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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2248 | - | 1 | /************************************************************************************************************************************** |
| 2 | * File: uart.c |
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| 3 | * |
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| 4 | * Purpose: This program treats the RS232 USRAT interface |
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| 5 | * |
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| 6 | * Functions: void UART_Init(void) |
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| 7 | * ISR(USART0_TX_vect) |
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| 8 | * ISR(USART0_RX_vect) |
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| 9 | * void AddCRC(unsigned int wieviele) |
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| 10 | * void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
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| 11 | * void Decode64(void) |
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| 12 | * void BearbeiteRxDaten(void) |
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| 13 | * int uart_putchar(char c) |
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| 14 | * void DatenUebertragung(void) |
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| 15 | * |
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| 16 | ******************************************************************************************************************************************/ |
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| 17 | #include "main.h" |
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| 18 | #include "uart.h" |
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| 19 | |||
| 20 | #include <stdarg.h> |
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| 21 | #include <string.h> |
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| 22 | |||
| 23 | //------------------------ Definitionen --------- |
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| 24 | #define FC_ADDRESS 1 |
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| 25 | #define NC_ADDRESS 2 |
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| 26 | #define MK3MAG_ADDRESS 3 |
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| 27 | |||
| 28 | //---------------------------------------------Variables------- |
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| 29 | unsigned char GetExternalControl = 0; |
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| 30 | unsigned char DebugDisplayAnforderung1 = 0; |
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| 31 | unsigned char DebugDisplayAnforderung = 0; |
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| 32 | unsigned char DebugDataAnforderung = 0; |
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| 33 | unsigned char GetVersionAnforderung = 0; |
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| 34 | unsigned char GetPPMChannelAnforderung = 0; |
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| 35 | |||
| 36 | unsigned char DisplayLine = 0; |
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| 37 | unsigned volatile char SioTmp = 0; |
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| 38 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 39 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 40 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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| 41 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 42 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 43 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 44 | unsigned volatile char CntCrcError = 0; |
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| 45 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 46 | unsigned char *pRxData = 0; |
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| 47 | unsigned char RxDataLen = 0; |
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| 48 | unsigned volatile char PC_DebugTimeout = 0; |
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| 49 | unsigned volatile char PC_MotortestActive = 0; |
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| 50 | |||
| 51 | unsigned char DebugTextAnforderung = 255; |
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| 52 | unsigned char PcZugriff = 100; |
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| 53 | unsigned char MotorTest[16]; |
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| 54 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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| 55 | unsigned char ConfirmFrame; |
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| 56 | |||
| 57 | int Debug_Timer,Kompass_Timer,Timer3D; |
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| 58 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
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| 59 | |||
| 60 | //---------------------------------------structs---------- |
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| 61 | struct str_DebugOut DebugOut; |
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| 62 | struct str_ExternControl ExternControl; |
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| 63 | struct str_VersionInfo VersionInfo; |
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| 64 | struct str_WinkelOut WinkelOut; |
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| 65 | struct str_Data3D Data3D; |
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| 66 | |||
| 67 | |||
| 68 | const unsigned char ANALOG_TEXT[32][16] = |
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| 69 | { |
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| 70 | //1234567890123456 // -------------------------------------------------------------// siehe "Debugwerte zuordnen" in fc.c Zeile 1270 |
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| 71 | "3D Nick-Winkel ", // 0 = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); // = Winkel * 10 |
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| 72 | "AccNick ", // 1 = Mittelwert_AccNick / 4; // = so um die Null |
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| 73 | "maxcontrollerDD ", // 2 = // = so um die Null |
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| 74 | "mincontrollerDD ", // 3 = // = so um die Null |
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| 75 | "MesswertNick ", // 4 = MesswertGier; // = -450 |
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| 76 | "HiResNick ", // 5 = auf Null bezogener Gyro Nickwert // = so um die Null |
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| 77 | "AdWertAccNick ", // 6 = // = 713 |
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| 78 | "Gas = thrust ", // 7 = Gas // = min 72 max 840 entspricht der Gashebelstellung |
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| 79 | " ", // 8 = // = 0 bis 360 Grad jenachdem wie der MK steht |
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| 80 | "Spannung V ", // 9 = UBat; // = 120 bei 12V |
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| 81 | "Empfang ", // 10 = SenderOkay; // = 0 wenn Sender aus und ca 200 wenn Sender an |
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| 82 | "controllerP ", // 11 = controllerP // = dreht sich im Kreis - Umlauf 40 sec |
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| 83 | "Motor vorne ", // 12 = Motor[0] // = 0 // wird in SendMotorData(void) hier in fc.c zugewiesen |
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| 84 | "Motor hinten ", // 13 = Motor[1] // = 0 |
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| 85 | "controllerD ", // 14 = // = 0 |
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| 86 | "controllerDD ", // 15 = // = 0 |
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| 87 | "PPM_in[3] Nick ", // 16 = // = -120...+120 // ab hier beginjnt der zweite Teil der Anzeige ------------ |
