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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1234 | ligi | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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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 "main.h" |
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| 10 | #include "uart.h" |
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| 11 | |||
| 12 | |||
| 13 | #define FC_ADDRESS 1 |
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| 14 | #define NC_ADDRESS 2 |
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| 15 | #define MK3MAG_ADDRESS 3 |
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| 16 | |||
| 17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
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| 18 | unsigned char DisplayLine = 0; |
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| 19 | unsigned volatile char SioTmp = 0; |
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| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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| 23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 26 | unsigned volatile char CntCrcError = 0; |
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| 27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 28 | unsigned char *pRxData = 0; |
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| 29 | unsigned char RxDataLen = 0; |
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| 30 | unsigned volatile char PC_DebugTimeout = 0; |
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| 31 | unsigned volatile char PC_MotortestActive = 0; |
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| 32 | |||
| 33 | unsigned char DebugTextAnforderung = 255; |
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| 34 | unsigned char PcZugriff = 100; |
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| 35 | unsigned char MotorTest[16]; |
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| 36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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| 37 | unsigned char ConfirmFrame; |
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| 38 | struct str_DebugOut DebugOut; |
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| 39 | struct str_ExternControl ExternControl; |
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| 40 | struct str_ExternEvent ExternEvent; |
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| 41 | struct str_VersionInfo VersionInfo; |
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| 42 | struct str_WinkelOut WinkelOut; |
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| 43 | struct str_Data3D Data3D; |
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| 44 | |||
| 45 | int Debug_Timer,Kompass_Timer,Timer3D; |
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| 46 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
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| 47 | |||
| 48 | const unsigned char ANALOG_TEXT[32][16] = |
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| 49 | { |
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| 50 | //1234567890123456 |
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| 51 | "AngleNick ", //0 |
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| 52 | "AngleRoll ", |
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| 53 | "AccNick ", |
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| 54 | "AccRoll ", |
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| 55 | "GyroGier ", |
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| 56 | "Hight Value ", //5 |
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| 57 | "AccZ ", |
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| 58 | "Gas ", |
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| 59 | "Compass Value ", |
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| 60 | "Voltage ", |
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| 61 | "Empfang ", //10 |
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| 62 | "Gyro Kompass ", |
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| 63 | "Motor Front ", |
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| 64 | "Motor Rear ", |
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| 65 | "Motor Left ", |
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| 66 | "Motor Right ", //15 |
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| 67 | "ligi ", |
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| 68 | " ", |
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| 69 | " ", |
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| 70 | "MK3Mag CalState ", |
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| 71 | "Servo ", //20 |
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| 72 | " ", |
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| 73 | " ", |
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| 74 | " ", |
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| 75 | " ", |
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| 76 | " ", //25 |
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| 77 | " ", |
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| 78 | "Kalman_MaxDrift ", |
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| 79 | " ", |
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| 80 | "Navi Serial Data", |
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| 81 | "GPS_Nick ", //30 |
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| 82 | "GPS_Roll " |
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| 83 | }; |
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| 84 | |||
| 85 | |||
| 86 | |||
| 87 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 88 | //++ Sende-Part der Datenübertragung |
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| 89 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 90 | SIGNAL(INT_VEC_TX) |
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| 91 | { |
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| 92 | static unsigned int ptr = 0; |
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| 93 | unsigned char tmp_tx; |
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| 94 | if(!UebertragungAbgeschlossen) |
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| 95 | { |
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| 96 | ptr++; // die [0] wurde schon gesendet |
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| 97 | tmp_tx = SendeBuffer[ptr]; |
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| 98 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 99 | { |
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| 100 | ptr = 0; |
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| 101 | UebertragungAbgeschlossen = 1; |
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| 102 | } |
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| 103 | UDR = tmp_tx; |
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| 104 | } |
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| 105 | else ptr = 0; |
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| 106 | } |
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| 107 | |||
| 108 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 109 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 110 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 111 | SIGNAL(INT_VEC_RX) |
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| 112 | { |
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| 113 | static unsigned int crc; |
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| 114 | static unsigned char crc1,crc2,buf_ptr; |
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| 115 | static unsigned char UartState = 0; |
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| 116 | unsigned char CrcOkay = 0; |
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| 117 | |||
| 118 | SioTmp = UDR; |
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| 119 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 120 | if(SioTmp == '\r' && UartState == 2) |
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| 121 | { |
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| 122 | UartState = 0; |
