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Rev | Author | Line No. | Line |
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911 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | #include <stdarg.h> |
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8 | #include <string.h> |
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9 | #include <avr/pgmspace.h> |
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10 | #include "main.h" |
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11 | #include "uart.h" |
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12 | #include "libfc.h" |
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13 | #include "eeprom.h" |
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14 | |||
15 | #define FC_ADDRESS 1 |
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16 | #define NC_ADDRESS 2 |
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17 | #define MK3MAG_ADDRESS 3 |
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18 | #define BL_CTRL_ADDRESS 5 |
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19 | |||
20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
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21 | #define MAX_SENDE_BUFF 170 |
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22 | #define MAX_EMPFANGS_BUFF 170 |
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23 | |||
24 | #define BLPARAM_REVISION 1 |
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25 | #define MASK_SET_PWM_SCALING 0x01 |
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26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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27 | #define MASK_SET_TEMP_LIMIT 0x04 |
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28 | #define MASK_SET_CURRENT_SCALING 0x08 |
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29 | #define MASK_SET_BITCONFIG 0x10 |
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30 | #define MASK_RESET_CAPCOUNTER 0x20 |
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31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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32 | #define MASK_SET_SAVE_EEPROM 0x80 |
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33 | |||
34 | typedef struct |
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35 | { |
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36 | unsigned char Revision; // revision of parameter structure |
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37 | unsigned char Address; // target address |
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38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
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39 | unsigned char CurrentLimit; // current limit in 1A steps |
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40 | unsigned char TemperatureLimit; // in °C |
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41 | unsigned char CurrentScaling; // scaling factor for current measurement |
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42 | unsigned char BitConfig; // see defines above |
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43 | unsigned char SetMask; // filter for active paramters |
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44 | unsigned char Checksum; // checksum for parameter sturcture |
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45 | } __attribute__((packed)) BLParameter_t; |
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46 | |||
47 | |||
48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
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49 | unsigned char DisplayLine = 0; |
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50 | unsigned volatile char SioTmp = 0; |
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51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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54 | unsigned volatile char CntCrcError = 0; |
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55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
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57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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58 | |||
59 | unsigned char *pRxData = 0; |
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60 | unsigned char RxDataLen = 0; |
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61 | unsigned volatile char PC_DebugTimeout = 0; |
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62 | unsigned volatile char PC_MotortestActive = 0; |
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63 | unsigned char DebugTextAnforderung = 255; |
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64 | |||
65 | unsigned char PcZugriff = 100; |
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66 | unsigned char MotorTest[16]; |
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67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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68 | unsigned char ConfirmFrame; |
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69 | struct str_DebugOut DebugOut; |
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70 | struct str_ExternControl ExternControl; |
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71 | struct str_VersionInfo VersionInfo; |
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72 | struct str_WinkelOut WinkelOut; |
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73 | struct str_Data3D Data3D; |
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74 | |||
75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
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76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
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77 | unsigned int AboTimeOut = 0; |
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78 | unsigned volatile char JetiUpdateModeActive = 0; |
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79 | |||
80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
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81 | { |
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82 | //1234567890123456 |
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83 | "AngleNick ", //0 |
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84 | "AngleRoll ", |
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85 | "AccNick ", |
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86 | "AccRoll ", |
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87 | "YawGyro ", |
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88 | "Height Value ", //5 |
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89 | "AccZ ", |
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90 | "Gas ", |
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91 | "Compass Value ", |
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92 | "Voltage [0.1V] ", |
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93 | "Receiver Level ", //10 |
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94 | "Gyro Compass ", |
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95 | "Motor 1 ", |
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96 | "Motor 2 ", |
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97 | "Motor 3 ", |
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98 | "Motor 4 ", //15 |
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99 | "16 ", |
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100 | "17 ", |