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| 88 | "ipk[0] ", // 17 = // = |
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| 89 | "ipk[1] ", // 18 = // = |
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| 90 | "ipk[2] ", // 19 = // = |
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| 91 | "ucflg1 ", // 20 = // = |
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| 92 | "Stick Kanal 5 ", // 21 = PPM_in[5] // = ca -120 oder +120 |
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| 93 | "MesswertNick ", // 22 = MesswertNick; // = 0 |
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| 94 | "maxcontrollerD ", // 23 = // = 0 |
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| 95 | "mincontrollerD ", // 24 = // = -560 |
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| 96 | "AdWertNick ", // 25 = AdWertNick; // = 1130 |
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| 97 | "maxcontrollerP ", // 26 = // |
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| 98 | "mincontrollerP ", // 27 = // |
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| 99 | "PPM_in[4] Gier ", // 28 = PPM_in[4]; // = ca -120 bis +120 |
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| 100 | "PPM_in[3] Nick ", // 29 = PPM_in[3]; // = ca -120 bis +120 |
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| 101 | "PPM_in[2] Roll ", // 30 = PPM_in[2]; // = ca -120 bis +120 |
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| 102 | "PPM_in[1] Gas " // 31 = PPM_in[1]; // = ca -120 bis +120 |
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| 103 | }; |
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| 104 | //----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 105 | |||
| 106 | |||
| 107 | |||
| 108 | //------------------------------------------------------------------------------------------------------------------ |
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| 109 | // Installation of the USART COM Port |
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| 110 | //------------------------------------------------------------------------------------------------------------------ |
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| 111 | void UART_Init(void) |
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| 112 | { |
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| 113 | //------------------------------------------------------------------------------------------------------------ |
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| 114 | // UCSR0B – USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
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| 115 | // |
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| 116 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); // Writing this bit to one enables the USART Transmitter |
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| 117 | |||
| 118 | //------------------------------------------------------------------------------------------------------------ |
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| 119 | // UCSR0A – USART Control and Status Register A containing RXC0 TXC0 UDRE0 FE0 DORn UPEn U2X0 MPCM0 |
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| 120 | // |
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| 121 | UCSR0A |= (1<<U2X0); // Double the USART Transmission Speed |
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| 122 | |||
| 123 | //------------------------------------------------------------------------------------------------------------ |
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| 124 | // UCSR0B – USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
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| 125 | // |
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| 126 | UCSR0B |= (1<<RXCIE); // RX Complete Interrupt Enable |
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| 127 | UCSR0B |= (1<<TXCIE); // TX Complete Interrupt Enable |
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| 128 | |||
| 129 | //------------------------------------------------------------------------------------------------------------ |
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| 130 | // UBRRnL and UBRRnH – USART Baud Rate Registers |
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| 131 | // |
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| 132 | UBRR0L = (SYSCLK / (BAUD_RATE * 8L) - 1); // set Baudrate to 57600 |
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| 133 | |||
| 134 | |||
| 135 | Debug_Timer = SetDelay(DebugDataIntervall); |
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| 136 | Kompass_Timer = SetDelay(220); |
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| 137 | |||
| 138 | VersionInfo.SWMajor = VERSION_MAJOR; |
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| 139 | VersionInfo.SWMinor = VERSION_MINOR; |
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| 140 | VersionInfo.SWPatch = VERSION_PATCH; |
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| 141 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 142 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 143 | |||
| 144 | pRxData = 0; |
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| 145 | RxDataLen = 0; |
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| 146 | } |
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| 147 | //------------------------------------------------------------------------------------------------------------------ |
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| 148 | |||
| 149 | |||
| 150 | |||
| 151 | //----------------------------------------------------------------------------------------------------- |
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| 152 | // Interrupt due to USART0 TX Complete |
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| 153 | //----------------------------------------------------------------------------------------------------- |
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| 154 | ISR(USART0_TX_vect) |
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| 155 | { |
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| 156 | static unsigned int ptr = 0; |
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| 157 | unsigned char tmp_tx; |
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| 158 | if(!UebertragungAbgeschlossen) |
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| 159 | { |
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| 160 | ptr++; // die [0] wurde schon gesendet |
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| 161 | tmp_tx = SendeBuffer[ptr]; |
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| 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 163 | { |
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| 164 | ptr = 0; |
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| 165 | UebertragungAbgeschlossen = 1; |
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| 166 | } |
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| 167 | UDR = tmp_tx; |
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| 168 | } |
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| 169 | else ptr = 0; |
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| 170 | } |
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| 171 | //----------------------------------------------------------------------------------------------------- |
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| 172 | |||
| 173 | |||
| 174 | |||
| 175 | //----------------------------------------------------------------------------------------------------- |
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| 176 | // Interrupt due to USART0 RX Complete |
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| 177 | //----------------------------------------------------------------------------------------------------- |
