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| Rev 43 | Rev 44 | ||
|---|---|---|---|
| Line 97... | Line 97... | ||
| 97 | uint8_t ConfirmFrame = 0; |
97 | uint8_t ConfirmFrame = 0; |
| Line 98... | Line 98... | ||
| 98 | 98 | ||
| 99 | uint8_t PC_Connected = 0; |
99 | uint8_t PC_Connected = 0; |
| Line 100... | Line -... | ||
| 100 | uint8_t FC_Connected = 0; |
- | |
| 101 | - | ||
| Line 102... | Line 100... | ||
| 102 | uint8_t MySlaveAddr = MK3MAG_ADDRESS; |
100 | uint8_t FC_Connected = 0; |
| 103 | 101 | ||
| 104 | 102 | ||
| 105 | DebugOut_t DebugOut; |
103 | DebugOut_t DebugOut; |
| Line 224... | Line 222... | ||
| 224 | UART_VersionInfo.Major = VERSION_MAJOR; |
222 | UART_VersionInfo.Major = VERSION_MAJOR; |
| 225 | UART_VersionInfo.Minor = VERSION_MINOR; |
223 | UART_VersionInfo.Minor = VERSION_MINOR; |
| 226 | UART_VersionInfo.Patch = VERSION_PATCH; |
224 | UART_VersionInfo.Patch = VERSION_PATCH; |
| 227 | UART_VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
225 | UART_VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
| Line 228... | Line -... | ||
| 228 | - | ||
| 229 | MySlaveAddr = MK3MAG_ADDRESS; |
- | |
| 230 | 226 | ||
| 231 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
227 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
| 232 | USART0_putchar ('\n'); |
228 | USART0_putchar ('\n'); |
| 233 | USART0_putchar ('C'); |
229 | USART0_putchar ('C'); |
| 234 | USART0_putchar ('P'); |
230 | USART0_putchar ('P'); |
| Line 498... | Line 494... | ||
| 498 | void USART0_ProcessRxData(void) |
494 | void USART0_ProcessRxData(void) |
| 499 | { |
495 | { |
| 500 | // if data in the rxd buffer are not locked immediately return |
496 | // if data in the rxd buffer are not locked immediately return |
| 501 | if(!rxd_buffer_locked) return; |
497 | if(!rxd_buffer_locked) return; |
| Line 502... | Line -... | ||
| 502 | - | ||
| 503 | Decode64(); // decode data block in rxd_buffer |
- | |
| 504 | 498 | ||
| 505 | switch(rxd_buffer[2]) |
499 | switch(rxd_buffer[1]) // check Slave Address |
| - | 500 | { |
|
| - | 501 | case MK3MAG_ADDRESS: |
|
| - | 502 | Decode64(); // decode data block in rxd_buffer |
|
| - | 503 | switch(rxd_buffer[2]) // check for CmdID |
|
| 506 | { |
504 | { |
| 507 | case 'w': // old style |
505 | case 'w': // old style |
| 508 | case 'k':// Attitude info from FC |
506 | case 'k': // Attitude info from FC |
| 509 | memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
507 | memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
| 510 | RequestFlags |= RQST_COMPASS_HEADING; |
508 | RequestFlags |= RQST_COMPASS_HEADING; |
| 511 | AttitudeSource = ATTITUDE_SOURCE_UART; |
509 | AttitudeSource = ATTITUDE_SOURCE_UART; |
| 512 | Orientation = ExternData.Orientation; |
510 | Orientation = ExternData.Orientation; |
| - | 511 | FC_Connected = 255; |
|
| - | 512 | break; |
|
| - | 513 | ||
| - | 514 | default: |
|
| 513 | FC_Connected = 255; |
515 | // unsupported command |
| - | 516 | break; |
|
| - | 517 | } |
|
| 514 | break; |
518 | break; // case MK3MAG_ADDRESS: |
| - | 519 | ||
| 515 | 520 | default: // any Slave Adress |
|
| - | 521 | Decode64(); // decode data block in rxd_buffer |
|
| - | 522 | switch(rxd_buffer[2]) // check for CmdID |
|
| 516 | // used only for debug proposes at serial port |
523 | { |
| 517 | case 'b': // extern control |
524 | case 'b': // extern control |
| 518 | memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
525 | memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
| 519 | #define KEY1 0x01 |
526 | #define KEY1 0x01 |
| 520 | #define KEY2 0x02 |
527 | #define KEY2 0x02 |
| 521 | #define KEY3 0x04 |
528 | #define KEY3 0x04 |
| 522 | #define KEY4 0x08 |
529 | #define KEY4 0x08 |
| 523 | #define KEY5 0x10 |
530 | #define KEY5 0x10 |
| 524 | // use right arrow at display for switching the calstate |
531 | // use right arrow at display for switching the calstate |
| 525 | if(ExternControl.RemoteButtons & KEY2) |
532 | if(ExternControl.RemoteButtons & KEY2) |
| 526 | { |
533 | { |
| 527 | ExternData.CalState++; |
534 | ExternData.CalState++; |
| 528 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
535 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
| 529 | } |
536 | } |
| 530 | ConfirmFrame = ExternControl.Frame; |
537 | ConfirmFrame = ExternControl.Frame; |
| 531 | PC_Connected = 255; |
538 | PC_Connected = 255; |
| 532 | break; |
539 | break; |
| 533 | 540 | ||