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101 | "18 ", |
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102 | "19 ", |
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103 | "Servo ", //20 |
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104 | "Hovergas ", |
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105 | "Current [0.1A] ", |
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106 | "Capacity [mAh] ", |
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107 | "24 ", |
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108 | "25 ", //25 |
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109 | "26 ", |
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110 | "27 ", |
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111 | "I2C-Error ", |
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112 | "BL Limit ", |
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113 | "GPS_Nick ", //30 |
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114 | "GPS_Roll " |
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115 | }; |
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116 | |||
117 | |||
118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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119 | //++ Sende-Part der Datenübertragung |
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120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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121 | ISR(USART0_TX_vect) |
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122 | { |
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123 | static unsigned int ptr = 0; |
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124 | unsigned char tmp_tx; |
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125 | |||
126 | if(!UebertragungAbgeschlossen) |
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127 | { |
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128 | ptr++; // die [0] wurde schon gesendet |
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129 | tmp_tx = TxdBuffer[ptr]; |
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130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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131 | { |
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132 | ptr = 0; |
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133 | UebertragungAbgeschlossen = 1; |
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134 | } |
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135 | UDR0 = tmp_tx; |
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136 | } |
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137 | else ptr = 0; |
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138 | } |
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139 | |||
140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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143 | ISR(USART0_RX_vect) |
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144 | { |
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145 | static unsigned int crc; |
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146 | static unsigned char crc1,crc2,buf_ptr; |
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147 | static unsigned char UartState = 0; |
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148 | unsigned char CrcOkay = 0; |
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149 | |||
150 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
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151 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
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152 | |||
153 | SioTmp = UDR0; |
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154 | |||
155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
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156 | if(SioTmp == '\r' && UartState == 2) |
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157 | { |
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158 | UartState = 0; |
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159 | crc -= RxdBuffer[buf_ptr-2]; |
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160 | crc -= RxdBuffer[buf_ptr-1]; |
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161 | crc %= 4096; |
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162 | crc1 = '=' + crc / 64; |
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163 | crc2 = '=' + crc % 64; |
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164 | CrcOkay = 0; |
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165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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167 | { |
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168 | NeuerDatensatzEmpfangen = 1; |
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169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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170 | RxdBuffer[buf_ptr] = '\r'; |
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171 | if(RxdBuffer[2] == 'R') |
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172 | { |
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173 | LcdClear(); |
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174 | wdt_enable(WDTO_250MS); // Reset-Commando |
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175 | ServoActive = 0; |
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176 | } |
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177 | |||
178 | } |
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179 | } |
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180 | else |
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181 | switch(UartState) |
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182 | { |
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183 | case 0: |
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184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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185 | buf_ptr = 0; |
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186 | RxdBuffer[buf_ptr++] = SioTmp; |
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187 | crc = SioTmp; |
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188 | break; |
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189 | case 1: // Adresse auswerten |
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190 | UartState++; |
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191 | RxdBuffer[buf_ptr++] = SioTmp; |
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192 | crc += SioTmp; |
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193 | break; |
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194 | case 2: // Eingangsdaten sammeln |
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195 | RxdBuffer[buf_ptr] = SioTmp; |
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196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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197 | else UartState = 0; |
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198 | crc += SioTmp; |
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199 | break; |
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200 | default: |
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201 | UartState = 0; |
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202 | break; |
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203 | } |
