- | |
| 355 | Piep(GetActiveParamSetNumber()); |
- | |
| 356 | while(!UebertragungAbgeschlossen); |
- | |
| 357 | SendOutData('S', MeineSlaveAdresse, 1, &pRxData[0], sizeof(unsigned char)); |
- | |
| Line -... | Line 341... | ||
| - | 341 | } |
|
| - | 342 | break; // case FC_ADDRESS: |
|
| - | 343 | ||
| 358 | } |
344 | default: // any Slave Address |
| - | 345 | Decode64(); |
|
| - | 346 | switch(RxdBuffer[2]) |
|
| - | 347 | { |
|
| - | 348 | // 't' comand placed here only for compatibility to BL |
|
| - | 349 | case 't':// Motortest |
|
| - | 350 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
| - | 351 | while(!UebertragungAbgeschlossen); |
|
| - | 352 | SendOutData('T', MeineSlaveAdresse, 0); |
|
| - | 353 | PcZugriff = 255; |
|
| - | 354 | break; |
|
| - | 355 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
|
| - | 356 | case 'K':// Kompasswert |
|
| - | 357 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
| - | 358 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
| - | 359 | break; |
|
| 359 | break; |
360 | |
| - | 361 | case 'a':// Texte der Analogwerte |
|
| - | 362 | DebugTextAnforderung = pRxData[0]; |
|
| - | 363 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
|
| - | 364 | PcZugriff = 255; |
|
| - | 365 | break; |
|
| - | 366 | ||
| - | 367 | case 'b': |
|
| - | 368 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
|
| - | 369 | ConfirmFrame = ExternControl.Frame; |
|
| - | 370 | PcZugriff = 255; |
|
| - | 371 | break; |
|
| - | 372 | case 'd': // Poll the debug data |
|
| - | 373 | DebugDataIntervall = pRxData[0] * 10; |
|
| - | 374 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
|
| - | 375 | break; |
|
| - | 376 | ||
| - | 377 | case 'h':// x-1 Displayzeilen |
|
| - | 378 | RemoteKeys |= pRxData[0]; |
|
| - | 379 | if(RemoteKeys) DisplayLine = 0; |
|
| - | 380 | DebugDisplayAnforderung = 1; |
|
| - | 381 | break; |
|
| - | 382 | ||
| - | 383 | case 'l':// x-1 Displayzeilen |
|
| - | 384 | MenuePunkt = pRxData[0]; |
|
| - | 385 | DebugDisplayAnforderung1 = 1; |
|
| - | 386 | break; |
|
| - | 387 | case 'v': // Version-Anforderung und Ausbaustufe |
|
| - | 388 | GetVersionAnforderung = 1; |
|
| - | 389 | break; |
|
| - | 390 | ||
| - | 391 | case 'g':// |
|
| - | 392 | GetExternalControl = 1; |
|
| - | 393 | break; |
|
| 360 | 394 | } |
|
| 361 | } |
395 | break; // default: |
| 362 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
396 | } |
| 363 | NeuerDatensatzEmpfangen = 0; |
397 | NeuerDatensatzEmpfangen = 0; |
| Line 409... | Line 443... | ||
| 409 | //öffnet einen Kanal für printf (STDOUT) |
443 | //öffnet einen Kanal für printf (STDOUT) |
| 410 | //fdevopen (uart_putchar, 0); |
444 | //fdevopen (uart_putchar, 0); |
| 411 | //sbi(PORTD,4); |
445 | //sbi(PORTD,4); |
| 412 | Debug_Timer = SetDelay(DebugDataIntervall); |
446 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 413 | Kompass_Timer = SetDelay(220); |
447 | Kompass_Timer = SetDelay(220); |
| 414 | MeineSlaveAdresse = 1; // Flight-Ctrl |
- | |
| Line 415... | Line 448... | ||
| 415 | 448 | ||
| 416 | VersionInfo.Major = VERSION_MAJOR; |
449 | VersionInfo.Major = VERSION_MAJOR; |
| 417 | VersionInfo.Minor = VERSION_MINOR; |
450 | VersionInfo.Minor = VERSION_MINOR; |
| 418 | VersionInfo.Patch = VERSION_PATCH; |
451 | VersionInfo.Patch = VERSION_PATCH; |
| Line 437... | Line 470... | ||
| 437 | { |
470 | { |
| 438 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
471 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
| 439 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
472 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
| 440 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
473 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 441 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
474 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 442 | SendOutData('k',MeineSlaveAdresse, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
475 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 443 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
476 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 444 | Kompass_Timer = SetDelay(99); |
477 | Kompass_Timer = SetDelay(99); |
| 445 | } |
478 | } |
| 446 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
479 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 447 | { |
480 | { |
| 448 | SendOutData('D',MeineSlaveAdresse, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
481 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 449 | DebugDataAnforderung = 0; |
482 | DebugDataAnforderung = 0; |
| 450 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
483 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
| 451 | } |
484 | } |
| 452 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
485 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 453 | { |
486 | { |
| 454 | SendOutData('A', MeineSlaveAdresse, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
487 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 455 | DebugTextAnforderung = 255; |
488 | DebugTextAnforderung = 255; |
| 456 | } |
489 | } |
| 457 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
490 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 458 | { |
491 | { |
| 459 | SendOutData('B', MeineSlaveAdresse, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
492 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 460 | ConfirmFrame = 0; |
493 | ConfirmFrame = 0; |
| 461 | } |
494 | } |
| Line 462... | Line 495... | ||
| 462 | 495 | ||
| 463 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
496 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| 464 | { |
497 | { |
| 465 | Menu(); |
498 | Menu(); |
| 466 | SendOutData('H',MeineSlaveAdresse, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
499 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| 467 | DisplayLine++; |
500 | DisplayLine++; |
| 468 | if(DisplayLine >= 4) DisplayLine = 0; |
501 | if(DisplayLine >= 4) DisplayLine = 0; |
| 469 | DebugDisplayAnforderung = 0; |
502 | DebugDisplayAnforderung = 0; |
| 470 | } |
503 | } |
| 471 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
504 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 472 | { |
505 | { |
| 473 | Menu(); |
506 | Menu(); |
| 474 | SendOutData('L',MeineSlaveAdresse, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
507 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 475 | DebugDisplayAnforderung1 = 0; |
508 | DebugDisplayAnforderung1 = 0; |
| 476 | } |
509 | } |
| 477 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
510 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 478 | { |
511 | { |
| 479 | SendOutData('V',MeineSlaveAdresse, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
512 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 480 | GetVersionAnforderung = 0; |
513 | GetVersionAnforderung = 0; |
| 481 | } |
514 | } |
| 482 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
515 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 483 | { |
516 | { |
| 484 | SendOutData('P',MeineSlaveAdresse, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
517 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 485 | GetPPMChannelAnforderung = 0; |
518 | GetPPMChannelAnforderung = 0; |
| Line 486... | Line 519... | ||
| 486 | } |
519 | } |