WebSVN - FlightCtrl - Diff - Rev 1866 and 1868 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/pgmspace.h>
#include <stdarg.h>
#include <string.h>
 
#include "eeprom.h"
#include "menu.h"
#include "timer0.h"
#include "uart0.h"
#include "rc.h"
#include "externalControl.h"
#include "output.h"
#include "attitude.h"
 
 
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
 
#define FALSE   0
#define TRUE    1
//int8_t test __attribute__ ((section (".noinit")));
uint8_t request_VerInfo = FALSE;
uint8_t request_ExternalControl = FALSE;
uint8_t request_Display = FALSE;
uint8_t request_Display1 = FALSE;
uint8_t request_DebugData = FALSE;
uint8_t request_Data3D = FALSE;
uint8_t request_DebugLabel = 255;
uint8_t request_PPMChannels = FALSE;
uint8_t request_MotorTest = FALSE;
uint8_t request_variables = FALSE;
 
uint8_t DisplayLine = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
 
uint8_t motorTestActive = 0;
uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t ConfirmFrame;
 
typedef struct {
        int16_t Heading;
}__attribute__((packed)) Heading_t;
 
DebugOut_t DebugOut;
Data3D_t Data3D;
UART_VersionInfo_t UART_VersionInfo;
 
uint16_t DebugData_Timer;
uint16_t Data3D_Timer;
uint16_t DebugData_Interval = 500; // in 1ms
uint16_t Data3D_Interval = 0; // in 1ms
 
#ifdef USE_MK3MAG
int16_t Compass_Timer;
#endif
 
// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] = {
                //1234567890123456
                "AnglePitch      ", //0
                "AngleRoll       ",
                "AngleYaw        ",
                "GyroPitch(PID)  ",
                "GyroRoll(PID)   ",
                "GyroYaw         ", //5
                "GyroPitch(AC)   ",
                "GyroRoll(AC)    ",
                "GyroYaw(AC)     ",
                "AccPitch (angle)",
                "AccRoll (angle) ", //10
                "HIRES_GYRO_INTEG",
                "Pitch Term      ",
                "Roll Term       ",
                "Yaw Term        ",
                "Throttle Term   ", //15
                "0th O Corr pitch",
                "0th O Corr roll ",
                "DriftCompDelta P",
                "DriftCompDelta R",
                "StickP          ", //20
                "RC T            ",
                "M1              ",
                "M2              ",
                "M3              ",
                "M4              ", //25
                "ControlYaw      ",
                "Airpress. Range ",
                "DriftCompPitch  ",
                "DriftCompRoll   ",
                "AirpressFiltered", //30
                "AirpressADC     " };
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void usart0_Init(void) {
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |= (1 << DDD1);
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t) (ubrr >> 8);
        UBRR0L = (uint8_t) ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |= (1 << UCSZ01);
        UCSR0C |= (1 << UCSZ00);
 
        // flush receive buffer
        while (UCSR0A & (1 << RXC0))
                UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        // initialize the debug timer
        DebugData_Timer = SetDelay(DebugData_Interval);
 
        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        RxDataLen = 0;
 
        // no bytes to send
        txd_complete = TRUE;
 
#ifdef USE_MK3MAG
        Compass_Timer = SetDelay(220);
#endif
 
        UART_VersionInfo.SWMajor = VERSION_MAJOR;
        UART_VersionInfo.SWMinor = VERSION_MINOR;
        UART_VersionInfo.SWPatch = VERSION_PATCH;
        UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
        UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
        // restore global interrupt flags
        SREG = sreg;
}
 
/****************************************************************/
/* USART0 transmitter ISR                                       */
/****************************************************************/
ISR(USART0_TX_vect)
{
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if (!txd_complete) { // transmission not completed
                ptr_txd_buffer++; // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else
                ptr_txd_buffer = 0;
}
 
/****************************************************************/
/* USART0 receiver               ISR                            */
/****************************************************************/
ISR(USART0_RX_vect)
{
        static uint16_t crc;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t crc1, crc2;
        uint8_t c;
 
        c = UDR0; // catch the received byte
 
        if (rxd_buffer_locked)
                return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                crc = c; // init crc
        }
#if 0
        else if (ptr_rxd_buffer == 1) { // handle address
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                crc += c; // update crc
        }
#endif
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
                if (c != '\r') { // no termination character
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        crc += c; // update crc
                } else { // termination character was received
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        crc -= rxd_buffer[ptr_rxd_buffer - 2];
                        crc -= rxd_buffer[ptr_rxd_buffer - 1];
                        // calculate checksum from transmitted data
                        crc %= 4096;
                        crc1 = '=' + crc / 64;
                        crc2 = '=' + crc % 64;
                        // compare checksum to transmitted checksum bytes
                        if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2
                                        == rxd_buffer[ptr_rxd_buffer - 1])) {
                                // checksum valid
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE; // lock the rxd buffer
                                // 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
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        } else { // rxd buffer overrun
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
}
 
// --------------------------------------------------------------------------
void AddCRC(uint16_t datalen) {
        uint16_t tmpCRC = 0, i;
        for (i = 0; i < datalen; i++) {
                tmpCRC += txd_buffer[i];
        }
        tmpCRC %= 4096;
        txd_buffer[i++] = '=' + tmpCRC / 64;
        txd_buffer[i++] = '=' + tmpCRC % 64;
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}
 