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| 123 | crc -= RxdBuffer[buf_ptr-2]; |
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| 124 | crc -= RxdBuffer[buf_ptr-1]; |
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| 125 | crc %= 4096; |
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| 126 | crc1 = '=' + crc / 64; |
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| 127 | crc2 = '=' + crc % 64; |
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| 128 | CrcOkay = 0; |
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| 129 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 130 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 131 | { |
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| 132 | NeuerDatensatzEmpfangen = 1; |
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| 133 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 134 | RxdBuffer[buf_ptr] = '\r'; |
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| 135 | if(RxdBuffer[2] == 'R') |
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| 136 | { |
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| 137 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 138 | ServoActive = 0; |
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| 139 | } |
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| 140 | } |
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| 141 | } |
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| 142 | else |
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| 143 | switch(UartState) |
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| 144 | { |
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| 145 | case 0: |
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| 146 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 147 | buf_ptr = 0; |
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| 148 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 149 | crc = SioTmp; |
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| 150 | break; |
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| 151 | case 1: // Adresse auswerten |
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| 152 | UartState++; |
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| 153 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 154 | crc += SioTmp; |
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| 155 | break; |
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| 156 | case 2: // Eingangsdaten sammeln |
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| 157 | RxdBuffer[buf_ptr] = SioTmp; |
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| 158 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 159 | else UartState = 0; |
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| 160 | crc += SioTmp; |
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| 161 | break; |
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| 162 | default: |
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| 163 | UartState = 0; |
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| 164 | break; |
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| 165 | } |
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| 166 | } |
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| 167 | |||
| 168 | |||
| 169 | // -------------------------------------------------------------------------- |
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| 170 | void AddCRC(unsigned int wieviele) |
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| 171 | { |
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| 172 | unsigned int tmpCRC = 0,i; |
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| 173 | for(i = 0; i < wieviele;i++) |
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| 174 | { |
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| 175 | tmpCRC += SendeBuffer[i]; |
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| 176 | } |
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| 177 | tmpCRC %= 4096; |
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| 178 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 179 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 180 | SendeBuffer[i++] = '\r'; |
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| 181 | UebertragungAbgeschlossen = 0; |
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| 182 | UDR = SendeBuffer[0]; |
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| 183 | } |
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| 184 | |||
| 185 | |||
| 186 | |||
| 187 | // -------------------------------------------------------------------------- |
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| 188 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
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| 189 | { |
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| 190 | va_list ap; |
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| 191 | unsigned int pt = 0; |
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| 192 | unsigned char a,b,c; |
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| 193 | unsigned char ptr = 0; |
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| 194 | |||
| 195 | unsigned char *snd = 0; |
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| 196 | int len = 0; |
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| 197 | |||
| 198 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 199 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 200 | SendeBuffer[pt++] = cmd; // Commando |
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| 201 | |||
| 202 | va_start(ap, BufferAnzahl); |
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| 203 | if(BufferAnzahl) |
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| 204 | { |
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| 205 | snd = va_arg(ap, unsigned char*); |
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| 206 | len = va_arg(ap, int); |
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| 207 | ptr = 0; |
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| 208 | BufferAnzahl--; |
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| 209 | } |
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| 210 | while(len) |
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| 211 | { |
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| 212 | if(len) |
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| 213 | { |
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| 214 | a = snd[ptr++]; |
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| 215 | len--; |
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| 216 | if((!len) && BufferAnzahl) |
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| 217 | { |
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| 218 | snd = va_arg(ap, unsigned char*); |
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| 219 | len = va_arg(ap, int); |
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| 220 | ptr = 0; |
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| 221 | BufferAnzahl--; |
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| 222 | } |
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| 223 | } |
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| 224 | else a = 0; |
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| 225 | if(len) |
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| 226 | { |
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| 227 | b = snd[ptr++]; |
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| 228 | len--; |
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| 229 | if((!len) && BufferAnzahl) |
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| 230 | { |
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| 231 | snd = va_arg(ap, unsigned char*); |
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| 232 | len = va_arg(ap, int); |
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| 233 | ptr = 0; |
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| 234 | BufferAnzahl--; |
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| 235 | } |
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| 236 | } |
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| 237 | else b = 0; |
