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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 1 | ingob | 3 | // + only for non-profit use |
| 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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| 1051 | killagreg | 7 | #include <stdarg.h> |
| 8 | #include <string.h> |
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| 1 | ingob | 9 | #include "main.h" |
| 10 | #include "uart.h" |
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| 1438 | ingob | 11 | #include "libfc.h" |
| 1 | ingob | 12 | |
| 1054 | killagreg | 13 | |
| 14 | #define FC_ADDRESS 1 |
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| 15 | #define NC_ADDRESS 2 |
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| 16 | #define MK3MAG_ADDRESS 3 |
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| 17 | |||
| 1415 | killagreg | 18 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 19 | |||
| 1053 | killagreg | 20 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 21 | unsigned char DisplayLine = 0; |
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| 1 | ingob | 22 | unsigned volatile char SioTmp = 0; |
| 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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| 1051 | killagreg | 28 | unsigned char *pRxData = 0; |
| 29 | unsigned char RxDataLen = 0; |
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| 1 | ingob | 30 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 31 | unsigned volatile char PC_MotortestActive = 0; |
| 1051 | killagreg | 32 | |
| 499 | hbuss | 33 | unsigned char DebugTextAnforderung = 255; |
| 1 | ingob | 34 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 35 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 37 | unsigned char ConfirmFrame; |
| 1 | ingob | 38 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 39 | struct str_ExternControl ExternControl; |
| 1 | ingob | 40 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 41 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 42 | struct str_Data3D Data3D; |
| 1 | ingob | 43 | |
| 1399 | killagreg | 44 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 1415 | killagreg | 45 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 46 | unsigned int AboTimeOut = 0; |
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| 693 | hbuss | 47 | |
| 499 | hbuss | 48 | const unsigned char ANALOG_TEXT[32][16] = |
| 49 | { |
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| 1051 | killagreg | 50 | //1234567890123456 |
| 1175 | hbuss | 51 | "AngleNick ", //0 |
| 52 | "AngleRoll ", |
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| 1051 | killagreg | 53 | "AccNick ", |
| 499 | hbuss | 54 | "AccRoll ", |
| 55 | "GyroGier ", |
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| 1175 | hbuss | 56 | "Hight Value ", //5 |
| 499 | hbuss | 57 | "AccZ ", |
| 58 | "Gas ", |
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| 1175 | hbuss | 59 | "Compass Value ", |
| 60 | "Voltage ", |
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| 513 | hbuss | 61 | "Empfang ", //10 |
| 1175 | hbuss | 62 | "Gyro Kompass ", |
| 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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| 929 | hbuss | 67 | " ", |
| 1175 | hbuss | 68 | " ", |
| 1253 | killagreg | 69 | "VarioMeter ", |
| 819 | hbuss | 70 | "MK3Mag CalState ", |
| 854 | hbuss | 71 | "Servo ", //20 |
| 1322 | hbuss | 72 | "Hoovergas ", |
| 720 | ingob | 73 | " ", |
| 1322 | hbuss | 74 | " ", |
| 75 | " ", |
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| 76 | " ", //25 |
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| 77 | " ", |
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| 78 | " ", |
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| 79 | "I2C-Error ", |
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| 1352 | hbuss | 80 | " ",// "Navi Serial Data", |
| 720 | ingob | 81 | "GPS_Nick ", //30 |
| 82 | "GPS_Roll " |
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| 499 | hbuss | 83 | }; |
| 84 | |||
| 85 | |||
| 86 | |||
| 1 | ingob | 87 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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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| 1051 | killagreg | 94 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 95 | { |
| 96 | ptr++; // die [0] wurde schon gesendet |
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| 1438 | ingob | 97 | tmp_tx = TxdBuffer[ptr]; |
| 1 | ingob | 98 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 99 | { |
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| 100 | ptr = 0; |
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| 101 | UebertragungAbgeschlossen = 1; |
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| 102 | } |
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| 1051 | killagreg | 103 | UDR = tmp_tx; |
| 104 | } |
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| 1 | ingob | 105 | else ptr = 0; |
| 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 | |||
| 1051 | killagreg | 118 | SioTmp = UDR; |
| 1438 | ingob | 119 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 1051 | killagreg | 120 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 121 | { |
| 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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| 1051 | killagreg | 132 | NeuerDatensatzEmpfangen = 1; |
| 133 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 134 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 135 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 136 | { |
| 1435 | killagreg | 137 | LcdClear(); |
| 1232 | hbuss | 138 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 139 | ServoActive = 0; |
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| 1435 | killagreg | 140 | |
| 1253 | killagreg | 141 | } |
| 1051 | killagreg | 142 | } |
