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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 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 | |||
| 16 | |||
| 17 | #define FC_ADDRESS 1 |
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| 18 | #define NC_ADDRESS 2 |
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| 19 | #define MK3MAG_ADDRESS 3 |
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| 20 | #define BL_CTRL_ADDRESS 5 |
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| 21 | |||
| 22 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
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| 23 | #define MAX_SENDE_BUFF 160 |
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| 24 | #define MAX_EMPFANGS_BUFF 160 |
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| 25 | |||
| 26 | |||
| 27 | #define BLPARAM_REVISION 1 |
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| 28 | #define MASK_SET_PWM_SCALING 0x01 |
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| 29 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 30 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 31 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 32 | #define MASK_SET_BITCONFIG 0x10 |
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| 33 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 34 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 35 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 36 | |||
| 37 | typedef struct |
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| 38 | { |
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| 39 | unsigned char Revision; // revision of parameter structure |
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| 40 | unsigned char Address; // target address |
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| 41 | unsigned char PwmScaling; // maximum value of pwm setpoint |
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| 42 | unsigned char CurrentLimit; // current limit in 1A steps |
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| 43 | unsigned char TemperatureLimit; // in °C |
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| 44 | unsigned char CurrentScaling; // scaling factor for current measurement |
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| 45 | unsigned char BitConfig; // see defines above |
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| 46 | unsigned char SetMask; // filter for active paramters |
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| 47 | unsigned char Checksum; // checksum for parameter sturcture |
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| 48 | } __attribute__((packed)) BLParameter_t; |
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| 49 | |||
| 50 | |||
| 51 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
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| 52 | unsigned char DisplayLine = 0; |
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| 53 | unsigned volatile char SioTmp = 0; |
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| 54 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 55 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 56 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 57 | unsigned volatile char CntCrcError = 0; |
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| 58 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 59 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
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| 60 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 61 | |||
| 62 | unsigned char *pRxData = 0; |
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| 63 | unsigned char RxDataLen = 0; |
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| 64 | unsigned volatile char PC_DebugTimeout = 0; |
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| 65 | unsigned volatile char PC_MotortestActive = 0; |
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| 66 | unsigned char DebugTextAnforderung = 255; |
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| 67 | |||
| 68 | unsigned char PcZugriff = 100; |
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| 69 | unsigned char MotorTest[16]; |
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| 70 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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| 71 | unsigned char ConfirmFrame; |
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| 72 | struct str_DebugOut DebugOut; |
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| 73 | struct str_ExternControl ExternControl; |
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| 74 | struct str_VersionInfo VersionInfo; |
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| 75 | struct str_WinkelOut WinkelOut; |
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| 76 | struct str_Data3D Data3D; |
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| 77 | |||
| 78 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
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| 79 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
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| 80 | unsigned int AboTimeOut = 0; |
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| 81 | |||
| 82 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
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| 83 | { |
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| 84 | //1234567890123456 |
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| 85 | "AngleNick ", //0 |
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| 86 | "AngleRoll ", |
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| 87 | "AccNick ", |
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| 88 | "AccRoll ", |
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| 89 | "YawGyro ", |
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| 90 | "Height Value ", //5 |
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| 91 | "AccZ ", |
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| 92 | "Gas ", |
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| 93 | "Compass Value ", |
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| 94 | "Voltage [0.1V] ", |
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| 95 | "Receiver Level ", //10 |
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| 96 | "Gyro Compass ", |
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| 97 | "Motor 1 ", |
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| 98 | "Motor 2 ", |
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| 99 | "Motor 3 ", |
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| 100 | "Motor 4 ", //15 |
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| 101 | "16 ", |
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| 102 | "17 ", |
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| 103 | "18 ", |