// --------------------------------------------------------------------------
// application example:
// SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
/*
 void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
 va_list ap;
 uint16_t txd_bufferIndex = 0;
 uint8_t *currentBuffer;
 uint8_t currentBufferIndex;
 uint16_t lengthOfCurrentBuffer;
 uint8_t shift = 0;
 
 txd_buffer[txd_bufferIndex++] = '#';                   // Start character
 txd_buffer[txd_bufferIndex++] = 'a' + addr;            // Address (a=0; b=1,...)
 txd_buffer[txd_bufferIndex++] = cmd;                   // Command
 
 va_start(ap, numofbuffers);
 
 while(numofbuffers) {
 currentBuffer = va_arg(ap, uint8_t*);
 lengthOfCurrentBuffer = va_arg(ap, int);
 currentBufferIndex = 0;
 // Encode data: 3 bytes of data are encoded into 4 bytes,
 // where the 2 most significant bits are both 0.
 while(currentBufferIndex != lengthOfCurrentBuffer) {
 if (!shift) txd_buffer[txd_bufferIndex] = 0;
 txd_buffer[txd_bufferIndex]  |= currentBuffer[currentBufferIndex] >> (shift + 2);
 txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
 shift += 2;
 if (shift == 6) { shift=0; txd_bufferIndex++; }
 currentBufferIndex++;
 }
 }
 // If the number of data bytes was not divisible by 3, stuff
 //  with 0 pseudodata  until length is again divisible by 3.
 if (shift == 2) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex]  &= 0b00110000;
 txd_buffer[++txd_bufferIndex] = 0;
 shift = 4;
 }
 if (shift == 4) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex++] &= 0b00111100;
 txd_buffer[txd_bufferIndex]    = 0;
 }
 va_end(ap);
 AddCRC(pt); // add checksum after data block and initates the transmission
 }
 */
 
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
        va_list ap;
        uint16_t pt = 0;
        uint8_t a, b, c;
        uint8_t ptr = 0;
 
        uint8_t *pdata = 0;
        int len = 0;
 
        txd_buffer[pt++] = '#'; // Start character
        txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd; // Command
 
        va_start(ap, numofbuffers);
 
        if (numofbuffers) {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }
 
        while (len) {
                if (len) {
                        a = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        a = 0;
                if (len) {
                        b = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        b = 0;
                if (len) {
                        c = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + (c & 0x3f);
        }
        va_end(ap);
        AddCRC(pt); // add checksum after data block and initates the transmission
}
 
// --------------------------------------------------------------------------
void Decode64(void) {
        uint8_t a, b, c, d;
        uint8_t x, y, z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = ReceivedBytes - 6;
 
        while (len) {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if (len--)
                        rxd_buffer[ptrOut++] = x;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = y;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = z;
                else
                        break;
        }
        pRxData = &rxd_buffer[3];
        RxDataLen = ptrOut - 3;
}
 
// --------------------------------------------------------------------------
void usart0_ProcessRxData(void) {
        // We control the motorTestActive var from here: Count it down.
        if (motorTestActive)
                motorTestActive--;
        // if data in the rxd buffer are not locked immediately return
        if (!rxd_buffer_locked)
                return;
        uint8_t tempchar1, tempchar2;
        Decode64(); // decode data block in rxd_buffer
 
        switch (rxd_buffer[1] - 'a') {
 
        case FC_ADDRESS:
                switch (rxd_buffer[2]) {
#ifdef USE_MK3MAG
                case 'K':// compass value
                compassHeading = ((Heading_t *)pRxData)->Heading;
                // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
                break;
#endif
                case 't': // motor test
                        if (RxDataLen > 20) {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));
                        } else {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, 4);
                        }
                        motorTestActive = 255;
                        externalControlActive = 255;
                        break;
 
                case 'n':// "Get Mixer Table
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));
                        break;
 
                case 'm':// "Set Mixer Table
                        if (pRxData[0] == EEMIXER_REVISION) {
                                memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer));
                                MixerTable_WriteToEEProm();
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                tempchar1 = 1;
                        } else {
                                tempchar1 = 0;
                        }
                        SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1);
                        break;
 
                case 'p': // get PPM channels
                        request_PPMChannels = TRUE;
                        break;
 
                case 'q':// request settings
                        if (pRxData[0] == 0xFF) {
                                pRxData[0] = GetParamByte(PID_ACTIVE_SET);
                        }
                        // limit settings range
                        if (pRxData[0] < 1)
                                pRxData[0] = 1; // limit to 1
                        else if (pRxData[0] > 5)
                                pRxData[0] = 5; // limit to 5
                        // load requested parameter set
                        ParamSet_ReadFromEEProm(pRxData[0]);
                        tempchar1 = pRxData[0];
                        tempchar2 = EEPARAM_REVISION;
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1),
                                        &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams,
                                        sizeof(staticParams));
                        break;
 
                case 's': // save settings
                        if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off
                        {
                                if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1]
                                                == EEPARAM_REVISION)) // check for setting to be in range and version of settings
                                {
                                        memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams));
                                        ParamSet_WriteToEEProm(pRxData[0]);
                                        /*
                                         TODO: Remove this encapsulation breach
                                         turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L;
                                         turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L;
                                         */
                                        tempchar1 = getActiveParamSet();
                                        beepNumber(tempchar1);
                                } else {
                                        tempchar1 = 0; //indicate bad data
                                }
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                        }
                        break;
 
                default:
                        //unsupported command received
                        break;
                } // case FC_ADDRESS:
 
        default: // any Slave Address
                switch (rxd_buffer[2]) {
                case 'a':// request for labels of the analog debug outputs
                        request_DebugLabel = pRxData[0];
                        if (request_DebugLabel > 31)
                                request_DebugLabel = 31;
                        externalControlActive = 255;
                        break;
 
                case 'b': // submit extern control
                        memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl));
                        ConfirmFrame = externalControl.frame;
                        externalControlActive = 255;
                        break;
 