| 1 | ingob | 143 | } |
| 144 | else |
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| 145 | switch(UartState) |
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| 146 | { |
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| 147 | case 0: |
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| 148 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 149 | buf_ptr = 0; |
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| 150 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 151 | crc = SioTmp; |
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| 152 | break; |
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| 153 | case 1: // Adresse auswerten |
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| 154 | UartState++; |
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| 155 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 156 | crc += SioTmp; |
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| 157 | break; |
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| 158 | case 2: // Eingangsdaten sammeln |
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| 159 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1438 | ingob | 160 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 161 | else UartState = 0; |
| 162 | crc += SioTmp; |
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| 163 | break; |
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| 1051 | killagreg | 164 | default: |
| 165 | UartState = 0; |
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| 1 | ingob | 166 | break; |
| 167 | } |
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| 168 | } |
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| 169 | |||
| 170 | |||
| 171 | // -------------------------------------------------------------------------- |
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| 172 | void AddCRC(unsigned int wieviele) |
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| 173 | { |
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| 1051 | killagreg | 174 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 175 | for(i = 0; i < wieviele;i++) |
| 176 | { |
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| 1438 | ingob | 177 | tmpCRC += TxdBuffer[i]; |
| 1 | ingob | 178 | } |
| 179 | tmpCRC %= 4096; |
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| 1438 | ingob | 180 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 181 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 182 | TxdBuffer[i++] = '\r'; |
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| 1 | ingob | 183 | UebertragungAbgeschlossen = 0; |
| 1438 | ingob | 184 | UDR = TxdBuffer[0]; |
| 1 | ingob | 185 | } |
| 186 | |||
| 187 | |||
| 188 | |||
| 189 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 190 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 191 | { |
| 1051 | killagreg | 192 | va_list ap; |
| 1 | ingob | 193 | unsigned int pt = 0; |
| 194 | unsigned char a,b,c; |
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| 195 | unsigned char ptr = 0; |
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| 196 | |||
| 1051 | killagreg | 197 | unsigned char *snd = 0; |
| 198 | int len = 0; |
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| 199 | |||
| 1438 | ingob | 200 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 201 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 202 | TxdBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 203 | |
| 1051 | killagreg | 204 | va_start(ap, BufferAnzahl); |
| 205 | if(BufferAnzahl) |
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| 206 | { |
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| 207 | snd = va_arg(ap, unsigned char*); |
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| 208 | len = va_arg(ap, int); |
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| 209 | ptr = 0; |
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| 210 | BufferAnzahl--; |
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| 211 | } |
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| 1 | ingob | 212 | while(len) |
| 213 | { |
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| 1051 | killagreg | 214 | if(len) |
| 215 | { |
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| 216 | a = snd[ptr++]; |
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| 217 | len--; |
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| 218 | if((!len) && BufferAnzahl) |
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| 219 | { |
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| 220 | snd = va_arg(ap, unsigned char*); |
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| 221 | len = va_arg(ap, int); |
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| 222 | ptr = 0; |
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| 223 | BufferAnzahl--; |
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| 224 | } |
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| 225 | } |
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| 226 | else a = 0; |
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| 227 | if(len) |
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| 228 | { |
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| 229 | b = snd[ptr++]; |
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| 230 | len--; |
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| 231 | if((!len) && BufferAnzahl) |
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| 232 | { |
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| 233 | snd = va_arg(ap, unsigned char*); |
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| 234 | len = va_arg(ap, int); |
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| 235 | ptr = 0; |
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| 236 | BufferAnzahl--; |
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| 237 | } |
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| 238 | } |