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| 178 | ISR(USART0_RX_vect) |
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| 179 | { |
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| 180 | static unsigned int crc; |
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| 181 | static unsigned char crc1,crc2,buf_ptr; |
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| 182 | static unsigned char UartState = 0; |
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| 183 | unsigned char CrcOkay = 0; |
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| 184 | |||
| 185 | SioTmp = UDR; |
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| 186 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 187 | if(SioTmp == '\r' && UartState == 2) |
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| 188 | { |
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| 189 | UartState = 0; |
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| 190 | crc -= RxdBuffer[buf_ptr-2]; |
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| 191 | crc -= RxdBuffer[buf_ptr-1]; |
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| 192 | crc %= 4096; |
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| 193 | crc1 = '=' + crc / 64; |
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| 194 | crc2 = '=' + crc % 64; |
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| 195 | CrcOkay = 0; |
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| 196 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 197 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 198 | { |
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| 199 | NeuerDatensatzEmpfangen = 1; |
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| 200 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 201 | RxdBuffer[buf_ptr] = '\r'; |
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| 202 | if(RxdBuffer[2] == 'R') |
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| 203 | { |
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| 204 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 205 | ServoActive = 0; |
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| 206 | } |
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| 207 | } |
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| 208 | } |
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| 209 | else |
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| 210 | switch(UartState) |
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| 211 | { |
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| 212 | case 0: |
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| 213 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 214 | buf_ptr = 0; |
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| 215 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 216 | crc = SioTmp; |
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| 217 | break; |
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| 218 | |||
| 219 | case 1: // Adresse auswerten |
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| 220 | UartState++; |
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| 221 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 222 | crc += SioTmp; |
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| 223 | break; |
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| 224 | |||
| 225 | case 2: // Eingangsdaten sammeln |
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| 226 | RxdBuffer[buf_ptr] = SioTmp; |
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| 227 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 228 | else UartState = 0; |
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| 229 | crc += SioTmp; |
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| 230 | break; |
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| 231 | |||
| 232 | default: |
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| 233 | UartState = 0; |
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| 234 | break; |
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| 235 | } |
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| 236 | } |
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| 237 | //----------------------------------------------------------------------------------------------------- |
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| 238 | |||
| 239 | |||
| 240 | |||
| 241 | // -------------------------------------------------------------------------- |
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| 242 | // checksum |
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| 243 | // -------------------------------------------------------------------------- |
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| 244 | void AddCRC(unsigned int wieviele) |
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| 245 | { |
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| 246 | unsigned int tmpCRC = 0,i; |
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| 247 | for(i = 0; i < wieviele;i++) |
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| 248 | { |
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| 249 | tmpCRC += SendeBuffer[i]; |
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| 250 | } |
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| 251 | tmpCRC %= 4096; |
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| 252 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 253 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 254 | SendeBuffer[i++] = '\r'; |
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| 255 | UebertragungAbgeschlossen = 0; |
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| 256 | UDR = SendeBuffer[0]; |
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| 257 | } |
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| 258 | //----------------------------------------------------------------------------------------------------- |
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| 259 | |||
| 260 | |||
| 261 | |||
| 262 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 263 | //unsigned char *snd, unsigned char len) |
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| 264 | // --------------------------------------------------------------------------------------------------------------------------- |
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| 265 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
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| 266 | { |
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| 267 | va_list ap; |
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| 268 | unsigned int pt = 0; |
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| 269 | unsigned char a,b,c; |
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| 270 | unsigned char ptr = 0; |
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| 271 | |||
| 272 | unsigned char *snd = 0; |
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| 273 | int len = 0; |
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| 274 | |||
| 275 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 276 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 277 | SendeBuffer[pt++] = cmd; // Commando |
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| 278 | |||
| 279 | va_start(ap, BufferAnzahl); |
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| 280 | if(BufferAnzahl) |
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| 281 | { |
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| 282 | snd = va_arg(ap, unsigned char*); |
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| 283 | len = va_arg(ap, int); |
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| 284 | ptr = 0; |
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| 285 | BufferAnzahl--; |
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| 286 | } |