                case 'h':// request for display columns
                        externalControlActive = 255;
                        RemoteKeys |= pRxData[0];
                        if (RemoteKeys)
                                DisplayLine = 0;
                        request_Display = TRUE;
                        break;
 
                case 'l':// request for display columns
                        externalControlActive = 255;
                        MenuItem = pRxData[0];
                        request_Display1 = TRUE;
                        break;
 
                case 'v': // request for version and board release
                        request_VerInfo = TRUE;
                        break;
 
                case 'x':
                        request_variables = TRUE;
                        break;
 
                case 'g':// get external control data
                        request_ExternalControl = TRUE;
                        break;
 
                case 'd': // request for the debug data
                        DebugData_Interval = (uint16_t) pRxData[0] * 10;
                        if (DebugData_Interval > 0)
                                request_DebugData = TRUE;
                        break;
 
                case 'c': // request for the 3D data
                        Data3D_Interval = (uint16_t) pRxData[0] * 10;
                        if (Data3D_Interval > 0)
                                request_Data3D = TRUE;
                        break;
 
                default:
                        //unsupported command received
                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        RxDataLen = 0;
        rxd_buffer_locked = FALSE;
}
 
/************************************************************************/
/* Routine für die Serielle Ausgabe                                     */
/************************************************************************/
int16_t uart_putchar(int8_t c) {
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
//---------------------------------------------------------------------------------------------
void usart0_TransmitTxData(void) {
        if (!txd_complete)
                return;
 
        if (request_VerInfo && txd_complete) {
                SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo,
                                sizeof(UART_VersionInfo));
                request_VerInfo = FALSE;
        }
 
        if (request_Display && txd_complete) {
                LCD_PrintMenu();
                SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine),
                                &DisplayBuff[DisplayLine * 20], 20);
                DisplayLine++;
                if (DisplayLine >= 4)
                        DisplayLine = 0;
                request_Display = FALSE;
        }
 
        if (request_Display1 && txd_complete) {
                LCD_PrintMenu();
                SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem,
                                sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));
                request_Display1 = FALSE;
        }
 
        if (request_DebugLabel != 0xFF) { // Texte für die Analogdaten
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer
                SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel,
                                sizeof(request_DebugLabel), label, 16);
                request_DebugLabel = 0xFF;
        }
 
        if (ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen
                SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame,
                                sizeof(ConfirmFrame));
                ConfirmFrame = 0;
        }
 
        if (((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData)
                        && txd_complete) {
                SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut));
                DebugData_Timer = SetDelay(DebugData_Interval);
                request_DebugData = FALSE;
        }
 
        if (((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D)
                        && txd_complete) {
                SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D));
                Data3D.AngleNick = (int16_t) ((10 * angle[PITCH])
                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
                Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL])
                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
                Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
                Data3D_Timer = SetDelay(Data3D_Interval);
                request_Data3D = FALSE;
        }
 
        if (request_ExternalControl && txd_complete) {
                SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl,
                                sizeof(externalControl));
                request_ExternalControl = FALSE;
        }
 
#ifdef USE_MK3MAG
        if((CheckDelay(Compass_Timer)) && txd_complete) {
                ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];
                ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];
                ToMk3Mag.CalState = compassCalState;
                SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));
                // the last state is 5 and should be send only once to avoid multiple flash writing
                if(compassCalState > 4) compassCalState = 0;
                Compass_Timer = SetDelay(99);
        }
#endif
 
        if (request_MotorTest && txd_complete) {
                SendOutData('T', FC_ADDRESS, 0);
                request_MotorTest = FALSE;
        }
 
        if (request_PPMChannels && txd_complete) {
                SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in));
                request_PPMChannels = FALSE;
        }
 
        if (request_variables && txd_complete) {
                SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables));
                request_variables = FALSE;
        }
}
 