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| 239 | else b = 0; |
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| 240 | if(len) |
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| 241 | { |
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| 242 | c = snd[ptr++]; |
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| 243 | len--; |
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| 244 | if((!len) && BufferAnzahl) |
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| 245 | { |
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| 246 | snd = va_arg(ap, unsigned char*); |
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| 247 | len = va_arg(ap, int); |
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| 248 | ptr = 0; |
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| 249 | BufferAnzahl--; |
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| 250 | } |
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| 251 | } |
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| 252 | else c = 0; |
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| 1438 | ingob | 253 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 254 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 255 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 256 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 1 | ingob | 257 | } |
| 1051 | killagreg | 258 | va_end(ap); |
| 1 | ingob | 259 | AddCRC(pt); |
| 260 | } |
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| 261 | |||
| 262 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 263 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 264 | { |
| 265 | unsigned char a,b,c,d; |
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| 266 | unsigned char x,y,z; |
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| 1051 | killagreg | 267 | unsigned char ptrIn = 3; // start at begin of data block |
| 268 | unsigned char ptrOut = 3; |
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| 269 | 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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| 270 | |||
| 1 | ingob | 271 | while(len) |
| 272 | { |
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| 273 | a = RxdBuffer[ptrIn++] - '='; |
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| 274 | b = RxdBuffer[ptrIn++] - '='; |
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| 275 | c = RxdBuffer[ptrIn++] - '='; |
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| 276 | d = RxdBuffer[ptrIn++] - '='; |
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| 277 | |||
| 278 | x = (a << 2) | (b >> 4); |
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| 279 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 280 | z = ((c & 0x03) << 6) | d; |
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| 281 | |||
| 1051 | killagreg | 282 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 283 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 284 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 285 | } |
| 1051 | killagreg | 286 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 287 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 288 | |
| 289 | } |
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| 290 | |||
| 291 | // -------------------------------------------------------------------------- |
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| 292 | void BearbeiteRxDaten(void) |
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| 293 | { |
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| 294 | if(!NeuerDatensatzEmpfangen) return; |
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| 295 | |||
| 1058 | killagreg | 296 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 297 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 298 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 299 | { |
| 300 | case FC_ADDRESS: // FC special commands |
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| 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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| 1212 | hbuss | 308 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 309 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 310 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 311 | //while(!UebertragungAbgeschlossen); |
| 312 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 313 | PcZugriff = 255; |
| 314 | break; |
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| 1053 | killagreg | 315 | |
| 1209 | hbuss | 316 | case 'n':// "Get Mixer |
| 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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| 1211 | hbuss | 323 | if(pRxData[0] == MIXER_REVISION) |
| 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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| 1209 | hbuss | 331 | break; |
| 332 | |||
| 1054 | killagreg | 333 | case 'p': // get PPM Channels |
| 334 | GetPPMChannelAnforderung = 1; |
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| 1377 | hbuss | 335 | PcZugriff = 255; |
| 1054 | killagreg | 336 | break; |
| 1053 | killagreg | 337 | |
| 1054 | killagreg | 338 | case 'q':// "Get"-Anforderung für Settings |
| 339 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 340 | if(pRxData[0] == 0xFF) |
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| 341 | { |
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| 342 | pRxData[0] = GetActiveParamSetNumber(); |
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| 343 | } |
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| 1063 | killagreg | 344 | // limit settings range |
| 345 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 346 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 347 | // load requested parameter set |
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| 348 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 349 | |||
