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Rev | Author | Line No. | Line |
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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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19 | killagreg | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
12 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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1 | ingob | 8 | // + Nur für den privaten Gebrauch |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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19 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
19 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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42 | // + In case of doubt please contact: info@MikroKopter.de |
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19 | killagreg | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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12 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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19 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | killagreg | 57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
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59 | #include <avr/wdt.h> |
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1 | ingob | 60 | #include "main.h" |
61 | #include "uart.h" |
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19 | killagreg | 62 | #include "timer0.h" |
63 | #include "twislave.h" |
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1 | ingob | 64 | |
65 | |||
19 | killagreg | 66 | #define FALSE 0 |
67 | #define TRUE 1 |
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1 | ingob | 68 | |
21 | killagreg | 69 | #define TXD_BUFFER_LEN 150 |
70 | #define RXD_BUFFER_LEN 150 |
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1 | ingob | 71 | |
19 | killagreg | 72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
73 | volatile uint8_t rxd_buffer_locked = FALSE; |
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74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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75 | volatile uint8_t txd_complete = TRUE; |
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76 | volatile uint8_t ReceivedBytes = 0; |
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1 | ingob | 77 | |
21 | killagreg | 78 | |
79 | |||
19 | killagreg | 80 | uint8_t RequestVerInfo = FALSE; |
81 | uint8_t RequestDebugData = FALSE; |
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82 | uint8_t RequestDebugLabel = FALSE; |
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83 | uint8_t RequestCompassHeading = FALSE; |
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3 | ingob | 84 | |
19 | killagreg | 85 | uint8_t MySlaveAddr = 0; |
1 | ingob | 86 | |
19 | killagreg | 87 | //unsigned char,DebugGetAnforderung = 0, |
88 | |||
89 | DebugOut_t DebugOut; |
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90 | ExternData_t ExternData; |
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91 | ExternControl_t ExternControl; |
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92 | VersionInfo_t VersionInfo; |
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93 | |||
94 | uint16_t Debug_Timer; |
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95 | |||
96 | const uint8_t ANALOG_LABEL[32][16] = |
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1 | ingob | 97 | { |
7 | hbuss | 98 | //1234567890123456 |
19 | killagreg | 99 | "Magnet X ", //0 |
100 | "Magnet Y ", |
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7 | hbuss | 101 | "Magnet Z ", |
19 | killagreg | 102 | "Raw X ", |
103 | "Raw Y ", |
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104 | "Raw Z ", //5 |
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105 | "Attitude Nick ", |
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106 | "Attitude Roll ", |
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107 | "XOffset ", |
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108 | "XRange ", |
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109 | "YOffset ", //10 |
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110 | "YRange ", |
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111 | "ZOffset ", |
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112 | "ZRange ", |
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7 | hbuss | 113 | "Calstate ", |
21 | killagreg | 114 | "Heading ", //15 |
5 | hbuss | 115 | "User0 ", |
116 | "User1 ", |
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7 | hbuss | 117 | "Analog18 ", |
118 | "Analog19 ", |
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119 | "Analog20 ", //20 |
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19 | killagreg | 120 | "Analog21 ", |
7 | hbuss | 121 | "Analog22 ", |
122 | "Analog23 ", |
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123 | "Analog24 ", |
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124 | "Analog25 ", //25 |
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1 | ingob | 125 | "Analog26 ", |
7 | hbuss | 126 | "Analog27 ", |
127 | "Analog28 ", |
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128 | "Analog29 ", |
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129 | "Analog30 ", //30 |
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130 | "Analog31 " |
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1 | ingob | 131 | }; |
132 | |||
133 | |||
19 | killagreg | 134 | /****************************************************************/ |
135 | /* Initialization of the USART0 */ |
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136 | /****************************************************************/ |
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137 | void USART0_Init (void) |
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138 | { |
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139 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
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140 | |||
141 | // disable all interrupts before configuration |
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142 | cli(); |
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143 | |||
144 | // disable RX-Interrupt |
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145 | UCSR0B &= ~(1 << RXCIE0); |
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146 | // disable TX-Interrupt |
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147 | UCSR0B &= ~(1 << TXCIE0); |
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148 | |||
149 | // set direction of RXD0 and TXD0 pins |
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150 | |||
22 | killagreg | 151 | // set RXD0 (PD0) as an input pin tristate |
19 | killagreg | 152 | DDRD &= ~(1 << DDD0); |
22 | killagreg | 153 | PORTD &= ~(1 << PORTD0); |
19 | killagreg | 154 | // set TXD0 (PD1) as an output pin |
155 | DDRD |= (1 << DDD1); |
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22 | killagreg | 156 | PORTD &= ~(1 << PORTD1); |
19 | killagreg | 157 | |
22 | killagreg | 158 | |
19 | killagreg | 159 | // USART0 Baud Rate Register |
160 | // set clock divider |
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161 | UBRR0H = (uint8_t)(ubrr >> 8); |
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162 | UBRR0L = (uint8_t)ubrr; |