Rev 1866	Rev 1868
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52		52
53	#include <avr/io.h>	53	#include <avr/io.h>
54	#include <avr/interrupt.h>	54	#include <avr/interrupt.h>
55	#include <avr/wdt.h>	55	#include <avr/wdt.h>
56	#include <avr/pgmspace.h>	56	#include <avr/pgmspace.h>
57	#include <stdarg.h>	57	#include <stdarg.h>
58	#include <string.h>	58	#include <string.h>
59		59
60	#include "eeprom.h"	60	#include "eeprom.h"
61	#include "menu.h"	61	#include "menu.h"
62	#include "timer0.h"	62	#include "timer0.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "rc.h"	64	#include "rc.h"
65	#include "externalControl.h"	65	#include "externalControl.h"
66	#include "output.h"	66	#include "output.h"
67	#include "attitude.h"	67	#include "attitude.h"
68		68
69		69
70	#ifdef USE_MK3MAG	70	#ifdef USE_MK3MAG
71	#include "mk3mag.h"	71	#include "mk3mag.h"
72	#endif	72	#endif
73		73
74	#define FC_ADDRESS 1	74	#define FC_ADDRESS 1
75	#define NC_ADDRESS 2	75	#define NC_ADDRESS 2
76	#define MK3MAG_ADDRESS 3	76	#define MK3MAG_ADDRESS 3
77		77
78	#define FALSE 0	78	#define FALSE 0
79	#define TRUE 1	79	#define TRUE 1
80	//int8_t test __attribute__ ((section (".noinit")));	80	//int8_t test __attribute__ ((section (".noinit")));
81	uint8_t request_VerInfo = FALSE;	81	uint8_t request_VerInfo = FALSE;
82	uint8_t request_ExternalControl = FALSE;	82	uint8_t request_ExternalControl = FALSE;
83	uint8_t request_Display = FALSE;	83	uint8_t request_Display = FALSE;
84	uint8_t request_Display1 = FALSE;	84	uint8_t request_Display1 = FALSE;
85	uint8_t request_DebugData = FALSE;	85	uint8_t request_DebugData = FALSE;
86	uint8_t request_Data3D = FALSE;	86	uint8_t request_Data3D = FALSE;
87	uint8_t request_DebugLabel = 255;	87	uint8_t request_DebugLabel = 255;
88	uint8_t request_PPMChannels = FALSE;	88	uint8_t request_PPMChannels = FALSE;
89	uint8_t request_MotorTest = FALSE;	89	uint8_t request_MotorTest = FALSE;
90	uint8_t request_variables = FALSE;	90	uint8_t request_variables = FALSE;
91		91
92	uint8_t DisplayLine = 0;	92	uint8_t DisplayLine = 0;
93		93
94	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	94	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
95	volatile uint8_t rxd_buffer_locked = FALSE;	95	volatile uint8_t rxd_buffer_locked = FALSE;
96	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	96	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
97	volatile uint8_t txd_complete = TRUE;	97	volatile uint8_t txd_complete = TRUE;
98	volatile uint8_t ReceivedBytes = 0;	98	volatile uint8_t ReceivedBytes = 0;
99	volatile uint8_t *pRxData = 0;	99	volatile uint8_t *pRxData = 0;
100	volatile uint8_t RxDataLen = 0;	100	volatile uint8_t RxDataLen = 0;
101		101
102	uint8_t motorTestActive = 0;	102	uint8_t motorTestActive = 0;
103	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };	103	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
104	uint8_t ConfirmFrame;	104	uint8_t ConfirmFrame;
105		105
106	typedef struct {	106	typedef struct {
107	int16_t Heading;	107	int16_t Heading;
108	}__attribute__((packed)) Heading_t;	108	}__attribute__((packed)) Heading_t;
109		109
110	DebugOut_t DebugOut;	110	DebugOut_t DebugOut;
111	Data3D_t Data3D;	111	Data3D_t Data3D;
112	UART_VersionInfo_t UART_VersionInfo;	112	UART_VersionInfo_t UART_VersionInfo;
113		113
114	uint16_t DebugData_Timer;	114	uint16_t DebugData_Timer;
115	uint16_t Data3D_Timer;	115	uint16_t Data3D_Timer;
116	uint16_t DebugData_Interval = 500; // in 1ms	116	uint16_t DebugData_Interval = 500; // in 1ms
117	uint16_t Data3D_Interval = 0; // in 1ms	117	uint16_t Data3D_Interval = 0; // in 1ms
118		118
119	#ifdef USE_MK3MAG	119	#ifdef USE_MK3MAG
120	int16_t Compass_Timer;	120	int16_t Compass_Timer;
121	#endif	121	#endif
122		122
123	// keep lables in flash to save 512 bytes of sram space	123	// keep lables in flash to save 512 bytes of sram space
124	const prog_uint8_t ANALOG_LABEL[32][16] = {	124	const prog_uint8_t ANALOG_LABEL[32][16] = {
125	//1234567890123456	125	//1234567890123456
126	"AnglePitch ", //0	126	"AnglePitch ", //0
127	"AngleRoll ",	127	"AngleRoll ",
128	"AngleYaw ",	128	"AngleYaw ",
129	"GyroPitch(PID) ",	129	"GyroPitch(PID) ",
130	"GyroRoll(PID) ",	130	"GyroRoll(PID) ",
131	"GyroYaw ", //5	131	"GyroYaw ", //5
132	"GyroPitch(AC) ",	132	"GyroPitch(AC) ",
133	"GyroRoll(AC) ",	133	"GyroRoll(AC) ",
134	"GyroYaw(AC) ",	134	"GyroYaw(AC) ",
135	"AccPitch (angle)",	135	"AccPitch (angle)",
136	"AccRoll (angle) ", //10	136	"AccRoll (angle) ", //10
137	"HIRES_GYRO_INTEG",	137	"HIRES_GYRO_INTEG",
138	"Pitch Term ",	138	"Pitch Term ",
139	"Roll Term ",	139	"Roll Term ",
140	"Yaw Term ",	140	"Yaw Term ",
141	"Throttle Term ", //15	141	"Throttle Term ", //15
142	"0th O Corr pitch",	142	"0th O Corr pitch",
143	"0th O Corr roll ",	143	"0th O Corr roll ",
144	"DriftCompDelta P",	144	"DriftCompDelta P",
145	"DriftCompDelta R",	145	"DriftCompDelta R",
146	"ACRollRate1 ", //20	146	"StickP ", //20
147	"ACRollRate2 ",	147	"RC T ",
148	"M1 ",	148	"M1 ",
149	"M2 ",	149	"M2 ",
150	"M3 ",	150	"M3 ",
151	"M4 ", //25	151	"M4 ", //25
152	"ControlYaw ",	152	"ControlYaw ",
153	"Airpress. Range ",	153	"Airpress. Range ",