| 534 | case 'd': // request for the debug data |
541 | case 'd': // request for the debug data |
| 535 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
542 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| 536 | if(DebugData_Interval) RequestFlags |= RQST_DEBUG_DATA; |
543 | if(DebugData_Interval) RequestFlags |= RQST_DEBUG_DATA; |
| 537 | PC_Connected = 255; |
544 | PC_Connected = 255; |
| 538 | break; |
545 | break; |
| 539 | 546 | ||
| 540 | case 'v': // request version and board release |
547 | case 'v': // request version and board release |
| 541 | RequestFlags |= RQST_VERSION_INFO; |
548 | RequestFlags |= RQST_VERSION_INFO; |
| 542 | PC_Connected = 255; |
549 | PC_Connected = 255; |
| 543 | break; |
550 | break; |
| 544 | 551 | ||
| 545 | case 'a':// Labels of the Analog Debug outputs |
552 | case 'a':// Labels of the Analog Debug outputs |
| 546 | RequestDebugLabel = pRxData[0]; |
553 | RequestDebugLabel = pRxData[0]; |
| 547 | RequestFlags |= RQST_DEBUG_LABEL; |
554 | RequestFlags |= RQST_DEBUG_LABEL; |
| 548 | PC_Connected = 255; |
555 | PC_Connected = 255; |
| 549 | break; |
556 | break; |
| 550 | 557 | ||
| 551 | case 'g':// get extern control data |
558 | case 'g':// get extern control data |
| 552 | RequestFlags |= RQST_EXTERN_CTRL; |
559 | RequestFlags |= RQST_EXTERN_CTRL; |
| - | 560 | PC_Connected = 255; |
|
| - | 561 | break; |
|
| - | 562 | ||
| - | 563 | default: |
|
| 553 | PC_Connected = 255; |
564 | // unsupported command |
| - | 565 | break; |
|
| - | 566 | } |
|
| 554 | break; |
567 | break; // default: |
| 555 | } |
568 | } |
| 556 | // unlock the rxd buffer after processing |
569 | // unlock the rxd buffer after processing |
| 557 | pRxData = 0; |
570 | pRxData = 0; |
| 558 | RxDataLen = 0; |
571 | RxDataLen = 0; |
| Line 568... | Line 581... | ||
| 568 | 581 | ||
| Line 569... | Line 582... | ||
| 569 | if(!txd_complete) return; |
582 | if(!txd_complete) return; |
| 570 | 583 | ||
| 571 | if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
584 | if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
| 572 | { |
585 | { |
| 573 | SendOutData('A', MySlaveAddr, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16); |
586 | SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16); |
| 574 | RequestDebugLabel = 0xFF; |
587 | RequestDebugLabel = 0xFF; |
| Line 575... | Line 588... | ||
| 575 | RequestFlags &= ~RQST_DEBUG_LABEL; |
588 | RequestFlags &= ~RQST_DEBUG_LABEL; |
| 576 | } |
589 | } |
| 577 | 590 | ||
| 578 | if(ConfirmFrame && txd_complete) |
591 | if(ConfirmFrame && txd_complete) |
| 579 | { |
592 | { |
| Line 580... | Line 593... | ||
| 580 | SendOutData('B',MySlaveAddr, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
593 | SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
| 581 | ConfirmFrame = 0; |
594 | ConfirmFrame = 0; |
| 582 | } |
595 | } |
| 583 | 596 | ||
| 584 | if(( (DebugData_Interval && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
597 | if(( (DebugData_Interval && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
| 585 | { |
598 | { |
| 586 | SetDebugValues(); |
599 | SetDebugValues(); |
| Line 587... | Line 600... | ||
| 587 | SendOutData('D', MySlaveAddr, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
600 | SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| 588 | DebugData_Timer = SetDelay(DebugData_Interval); |
601 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 589 | RequestFlags &= ~RQST_DEBUG_DATA; |
602 | RequestFlags &= ~RQST_DEBUG_DATA; |
| 590 | } |
603 | } |
| 591 | 604 | ||
| Line 592... | Line 605... | ||
| 592 | 605 | ||
| 593 | if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
606 | if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
| 594 | { |
607 | { |
| 595 | SendOutData('G',MySlaveAddr, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
608 | SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
| 596 | RequestFlags &= ~RQST_EXTERN_CTRL; |
609 | RequestFlags &= ~RQST_EXTERN_CTRL; |
| Line 597... | Line 610... | ||
| 597 | } |
610 | } |
| 598 | 611 | ||
| 599 | if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
612 | if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
| 600 | { |
613 | { |
| 601 | SendOutData('K',MySlaveAddr, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
614 | SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC |
| 602 | RequestFlags &= ~RQST_COMPASS_HEADING; |
615 | RequestFlags &= ~RQST_COMPASS_HEADING; |