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204 | } |
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205 | |||
206 | |||
207 | // -------------------------------------------------------------------------- |
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208 | void AddCRC(unsigned int wieviele) |
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209 | { |
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210 | unsigned int tmpCRC = 0,i; |
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211 | for(i = 0; i < wieviele;i++) |
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212 | { |
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213 | tmpCRC += TxdBuffer[i]; |
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214 | } |
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215 | tmpCRC %= 4096; |
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216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
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217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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218 | TxdBuffer[i++] = '\r'; |
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219 | UebertragungAbgeschlossen = 0; |
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220 | UDR0 = TxdBuffer[0]; |
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221 | } |
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222 | |||
223 | |||
224 | |||
225 | // -------------------------------------------------------------------------- |
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226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
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227 | { |
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228 | va_list ap; |
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229 | unsigned int pt = 0; |
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230 | unsigned char a,b,c; |
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231 | unsigned char ptr = 0; |
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232 | |||
233 | unsigned char *snd = 0; |
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234 | int len = 0; |
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235 | |||
236 | TxdBuffer[pt++] = '#'; // Startzeichen |
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237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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238 | TxdBuffer[pt++] = cmd; // Commando |
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239 | |||
240 | va_start(ap, BufferAnzahl); |
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241 | if(BufferAnzahl) |
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242 | { |
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243 | snd = va_arg(ap, unsigned char*); |
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244 | len = va_arg(ap, int); |
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245 | ptr = 0; |
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246 | BufferAnzahl--; |
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247 | } |
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248 | while(len) |
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249 | { |
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250 | if(len) |
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251 | { |
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252 | a = snd[ptr++]; |
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253 | len--; |
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254 | if((!len) && BufferAnzahl) |
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255 | { |
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256 | snd = va_arg(ap, unsigned char*); |
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257 | len = va_arg(ap, int); |
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258 | ptr = 0; |
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259 | BufferAnzahl--; |
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260 | } |
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261 | } |
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262 | else a = 0; |
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263 | if(len) |
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264 | { |
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265 | b = snd[ptr++]; |
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266 | len--; |
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267 | if((!len) && BufferAnzahl) |
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268 | { |
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269 | snd = va_arg(ap, unsigned char*); |
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270 | len = va_arg(ap, int); |
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271 | ptr = 0; |
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272 | BufferAnzahl--; |
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273 | } |
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274 | } |
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275 | else b = 0; |
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276 | if(len) |
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277 | { |
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278 | c = snd[ptr++]; |
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279 | len--; |
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280 | if((!len) && BufferAnzahl) |
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281 | { |
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282 | snd = va_arg(ap, unsigned char*); |
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283 | len = va_arg(ap, int); |
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284 | ptr = 0; |
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285 | BufferAnzahl--; |
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286 | } |
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287 | } |
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288 | else c = 0; |
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289 | TxdBuffer[pt++] = '=' + (a >> 2); |
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290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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293 | } |
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294 | va_end(ap); |
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295 | AddCRC(pt); |
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296 | } |
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297 | |||
298 | // -------------------------------------------------------------------------- |
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299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
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300 | { |
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301 | unsigned char a,b,c,d; |
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302 | unsigned char x,y,z; |
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303 | unsigned char ptrIn = 3; // start at begin of data block |
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304 | unsigned char ptrOut = 3; |
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305 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
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306 | |||
307 | while(len) |
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308 | { |
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309 | a = RxdBuffer[ptrIn++] - '='; |
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310 | b = RxdBuffer[ptrIn++] - '='; |
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311 | c = RxdBuffer[ptrIn++] - '='; |
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312 | d = RxdBuffer[ptrIn++] - '='; |
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313 | |||
314 | x = (a << 2) | (b >> 4); |
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315 | y = ((b & 0x0f) << 4) | (c >> 2); |
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316 | z = ((c & 0x03) << 6) | d; |
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317 | |||
318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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321 | } |
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322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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324 | |||
325 | } |
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326 | |||
327 | // -------------------------------------------------------------------------- |
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328 | void BearbeiteRxDaten(void) |
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329 | { |
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330 | if(!NeuerDatensatzEmpfangen) return; |
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331 | |||
332 | unsigned char tempchar1, tempchar2; |
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333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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335 | { |
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336 | case FC_ADDRESS: // FC special commands |
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337 | switch(RxdBuffer[2]) |
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338 | { |
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339 | case 'K':// Kompasswert |
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340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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341 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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342 | break; |
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343 | case 't':// Motortest |
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344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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346 | PC_MotortestActive = 240; |
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347 | //while(!UebertragungAbgeschlossen); |
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348 | //SendOutData('T', MeineSlaveAdresse, 0); |
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349 | PcZugriff = 255; |
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350 | break; |
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351 | |||
352 | case 'n':// "Get Mixer |
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353 | while(!UebertragungAbgeschlossen); |
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354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
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355 | Debug("Mixer lesen"); |
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356 | break; |
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357 | |||
358 | case 'm':// "Write Mixer |
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359 | if(pRxData[0] == EEMIXER_REVISION) |
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360 | { |
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361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
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362 | MixerTable_WriteToEEProm(); |
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363 | tempchar1 = 1; |
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364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
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365 | } |
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366 | else |
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367 | { |
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368 | tempchar1 = 0; |
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369 | } |
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370 | while(!UebertragungAbgeschlossen); |
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371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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372 | break; |
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373 | |||
374 | case 'p': // get PPM Channels |
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375 | GetPPMChannelAnforderung = 1; |
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376 | PcZugriff = 255; |
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377 | break; |
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378 | |||
379 | case 'q':// "Get"-Anforderung für Settings |
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380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
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382 | { |
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383 | tempchar1 = pRxData[0] - 10; |
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384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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386 | SetDefaultParameter(tempchar1, 1); |
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387 | } |
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388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
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389 | { |
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390 | tempchar1 = pRxData[0] - 20; |
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391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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393 | SetDefaultParameter(tempchar1, 0); |
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394 | } |
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395 | else |
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396 | { |
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397 | tempchar1 = pRxData[0]; |
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398 | if(tempchar1 == 0xFF) |
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399 | { |
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400 | tempchar1 = GetActiveParamSet(); |
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401 | } |
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402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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404 | // load requested parameter set |
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405 | ParamSet_ReadFromEEProm(tempchar1); |
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406 | } |
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407 | while(!UebertragungAbgeschlossen); |
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408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
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409 | Debug("Lese Setting %d", tempchar1); |
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410 | |||
411 | break; |
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412 | |||
413 | case 's': // Parametersatz speichern |
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414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
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415 | { |
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416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
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417 | ParamSet_WriteToEEProm(pRxData[0]); |
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418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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420 | tempchar1 = GetActiveParamSet(); |
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421 | } |
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422 | else |
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423 | { |
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424 | tempchar1 = 0; // mark in response an invlid setting |
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425 | } |
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426 | while(!UebertragungAbgeschlossen); |
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427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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428 | if(!MotorenEin) Piep(tempchar1,110); |
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429 | LipoDetection(0); |
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430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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431 | break; |
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432 | case 'f': // auf anderen Parametersatz umschalten |
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433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
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434 | tempchar1 = GetActiveParamSet(); |
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435 | while(!UebertragungAbgeschlossen); |
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436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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437 | if(!MotorenEin) Piep(tempchar1,110); |
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438 | LipoDetection(0); |
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439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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440 | break; |
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441 | case 'y':// serial Potis |
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442 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
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443 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
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444 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
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445 | break; |
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446 | |||
447 | case 'u': // request BL parameter |
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448 | Debug("Reading BL %d", pRxData[0]); |
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449 | // try to read BL configuration |
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450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
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451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
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452 | else tempchar1 = 0; |
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453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
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454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
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455 | break; |
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456 | |||
457 | case 'w': // write BL parameter |
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458 | Debug("Writing BL %d", pRxData[0]); |
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459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
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460 | { |
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461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
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462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
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463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
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464 | else tempchar1 = 0; // indicate error |
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465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
||
467 | } |
||
468 | break; |
||
469 | case 'j': |
||
470 | tempchar1 = LIBFC_GetCPUType(); |
||
471 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
472 | { |
||
473 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
||
474 | |||
475 | cli(); |
||
476 | |||
477 | // UART0 & UART1 disable RX and TX-Interrupt |
||
478 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
479 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
480 | |||
481 | // UART0 & UART1 disable receiver and transmitter |
||
482 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
483 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
484 | |||
485 | // UART0 & UART1 flush receive buffer explicit |
||
486 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
487 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
488 | |||
489 | |||
490 | if (pRxData[0] == 0) |
||
491 | { |
||
492 | JetiUpdateModeActive = 1; |
||
493 | |||
494 | // UART0 & UART1 set baudrate |
||
495 | UBRR1H = (uint8_t)(ubrr>>8); |
||
496 | UBRR1L = (uint8_t)ubrr; |
||
497 | UBRR0H = UBRR1H; |
||
498 | UBRR0L = UBRR1L; |
||
499 | // UART1 no parity |
||
500 | UCSR1C &= ~(1 << UPM11); |
||
501 | UCSR1C &= ~(1 << UPM10); |
||
502 | // UART1 8-bit |
||
503 | UCSR1B &= ~(1 << UCSZ12); |
||
504 | UCSR1C |= (1 << UCSZ11); |
||
505 | UCSR1C |= (1 << UCSZ10); |
||
506 | } |
||
507 | else JetiUpdateModeActive = 2; |
||
508 | |||
509 | // UART0 & UART1 1 stop bit |
||
510 | UCSR1C &= ~(1 << USBS1); |
||
511 | UCSR0C &= ~(1 << USBS0); |
||
512 | // UART1 clear 9th bit |
||
513 | UCSR1B &= ~(1<<TXB81); |
||
514 | // enable receiver and transmitter for UART0 and UART1 |
||
515 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
516 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
517 | // enable RX-Interrupt for UART0 and UART1 |
||
518 | UCSR0B |= (1 << RXCIE0); |
||
519 | UCSR1B |= (1 << RXCIE1); |
||
520 | // disable other Interrupts |
||
521 | TIMSK0 = 0; |
||
522 | TIMSK1 = 0; |
||
523 | TIMSK2 = 0; |
||
524 | |||
525 | sei(); |
||
526 | } |
||
527 | break; |
||
528 | |||
529 | } // case FC_ADDRESS: |
||
530 | |||
531 | default: // any Slave Address |
||
532 | |||
533 | switch(RxdBuffer[2]) |
||
534 | { |
||
535 | // 't' comand placed here only for compatibility to BL |
||
536 | case 't':// Motortest |
||
537 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
||
538 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
539 | while(!UebertragungAbgeschlossen); |
||
540 | SendOutData('T', MeineSlaveAdresse, 0); |
||
541 | PC_MotortestActive = 250; |
||
542 | PcZugriff = 255; |
||
543 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
544 | break; |
||
545 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
546 | case 'K':// Kompasswert |
||
547 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
548 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
549 | break; |
||
550 | case 'a':// Texte der Analogwerte |
||
551 | DebugTextAnforderung = pRxData[0]; |
||
552 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
553 | PcZugriff = 255; |
||
554 | break; |
||
555 | case 'b': |
||
556 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
557 | ConfirmFrame = ExternControl.Frame; |
||
558 | PcZugriff = 255; |
||
559 | break; |
||
560 | case 'c': // Poll the 3D-Data |
||
561 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
562 | Intervall3D = pRxData[0] * 10; |
||
563 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
564 | break; |
||
565 | case 'd': // Poll the debug data |
||
566 | PcZugriff = 255; |
||
567 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
||
568 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
||
569 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
570 | break; |
||
571 | |||
572 | case 'h':// x-1 Displayzeilen |
||
573 | PcZugriff = 255; |
||
574 | if((pRxData[0] & 0x80) == 0x00) // old format |
||
575 | { |
||
576 | DisplayLine = 2; |
||
577 | Display_Interval = 0; |
||
578 | } |
||
579 | else // new format |
||
580 | { |
||
581 | RemoteKeys |= ~pRxData[0]; |
||
582 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
583 | DisplayLine = 4; |
||
584 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
585 | } |
||
586 | DebugDisplayAnforderung = 1; |
||
587 | break; |
||
588 | |||
589 | case 'l':// x-1 Displayzeilen |
||
590 | PcZugriff = 255; |
||
591 | MenuePunkt = pRxData[0]; |
||
592 | DebugDisplayAnforderung1 = 1; |
||
593 | break; |
||
594 | case 'v': // Version-Anforderung und Ausbaustufe |
||
595 | GetVersionAnforderung = 1; |
||
596 | break; |
||
597 | |||
598 | case 'g':// |
||
599 | GetExternalControl = 1; |
||
600 | break; |
||
601 | |||
602 | default: |
||
603 | //unsupported command received |
||
604 | break; |
||
605 | } |
||
606 | break; // default: |
||
607 | } |
||
608 | NeuerDatensatzEmpfangen = 0; |
||
609 | pRxData = 0; |
||
610 | RxDataLen = 0; |
||
611 | } |
||
612 | |||
613 | //############################################################################ |
||
614 | //Routine für die Serielle Ausgabe |
||
615 | void uart_putchar (char c) |
||
616 | //############################################################################ |
||
617 | { |
||
618 | //Warten solange bis Zeichen gesendet wurde |
||
619 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
620 | //Ausgabe des Zeichens |
||
621 | UDR0 = c; |
||
622 | } |
||
623 | |||
624 | |||
625 | //############################################################################ |
||
626 | //INstallation der Seriellen Schnittstelle |
||
627 | void UART_Init (void) |
||
628 | //############################################################################ |
||
629 | { |
||
630 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
||
631 | |||
632 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
633 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
||
634 | // UART Double Speed (U2X) |
||
635 | UCSR0A |= (1 << U2X0); |
||
636 | // RX-Interrupt Freigabe |
||
637 | UCSR0B |= (1 << RXCIE0); |
||
638 | // TX-Interrupt Freigabe |
||
639 | UCSR0B |= (1 << TXCIE0); |
||
640 | // USART0 Baud Rate Register |
||
641 | // set clock divider |
||
642 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
643 | UBRR0L = (uint8_t)ubrr; |
||
644 | |||
645 | Debug_Timer = SetDelay(DebugDataIntervall); |
||
646 | Kompass_Timer = SetDelay(220); |
||
647 | |||
648 | VersionInfo.SWMajor = VERSION_MAJOR; |
||
649 | VersionInfo.SWMinor = VERSION_MINOR; |
||
650 | VersionInfo.SWPatch = VERSION_PATCH; |
||
651 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
652 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
653 | |||
654 | pRxData = 0; |
||
655 | RxDataLen = 0; |
||
656 | } |
||
657 | |||
658 | //--------------------------------------------------------------------------------------------- |
||
659 | void DatenUebertragung(void) |
||
660 | { |
||
661 | if(!UebertragungAbgeschlossen) return; |
||
662 | |||
663 | if(CheckDelay(AboTimeOut)) |
||
664 | { |
||
665 | Display_Interval = 0; |
||
666 | DebugDataIntervall = 0; |
||
667 | Intervall3D = 0; |
||
668 | } |
||
669 | |||
670 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
||
671 | { |
||
672 | if(DisplayLine > 3)// new format |
||
673 | { |
||
674 | Menu(); |
||
675 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
676 | } |
||
677 | else // old format |
||
678 | { |
||
679 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
680 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
681 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
682 | } |
||
683 | Display_Timer = SetDelay(Display_Interval); |
||
684 | DebugDisplayAnforderung = 0; |
||
685 | } |
||
686 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
687 | { |
||
688 | Menu(); |
||
689 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
690 | DebugDisplayAnforderung1 = 0; |
||
691 | } |
||
692 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
693 | { |
||
694 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
695 | GetVersionAnforderung = 0; |
||
696 | Debug_OK("Version gesendet"); |
||
697 | } |
||
698 | |||
699 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
700 | { |
||
701 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
702 | GetExternalControl = 0; |
||
703 | } |
||
704 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
||
705 | { |
||
706 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
707 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
708 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
709 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
710 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
711 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
||
712 | Kompass_Timer = SetDelay(99); |
||
713 | } |
||
714 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
715 | { |
||
716 | CopyDebugValues(); |
||
717 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
718 | DebugDataAnforderung = 0; |
||
719 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
||
720 | } |
||
721 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
||
722 | { |
||
723 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
724 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
725 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
726 | Data3D.Centroid[0] = SummeNick >> 9; |
||
727 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
728 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
729 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
730 | Timer3D = SetDelay(Intervall3D); |
||
731 | } |
||
732 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
733 | { |
||
734 | unsigned char label[16]; // local sram buffer |
||
735 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
736 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
737 | DebugTextAnforderung = 255; |
||
738 | } |
||
739 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
740 | { |
||
741 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
742 | ConfirmFrame = 0; |
||
743 | } |
||
744 | |||
745 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
746 | { |
||
747 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
748 | GetPPMChannelAnforderung = 0; |
||
749 | } |
||
750 | |||
751 | #ifdef DEBUG // only include functions if DEBUG is defined |
||
752 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
753 | { |
||
754 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
755 | SendDebugOutput = 0; |
||
756 | } |
||
757 | #endif |
||
758 | |||
759 | } |
||
760 | |||
761 |