154	"DriftCompPitch ",	154	"DriftCompPitch ",
155	"DriftCompRoll ",	155	"DriftCompRoll ",
156	"AirpressFiltered", //30	156	"AirpressFiltered", //30
157	"AirpressADC " };	157	"AirpressADC " };
158		158
159	/****************************************************************/	159	/****************************************************************/
160	/* Initialization of the USART0 */	160	/* Initialization of the USART0 */
161	/****************************************************************/	161	/****************************************************************/
162	void usart0_Init(void) {	162	void usart0_Init(void) {
163	uint8_t sreg = SREG;	163	uint8_t sreg = SREG;
164	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);	164	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
165		165
166	// disable all interrupts before configuration	166	// disable all interrupts before configuration
167	cli();	167	cli();
168		168
169	// disable RX-Interrupt	169	// disable RX-Interrupt
170	UCSR0B &= ~(1 << RXCIE0);	170	UCSR0B &= ~(1 << RXCIE0);
171	// disable TX-Interrupt	171	// disable TX-Interrupt
172	UCSR0B &= ~(1 << TXCIE0);	172	UCSR0B &= ~(1 << TXCIE0);
173		173
174	// set direction of RXD0 and TXD0 pins	174	// set direction of RXD0 and TXD0 pins
175	// set RXD0 (PD0) as an input pin	175	// set RXD0 (PD0) as an input pin
176	PORTD \|= (1 << PORTD0);	176	PORTD \|= (1 << PORTD0);
177	DDRD &= ~(1 << DDD0);	177	DDRD &= ~(1 << DDD0);
178	// set TXD0 (PD1) as an output pin	178	// set TXD0 (PD1) as an output pin
179	PORTD \|= (1 << PORTD1);	179	PORTD \|= (1 << PORTD1);
180	DDRD \|= (1 << DDD1);	180	DDRD \|= (1 << DDD1);
181		181
182	// USART0 Baud Rate Register	182	// USART0 Baud Rate Register
183	// set clock divider	183	// set clock divider
184	UBRR0H = (uint8_t) (ubrr >> 8);	184	UBRR0H = (uint8_t) (ubrr >> 8);
185	UBRR0L = (uint8_t) ubrr;	185	UBRR0L = (uint8_t) ubrr;
186		186
187	// USART0 Control and Status Register A, B, C	187	// USART0 Control and Status Register A, B, C
188		188
189	// enable double speed operation in	189	// enable double speed operation in
190	UCSR0A \|= (1 << U2X0);	190	UCSR0A \|= (1 << U2X0);
191	// enable receiver and transmitter in	191	// enable receiver and transmitter in
192	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	192	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
193	// set asynchronous mode	193	// set asynchronous mode
194	UCSR0C &= ~(1 << UMSEL01);	194	UCSR0C &= ~(1 << UMSEL01);
195	UCSR0C &= ~(1 << UMSEL00);	195	UCSR0C &= ~(1 << UMSEL00);
196	// no parity	196	// no parity
197	UCSR0C &= ~(1 << UPM01);	197	UCSR0C &= ~(1 << UPM01);
198	UCSR0C &= ~(1 << UPM00);	198	UCSR0C &= ~(1 << UPM00);
199	// 1 stop bit	199	// 1 stop bit
200	UCSR0C &= ~(1 << USBS0);	200	UCSR0C &= ~(1 << USBS0);
201	// 8-bit	201	// 8-bit
202	UCSR0B &= ~(1 << UCSZ02);	202	UCSR0B &= ~(1 << UCSZ02);
203	UCSR0C \|= (1 << UCSZ01);	203	UCSR0C \|= (1 << UCSZ01);
204	UCSR0C \|= (1 << UCSZ00);	204	UCSR0C \|= (1 << UCSZ00);
205		205
206	// flush receive buffer	206	// flush receive buffer
207	while (UCSR0A & (1 << RXC0))	207	while (UCSR0A & (1 << RXC0))
208	UDR0;	208	UDR0;
209		209
210	// enable interrupts at the end	210	// enable interrupts at the end
211	// enable RX-Interrupt	211	// enable RX-Interrupt
212	UCSR0B \|= (1 << RXCIE0);	212	UCSR0B \|= (1 << RXCIE0);
213	// enable TX-Interrupt	213	// enable TX-Interrupt
214	UCSR0B \|= (1 << TXCIE0);	214	UCSR0B \|= (1 << TXCIE0);
215		215
216	// initialize the debug timer	216	// initialize the debug timer
217	DebugData_Timer = SetDelay(DebugData_Interval);	217	DebugData_Timer = SetDelay(DebugData_Interval);
218		218
219	// unlock rxd_buffer	219	// unlock rxd_buffer
220	rxd_buffer_locked = FALSE;	220	rxd_buffer_locked = FALSE;
221	pRxData = 0;	221	pRxData = 0;
222	RxDataLen = 0;	222	RxDataLen = 0;
223		223
224	// no bytes to send	224	// no bytes to send
225	txd_complete = TRUE;	225	txd_complete = TRUE;
226		226
227	#ifdef USE_MK3MAG	227	#ifdef USE_MK3MAG
228	Compass_Timer = SetDelay(220);	228	Compass_Timer = SetDelay(220);
229	#endif	229	#endif
230		230
231	UART_VersionInfo.SWMajor = VERSION_MAJOR;	231	UART_VersionInfo.SWMajor = VERSION_MAJOR;
232	UART_VersionInfo.SWMinor = VERSION_MINOR;	232	UART_VersionInfo.SWMinor = VERSION_MINOR;
233	UART_VersionInfo.SWPatch = VERSION_PATCH;	233	UART_VersionInfo.SWPatch = VERSION_PATCH;
234	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	234	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
235	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	235	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
236		236
237	// restore global interrupt flags	237	// restore global interrupt flags
238	SREG = sreg;	238	SREG = sreg;
239	}	239	}
240		240
241	/****************************************************************/	241	/****************************************************************/
242	/* USART0 transmitter ISR */	242	/* USART0 transmitter ISR */
243	/****************************************************************/	243	/****************************************************************/
244	ISR(USART0_TX_vect)	244	ISR(USART0_TX_vect)
245	{	245	{
246	static uint16_t ptr_txd_buffer = 0;	246	static uint16_t ptr_txd_buffer = 0;
247	uint8_t tmp_tx;	247	uint8_t tmp_tx;
248	if (!txd_complete) { // transmission not completed	248	if (!txd_complete) { // transmission not completed
249	ptr_txd_buffer++; // die [0] wurde schon gesendet	249	ptr_txd_buffer++; // die [0] wurde schon gesendet
250	tmp_tx = txd_buffer[ptr_txd_buffer];	250	tmp_tx = txd_buffer[ptr_txd_buffer];
251	// if terminating character or end of txd buffer was reached	251	// if terminating character or end of txd buffer was reached
252	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {	252	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {
253	ptr_txd_buffer = 0; // reset txd pointer	253	ptr_txd_buffer = 0; // reset txd pointer
254	txd_complete = 1; // stop transmission	254	txd_complete = 1; // stop transmission
255	}	255	}
256	UDR0 = tmp_tx; // send current byte will trigger this ISR again	256	UDR0 = tmp_tx; // send current byte will trigger this ISR again
257	}	257	}
258	// transmission completed	258	// transmission completed
259	else	259	else
260	ptr_txd_buffer = 0;	260	ptr_txd_buffer = 0;
261	}	261	}
262		262
263	/****************************************************************/	263	/****************************************************************/
264	/* USART0 receiver ISR */	264	/* USART0 receiver ISR */
265	/****************************************************************/	265	/****************************************************************/
266	ISR(USART0_RX_vect)	266	ISR(USART0_RX_vect)
267	{	267	{
268	static uint16_t crc;	268	static uint16_t crc;
269	static uint8_t ptr_rxd_buffer = 0;	269	static uint8_t ptr_rxd_buffer = 0;
270	uint8_t crc1, crc2;	270	uint8_t crc1, crc2;
271	uint8_t c;	271	uint8_t c;
272		272
273	c = UDR0; // catch the received byte	273	c = UDR0; // catch the received byte
274		274
275	if (rxd_buffer_locked)	275	if (rxd_buffer_locked)
276	return; // if rxd buffer is locked immediately return	276	return; // if rxd buffer is locked immediately return
277		277
278	// the rxd buffer is unlocked	278	// the rxd buffer is unlocked
279	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received	279	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
280	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	280	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
281	crc = c; // init crc	281	crc = c; // init crc
282	}	282	}
283	#if 0	283	#if 0
284	else if (ptr_rxd_buffer == 1) { // handle address	284	else if (ptr_rxd_buffer == 1) { // handle address
285	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	285	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
286	crc += c; // update crc	286	crc += c; // update crc
287	}	287	}
288	#endif	288	#endif
289	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes	289	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
290	if (c != '\r') { // no termination character	290	if (c != '\r') { // no termination character
291	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	291	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
292	crc += c; // update crc	292	crc += c; // update crc
293	} else { // termination character was received	293	} else { // termination character was received
294	// the last 2 bytes are no subject for checksum calculation	294	// the last 2 bytes are no subject for checksum calculation
295	// they are the checksum itself	295	// they are the checksum itself
296	crc -= rxd_buffer[ptr_rxd_buffer - 2];	296	crc -= rxd_buffer[ptr_rxd_buffer - 2];
297	crc -= rxd_buffer[ptr_rxd_buffer - 1];	297	crc -= rxd_buffer[ptr_rxd_buffer - 1];
298	// calculate checksum from transmitted data	298	// calculate checksum from transmitted data
299	crc %= 4096;	299	crc %= 4096;
300	crc1 = '=' + crc / 64;	300	crc1 = '=' + crc / 64;
301	crc2 = '=' + crc % 64;	301	crc2 = '=' + crc % 64;
302	// compare checksum to transmitted checksum bytes	302	// compare checksum to transmitted checksum bytes
303	if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2	303	if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2
304	== rxd_buffer[ptr_rxd_buffer - 1])) {	304	== rxd_buffer[ptr_rxd_buffer - 1])) {
305	// checksum valid	305	// checksum valid
306	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	306	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
307	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	307	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
308	rxd_buffer_locked = TRUE; // lock the rxd buffer	308	rxd_buffer_locked = TRUE; // lock the rxd buffer
309	// if 2nd byte is an 'R' enable watchdog that will result in an reset	309	// if 2nd byte is an 'R' enable watchdog that will result in an reset
310	if (rxd_buffer[2] == 'R') {	310	if (rxd_buffer[2] == 'R') {
311	wdt_enable(WDTO_250MS);	311	wdt_enable(WDTO_250MS);
312	} // Reset-Commando	312	} // Reset-Commando
313	} else { // checksum invalid	313	} else { // checksum invalid
314	rxd_buffer_locked = FALSE; // unlock rxd buffer	314	rxd_buffer_locked = FALSE; // unlock rxd buffer
315	}	315	}
316	ptr_rxd_buffer = 0; // reset rxd buffer pointer	316	ptr_rxd_buffer = 0; // reset rxd buffer pointer