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| 104 | "19 ", |
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| 105 | "Servo ", //20 |
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| 106 | "Hovergas ", |
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| 107 | "Current [0.1A] ", |
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| 108 | "Capacity [mAh] ", |
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| 109 | "24 ", |
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| 110 | "25 ", //25 |
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| 111 | "26 ", |
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| 112 | "27 ", |
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| 113 | "I2C-Error ", |
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| 114 | "BL Limit ", |
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| 115 | "GPS_Nick ", //30 |
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| 116 | "GPS_Roll " |
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| 117 | }; |
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| 118 | |||
| 119 | |||
| 120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 121 | //++ Sende-Part der Datenübertragung |
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| 122 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 123 | ISR(USART0_TX_vect) |
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| 124 | { |
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| 125 | static unsigned int ptr = 0; |
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| 126 | unsigned char tmp_tx; |
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| 127 | if(!UebertragungAbgeschlossen) |
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| 128 | { |
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| 129 | ptr++; // die [0] wurde schon gesendet |
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| 130 | tmp_tx = TxdBuffer[ptr]; |
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| 131 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 132 | { |
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| 133 | ptr = 0; |
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| 134 | UebertragungAbgeschlossen = 1; |
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| 135 | } |
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| 136 | UDR0 = tmp_tx; |
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| 137 | } |
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| 138 | else ptr = 0; |
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| 139 | } |
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| 140 | |||
| 141 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 142 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 143 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 144 | ISR(USART0_RX_vect) |
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| 145 | { |
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| 146 | static unsigned int crc; |
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| 147 | static unsigned char crc1,crc2,buf_ptr; |
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| 148 | static unsigned char UartState = 0; |
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| 149 | unsigned char CrcOkay = 0; |
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| 150 | |||
| 151 | SioTmp = UDR0; |
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| 152 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
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| 153 | if(SioTmp == '\r' && UartState == 2) |
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| 154 | { |
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| 155 | UartState = 0; |
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| 156 | crc -= RxdBuffer[buf_ptr-2]; |
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| 157 | crc -= RxdBuffer[buf_ptr-1]; |
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| 158 | crc %= 4096; |
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| 159 | crc1 = '=' + crc / 64; |
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| 160 | crc2 = '=' + crc % 64; |
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| 161 | CrcOkay = 0; |
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| 162 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 163 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 164 | { |
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| 165 | NeuerDatensatzEmpfangen = 1; |
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| 166 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 167 | RxdBuffer[buf_ptr] = '\r'; |
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| 168 | if(RxdBuffer[2] == 'R') |
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| 169 | { |
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| 170 | LcdClear(); |
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| 171 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 172 | ServoActive = 0; |
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| 173 | |||
| 174 | } |
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| 175 | } |
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| 176 | } |
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| 177 | else |
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| 178 | switch(UartState) |
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| 179 | { |
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| 180 | case 0: |
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| 181 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 182 | buf_ptr = 0; |
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| 183 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 184 | crc = SioTmp; |
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| 185 | break; |
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| 186 | case 1: // Adresse auswerten |
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| 187 | UartState++; |
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| 188 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 189 | crc += SioTmp; |
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| 190 | break; |
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| 191 | case 2: // Eingangsdaten sammeln |
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| 192 | RxdBuffer[buf_ptr] = SioTmp; |
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| 193 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 194 | else UartState = 0; |
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| 195 | crc += SioTmp; |
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| 196 | break; |
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| 197 | default: |
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| 198 | UartState = 0; |
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| 199 | break; |
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| 200 | } |