| 1054 | killagreg | 350 | while(!UebertragungAbgeschlossen); |
| 1058 | killagreg | 351 | tempchar1 = pRxData[0]; |
| 352 | tempchar2 = EE_DATENREVISION; |
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| 353 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 1054 | killagreg | 354 | break; |
| 1051 | killagreg | 355 | |
| 1054 | killagreg | 356 | case 's': // Parametersatz speichern |
| 1058 | killagreg | 357 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 1054 | killagreg | 358 | { |
| 1058 | killagreg | 359 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 1054 | killagreg | 360 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 361 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 362 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1063 | killagreg | 363 | SetActiveParamSetNumber(pRxData[0]); |
| 364 | tempchar1 = GetActiveParamSetNumber(); |
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| 1054 | killagreg | 365 | } |
| 1058 | killagreg | 366 | else |
| 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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| 1405 | hbuss | 372 | if(!MotorenEin) Piep(tempchar1,110); |
| 373 | LipoDetection(0); |
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| 1435 | killagreg | 374 | LIBFC_ReceiverInit(); |
| 1054 | killagreg | 375 | break; |
| 1405 | hbuss | 376 | case 'f': // auf anderen Parametersatz umschalten |
| 377 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
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| 378 | tempchar1 = pRxData[0]; |
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| 379 | while(!UebertragungAbgeschlossen); |
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| 380 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 381 | if(!MotorenEin) Piep(tempchar1,110); |
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| 382 | LipoDetection(0); |
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| 1435 | killagreg | 383 | LIBFC_ReceiverInit(); |
| 1405 | hbuss | 384 | break; |
| 1391 | killagreg | 385 | case 'y':// serial Potis |
| 386 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
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| 387 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
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| 388 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
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| 389 | break; |
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| 390 | |||
| 1056 | killagreg | 391 | } // case FC_ADDRESS: |
| 1054 | killagreg | 392 | |
| 393 | default: // any Slave Address |
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| 1056 | killagreg | 394 | |
| 1054 | killagreg | 395 | switch(RxdBuffer[2]) |
| 396 | { |
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| 397 | // 't' comand placed here only for compatibility to BL |
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| 398 | case 't':// Motortest |
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| 1212 | hbuss | 399 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 400 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 1054 | killagreg | 401 | while(!UebertragungAbgeschlossen); |
| 402 | SendOutData('T', MeineSlaveAdresse, 0); |
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| 1212 | hbuss | 403 | PC_MotortestActive = 250; |
| 1054 | killagreg | 404 | PcZugriff = 255; |
| 405 | break; |
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| 406 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 407 | case 'K':// Kompasswert |
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| 408 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 409 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 410 | break; |
||
| 411 | case 'a':// Texte der Analogwerte |
||
| 412 | DebugTextAnforderung = pRxData[0]; |
||
| 413 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 414 | PcZugriff = 255; |
||
| 415 | break; |
||
| 416 | case 'b': |
||
| 417 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 418 | ConfirmFrame = ExternControl.Frame; |
||
| 419 | PcZugriff = 255; |
||
| 420 | break; |
||
| 1171 | hbuss | 421 | case 'c': // Poll the 3D-Data |
| 422 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 423 | Intervall3D = pRxData[0] * 10; |
||
| 1417 | killagreg | 424 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1171 | hbuss | 425 | break; |
| 1054 | killagreg | 426 | case 'd': // Poll the debug data |
| 1438 | ingob | 427 | PcZugriff = 255; |
| 1399 | killagreg | 428 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 1171 | hbuss | 429 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1415 | killagreg | 430 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 431 | break; |
| 432 | |||
| 433 | case 'h':// x-1 Displayzeilen |
||
| 1059 | hbuss | 434 | PcZugriff = 255; |
| 1399 | killagreg | 435 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 436 | { |
||
| 437 | DisplayLine = 2; |
||
| 438 | Display_Interval = 0; |
||
| 439 | } |
||
| 440 | else // new format |
||
| 441 | { |
||
| 442 | RemoteKeys |= ~pRxData[0]; |
||
| 443 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 444 | DisplayLine = 4; |
||
| 1415 | killagreg | 445 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1399 | killagreg | 446 | } |
| 1054 | killagreg | 447 | DebugDisplayAnforderung = 1; |
| 448 | break; |
||
| 449 | |||
| 450 | case 'l':// x-1 Displayzeilen |
||
| 1059 | hbuss | 451 | PcZugriff = 255; |
| 1054 | killagreg | 452 | MenuePunkt = pRxData[0]; |
| 453 | DebugDisplayAnforderung1 = 1; |
||
| 454 | break; |
||
| 455 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 456 | GetVersionAnforderung = 1; |
||
| 457 | break; |
||
| 458 | |||
| 459 | case 'g':// |
||
| 460 | GetExternalControl = 1; |
||
| 461 | break; |
||
| 462 | } |
||
| 463 | break; // default: |
||
| 464 | } |
||
| 1051 | killagreg | 465 | NeuerDatensatzEmpfangen = 0; |