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| 287 | while(len) |
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| 288 | { |
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| 289 | if(len) |
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| 290 | { |
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| 291 | a = snd[ptr++]; |
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| 292 | len--; |
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| 293 | if((!len) && BufferAnzahl) |
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| 294 | { |
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| 295 | snd = va_arg(ap, unsigned char*); |
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| 296 | len = va_arg(ap, int); |
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| 297 | ptr = 0; |
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| 298 | BufferAnzahl--; |
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| 299 | } |
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| 300 | } |
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| 301 | else a = 0; |
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| 302 | if(len) |
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| 303 | { |
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| 304 | b = snd[ptr++]; |
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| 305 | len--; |
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| 306 | if((!len) && BufferAnzahl) |
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| 307 | { |
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| 308 | snd = va_arg(ap, unsigned char*); |
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| 309 | len = va_arg(ap, int); |
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| 310 | ptr = 0; |
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| 311 | BufferAnzahl--; |
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| 312 | } |
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| 313 | } |
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| 314 | else b = 0; |
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| 315 | if(len) |
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| 316 | { |
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| 317 | c = snd[ptr++]; |
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| 318 | len--; |
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| 319 | if((!len) && BufferAnzahl) |
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| 320 | { |
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| 321 | snd = va_arg(ap, unsigned char*); |
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| 322 | len = va_arg(ap, int); |
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| 323 | ptr = 0; |
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| 324 | BufferAnzahl--; |
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| 325 | } |
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| 326 | } |
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| 327 | else c = 0; |
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| 328 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 329 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 330 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 331 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 332 | } |
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| 333 | va_end(ap); |
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| 334 | AddCRC(pt); |
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| 335 | } |
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| 336 | // EOF : SendOutData() ---------------------------------------------------------------------------------------------------- |
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| 337 | |||
| 338 | |||
| 339 | |||
| 340 | // ---------------------------------------------------------------------------------------------------------------------- |
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| 341 | // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
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| 342 | // ---------------------------------------------------------------------------------------------------------------------- |
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| 343 | void Decode64(void) |
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| 344 | { |
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| 345 | unsigned char a,b,c,d; |
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| 346 | unsigned char x,y,z; |
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| 347 | unsigned char ptrIn = 3; // start at begin of data block |
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| 348 | unsigned char ptrOut = 3; |
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| 349 | 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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| 350 | |||
| 351 | while(len) |
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| 352 | { |
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| 353 | a = RxdBuffer[ptrIn++] - '='; |
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| 354 | b = RxdBuffer[ptrIn++] - '='; |
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| 355 | c = RxdBuffer[ptrIn++] - '='; |
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| 356 | d = RxdBuffer[ptrIn++] - '='; |
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| 357 | |||
| 358 | x = (a << 2) | (b >> 4); |
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| 359 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 360 | z = ((c & 0x03) << 6) | d; |
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| 361 | |||
| 362 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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| 363 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 364 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 365 | } |
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| 366 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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| 367 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 368 | |||
| 369 | } |
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| 370 | //----------------------------------------------------------------------------------------------------- |
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| 371 | |||
| 372 | |||
| 373 | |||
| 374 | // ---------------------------------------------------------------------------------------------------------------------- |
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| 375 | void BearbeiteRxDaten(void) |
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| 376 | { |
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| 377 | if(!NeuerDatensatzEmpfangen) return; |
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| 378 | |||
| 379 | unsigned char tempchar1, tempchar2; |
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| 380 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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| 381 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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| 382 | { |
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| 383 | case FC_ADDRESS: // FC special commands |
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| 384 | |||
| 385 | switch(RxdBuffer[2]) |
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| 386 | { |
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| 387 | case 'K': // Kompasswert |
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| 388 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 389 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 390 | break; |
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| 391 | case 't': // Motortest |
