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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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| 11 | |||
| 1054 | killagreg | 12 | |
| 13 | #define FC_ADDRESS 1 |
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| 14 | #define NC_ADDRESS 2 |
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| 15 | #define MK3MAG_ADDRESS 3 |
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| 16 | |||
| 1053 | killagreg | 17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 18 | unsigned char DisplayLine = 0; |
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| 1 | ingob | 19 | unsigned volatile char SioTmp = 0; |
| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 22 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 23 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 24 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 25 | unsigned volatile char CntCrcError = 0; |
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| 26 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 1051 | killagreg | 27 | unsigned char *pRxData = 0; |
| 28 | unsigned char RxDataLen = 0; |
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| 1 | ingob | 29 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 30 | unsigned volatile char PC_MotortestActive = 0; |
| 1051 | killagreg | 31 | |
| 499 | hbuss | 32 | unsigned char DebugTextAnforderung = 255; |
| 1 | ingob | 33 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 34 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 35 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 36 | unsigned char ConfirmFrame; |
| 1 | ingob | 37 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 38 | struct str_ExternControl ExternControl; |
| 1 | ingob | 39 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 40 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 41 | struct str_Data3D Data3D; |
| 1 | ingob | 42 | |
| 1399 | killagreg | 43 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 44 | unsigned int DebugDataIntervall = 200, Intervall3D = 0, Display_Interval = 0; |
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| 693 | hbuss | 45 | |
| 499 | hbuss | 46 | const unsigned char ANALOG_TEXT[32][16] = |
| 47 | { |
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| 1051 | killagreg | 48 | //1234567890123456 |
| 1175 | hbuss | 49 | "AngleNick ", //0 |
| 50 | "AngleRoll ", |
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| 1051 | killagreg | 51 | "AccNick ", |
| 499 | hbuss | 52 | "AccRoll ", |
| 53 | "GyroGier ", |
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| 1175 | hbuss | 54 | "Hight Value ", //5 |
| 499 | hbuss | 55 | "AccZ ", |
| 56 | "Gas ", |
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| 1175 | hbuss | 57 | "Compass Value ", |
| 58 | "Voltage ", |
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| 513 | hbuss | 59 | "Empfang ", //10 |
| 1175 | hbuss | 60 | "Gyro Kompass ", |
| 61 | "Motor Front ", |
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| 62 | "Motor Rear ", |
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| 63 | "Motor Left ", |
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| 64 | "Motor Right ", //15 |
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| 929 | hbuss | 65 | " ", |
| 1175 | hbuss | 66 | " ", |
| 1253 | killagreg | 67 | "VarioMeter ", |
| 819 | hbuss | 68 | "MK3Mag CalState ", |
| 854 | hbuss | 69 | "Servo ", //20 |
| 1322 | hbuss | 70 | "Hoovergas ", |
| 720 | ingob | 71 | " ", |
| 1322 | hbuss | 72 | " ", |
| 73 | " ", |
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| 74 | " ", //25 |
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| 75 | " ", |
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| 76 | " ", |
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| 77 | "I2C-Error ", |
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| 1352 | hbuss | 78 | " ",// "Navi Serial Data", |
| 720 | ingob | 79 | "GPS_Nick ", //30 |
| 80 | "GPS_Roll " |
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| 499 | hbuss | 81 | }; |
| 82 | |||
| 83 | |||
| 84 | |||
| 1 | ingob | 85 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 86 | //++ Sende-Part der Datenübertragung |
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| 87 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 88 | SIGNAL(INT_VEC_TX) |
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| 89 | { |
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| 90 | static unsigned int ptr = 0; |
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| 91 | unsigned char tmp_tx; |
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| 1051 | killagreg | 92 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 93 | { |
| 94 | ptr++; // die [0] wurde schon gesendet |
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| 1051 | killagreg | 95 | tmp_tx = SendeBuffer[ptr]; |
| 1 | ingob | 96 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 97 | { |
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| 98 | ptr = 0; |
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| 99 | UebertragungAbgeschlossen = 1; |
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| 100 | } |
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| 1051 | killagreg | 101 | UDR = tmp_tx; |
| 102 | } |
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| 1 | ingob | 103 | else ptr = 0; |
| 104 | } |
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| 105 | |||
| 106 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 107 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 108 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 109 | SIGNAL(INT_VEC_RX) |
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| 110 | { |
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| 111 | static unsigned int crc; |
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| 112 | static unsigned char crc1,crc2,buf_ptr; |
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| 113 | static unsigned char UartState = 0; |
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| 114 | unsigned char CrcOkay = 0; |
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| 115 | |||
| 1051 | killagreg | 116 | SioTmp = UDR; |
| 1 | ingob | 117 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| 1051 | killagreg | 118 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 119 | { |
| 120 | UartState = 0; |
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| 121 | crc -= RxdBuffer[buf_ptr-2]; |
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| 122 | crc -= RxdBuffer[buf_ptr-1]; |
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| 123 | crc %= 4096; |
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| 124 | crc1 = '=' + crc / 64; |
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| 125 | crc2 = '=' + crc % 64; |
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| 126 | CrcOkay = 0; |
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| 127 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 128 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 129 | { |
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| 1051 | killagreg | 130 | NeuerDatensatzEmpfangen = 1; |
| 131 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 132 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 133 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 134 | { |
| 135 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 136 | ServoActive = 0; |
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| 1253 | killagreg | 137 | } |
| 1051 | killagreg | 138 | } |
| 1 | ingob | 139 | } |
| 140 | else |
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| 141 | switch(UartState) |
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| 142 | { |
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| 143 | case 0: |
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| 144 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 145 | buf_ptr = 0; |
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| 146 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 147 | crc = SioTmp; |
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| 148 | break; |
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| 149 | case 1: // Adresse auswerten |
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| 150 | UartState++; |
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| 151 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 152 | crc += SioTmp; |
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| 153 | break; |
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| 154 | case 2: // Eingangsdaten sammeln |
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| 155 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1051 | killagreg | 156 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 157 | else UartState = 0; |
| 158 | crc += SioTmp; |
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| 159 | break; |
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| 1051 | killagreg | 160 | default: |
| 161 | UartState = 0; |
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| 1 | ingob | 162 | break; |
| 163 | } |
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| 164 | } |
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| 165 | |||
| 166 | |||
| 167 | // -------------------------------------------------------------------------- |
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| 168 | void AddCRC(unsigned int wieviele) |
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| 169 | { |
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| 1051 | killagreg | 170 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 171 | for(i = 0; i < wieviele;i++) |
| 172 | { |
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| 173 | tmpCRC += SendeBuffer[i]; |
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| 174 | } |
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| 175 | tmpCRC %= 4096; |
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| 176 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 177 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 178 | SendeBuffer[i++] = '\r'; |
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| 179 | UebertragungAbgeschlossen = 0; |
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| 180 | UDR = SendeBuffer[0]; |
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| 181 | } |
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| 182 | |||
| 183 | |||
| 184 | |||
| 185 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 186 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 187 | { |
| 1051 | killagreg | 188 | va_list ap; |
| 1 | ingob | 189 | unsigned int pt = 0; |
| 190 | unsigned char a,b,c; |
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| 191 | unsigned char ptr = 0; |
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| 192 | |||
| 1051 | killagreg | 193 | unsigned char *snd = 0; |
| 194 | int len = 0; |
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| 195 | |||
| 1056 | killagreg | 196 | SendeBuffer[pt++] = '#'; // Startzeichen |
| 197 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 198 | SendeBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 199 | |
| 1051 | killagreg | 200 | va_start(ap, BufferAnzahl); |
| 201 | if(BufferAnzahl) |
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| 202 | { |
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| 203 | snd = va_arg(ap, unsigned char*); |
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| 204 | len = va_arg(ap, int); |
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| 205 | ptr = 0; |
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| 206 | BufferAnzahl--; |
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| 207 | } |
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| 1 | ingob | 208 | while(len) |
| 209 | { |
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| 1051 | killagreg | 210 | if(len) |
| 211 | { |
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| 212 | a = snd[ptr++]; |
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| 213 | len--; |
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| 214 | if((!len) && BufferAnzahl) |
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| 215 | { |
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| 216 | snd = va_arg(ap, unsigned char*); |
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| 217 | len = va_arg(ap, int); |
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| 218 | ptr = 0; |
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| 219 | BufferAnzahl--; |
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| 220 | } |
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| 221 | } |
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| 222 | else a = 0; |
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| 223 | if(len) |
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| 224 | { |
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| 225 | b = snd[ptr++]; |
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| 226 | len--; |
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| 227 | if((!len) && BufferAnzahl) |
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| 228 | { |
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| 229 | snd = va_arg(ap, unsigned char*); |
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| 230 | len = va_arg(ap, int); |
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| 231 | ptr = 0; |
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| 232 | BufferAnzahl--; |
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| 233 | } |
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| 234 | } |
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| 235 | else b = 0; |
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| 236 | if(len) |
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| 237 | { |
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| 238 | c = snd[ptr++]; |
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| 239 | len--; |
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| 240 | if((!len) && BufferAnzahl) |
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| 241 | { |
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| 242 | snd = va_arg(ap, unsigned char*); |
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| 243 | len = va_arg(ap, int); |
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| 244 | ptr = 0; |
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| 245 | BufferAnzahl--; |
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| 246 | } |
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| 247 | } |
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| 248 | else c = 0; |
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| 1 | ingob | 249 | SendeBuffer[pt++] = '=' + (a >> 2); |
| 250 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 251 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 252 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 253 | } |
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| 1051 | killagreg | 254 | va_end(ap); |
| 1 | ingob | 255 | AddCRC(pt); |
| 256 | } |
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| 257 | |||
| 258 | |||
| 259 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 260 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 261 | { |
| 262 | unsigned char a,b,c,d; |
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| 263 | unsigned char x,y,z; |
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| 1051 | killagreg | 264 | unsigned char ptrIn = 3; // start at begin of data block |
| 265 | unsigned char ptrOut = 3; |
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| 266 | 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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| 267 | |||
| 1 | ingob | 268 | while(len) |
| 269 | { |
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| 270 | a = RxdBuffer[ptrIn++] - '='; |
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| 271 | b = RxdBuffer[ptrIn++] - '='; |
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| 272 | c = RxdBuffer[ptrIn++] - '='; |
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| 273 | d = RxdBuffer[ptrIn++] - '='; |
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| 274 | |||
| 275 | x = (a << 2) | (b >> 4); |
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| 276 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 277 | z = ((c & 0x03) << 6) | d; |
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| 278 | |||
| 1051 | killagreg | 279 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 280 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 281 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 282 | } |
| 1051 | killagreg | 283 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 284 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 285 | |
| 286 | } |
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| 287 | |||
| 288 | // -------------------------------------------------------------------------- |
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| 289 | void BearbeiteRxDaten(void) |
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| 290 | { |
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| 291 | if(!NeuerDatensatzEmpfangen) return; |
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| 292 | |||
| 1058 | killagreg | 293 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 294 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 295 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 296 | { |
| 297 | case FC_ADDRESS: // FC special commands |
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| 298 | switch(RxdBuffer[2]) |
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| 299 | { |
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| 300 | case 'K':// Kompasswert |
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| 301 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 302 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 303 | break; |
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| 304 | case 't':// Motortest |
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| 1212 | hbuss | 305 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 306 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 307 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 308 | //while(!UebertragungAbgeschlossen); |
| 309 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 310 | PcZugriff = 255; |
| 311 | break; |
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| 1053 | killagreg | 312 | |
| 1209 | hbuss | 313 | case 'n':// "Get Mixer |
| 314 | while(!UebertragungAbgeschlossen); |
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| 315 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
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| 316 | break; |
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| 317 | |||
| 318 | case 'm':// "Write Mixer |
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| 319 | while(!UebertragungAbgeschlossen); |
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| 1211 | hbuss | 320 | if(pRxData[0] == MIXER_REVISION) |
| 321 | { |
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| 322 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
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| 323 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 324 | tempchar1 = 1; |
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| 325 | } |
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| 326 | else tempchar1 = 0; |
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| 327 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1209 | hbuss | 328 | break; |
| 329 | |||
| 1054 | killagreg | 330 | case 'p': // get PPM Channels |
| 331 | GetPPMChannelAnforderung = 1; |
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| 1377 | hbuss | 332 | PcZugriff = 255; |
| 1054 | killagreg | 333 | break; |
| 1053 | killagreg | 334 | |
| 1054 | killagreg | 335 | case 'q':// "Get"-Anforderung für Settings |
| 336 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 337 | if(pRxData[0] == 0xFF) |
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| 338 | { |
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| 339 | pRxData[0] = GetActiveParamSetNumber(); |
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| 340 | } |
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| 1063 | killagreg | 341 | // limit settings range |
| 342 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 343 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 344 | // load requested parameter set |
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| 345 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 346 | |||
| 1054 | killagreg | 347 | while(!UebertragungAbgeschlossen); |
| 1058 | killagreg | 348 | tempchar1 = pRxData[0]; |
| 349 | tempchar2 = EE_DATENREVISION; |
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| 350 | 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 | 351 | break; |
| 1051 | killagreg | 352 | |
| 1054 | killagreg | 353 | case 's': // Parametersatz speichern |
| 1058 | killagreg | 354 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 1054 | killagreg | 355 | { |
| 1058 | killagreg | 356 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 1054 | killagreg | 357 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 358 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 359 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1063 | killagreg | 360 | SetActiveParamSetNumber(pRxData[0]); |
| 361 | tempchar1 = GetActiveParamSetNumber(); |
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| 1054 | killagreg | 362 | } |
| 1058 | killagreg | 363 | else |
| 364 | { |
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| 365 | tempchar1 = 0; // mark in response an invlid setting |
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| 366 | } |
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| 367 | while(!UebertragungAbgeschlossen); |
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| 368 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1405 | hbuss | 369 | if(!MotorenEin) Piep(tempchar1,110); |
| 370 | LipoDetection(0); |
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| 1054 | killagreg | 371 | break; |
| 1405 | hbuss | 372 | case 'f': // auf anderen Parametersatz umschalten |
| 373 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
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| 374 | tempchar1 = pRxData[0]; |
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| 375 | while(!UebertragungAbgeschlossen); |
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| 376 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 377 | if(!MotorenEin) Piep(tempchar1,110); |
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| 378 | LipoDetection(0); |
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| 379 | break; |
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| 1391 | killagreg | 380 | case 'y':// serial Potis |
| 381 | 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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| 382 | 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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| 383 | 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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| 384 | break; |
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| 385 | |||
| 1056 | killagreg | 386 | } // case FC_ADDRESS: |
| 1054 | killagreg | 387 | |
| 388 | default: // any Slave Address |
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| 1056 | killagreg | 389 | |
| 1054 | killagreg | 390 | switch(RxdBuffer[2]) |
| 391 | { |
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| 392 | // 't' comand placed here only for compatibility to BL |
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| 393 | case 't':// Motortest |
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| 1212 | hbuss | 394 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 395 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 1054 | killagreg | 396 | while(!UebertragungAbgeschlossen); |
| 397 | SendOutData('T', MeineSlaveAdresse, 0); |
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| 1212 | hbuss | 398 | PC_MotortestActive = 250; |
| 1054 | killagreg | 399 | PcZugriff = 255; |
| 400 | break; |
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| 401 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
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| 402 | case 'K':// Kompasswert |
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| 403 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 404 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 405 | break; |
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| 406 | case 'a':// Texte der Analogwerte |
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| 407 | DebugTextAnforderung = pRxData[0]; |
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| 408 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
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| 409 | PcZugriff = 255; |
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| 410 | break; |
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| 411 | case 'b': |
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| 412 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
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| 413 | ConfirmFrame = ExternControl.Frame; |
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| 414 | PcZugriff = 255; |
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| 415 | break; |
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| 1171 | hbuss | 416 | case 'c': // Poll the 3D-Data |
| 417 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
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| 418 | Intervall3D = pRxData[0] * 10; |
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| 419 | break; |
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| 1054 | killagreg | 420 | case 'd': // Poll the debug data |
| 1399 | killagreg | 421 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 1171 | hbuss | 422 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1054 | killagreg | 423 | break; |
| 424 | |||
| 425 | case 'h':// x-1 Displayzeilen |
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| 1059 | hbuss | 426 | PcZugriff = 255; |
| 1399 | killagreg | 427 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 428 | { |
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| 429 | DisplayLine = 2; |
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| 430 | Display_Interval = 0; |
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| 431 | } |
||
| 432 | else // new format |
||
| 433 | { |
||
| 434 | RemoteKeys |= ~pRxData[0]; |
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| 435 | Display_Interval = (unsigned int)pRxData[1] * 10; |
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| 436 | DisplayLine = 4; |
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| 437 | } |
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| 1054 | killagreg | 438 | DebugDisplayAnforderung = 1; |
| 439 | break; |
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| 440 | |||
| 441 | case 'l':// x-1 Displayzeilen |
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| 1059 | hbuss | 442 | PcZugriff = 255; |
| 1054 | killagreg | 443 | MenuePunkt = pRxData[0]; |
| 444 | DebugDisplayAnforderung1 = 1; |
||
| 445 | break; |
||
| 446 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 447 | GetVersionAnforderung = 1; |
||
| 448 | break; |
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| 449 | |||
| 450 | case 'g':// |
||
| 451 | GetExternalControl = 1; |
||
| 452 | break; |
||
| 453 | } |
||
| 454 | break; // default: |
||
| 455 | } |
||
| 1051 | killagreg | 456 | NeuerDatensatzEmpfangen = 0; |
| 457 | pRxData = 0; |
||
| 458 | RxDataLen = 0; |
||
| 1 | ingob | 459 | } |
| 460 | |||
| 461 | //############################################################################ |
||
| 462 | //Routine für die Serielle Ausgabe |
||
| 463 | int uart_putchar (char c) |
||
| 464 | //############################################################################ |
||
| 465 | { |
||
| 466 | if (c == '\n') |
||
| 467 | uart_putchar('\r'); |
||
| 468 | //Warten solange bis Zeichen gesendet wurde |
||
| 469 | loop_until_bit_is_set(USR, UDRE); |
||
| 470 | //Ausgabe des Zeichens |
||
| 471 | UDR = c; |
||
| 1051 | killagreg | 472 | |
| 1 | ingob | 473 | return (0); |
| 474 | } |
||
| 475 | |||
| 476 | // -------------------------------------------------------------------------- |
||
| 477 | void WriteProgramData(unsigned int pos, unsigned char wert) |
||
| 478 | { |
||
| 479 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
||
| 480 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
||
| 481 | // Buffer[pos] = wert; |
||
| 482 | } |
||
| 483 | |||
| 484 | //############################################################################ |
||
| 485 | //INstallation der Seriellen Schnittstelle |
||
| 486 | void UART_Init (void) |
||
| 487 | //############################################################################ |
||
| 488 | { |
||
| 489 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 490 | |||
| 491 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 492 | // UART Double Speed (U2X) |
||
| 1051 | killagreg | 493 | USR |= (1<<U2X); |
| 1 | ingob | 494 | // RX-Interrupt Freigabe |
| 1051 | killagreg | 495 | UCSRB |= (1<<RXCIE); |
| 1 | ingob | 496 | // TX-Interrupt Freigabe |
| 1051 | killagreg | 497 | UCSRB |= (1<<TXCIE); |
| 1 | ingob | 498 | |
| 1051 | killagreg | 499 | //Teiler wird gesetzt |
| 1 | ingob | 500 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 501 | //UBRR = 33; |
||
| 502 | //öffnet einen Kanal für printf (STDOUT) |
||
| 503 | //fdevopen (uart_putchar, 0); |
||
| 504 | //sbi(PORTD,4); |
||
| 1051 | killagreg | 505 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 506 | Kompass_Timer = SetDelay(220); |
||
| 507 | |||
| 1058 | killagreg | 508 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 509 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 510 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 511 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 512 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 513 | |
| 514 | pRxData = 0; |
||
| 515 | RxDataLen = 0; |
||
| 1 | ingob | 516 | } |
| 517 | |||
| 518 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 519 | void DatenUebertragung(void) |
| 1 | ingob | 520 | { |
| 521 | if(!UebertragungAbgeschlossen) return; |
||
| 522 | |||
| 1399 | killagreg | 523 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 1065 | killagreg | 524 | { |
| 1399 | killagreg | 525 | if(DisplayLine > 3)// new format |
| 526 | { |
||
| 527 | Menu(); |
||
| 528 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
| 529 | } |
||
| 530 | else // old format |
||
| 531 | { |
||
| 532 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 533 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 534 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 535 | } |
||
| 536 | Display_Timer = SetDelay(Display_Interval); |
||
| 1065 | killagreg | 537 | DebugDisplayAnforderung = 0; |
| 538 | } |
||
| 539 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 540 | { |
||
| 541 | Menu(); |
||
| 542 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 543 | DebugDisplayAnforderung1 = 0; |
||
| 544 | } |
||
| 545 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 546 | { |
||
| 547 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 548 | GetVersionAnforderung = 0; |
||
| 549 | } |
||
| 1 | ingob | 550 | |
| 1065 | killagreg | 551 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 552 | { |
||
| 553 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 554 | GetExternalControl = 0; |
||
| 555 | } |
||
| 1051 | killagreg | 556 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 557 | { |
| 1171 | hbuss | 558 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 559 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 560 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 561 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1054 | killagreg | 562 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 563 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 564 | Kompass_Timer = SetDelay(99); |
| 565 | } |
||
| 1171 | hbuss | 566 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 567 | { |
| 1391 | killagreg | 568 | //if(Poti3 > 64) |
| 1276 | hbuss | 569 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 570 | DebugDataAnforderung = 0; |
| 1055 | ingob | 571 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 572 | } |
| 1171 | hbuss | 573 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 574 | { |
||
| 575 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 576 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 577 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 578 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 579 | Timer3D = SetDelay(Intervall3D); |
||
| 580 | } |
||
| 499 | hbuss | 581 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 582 | { |
||
| 1054 | killagreg | 583 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 499 | hbuss | 584 | DebugTextAnforderung = 255; |
| 585 | } |
||
| 1051 | killagreg | 586 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 587 | { |
| 1054 | killagreg | 588 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 589 | ConfirmFrame = 0; |
| 595 | hbuss | 590 | } |
| 1053 | killagreg | 591 | |
| 1051 | killagreg | 592 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 593 | { |
||
| 1054 | killagreg | 594 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 595 | GetPPMChannelAnforderung = 0; |
| 596 | } |
||
| 1 | ingob | 597 | |
| 598 | } |
||
| 599 |