| 466 | pRxData = 0; |
||
| 467 | RxDataLen = 0; |
||
| 1 | ingob | 468 | } |
| 469 | |||
| 470 | //############################################################################ |
||
| 471 | //Routine für die Serielle Ausgabe |
||
| 472 | int uart_putchar (char c) |
||
| 473 | //############################################################################ |
||
| 474 | { |
||
| 475 | if (c == '\n') |
||
| 476 | uart_putchar('\r'); |
||
| 477 | //Warten solange bis Zeichen gesendet wurde |
||
| 478 | loop_until_bit_is_set(USR, UDRE); |
||
| 479 | //Ausgabe des Zeichens |
||
| 480 | UDR = c; |
||
| 1051 | killagreg | 481 | |
| 1 | ingob | 482 | return (0); |
| 483 | } |
||
| 484 | |||
| 485 | |||
| 486 | //############################################################################ |
||
| 487 | //INstallation der Seriellen Schnittstelle |
||
| 488 | void UART_Init (void) |
||
| 489 | //############################################################################ |
||
| 490 | { |
||
| 491 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 492 | |||
| 493 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 494 | // UART Double Speed (U2X) |
||
| 1051 | killagreg | 495 | USR |= (1<<U2X); |
| 1 | ingob | 496 | // RX-Interrupt Freigabe |
| 1051 | killagreg | 497 | UCSRB |= (1<<RXCIE); |
| 1 | ingob | 498 | // TX-Interrupt Freigabe |
| 1051 | killagreg | 499 | UCSRB |= (1<<TXCIE); |
| 1 | ingob | 500 | |
| 1051 | killagreg | 501 | //Teiler wird gesetzt |
| 1 | ingob | 502 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 503 | //UBRR = 33; |
||
| 504 | //öffnet einen Kanal für printf (STDOUT) |
||
| 505 | //fdevopen (uart_putchar, 0); |
||
| 506 | //sbi(PORTD,4); |
||
| 1051 | killagreg | 507 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 508 | Kompass_Timer = SetDelay(220); |
||
| 509 | |||
| 1058 | killagreg | 510 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 511 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 512 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 513 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 514 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 515 | |
| 516 | pRxData = 0; |
||
| 517 | RxDataLen = 0; |
||
| 1 | ingob | 518 | } |
| 519 | |||
| 520 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 521 | void DatenUebertragung(void) |
| 1 | ingob | 522 | { |
| 1415 | killagreg | 523 | if(!UebertragungAbgeschlossen) return; |
| 1 | ingob | 524 | |
| 1415 | killagreg | 525 | if(CheckDelay(AboTimeOut)) |
| 526 | { |
||
| 527 | Display_Interval = 0; |
||
| 528 | DebugDataIntervall = 0; |
||
| 1417 | killagreg | 529 | Intervall3D = 0; |
| 1415 | killagreg | 530 | } |
| 531 | |||
| 1399 | killagreg | 532 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 1065 | killagreg | 533 | { |
| 1399 | killagreg | 534 | if(DisplayLine > 3)// new format |
| 535 | { |
||
| 1423 | hbuss | 536 | Menu(); |
| 1399 | killagreg | 537 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 538 | } |
||
| 539 | else // old format |
||
| 540 | { |
||
| 541 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 542 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 543 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 544 | } |
||
| 545 | Display_Timer = SetDelay(Display_Interval); |
||
| 1065 | killagreg | 546 | DebugDisplayAnforderung = 0; |
| 547 | } |
||
| 548 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 549 | { |
||
| 550 | Menu(); |
||
| 551 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 552 | DebugDisplayAnforderung1 = 0; |
||
| 553 | } |
||
| 554 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 555 | { |
||
| 556 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 557 | GetVersionAnforderung = 0; |
||
| 558 | } |
||
| 1 | ingob | 559 | |
| 1065 | killagreg | 560 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 561 | { |
||
| 562 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 563 | GetExternalControl = 0; |
||
| 564 | } |
||
| 1051 | killagreg | 565 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 566 | { |
| 1171 | hbuss | 567 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 568 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 569 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 570 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1054 | killagreg | 571 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 572 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 573 | Kompass_Timer = SetDelay(99); |
| 574 | } |
||
| 1171 | hbuss | 575 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 576 | { |
| 1391 | killagreg | 577 | //if(Poti3 > 64) |
| 1276 | hbuss | 578 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 579 | DebugDataAnforderung = 0; |
| 1055 | ingob | 580 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 581 | } |
| 1171 | hbuss | 582 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 583 | { |
||
| 584 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 585 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 586 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 587 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 588 | Timer3D = SetDelay(Intervall3D); |
||
| 589 | } |
||
| 499 | hbuss | 590 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 591 | { |
||
| 1054 | killagreg | 592 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 499 | hbuss | 593 | DebugTextAnforderung = 255; |
| 594 | } |
||
| 1051 | killagreg | 595 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 596 | { |
| 1054 | killagreg | 597 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 598 | ConfirmFrame = 0; |
| 595 | hbuss | 599 | } |
| 1053 | killagreg | 600 | |
| 1051 | killagreg | 601 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 602 | { |
||
| 1054 | killagreg | 603 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 604 | GetPPMChannelAnforderung = 0; |
| 605 | } |
||
| 1 | ingob | 606 | |
| 607 | } |
||
| 608 |