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| 201 | } |
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| 202 | |||
| 203 | |||
| 204 | // -------------------------------------------------------------------------- |
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| 205 | void AddCRC(unsigned int wieviele) |
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| 206 | { |
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| 207 | unsigned int tmpCRC = 0,i; |
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| 208 | for(i = 0; i < wieviele;i++) |
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| 209 | { |
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| 210 | tmpCRC += TxdBuffer[i]; |
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| 211 | } |
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| 212 | tmpCRC %= 4096; |
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| 213 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
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| 214 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 215 | TxdBuffer[i++] = '\r'; |
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| 216 | UebertragungAbgeschlossen = 0; |
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| 217 | UDR0 = TxdBuffer[0]; |
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| 218 | } |
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| 219 | |||
| 220 | |||
| 221 | |||
| 222 | // -------------------------------------------------------------------------- |
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| 223 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
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| 224 | { |
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| 225 | va_list ap; |
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| 226 | unsigned int pt = 0; |
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| 227 | unsigned char a,b,c; |
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| 228 | unsigned char ptr = 0; |
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| 229 | |||
| 230 | unsigned char *snd = 0; |
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| 231 | int len = 0; |
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| 232 | |||
| 233 | TxdBuffer[pt++] = '#'; // Startzeichen |
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| 234 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 235 | TxdBuffer[pt++] = cmd; // Commando |
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| 236 | |||
| 237 | va_start(ap, BufferAnzahl); |
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| 238 | if(BufferAnzahl) |
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| 239 | { |
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| 240 | snd = va_arg(ap, unsigned char*); |
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| 241 | len = va_arg(ap, int); |
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| 242 | ptr = 0; |
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| 243 | BufferAnzahl--; |
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| 244 | } |
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| 245 | while(len) |
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| 246 | { |
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| 247 | if(len) |
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| 248 | { |
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| 249 | a = snd[ptr++]; |
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| 250 | len--; |
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| 251 | if((!len) && BufferAnzahl) |
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| 252 | { |
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| 253 | snd = va_arg(ap, unsigned char*); |
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| 254 | len = va_arg(ap, int); |
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| 255 | ptr = 0; |
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| 256 | BufferAnzahl--; |
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| 257 | } |
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| 258 | } |
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| 259 | else a = 0; |
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| 260 | if(len) |
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| 261 | { |
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| 262 | b = snd[ptr++]; |
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| 263 | len--; |
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| 264 | if((!len) && BufferAnzahl) |
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| 265 | { |
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| 266 | snd = va_arg(ap, unsigned char*); |
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| 267 | len = va_arg(ap, int); |
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| 268 | ptr = 0; |
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| 269 | BufferAnzahl--; |
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| 270 | } |
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| 271 | } |
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| 272 | else b = 0; |
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| 273 | if(len) |
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| 274 | { |
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| 275 | c = snd[ptr++]; |
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| 276 | len--; |
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| 277 | if((!len) && BufferAnzahl) |
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| 278 | { |
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| 279 | snd = va_arg(ap, unsigned char*); |
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| 280 | len = va_arg(ap, int); |
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| 281 | ptr = 0; |
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| 282 | BufferAnzahl--; |
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| 283 | } |
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| 284 | } |
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| 285 | else c = 0; |
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| 286 | TxdBuffer[pt++] = '=' + (a >> 2); |
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| 287 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 288 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 289 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 290 | } |
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| 291 | va_end(ap); |
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| 292 | AddCRC(pt); |
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| 293 | } |
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| 294 | |||
| 295 | // -------------------------------------------------------------------------- |