317	}	317	}
318	} else { // rxd buffer overrun	318	} else { // rxd buffer overrun
319	ptr_rxd_buffer = 0; // reset rxd buffer	319	ptr_rxd_buffer = 0; // reset rxd buffer
320	rxd_buffer_locked = FALSE; // unlock rxd buffer	320	rxd_buffer_locked = FALSE; // unlock rxd buffer
321	}	321	}
322	}	322	}
323		323
324	// --------------------------------------------------------------------------	324	// --------------------------------------------------------------------------
325	void AddCRC(uint16_t datalen) {	325	void AddCRC(uint16_t datalen) {
326	uint16_t tmpCRC = 0, i;	326	uint16_t tmpCRC = 0, i;
327	for (i = 0; i < datalen; i++) {	327	for (i = 0; i < datalen; i++) {
328	tmpCRC += txd_buffer[i];	328	tmpCRC += txd_buffer[i];
329	}	329	}
330	tmpCRC %= 4096;	330	tmpCRC %= 4096;
331	txd_buffer[i++] = '=' + tmpCRC / 64;	331	txd_buffer[i++] = '=' + tmpCRC / 64;
332	txd_buffer[i++] = '=' + tmpCRC % 64;	332	txd_buffer[i++] = '=' + tmpCRC % 64;
333	txd_buffer[i++] = '\r';	333	txd_buffer[i++] = '\r';
334	txd_complete = FALSE;	334	txd_complete = FALSE;
335	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	335	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
336	}	336	}
337		337
338	// --------------------------------------------------------------------------	338	// --------------------------------------------------------------------------
339	// application example:	339	// application example:
340	// SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);	340	// SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
341	/*	341	/*
342	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	342	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
343	va_list ap;	343	va_list ap;
344	uint16_t txd_bufferIndex = 0;	344	uint16_t txd_bufferIndex = 0;
345	uint8_t *currentBuffer;	345	uint8_t *currentBuffer;
346	uint8_t currentBufferIndex;	346	uint8_t currentBufferIndex;
347	uint16_t lengthOfCurrentBuffer;	347	uint16_t lengthOfCurrentBuffer;
348	uint8_t shift = 0;	348	uint8_t shift = 0;
349		349
350	txd_buffer[txd_bufferIndex++] = '#'; // Start character	350	txd_buffer[txd_bufferIndex++] = '#'; // Start character
351	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)	351	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)
352	txd_buffer[txd_bufferIndex++] = cmd; // Command	352	txd_buffer[txd_bufferIndex++] = cmd; // Command
353		353
354	va_start(ap, numofbuffers);	354	va_start(ap, numofbuffers);
355		355
356	while(numofbuffers) {	356	while(numofbuffers) {
357	currentBuffer = va_arg(ap, uint8_t*);	357	currentBuffer = va_arg(ap, uint8_t*);
358	lengthOfCurrentBuffer = va_arg(ap, int);	358	lengthOfCurrentBuffer = va_arg(ap, int);
359	currentBufferIndex = 0;	359	currentBufferIndex = 0;
360	// Encode data: 3 bytes of data are encoded into 4 bytes,	360	// Encode data: 3 bytes of data are encoded into 4 bytes,
361	// where the 2 most significant bits are both 0.	361	// where the 2 most significant bits are both 0.
362	while(currentBufferIndex != lengthOfCurrentBuffer) {	362	while(currentBufferIndex != lengthOfCurrentBuffer) {
363	if (!shift) txd_buffer[txd_bufferIndex] = 0;	363	if (!shift) txd_buffer[txd_bufferIndex] = 0;
364	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);	364	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);
365	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;	365	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
366	shift += 2;	366	shift += 2;
367	if (shift == 6) { shift=0; txd_bufferIndex++; }	367	if (shift == 6) { shift=0; txd_bufferIndex++; }
368	currentBufferIndex++;	368	currentBufferIndex++;
369	}	369	}
370	}	370	}
371	// If the number of data bytes was not divisible by 3, stuff	371	// If the number of data bytes was not divisible by 3, stuff
372	// with 0 pseudodata until length is again divisible by 3.	372	// with 0 pseudodata until length is again divisible by 3.
373	if (shift == 2) {	373	if (shift == 2) {
374	// We need to stuff with zero bytes at the end.	374	// We need to stuff with zero bytes at the end.
375	txd_buffer[txd_bufferIndex] &= 0b00110000;	375	txd_buffer[txd_bufferIndex] &= 0b00110000;
376	txd_buffer[++txd_bufferIndex] = 0;	376	txd_buffer[++txd_bufferIndex] = 0;
377	shift = 4;	377	shift = 4;
378	}	378	}
379	if (shift == 4) {	379	if (shift == 4) {
380	// We need to stuff with zero bytes at the end.	380	// We need to stuff with zero bytes at the end.
381	txd_buffer[txd_bufferIndex++] &= 0b00111100;	381	txd_buffer[txd_bufferIndex++] &= 0b00111100;
382	txd_buffer[txd_bufferIndex] = 0;	382	txd_buffer[txd_bufferIndex] = 0;
383	}	383	}
384	va_end(ap);	384	va_end(ap);
385	AddCRC(pt); // add checksum after data block and initates the transmission	385	AddCRC(pt); // add checksum after data block and initates the transmission
386	}	386	}
387	*/	387	*/
388		388
389	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	389	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
390	va_list ap;	390	va_list ap;
391	uint16_t pt = 0;	391	uint16_t pt = 0;
392	uint8_t a, b, c;	392	uint8_t a, b, c;
393	uint8_t ptr = 0;	393	uint8_t ptr = 0;
394		394
395	uint8_t *pdata = 0;	395	uint8_t *pdata = 0;