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| 392 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 393 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 394 | PC_MotortestActive = 240; |
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| 395 | //while(!UebertragungAbgeschlossen); |
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| 396 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 397 | PcZugriff = 255; |
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| 398 | break; |
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| 399 | |||
| 400 | case 'n': // "Get Mixer |
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| 401 | while(!UebertragungAbgeschlossen); |
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| 402 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
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| 403 | break; |
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| 404 | |||
| 405 | case 'm': // "Write Mixer |
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| 406 | while(!UebertragungAbgeschlossen); |
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| 407 | if(pRxData[0] == MIXER_REVISION) |
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| 408 | { |
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| 409 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
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| 410 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 411 | tempchar1 = 1; |
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| 412 | } |
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| 413 | else tempchar1 = 0; |
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| 414 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 415 | break; |
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| 416 | |||
| 417 | case 'p': // get PPM Channels |
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| 418 | GetPPMChannelAnforderung = 1; |
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| 419 | break; |
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| 420 | |||
| 421 | case 'q': // "Get"-Anforderung für Settings |
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| 422 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 423 | if(pRxData[0] == 0xFF) |
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| 424 | { |
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| 425 | pRxData[0] = GetActiveParamSetNumber(); |
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| 426 | } |
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| 427 | // limit settings range |
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| 428 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 429 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 430 | // load requested parameter set |
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| 431 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 432 | |||
| 433 | while(!UebertragungAbgeschlossen); |
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| 434 | tempchar1 = pRxData[0]; |
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| 435 | tempchar2 = EE_DATENREVISION; // #define EE_DATENREVISION 80 // Parameter fürs Koptertool; entspricht den EEPROM-Daten von FlightCtrl Version V0.76g |
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| 436 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 437 | break; |
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| 438 | |||
| 439 | case 's': // Parametersatz speichern |
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| 440 | |||
| 441 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
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| 442 | { |
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| 443 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
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| 444 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 445 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 446 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 447 | SetActiveParamSetNumber(pRxData[0]); |
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| 448 | tempchar1 = GetActiveParamSetNumber(); |
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| 449 | LipoDetection(0); // jump tp main.c line 59 |
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| 450 | Piep(tempchar1,110); |
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| 451 | } |
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| 452 | else |
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| 453 | { |
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| 454 | tempchar1 = 0; // mark in response an invlid setting |
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| 455 | } |
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| 456 | while(!UebertragungAbgeschlossen); |
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| 457 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 458 | break; |
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| 459 | |||
| 460 | } // EOF : case FC_ADDRESS |
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| 461 | |||
| 462 | default: // any Slave Address |
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| 463 | |||
| 464 | switch(RxdBuffer[2]) |
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| 465 | { |
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| 466 | // 't' comand placed here only for compatibility to BL |
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| 467 | case 't': // Motortest |
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| 468 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 469 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 470 | while(!UebertragungAbgeschlossen); |
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| 471 | SendOutData('T', MeineSlaveAdresse, 0); |
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| 472 | PC_MotortestActive = 250; |
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| 473 | PcZugriff = 255; |
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| 474 | break; |
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| 475 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
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| 476 | case 'K': // Kompasswert |
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| 477 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 478 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 479 | break; |
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| 480 | case 'a': // Texte der Analogwerte |
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| 481 | DebugTextAnforderung = pRxData[0]; |
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| 482 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
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| 483 | PcZugriff = 255; |
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| 484 | break; |
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| 485 | case 'b': |
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| 486 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
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| 487 | ConfirmFrame = ExternControl.Frame; |
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| 488 | PcZugriff = 255; |
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| 489 | break; |
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| 490 | case 'c': // Poll the 3D-Data |
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| 491 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
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| 492 | Intervall3D = pRxData[0] * 10; |
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| 493 | break; |
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| 494 | case 'd': // Poll the debug data |
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| 495 | DebugDataIntervall = pRxData[0] * 10; |
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| 496 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