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| 296 | 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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| 297 | { |
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| 298 | unsigned char a,b,c,d; |
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| 299 | unsigned char x,y,z; |
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| 300 | unsigned char ptrIn = 3; // start at begin of data block |
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| 301 | unsigned char ptrOut = 3; |
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| 302 | 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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| 303 | |||
| 304 | while(len) |
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| 305 | { |
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| 306 | a = RxdBuffer[ptrIn++] - '='; |
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| 307 | b = RxdBuffer[ptrIn++] - '='; |
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| 308 | c = RxdBuffer[ptrIn++] - '='; |
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| 309 | d = RxdBuffer[ptrIn++] - '='; |
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| 310 | |||
| 311 | x = (a << 2) | (b >> 4); |
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| 312 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 313 | z = ((c & 0x03) << 6) | d; |
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| 314 | |||
| 315 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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| 316 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 317 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 318 | } |
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| 319 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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| 320 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 321 | |||
| 322 | } |
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| 323 | |||
| 324 | // -------------------------------------------------------------------------- |
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| 325 | void BearbeiteRxDaten(void) |
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| 326 | { |
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| 327 | if(!NeuerDatensatzEmpfangen) return; |
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| 328 | |||
| 329 | unsigned char tempchar1, tempchar2; |
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| 330 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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| 331 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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| 332 | { |
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| 333 | case FC_ADDRESS: // FC special commands |
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| 334 | switch(RxdBuffer[2]) |
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| 335 | { |
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| 336 | case 'K':// Kompasswert |
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| 337 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 338 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 339 | break; |
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| 340 | case 't':// Motortest |
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| 341 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 342 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 343 | PC_MotortestActive = 240; |
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| 344 | //while(!UebertragungAbgeschlossen); |
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| 345 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 346 | PcZugriff = 255; |
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| 347 | break; |
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| 348 | |||
| 349 | case 'n':// "Get Mixer |
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| 350 | while(!UebertragungAbgeschlossen); |
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| 351 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
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| 352 | Debug("Mixer lesen"); |
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| 353 | break; |
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| 354 | |||
| 355 | case 'm':// "Write Mixer |
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| 356 | if(pRxData[0] == EEMIXER_REVISION) |
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| 357 | { |
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| 358 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
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| 359 | MixerTable_WriteToEEProm(); |
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| 360 | tempchar1 = 1; |
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| 361 | VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
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| 362 | } |
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| 363 | else |
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| 364 | { |
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| 365 | tempchar1 = 0; |
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| 366 | } |
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| 367 | while(!UebertragungAbgeschlossen); |
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| 368 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 369 | break; |
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| 370 | |||
| 371 | case 'p': // get PPM Channels |
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| 372 | GetPPMChannelAnforderung = 1; |
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| 373 | PcZugriff = 255; |
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| 374 | break; |
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| 375 | |||
| 376 | case 'q':// "Get"-Anforderung für Settings |
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| 377 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 378 | if(pRxData[0] == 0xFF) |
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| 379 | { |
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| 380 | pRxData[0] = GetActiveParamSet(); |
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| 381 | } |
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| 382 | // limit settings range |
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| 383 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 384 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 385 | // load requested parameter set |
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| 386 | ParamSet_ReadFromEEProm(pRxData[0]); |
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| 387 | tempchar1 = pRxData[0]; |
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| 388 | while(!UebertragungAbgeschlossen); |
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| 389 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
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| 390 | Debug("Lese Setting %d", tempchar1); |
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| 391 | |||
| 392 | break; |
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| 393 | |||
| 394 | case 's': // Parametersatz speichern |
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| 395 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
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| 396 | { |
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| 397 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
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| 398 | ParamSet_WriteToEEProm(pRxData[0]); |
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| 399 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 400 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 401 | tempchar1 = GetActiveParamSet(); |
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| 402 | } |
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| 403 | else |
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| 404 | { |
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| 405 | tempchar1 = 0; // mark in response an invlid setting |
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| 406 | } |
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| 407 | while(!UebertragungAbgeschlossen); |
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| 408 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 409 | if(!MotorenEin) Piep(tempchar1,110); |
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| 410 | LipoDetection(0); |
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| 411 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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| 412 | break; |
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| 413 | case 'f': // auf anderen Parametersatz umschalten |
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| 414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
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| 415 | tempchar1 = GetActiveParamSet(); |
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| 416 | while(!UebertragungAbgeschlossen); |
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| 417 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 418 | if(!MotorenEin) Piep(tempchar1,110); |
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| 419 | LipoDetection(0); |
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| 420 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
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| 421 | break; |
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| 422 | case 'y':// serial Potis |
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| 423 | 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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| 424 | 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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| 425 | 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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| 426 | break; |
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| 427 | |||
| 428 | case 'u': // request BL parameter |
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| 429 | Debug("Reading BL %d", pRxData[0]); |
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| 430 | // try to read BL configuration |
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| 431 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
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| 432 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
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| 433 | else tempchar1 = 0; |
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| 434 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
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| 435 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
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| 436 | break; |
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| 437 | |||
| 438 | case 'w': // write BL parameter |
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| 439 | Debug("Writing BL %d", pRxData[0]); |
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| 440 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
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| 441 | { |
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| 442 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
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| 443 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
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| 444 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 445 | else tempchar1 = 0; // indicate error |
||
| 446 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 447 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
||
| 448 | } |
||
| 449 | break; |
||
| 450 | |||
| 451 | } // case FC_ADDRESS: |
||
| 452 | |||
| 453 | default: // any Slave Address |
||
| 454 | |||
| 455 | switch(RxdBuffer[2]) |
||
| 456 | { |
||
| 457 | // 't' comand placed here only for compatibility to BL |
||
| 458 | case 't':// Motortest |
||
| 459 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
||
| 460 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
| 461 | while(!UebertragungAbgeschlossen); |
||
| 462 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 463 | PC_MotortestActive = 250; |
||
| 464 | PcZugriff = 255; |
||
| 465 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 466 | break; |
||
| 467 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 468 | case 'K':// Kompasswert |
||
| 469 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 470 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 471 | break; |
||
| 472 | case 'a':// Texte der Analogwerte |
||
| 473 | DebugTextAnforderung = pRxData[0]; |
||
| 474 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 475 | PcZugriff = 255; |
||
| 476 | break; |
||
| 477 | case 'b': |
||
| 478 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 479 | ConfirmFrame = ExternControl.Frame; |
||
| 480 | PcZugriff = 255; |
||
| 481 | break; |
||
| 482 | case 'c': // Poll the 3D-Data |
||
| 483 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 484 | Intervall3D = pRxData[0] * 10; |
||
| 485 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 486 | break; |
||
| 487 | case 'd': // Poll the debug data |
||
| 488 | PcZugriff = 255; |
||
| 489 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
||
| 490 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
||
| 491 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 492 | break; |
||
| 493 | |||
| 494 | case 'h':// x-1 Displayzeilen |
||
| 495 | PcZugriff = 255; |
||