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163 | |||
164 | // USART0 Control and Status Register A, B, C |
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165 | |||
21 | killagreg | 166 | // enable double speed operation |
19 | killagreg | 167 | UCSR0A |= (1 << U2X0); |
22 | killagreg | 168 | |
19 | killagreg | 169 | // set asynchronous mode |
170 | UCSR0C &= ~(1 << UMSEL01); |
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171 | UCSR0C &= ~(1 << UMSEL00); |
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172 | // no parity |
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173 | UCSR0C &= ~(1 << UPM01); |
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174 | UCSR0C &= ~(1 << UPM00); |
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175 | // 1 stop bit |
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176 | UCSR0C &= ~(1 << USBS0); |
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177 | // 8-bit |
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178 | UCSR0B &= ~(1 << UCSZ02); |
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179 | UCSR0C |= (1 << UCSZ01); |
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180 | UCSR0C |= (1 << UCSZ00); |
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181 | |||
22 | killagreg | 182 | // enable receiver and transmitter |
183 | UCSR0B |= (1 << RXEN0); |
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184 | UCSR0B |= (1 << TXEN0); |
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185 | |||
19 | killagreg | 186 | // flush receive buffer |
187 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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188 | |||
189 | // enable RX-Interrupt |
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190 | UCSR0B |= (1 << RXCIE0); |
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191 | // enable TX-Interrupt |
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192 | UCSR0B |= (1 << TXCIE0); |
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193 | |||
194 | rxd_buffer_locked = FALSE; |
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195 | txd_complete = TRUE; |
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196 | |||
197 | |||
198 | VersionInfo.Major = VERSION_MAJOR; |
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199 | VersionInfo.Minor = VERSION_MINOR; |
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200 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
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201 | |||
22 | killagreg | 202 | |
203 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
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204 | uart_putchar ('\n'); |
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205 | uart_putchar ('C'); |
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206 | uart_putchar ('P'); |
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207 | uart_putchar (':'); |
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208 | uart_putchar ('V'); |
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209 | uart_putchar (0x30 + VERSION_MAJOR); |
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210 | uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); |
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211 | uart_putchar (0x30 + VERSION_MINOR%10); |
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19 | killagreg | 212 | uart_putchar ('\n'); |
213 | } |
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214 | |||
215 | // --------------------------------------------------------------------------------- |
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216 | void USART0_EnableTXD(void) |
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1 | ingob | 217 | { |
22 | killagreg | 218 | DDRD |= (1<<DDD1); // set TXD pin as output |
219 | PORTD &= ~(1 << PORTD1); |
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19 | killagreg | 220 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
22 | killagreg | 221 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
1 | ingob | 222 | } |
223 | |||
19 | killagreg | 224 | // --------------------------------------------------------------------------------- |
225 | void USART0_DisableTXD(void) |
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1 | ingob | 226 | { |
21 | killagreg | 227 | while(!txd_complete){ }; |
228 | |||
22 | killagreg | 229 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
19 | killagreg | 230 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
231 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
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22 | killagreg | 232 | PORTD &= ~(1 << PORTD1); |
1 | ingob | 233 | } |
234 | |||
19 | killagreg | 235 | /****************************************************************/ |
236 | /* USART0 transmitter ISR */ |
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237 | /****************************************************************/ |
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238 | ISR(USART_TX_vect) |
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1 | ingob | 239 | { |
19 | killagreg | 240 | static uint16_t ptr_txd_buffer = 0; |
241 | uint8_t tmp_tx; |
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242 | if(!txd_complete) // transmission not completed |
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243 | { |
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244 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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245 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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246 | // if terminating character or end of txd buffer was reached |
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247 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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248 | { |
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249 | ptr_txd_buffer = 0; // reset txd pointer |
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21 | killagreg | 250 | txd_complete = TRUE; // stop transmission |
19 | killagreg | 251 | } |
252 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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253 | } |
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254 | // transmission completed |
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255 | else ptr_txd_buffer = 0; |
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256 | } |
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1 | ingob | 257 | |
19 | killagreg | 258 | /****************************************************************/ |
259 | /* USART0 receiver ISR */ |
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260 | /****************************************************************/ |
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261 | ISR(USART_RX_vect) |
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262 | { |
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263 | static uint16_t crc; |
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264 | uint8_t crc1, crc2; |
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265 | uint8_t c; |
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21 | killagreg | 266 | static uint8_t ptr_rxd_buffer = 0; |
1 | ingob | 267 | |
19 | killagreg | 268 | c = UDR0; // catch the received byte |
1 | ingob | 269 | |
19 | killagreg | 270 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
271 | |||
272 | // the rxd buffer is unlocked |
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273 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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274 | { |
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275 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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276 | crc = c; // init crc |
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277 | } |
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278 | #if 0 |
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279 | else if (ptr_rxd_buffer == 1) // handle address |
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280 | { |
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281 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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282 | crc += c; // update crc |
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283 | } |
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284 | #endif |
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285 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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286 | { |
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287 | if(c != '\r') // no termination character |
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288 | { |
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289 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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290 | crc += c; // update crc |
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291 | } |
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292 | else // termination character was received |
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293 | { |
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294 | // the last 2 bytes are no subject for checksum calculation |
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295 | // they are the checksum itself |
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296 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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297 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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298 | // calculate checksum from transmitted data |
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299 | crc %= 4096; |
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300 | crc1 = '=' + crc / 64; |
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301 | crc2 = '=' + crc % 64; |
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302 | // compare checksum to transmitted checksum bytes |
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303 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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304 | { // checksum valid |
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305 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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306 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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307 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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309 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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310 | } |
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311 | else |
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312 | { // checksum invalid |
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313 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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314 | } |
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315 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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316 | } |
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317 | } |
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318 | else // rxd buffer overrun |
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319 | { |
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320 | ptr_rxd_buffer = 0; // reset rxd buffer |
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321 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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322 | } |
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1 | ingob | 323 | } |
324 | |||
325 | |||
19 | killagreg | 326 | // -------------------------------------------------------------------------- |
327 | void AddCRC(uint16_t datalen) |
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1 | ingob | 328 | { |
19 | killagreg | 329 | uint16_t tmpCRC = 0, i; |
330 | for(i = 0; i < datalen; i++) |
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331 | { |
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332 | tmpCRC += txd_buffer[i]; |
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333 | } |
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334 | tmpCRC %= 4096; |
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335 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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336 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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337 | txd_buffer[i++] = '\r'; |
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338 | txd_complete = FALSE; |
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339 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
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340 | } |
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1 | ingob | 341 | |
342 | |||
343 | |||
344 | // -------------------------------------------------------------------------- |
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19 | killagreg | 345 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
1 | ingob | 346 | { |
19 | killagreg | 347 | uint16_t pt = 0; |
348 | uint8_t a,b,c; |
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349 | uint8_t ptr = 0; |
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350 | |||
351 | txd_buffer[pt++] = '#'; // Start character |
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352 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
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353 | txd_buffer[pt++] = cmd; // Command |
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354 | |||
355 | while(len) |
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356 | { |
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357 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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358 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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359 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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360 | txd_buffer[pt++] = '=' + (a >> 2); |
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361 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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362 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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363 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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364 | } |
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365 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 366 | } |
367 | |||
368 | |||
369 | // -------------------------------------------------------------------------- |
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19 | killagreg | 370 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
1 | ingob | 371 | { |
19 | killagreg | 372 | uint8_t a,b,c,d; |
373 | uint8_t ptr = 0; |
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374 | uint8_t x,y,z; |
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375 | while(len) |
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376 | { |
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377 | a = rxd_buffer[ptrIn++] - '='; |
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378 | b = rxd_buffer[ptrIn++] - '='; |
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379 | c = rxd_buffer[ptrIn++] - '='; |
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380 | d = rxd_buffer[ptrIn++] - '='; |
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381 | if(ptrIn > max - 2) break; |
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1 | ingob | 382 | |
19 | killagreg | 383 | x = (a << 2) | (b >> 4); |
384 | y = ((b & 0x0f) << 4) | (c >> 2); |
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385 | z = ((c & 0x03) << 6) | d; |
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386 | |||
387 | if(len--) ptrOut[ptr++] = x; else break; |
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388 | if(len--) ptrOut[ptr++] = y; else break; |
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389 | if(len--) ptrOut[ptr++] = z; else break; |
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390 | } |
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1 | ingob | 391 | } |
392 | |||
393 | |||
19 | killagreg | 394 | // -------------------------------------------------------------------------- |
21 | killagreg | 395 | int uart_putchar (int8_t c) |
1 | ingob | 396 | { |
19 | killagreg | 397 | // if tx is not enabled return immediatly |
398 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
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399 | if (c == '\n') uart_putchar('\r'); |
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400 | // wait until previous character was send |
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401 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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402 | // send character |
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403 | UDR0 = c; |
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1 | ingob | 404 | return (0); |
405 | } |
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406 | |||
19 | killagreg | 407 | |
1 | ingob | 408 | // -------------------------------------------------------------------------- |
19 | killagreg | 409 | void USART0_ProcessRxData(void) |
1 | ingob | 410 | { |
19 | killagreg | 411 | // if data in the rxd buffer are not locked immediately return |
412 | if(!rxd_buffer_locked) return; |
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1 | ingob | 413 | |
19 | killagreg | 414 | uint8_t tmp_char_arr2[2]; // local char buffer |
1 | ingob | 415 | |
19 | killagreg | 416 | switch(rxd_buffer[2]) |
417 | { |
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418 | case 'w':// Attitude |
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419 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
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420 | RequestCompassHeading = TRUE; |
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421 | break; |
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1 | ingob | 422 | |
19 | killagreg | 423 | case 'b': // extern control |
424 | case 'c': // extern control with debug request |
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425 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
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21 | killagreg | 426 | #define KEY1 0x01 |
427 | #define KEY2 0x02 |
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428 | #define KEY3 0x04 |
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429 | #define KEY4 0x08 |
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430 | #define KEY5 0x10 |
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431 | // use right arrow at display for switching the calstate |
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432 | if(ExternControl.RemoteButtons & KEY2) |
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433 | { |
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434 | ExternData.CalState++; |
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435 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
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436 | } |
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19 | killagreg | 437 | ExternData.Attitude[0] = ExternControl.Par1; |
438 | ExternData.Attitude[1] = ExternControl.Par2; |
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21 | killagreg | 439 | PC_Connected = 255; |
19 | killagreg | 440 | break; |
1 | ingob | 441 | |
19 | killagreg | 442 | case 'h':// x-1 display columns |
443 | PC_Connected = 255; |
||
444 | break; |
||
1 | ingob | 445 | |
19 | killagreg | 446 | case 'v': // get version and board release |
447 | RequestVerInfo = TRUE; |
||
448 | PC_Connected = 255; |
||
449 | break; |
||
450 | |||
451 | case 'a':// Labels of the Analog Debug outputs |
||
452 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
||
453 | RequestDebugLabel = tmp_char_arr2[0]; |
||
454 | PC_Connected = 255; |
||
455 | break; |
||
456 | |||
457 | case 'g':// get debug data |
||
458 | RequestDebugData = TRUE; |
||
459 | PC_Connected = 255; |
||
460 | break; |
||
461 | } |
||
462 | // unlock the rxd buffer after processing |
||
463 | rxd_buffer_locked = FALSE; |
||
1 | ingob | 464 | } |
465 | |||
466 | |||
19 | killagreg | 467 | |
468 | //--------------------------------------------------------------------------------------------- |
||
469 | void USART0_TransmitTxData(void) |
||
1 | ingob | 470 | { |
19 | killagreg | 471 | if(!(UCSR0B & (1 << TXEN0))) return; |
1 | ingob | 472 | |
19 | killagreg | 473 | if(!txd_complete) return; |
1 | ingob | 474 | |
19 | killagreg | 475 | if(CheckDelay(Debug_Timer) && txd_complete) |
476 | { |
||
477 | SetDebugValues(); |
||
478 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
||
479 | Debug_Timer = SetDelay(250); |
||
480 | } |
||
1 | ingob | 481 | |
19 | killagreg | 482 | if(RequestDebugLabel != 255) |
483 | { |
||
484 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
||
485 | RequestDebugLabel = 255; |
||
486 | } |
||
1 | ingob | 487 | |
19 | killagreg | 488 | if(RequestVerInfo && txd_complete) |
489 | { |
||
490 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
||
491 | RequestVerInfo = FALSE; |
||
492 | } |
||
493 | |||
494 | if(RequestDebugData && txd_complete) |
||
495 | { |
||
496 | SetDebugValues(); |
||
497 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
||
498 | RequestDebugData = FALSE; |
||
499 | } |
||
500 | |||
501 | if(RequestCompassHeading && txd_complete) |
||
502 | { |
||
503 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
||
504 | RequestCompassHeading = FALSE; |
||
505 | } |
||
1 | ingob | 506 | } |