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| 238 | if(len) |
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| 239 | { |
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| 240 | c = snd[ptr++]; |
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| 241 | len--; |
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| 242 | if((!len) && BufferAnzahl) |
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| 243 | { |
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| 244 | snd = va_arg(ap, unsigned char*); |
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| 245 | len = va_arg(ap, int); |
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| 246 | ptr = 0; |
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| 247 | BufferAnzahl--; |
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| 248 | } |
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| 249 | } |
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| 250 | else c = 0; |
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| 251 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 252 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 253 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 254 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 255 | } |
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| 256 | va_end(ap); |
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| 257 | AddCRC(pt); |
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| 258 | } |
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| 259 | |||
| 260 | |||
| 261 | // -------------------------------------------------------------------------- |
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| 262 | 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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| 263 | { |
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| 264 | unsigned char a,b,c,d; |
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| 265 | unsigned char x,y,z; |
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| 266 | unsigned char ptrIn = 3; // start at begin of data block |
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| 267 | unsigned char ptrOut = 3; |
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| 268 | 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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| 269 | |||
| 270 | while(len) |
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| 271 | { |
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| 272 | a = RxdBuffer[ptrIn++] - '='; |
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| 273 | b = RxdBuffer[ptrIn++] - '='; |
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| 274 | c = RxdBuffer[ptrIn++] - '='; |
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| 275 | d = RxdBuffer[ptrIn++] - '='; |
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| 276 | |||
| 277 | x = (a << 2) | (b >> 4); |
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| 278 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 279 | z = ((c & 0x03) << 6) | d; |
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| 280 | |||
| 281 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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| 282 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 283 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 284 | } |
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| 285 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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| 286 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 287 | |||
| 288 | } |
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| 289 | |||
| 290 | // -------------------------------------------------------------------------- |
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| 291 | void BearbeiteRxDaten(void) |
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| 292 | { |
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| 293 | if(!NeuerDatensatzEmpfangen) return; |
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| 294 | |||
| 295 | unsigned char tempchar1, tempchar2; |
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| 296 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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| 297 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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| 298 | { |
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| 299 | case FC_ADDRESS: // FC special commands |
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| 300 | |||
| 301 | switch(RxdBuffer[2]) |
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| 302 | { |
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| 303 | case 'K':// Kompasswert |
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| 304 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 305 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 306 | break; |
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| 307 | case 't':// Motortest |
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| 308 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 309 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 310 | PC_MotortestActive = 240; |
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| 311 | //while(!UebertragungAbgeschlossen); |
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| 312 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 313 | PcZugriff = 255; |
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| 314 | break; |
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| 315 | |||
| 316 | case 'n':// "Get Mixer |
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| 317 | while(!UebertragungAbgeschlossen); |
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| 318 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
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| 319 | break; |
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| 320 | |||
| 321 | case 'm':// "Write Mixer |
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| 322 | while(!UebertragungAbgeschlossen); |
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| 323 | if(pRxData[0] == MIXER_REVISION) |
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| 324 | { |
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| 325 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
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| 326 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 327 | tempchar1 = 1; |
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| 328 | } |
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| 329 | else tempchar1 = 0; |
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| 330 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 331 | break; |
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| 332 | |||
| 333 | case 'p': // get PPM Channels |
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| 334 | GetPPMChannelAnforderung = 1; |
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| 335 | break; |
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| 336 | |||
| 337 | case 'q':// "Get"-Anforderung für Settings |
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| 338 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 339 | if(pRxData[0] == 0xFF) |
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| 340 | { |
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| 341 | pRxData[0] = GetActiveParamSetNumber(); |
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| 342 | } |
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| 343 | // limit settings range |
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| 344 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 345 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 346 | // load requested parameter set |
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| 347 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 348 | |||
| 349 | while(!UebertragungAbgeschlossen); |
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| 350 | tempchar1 = pRxData[0]; |
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| 351 | tempchar2 = EE_DATENREVISION; |
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| 352 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 353 | break; |
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| 354 | |||
| 355 | case 's': // Parametersatz speichern |
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| 356 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
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| 357 | { |
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| 358 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
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| 359 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 360 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 361 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 362 | SetActiveParamSetNumber(pRxData[0]); |
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| 363 | tempchar1 = GetActiveParamSetNumber(); |
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| 364 | Piep(tempchar1,110); |
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| 365 | } |
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| 366 | else |
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| 367 | { |
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| 368 | tempchar1 = 0; // mark in response an invlid setting |
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| 369 | } |
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| 370 | while(!UebertragungAbgeschlossen); |
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| 371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 372 | break; |
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| 373 | |||
| 374 | } // case FC_ADDRESS: |
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| 375 | |||
| 376 | default: // any Slave Address |
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| 377 | |||
| 378 | switch(RxdBuffer[2]) |
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| 379 | { |
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| 380 | // 't' comand placed here only for compatibility to BL |
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| 381 | case 't':// Motortest |
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| 382 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 383 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 384 | while(!UebertragungAbgeschlossen); |
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| 385 | SendOutData('T', MeineSlaveAdresse, 0); |
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| 386 | PC_MotortestActive = 250; |
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| 387 | PcZugriff = 255; |
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| 388 | break; |
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| 389 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
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| 390 | case 'K':// Kompasswert |
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| 391 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 392 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 393 | break; |
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| 394 | case 'a':// Texte der Analogwerte |
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| 395 | DebugTextAnforderung = pRxData[0]; |
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| 396 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
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| 397 | PcZugriff = 255; |
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| 398 | break; |
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| 399 | case 'b': |
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| 400 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
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| 401 | ConfirmFrame = ExternControl.Frame; |
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| 402 | PcZugriff = 255; |
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| 403 | break; |
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| 404 | case 'c': // Poll the 3D-Data |
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| 405 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
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| 406 | Intervall3D = pRxData[0] * 10; |
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| 407 | break; |
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| 408 | case 'd': // Poll the debug data |
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| 409 | DebugDataIntervall = pRxData[0] * 10; |
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| 410 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
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| 411 | break; |
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| 412 | |||
| 413 | case 'h':// x-1 Displayzeilen |
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| 414 | PcZugriff = 255; |
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| 415 | RemoteKeys |= pRxData[0]; |
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| 416 | if(RemoteKeys) DisplayLine = 0; |
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| 417 | DebugDisplayAnforderung = 1; |
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| 418 | break; |
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| 419 | |||
| 420 | case 'l':// x-1 Displayzeilen |
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| 421 | PcZugriff = 255; |
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| 422 | MenuePunkt = pRxData[0]; |
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| 423 | DebugDisplayAnforderung1 = 1; |
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| 424 | break; |
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| 425 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 426 | GetVersionAnforderung = 1; |
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| 427 | break; |
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| 428 | |||
| 429 | case 'g':// |
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| 430 | GetExternalControl = 1; |
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| 431 | break; |
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| 432 | case 'e': |
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| 433 | while(!UebertragungAbgeschlossen); |
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| 434 | |||
| 435 | memcpy(&ExternEvent, (unsigned char *)pRxData, sizeof(ExternEvent)); |
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| 436 | |||
| 437 | tempchar1=pRxData[0]; |
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| 438 | SendOutData('E', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 439 | break; |
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| 440 | } |
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| 441 | break; // default: |
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| 442 | } |
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| 443 | NeuerDatensatzEmpfangen = 0; |
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| 444 | pRxData = 0; |
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| 445 | RxDataLen = 0; |
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| 446 | } |
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| 447 | |||
| 448 | //############################################################################ |
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| 449 | //Routine für die Serielle Ausgabe |
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| 450 | int uart_putchar (char c) |
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| 451 | //############################################################################ |
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| 452 | { |
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| 453 | if (c == '\n') |
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| 454 | uart_putchar('\r'); |
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| 455 | //Warten solange bis Zeichen gesendet wurde |
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| 456 | loop_until_bit_is_set(USR, UDRE); |
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| 457 | //Ausgabe des Zeichens |
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| 458 | UDR = c; |
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| 459 | |||
| 460 | return (0); |
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| 461 | } |
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| 462 | |||
| 463 | // -------------------------------------------------------------------------- |
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| 464 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 465 | { |
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| 466 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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| 467 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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| 468 | // Buffer[pos] = wert; |
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| 469 | } |
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| 470 | |||
| 471 | //############################################################################ |
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| 472 | //INstallation der Seriellen Schnittstelle |
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| 473 | void UART_Init (void) |
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| 474 | //############################################################################ |
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| 475 | { |
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| 476 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 477 | |||
| 478 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 479 | // UART Double Speed (U2X) |
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| 480 | USR |= (1<<U2X); |
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| 481 | // RX-Interrupt Freigabe |
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| 482 | UCSRB |= (1<<RXCIE); |
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| 483 | // TX-Interrupt Freigabe |
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| 484 | UCSRB |= (1<<TXCIE); |
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| 485 | |||
| 486 | //Teiler wird gesetzt |
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| 487 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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| 488 | //UBRR = 33; |
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| 489 | //öffnet einen Kanal für printf (STDOUT) |
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| 490 | //fdevopen (uart_putchar, 0); |
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| 491 | //sbi(PORTD,4); |
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| 492 | Debug_Timer = SetDelay(DebugDataIntervall); |
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| 493 | Kompass_Timer = SetDelay(220); |
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| 494 | |||
| 495 | VersionInfo.SWMajor = VERSION_MAJOR; |
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| 496 | VersionInfo.SWMinor = VERSION_MINOR; |
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| 497 | VersionInfo.SWPatch = VERSION_PATCH; |
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| 498 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 499 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 500 | |||
| 501 | pRxData = 0; |
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| 502 | RxDataLen = 0; |
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| 503 | } |
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| 504 | |||
| 505 | //--------------------------------------------------------------------------------------------- |
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| 506 | void DatenUebertragung(void) |
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| 507 | { |
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| 508 | if(!UebertragungAbgeschlossen) return; |
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| 509 | |||
| 510 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
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| 511 | { |
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| 512 | Menu(); |
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| 513 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
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| 514 | DisplayLine++; |
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| 515 | if(DisplayLine >= 4) DisplayLine = 0; |
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| 516 | DebugDisplayAnforderung = 0; |
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| 517 | } |
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| 518 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
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| 519 | { |
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| 520 | Menu(); |
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| 521 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
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| 522 | DebugDisplayAnforderung1 = 0; |
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| 523 | } |
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| 524 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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| 525 | { |
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| 526 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
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| 527 | GetVersionAnforderung = 0; |
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| 528 | } |
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| 529 | |||
| 530 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 531 | { |
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| 532 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
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| 533 | GetExternalControl = 0; |
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| 534 | } |
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| 535 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
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| 536 | { |
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| 537 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 538 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
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| 539 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
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| 540 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
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| 541 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
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| 542 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
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| 543 | Kompass_Timer = SetDelay(99); |
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| 544 | } |
||
| 545 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
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| 546 | { |
||
| 547 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 548 | DebugDataAnforderung = 0; |
||
| 549 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
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| 550 | } |
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| 551 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
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| 552 | { |
||
| 553 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 554 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 555 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
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| 556 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 557 | Timer3D = SetDelay(Intervall3D); |
||
| 558 | } |
||
| 559 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 560 | { |
||
| 561 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
||
| 562 | DebugTextAnforderung = 255; |
||
| 563 | } |
||
| 564 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
| 565 | { |
||
| 566 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
| 567 | ConfirmFrame = 0; |
||
| 568 | } |
||
| 569 | |||
| 570 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
| 571 | { |
||
| 572 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
| 573 | GetPPMChannelAnforderung = 0; |
||
| 574 | } |
||
| 575 | |||
| 576 | } |
||
| 577 |