396	int len = 0;	396	int len = 0;
397		397
398	txd_buffer[pt++] = '#'; // Start character	398	txd_buffer[pt++] = '#'; // Start character
399	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	399	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
400	txd_buffer[pt++] = cmd; // Command	400	txd_buffer[pt++] = cmd; // Command
401		401
402	va_start(ap, numofbuffers);	402	va_start(ap, numofbuffers);
403		403
404	if (numofbuffers) {	404	if (numofbuffers) {
405	pdata = va_arg(ap, uint8_t*);	405	pdata = va_arg(ap, uint8_t*);
406	len = va_arg(ap, int);	406	len = va_arg(ap, int);
407	ptr = 0;	407	ptr = 0;
408	numofbuffers--;	408	numofbuffers--;
409	}	409	}
410		410
411	while (len) {	411	while (len) {
412	if (len) {	412	if (len) {
413	a = pdata[ptr++];	413	a = pdata[ptr++];
414	len--;	414	len--;
415	if ((!len) && numofbuffers) {	415	if ((!len) && numofbuffers) {
416	pdata = va_arg(ap, uint8_t*);	416	pdata = va_arg(ap, uint8_t*);
417	len = va_arg(ap, int);	417	len = va_arg(ap, int);
418	ptr = 0;	418	ptr = 0;
419	numofbuffers--;	419	numofbuffers--;
420	}	420	}
421	} else	421	} else
422	a = 0;	422	a = 0;
423	if (len) {	423	if (len) {
424	b = pdata[ptr++];	424	b = pdata[ptr++];
425	len--;	425	len--;
426	if ((!len) && numofbuffers) {	426	if ((!len) && numofbuffers) {
427	pdata = va_arg(ap, uint8_t*);	427	pdata = va_arg(ap, uint8_t*);
428	len = va_arg(ap, int);	428	len = va_arg(ap, int);
429	ptr = 0;	429	ptr = 0;
430	numofbuffers--;	430	numofbuffers--;
431	}	431	}
432	} else	432	} else
433	b = 0;	433	b = 0;
434	if (len) {	434	if (len) {
435	c = pdata[ptr++];	435	c = pdata[ptr++];
436	len--;	436	len--;
437	if ((!len) && numofbuffers) {	437	if ((!len) && numofbuffers) {
438	pdata = va_arg(ap, uint8_t*);	438	pdata = va_arg(ap, uint8_t*);
439	len = va_arg(ap, int);	439	len = va_arg(ap, int);
440	ptr = 0;	440	ptr = 0;
441	numofbuffers--;	441	numofbuffers--;
442	}	442	}
443	} else	443	} else
444	c = 0;	444	c = 0;
445	txd_buffer[pt++] = '=' + (a >> 2);	445	txd_buffer[pt++] = '=' + (a >> 2);
446	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	446	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
447	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	447	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
448	txd_buffer[pt++] = '=' + (c & 0x3f);	448	txd_buffer[pt++] = '=' + (c & 0x3f);
449	}	449	}
450	va_end(ap);	450	va_end(ap);
451	AddCRC(pt); // add checksum after data block and initates the transmission	451	AddCRC(pt); // add checksum after data block and initates the transmission
452	}	452	}
453		453
454	// --------------------------------------------------------------------------	454	// --------------------------------------------------------------------------
455	void Decode64(void) {	455	void Decode64(void) {
456	uint8_t a, b, c, d;	456	uint8_t a, b, c, d;
457	uint8_t x, y, z;	457	uint8_t x, y, z;
458	uint8_t ptrIn = 3;	458	uint8_t ptrIn = 3;
459	uint8_t ptrOut = 3;	459	uint8_t ptrOut = 3;
460	uint8_t len = ReceivedBytes - 6;	460	uint8_t len = ReceivedBytes - 6;
461		461
462	while (len) {	462	while (len) {
463	a = rxd_buffer[ptrIn++] - '=';	463	a = rxd_buffer[ptrIn++] - '=';
464	b = rxd_buffer[ptrIn++] - '=';	464	b = rxd_buffer[ptrIn++] - '=';
465	c = rxd_buffer[ptrIn++] - '=';	465	c = rxd_buffer[ptrIn++] - '=';
466	d = rxd_buffer[ptrIn++] - '=';	466	d = rxd_buffer[ptrIn++] - '=';
467	//if(ptrIn > ReceivedBytes - 3) break;	467	//if(ptrIn > ReceivedBytes - 3) break;
468		468
469	x = (a << 2) \| (b >> 4);	469	x = (a << 2) \| (b >> 4);
470	y = ((b & 0x0f) << 4) \| (c >> 2);	470	y = ((b & 0x0f) << 4) \| (c >> 2);
471	z = ((c & 0x03) << 6) \| d;	471	z = ((c & 0x03) << 6) \| d;
472		472
473	if (len--)	473	if (len--)
474	rxd_buffer[ptrOut++] = x;	474	rxd_buffer[ptrOut++] = x;
475	else	475	else
476	break;	476	break;
477	if (len--)	477	if (len--)
478	rxd_buffer[ptrOut++] = y;	478	rxd_buffer[ptrOut++] = y;
479	else	479	else
480	break;	480	break;
481	if (len--)	481	if (len--)
482	rxd_buffer[ptrOut++] = z;	482	rxd_buffer[ptrOut++] = z;
483	else	483	else
484	break;	484	break;
485	}	485	}
486	pRxData = &rxd_buffer[3];	486	pRxData = &rxd_buffer[3];
487	RxDataLen = ptrOut - 3;	487	RxDataLen = ptrOut - 3;
488	}	488	}
489		489
490	// --------------------------------------------------------------------------	490	// --------------------------------------------------------------------------
491	void usart0_ProcessRxData(void) {	491	void usart0_ProcessRxData(void) {
492	// We control the motorTestActive var from here: Count it down.	492	// We control the motorTestActive var from here: Count it down.
493	if (motorTestActive)	493	if (motorTestActive)
494	motorTestActive--;	494	motorTestActive--;
495	// if data in the rxd buffer are not locked immediately return	495	// if data in the rxd buffer are not locked immediately return
496	if (!rxd_buffer_locked)	496	if (!rxd_buffer_locked)
497	return;	497	return;
498	uint8_t tempchar1, tempchar2;	498	uint8_t tempchar1, tempchar2;
499	Decode64(); // decode data block in rxd_buffer	499	Decode64(); // decode data block in rxd_buffer
500		500

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/uart0.c - Rev 1866 → 1868