| 496 | if((pRxData[0] & 0x80) == 0x00) // old format |
||
| 497 | { |
||
| 498 | DisplayLine = 2; |
||
| 499 | Display_Interval = 0; |
||
| 500 | } |
||
| 501 | else // new format |
||
| 502 | { |
||
| 503 | RemoteKeys |= ~pRxData[0]; |
||
| 504 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 505 | DisplayLine = 4; |
||
| 506 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 507 | } |
||
| 508 | DebugDisplayAnforderung = 1; |
||
| 509 | break; |
||
| 510 | |||
| 511 | case 'l':// x-1 Displayzeilen |
||
| 512 | PcZugriff = 255; |
||
| 513 | MenuePunkt = pRxData[0]; |
||
| 514 | DebugDisplayAnforderung1 = 1; |
||
| 515 | break; |
||
| 516 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 517 | GetVersionAnforderung = 1; |
||
| 518 | break; |
||
| 519 | |||
| 520 | case 'g':// |
||
| 521 | GetExternalControl = 1; |
||
| 522 | break; |
||
| 523 | |||
| 524 | default: |
||
| 525 | //unsupported command received |
||
| 526 | break; |
||
| 527 | } |
||
| 528 | break; // default: |
||
| 529 | } |
||
| 530 | NeuerDatensatzEmpfangen = 0; |
||
| 531 | pRxData = 0; |
||
| 532 | RxDataLen = 0; |
||
| 533 | } |
||
| 534 | |||
| 535 | //############################################################################ |
||
| 536 | //Routine für die Serielle Ausgabe |
||
| 537 | void uart_putchar (char c) |
||
| 538 | //############################################################################ |
||
| 539 | { |
||
| 540 | //Warten solange bis Zeichen gesendet wurde |
||
| 541 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
| 542 | //Ausgabe des Zeichens |
||
| 543 | UDR0 = c; |
||
| 544 | } |
||
| 545 | |||
| 546 | |||
| 547 | //############################################################################ |
||
| 548 | //INstallation der Seriellen Schnittstelle |
||
| 549 | void UART_Init (void) |
||
| 550 | //############################################################################ |
||
| 551 | { |
||
| 552 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
||
| 553 | |||
| 554 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 555 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
||
| 556 | // UART Double Speed (U2X) |
||
| 557 | UCSR0A |= (1 << U2X0); |
||
| 558 | // RX-Interrupt Freigabe |
||
| 559 | UCSR0B |= (1 << RXCIE0); |
||
| 560 | // TX-Interrupt Freigabe |
||
| 561 | UCSR0B |= (1 << TXCIE0); |
||
| 562 | // USART0 Baud Rate Register |
||
| 563 | // set clock divider |
||
| 564 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 565 | UBRR0L = (uint8_t)ubrr; |
||
| 566 | |||
| 567 | Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 568 | Kompass_Timer = SetDelay(220); |
||
| 569 | |||
| 570 | VersionInfo.SWMajor = VERSION_MAJOR; |
||
| 571 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 572 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 573 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 574 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 575 | |||
| 576 | pRxData = 0; |
||
| 577 | RxDataLen = 0; |
||
| 578 | } |
||
| 579 | |||
| 580 | //--------------------------------------------------------------------------------------------- |
||
| 581 | void DatenUebertragung(void) |
||
| 582 | { |
||
| 583 | if(!UebertragungAbgeschlossen) return; |
||
| 584 | |||
| 585 | if(CheckDelay(AboTimeOut)) |
||
| 586 | { |
||
| 587 | Display_Interval = 0; |
||
| 588 | DebugDataIntervall = 0; |
||
| 589 | Intervall3D = 0; |
||
| 590 | } |
||
| 591 | |||
| 592 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
||
| 593 | { |
||
| 594 | if(DisplayLine > 3)// new format |
||
| 595 | { |
||
| 596 | Menu(); |
||
| 597 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
| 598 | } |
||
| 599 | else // old format |
||
| 600 | { |
||
| 601 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 602 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 603 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 604 | } |
||
| 605 | Display_Timer = SetDelay(Display_Interval); |
||
| 606 | DebugDisplayAnforderung = 0; |
||
| 607 | } |
||
| 608 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 609 | { |
||
| 610 | Menu(); |
||
| 611 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 612 | DebugDisplayAnforderung1 = 0; |
||
| 613 | } |
||
| 614 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 615 | { |
||
| 616 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 617 | GetVersionAnforderung = 0; |
||
| 618 | Debug_OK("Version gesendet"); |
||
| 619 | } |
||
| 620 | |||
| 621 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 622 | { |
||
| 623 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 624 | GetExternalControl = 0; |
||
| 625 | } |
||
| 626 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
||
| 627 | { |
||
| 628 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 629 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 630 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
| 631 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 632 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
| 633 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
||
| 634 | Kompass_Timer = SetDelay(99); |
||
| 635 | } |
||
| 636 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 637 | { |
||
| 638 | CopyDebugValues(); |
||
| 639 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 640 | DebugDataAnforderung = 0; |
||
| 641 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 642 | } |
||
| 643 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
||
| 644 | { |
||
| 645 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 646 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 647 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 648 | Data3D.Centroid[0] = SummeNick >> 9; |
||
| 649 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
| 650 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
| 651 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 652 | Timer3D = SetDelay(Intervall3D); |
||
| 653 | } |
||
| 654 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 655 | { |
||
| 656 | unsigned char label[16]; // local sram buffer |
||
| 657 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 658 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 659 | DebugTextAnforderung = 255; |
||
| 660 | } |
||
| 661 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
| 662 | { |
||
| 663 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
| 664 | ConfirmFrame = 0; |
||
| 665 | } |
||
| 666 | |||
| 667 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
| 668 | { |
||
| 669 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
| 670 | GetPPMChannelAnforderung = 0; |
||
| 671 | } |
||
| 672 | |||
| 673 | #ifdef DEBUG // only include functions if DEBUG is defined |
||
| 674 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 675 | { |
||
| 676 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 677 | SendDebugOutput = 0; |
||
| 678 | } |
||
| 679 | #endif |
||
| 680 | |||
| 681 | } |
||
| 682 | |||
| 683 |