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| 497 | break; |
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| 498 | |||
| 499 | case 'h': // x-1 Displayzeilen |
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| 500 | PcZugriff = 255; |
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| 501 | RemoteKeys |= pRxData[0]; |
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| 502 | if(RemoteKeys) DisplayLine = 0; |
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| 503 | DebugDisplayAnforderung = 1; |
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| 504 | break; |
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| 505 | |||
| 506 | case 'l': // x-1 Displayzeilen |
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| 507 | PcZugriff = 255; |
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| 508 | MenuePunkt = pRxData[0]; |
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| 509 | DebugDisplayAnforderung1 = 1; |
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| 510 | break; |
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| 511 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 512 | GetVersionAnforderung = 1; |
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| 513 | break; |
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| 514 | |||
| 515 | case 'g': // |
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| 516 | GetExternalControl = 1; |
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| 517 | break; |
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| 518 | } |
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| 519 | break; // default: |
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| 520 | } |
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| 521 | NeuerDatensatzEmpfangen = 0; |
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| 522 | pRxData = 0; |
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| 523 | RxDataLen = 0; |
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| 524 | } |
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| 525 | //----------------------------------------------------------------------------------------------------- |
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| 526 | |||
| 527 | |||
| 528 | |||
| 529 | // -------------------------------------------------------------------------- |
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| 530 | // function serial output |
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| 531 | // -------------------------------------------------------------------------- |
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| 532 | int uart_putchar(char c) |
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| 533 | { |
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| 534 | if (c == '\n') uart_putchar('\r'); |
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| 535 | loop_until_bit_is_set(USR, UDRE); // Warten solange bis Zeichen gesendet wurde |
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| 536 | UDR = c; // Ausgabe des Zeichens |
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| 537 | |||
| 538 | return (0); |
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| 539 | } |
||
| 540 | //----------------------------------------------------------------------------------------------------- |
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| 541 | |||
| 542 | |||
| 543 | |||
| 544 | //--------------------------------------------------------------------------------------------- |
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| 545 | // Datenübertragung |
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| 546 | //--------------------------------------------------------------------------------------------- |
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| 547 | void DatenUebertragung(void) |
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| 548 | { |
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| 549 | if(!UebertragungAbgeschlossen) return; |
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| 550 | |||
| 551 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
||
| 552 | { |
||
| 553 | Menu(); |
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| 554 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
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| 555 | DisplayLine++; |
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| 556 | if(DisplayLine >= 4) DisplayLine = 0; |
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| 557 | DebugDisplayAnforderung = 0; |
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| 558 | } |
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| 559 | |||
| 560 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
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| 561 | { |
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| 562 | Menu(); |
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| 563 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
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| 564 | DebugDisplayAnforderung1 = 0; |
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| 565 | } |
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| 566 | |||
| 567 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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| 568 | { |
||
| 569 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
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| 570 | GetVersionAnforderung = 0; |
||
| 571 | } |
||
| 572 | |||
| 573 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 574 | { |
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| 575 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
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| 576 | GetExternalControl = 0; |
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| 577 | } |
||
| 578 | |||
| 579 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
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| 580 | { |
||
| 581 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 582 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 583 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
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| 584 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
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| 585 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
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| 586 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
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| 587 | Kompass_Timer = SetDelay(99); |
||
| 588 | } |
||
| 589 | |||
| 590 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 591 | { |
||
| 592 | //if(Poti3 > 64) |
||
| 593 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 594 | DebugDataAnforderung = 0; |
||
| 595 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 596 | } |
||
| 597 | |||
| 598 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
||
| 599 | { |
||
| 600 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 601 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 602 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 603 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 604 | Timer3D = SetDelay(Intervall3D); |
||
| 605 | } |
||
| 606 | |||
| 607 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 608 | { |
||
| 609 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
||
| 610 | DebugTextAnforderung = 255; |
||
| 611 | } |
||
| 612 | |||
| 613 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
| 614 | { |
||
| 615 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
| 616 | ConfirmFrame = 0; |
||
| 617 | } |
||
| 618 | |||
| 619 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
| 620 | { |
||
| 621 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
| 622 | GetPPMChannelAnforderung = 0; |
||
| 623 | } |
||
| 624 | } |
||
| 625 | //---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |