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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 NMEABuffer[MAX_EMPFANGS_BUFF]; |
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| 23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 26 | unsigned volatile char CntCrcError = 0; |
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| 27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 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 | |
| 1171 | hbuss | 44 | int Debug_Timer,Kompass_Timer,Timer3D; |
| 45 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
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| 693 | hbuss | 46 | |
| 499 | hbuss | 47 | const unsigned char ANALOG_TEXT[32][16] = |
| 48 | { |
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| 1051 | killagreg | 49 | //1234567890123456 |
| 1175 | hbuss | 50 | "AngleNick ", //0 |
| 51 | "AngleRoll ", |
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| 1051 | killagreg | 52 | "AccNick ", |
| 499 | hbuss | 53 | "AccRoll ", |
| 54 | "GyroGier ", |
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| 1175 | hbuss | 55 | "Hight Value ", //5 |
| 499 | hbuss | 56 | "AccZ ", |
| 57 | "Gas ", |
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| 1175 | hbuss | 58 | "Compass Value ", |
| 59 | "Voltage ", |
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| 513 | hbuss | 60 | "Empfang ", //10 |
| 1175 | hbuss | 61 | "Gyro Kompass ", |
| 62 | "Motor Front ", |
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| 63 | "Motor Rear ", |
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| 64 | "Motor Left ", |
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| 65 | "Motor Right ", //15 |
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| 929 | hbuss | 66 | " ", |
| 1175 | hbuss | 67 | " ", |
| 68 | " ", |
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| 819 | hbuss | 69 | "MK3Mag CalState ", |
| 854 | hbuss | 70 | "Servo ", //20 |
| 720 | ingob | 71 | " ", |
| 72 | " ", |
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| 1175 | hbuss | 73 | " ", |
| 74 | " ", |
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| 720 | ingob | 75 | " ", //25 |
| 76 | " ", |
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| 992 | hbuss | 77 | "Kalman_MaxDrift ", |
| 720 | ingob | 78 | " ", |
| 1215 | hbuss | 79 | "Navi Serial Data", |
| 720 | ingob | 80 | "GPS_Nick ", //30 |
| 81 | "GPS_Roll " |
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| 499 | hbuss | 82 | }; |
| 83 | |||
| 84 | |||
| 85 | |||
| 1 | ingob | 86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 87 | //++ Sende-Part der Datenübertragung |
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| 88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 89 | SIGNAL(INT_VEC_TX) |
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| 90 | { |
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| 91 | static unsigned int ptr = 0; |
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| 92 | unsigned char tmp_tx; |
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| 1051 | killagreg | 93 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 94 | { |
| 95 | ptr++; // die [0] wurde schon gesendet |
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| 1051 | killagreg | 96 | tmp_tx = SendeBuffer[ptr]; |
| 1 | ingob | 97 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 98 | { |
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| 99 | ptr = 0; |
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| 100 | UebertragungAbgeschlossen = 1; |
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| 101 | } |
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| 1051 | killagreg | 102 | UDR = tmp_tx; |
| 103 | } |
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| 1 | ingob | 104 | else ptr = 0; |
| 105 | } |
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| 106 | |||
| 107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 108 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 110 | SIGNAL(INT_VEC_RX) |
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| 111 | { |
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| 112 | static unsigned int crc; |
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| 113 | static unsigned char crc1,crc2,buf_ptr; |
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| 114 | static unsigned char UartState = 0; |
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| 115 | unsigned char CrcOkay = 0; |
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| 116 | |||
| 1051 | killagreg | 117 | SioTmp = UDR; |
| 1 | ingob | 118 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| 1051 | killagreg | 119 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 120 | { |
| 121 | UartState = 0; |
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| 122 | crc -= RxdBuffer[buf_ptr-2]; |
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| 123 | crc -= RxdBuffer[buf_ptr-1]; |
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| 124 | crc %= 4096; |
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| 125 | crc1 = '=' + crc / 64; |
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| 126 | crc2 = '=' + crc % 64; |
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| 127 | CrcOkay = 0; |
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| 128 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 129 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 130 | { |
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| 1051 | killagreg | 131 | NeuerDatensatzEmpfangen = 1; |
| 132 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 133 | RxdBuffer[buf_ptr] = '\r'; |
| 1232 | hbuss | 134 | if(RxdBuffer[2] == 'R') |
| 135 | { |
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| 136 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 137 | ServoActive = 0; |
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| 138 | } |
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| 1051 | killagreg | 139 | } |
| 1 | ingob | 140 | } |
| 141 | else |
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| 142 | switch(UartState) |
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| 143 | { |
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| 144 | case 0: |
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| 145 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 146 | buf_ptr = 0; |
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| 147 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 148 | crc = SioTmp; |
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| 149 | break; |
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| 150 | case 1: // Adresse auswerten |
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| 151 | UartState++; |
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| 152 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 153 | crc += SioTmp; |
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| 154 | break; |
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| 155 | case 2: // Eingangsdaten sammeln |
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| 156 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1051 | killagreg | 157 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 158 | else UartState = 0; |
| 159 | crc += SioTmp; |
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| 160 | break; |
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| 1051 | killagreg | 161 | default: |
| 162 | UartState = 0; |
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| 1 | ingob | 163 | break; |
| 164 | } |
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| 165 | } |
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| 166 | |||
| 167 | |||
| 168 | // -------------------------------------------------------------------------- |
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| 169 | void AddCRC(unsigned int wieviele) |
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| 170 | { |
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| 1051 | killagreg | 171 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 172 | for(i = 0; i < wieviele;i++) |
| 173 | { |
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| 174 | tmpCRC += SendeBuffer[i]; |
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| 175 | } |
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| 176 | tmpCRC %= 4096; |
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| 177 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 178 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 179 | SendeBuffer[i++] = '\r'; |
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| 180 | UebertragungAbgeschlossen = 0; |
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| 181 | UDR = SendeBuffer[0]; |
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| 182 | } |
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| 183 | |||
| 184 | |||
| 185 | |||
| 186 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 187 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 188 | { |
| 1051 | killagreg | 189 | va_list ap; |
| 1 | ingob | 190 | unsigned int pt = 0; |
| 191 | unsigned char a,b,c; |
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| 192 | unsigned char ptr = 0; |
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| 193 | |||
| 1051 | killagreg | 194 | unsigned char *snd = 0; |
| 195 | int len = 0; |
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| 196 | |||
| 1056 | killagreg | 197 | SendeBuffer[pt++] = '#'; // Startzeichen |
| 198 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 199 | SendeBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 200 | |
| 1051 | killagreg | 201 | va_start(ap, BufferAnzahl); |
| 202 | if(BufferAnzahl) |
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| 203 | { |
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| 204 | snd = va_arg(ap, unsigned char*); |
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| 205 | len = va_arg(ap, int); |
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| 206 | ptr = 0; |
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| 207 | BufferAnzahl--; |
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| 208 | } |
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| 1 | ingob | 209 | while(len) |
| 210 | { |
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| 1051 | killagreg | 211 | if(len) |
| 212 | { |
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| 213 | a = snd[ptr++]; |
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| 214 | len--; |
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| 215 | if((!len) && BufferAnzahl) |
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| 216 | { |
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| 217 | snd = va_arg(ap, unsigned char*); |
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| 218 | len = va_arg(ap, int); |
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| 219 | ptr = 0; |
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| 220 | BufferAnzahl--; |
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| 221 | } |
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| 222 | } |
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| 223 | else a = 0; |
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| 224 | if(len) |
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| 225 | { |
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| 226 | b = snd[ptr++]; |
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| 227 | len--; |
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| 228 | if((!len) && BufferAnzahl) |
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| 229 | { |
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| 230 | snd = va_arg(ap, unsigned char*); |
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| 231 | len = va_arg(ap, int); |
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| 232 | ptr = 0; |
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| 233 | BufferAnzahl--; |
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| 234 | } |
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| 235 | } |
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| 236 | else b = 0; |
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| 237 | if(len) |
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| 238 | { |
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| 239 | c = snd[ptr++]; |
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| 240 | len--; |
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| 241 | if((!len) && BufferAnzahl) |
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| 242 | { |
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| 243 | snd = va_arg(ap, unsigned char*); |
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| 244 | len = va_arg(ap, int); |
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| 245 | ptr = 0; |
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| 246 | BufferAnzahl--; |
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| 247 | } |
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| 248 | } |
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| 249 | else c = 0; |
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| 1 | ingob | 250 | SendeBuffer[pt++] = '=' + (a >> 2); |
| 251 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 252 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 253 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 254 | } |
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| 1051 | killagreg | 255 | va_end(ap); |
| 1 | ingob | 256 | AddCRC(pt); |
| 257 | } |
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| 258 | |||
| 259 | |||
| 260 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 261 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 262 | { |
| 263 | unsigned char a,b,c,d; |
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| 264 | unsigned char x,y,z; |
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| 1051 | killagreg | 265 | unsigned char ptrIn = 3; // start at begin of data block |
| 266 | unsigned char ptrOut = 3; |
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| 267 | 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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| 268 | |||
| 1 | ingob | 269 | while(len) |
| 270 | { |
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| 271 | a = RxdBuffer[ptrIn++] - '='; |
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| 272 | b = RxdBuffer[ptrIn++] - '='; |
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| 273 | c = RxdBuffer[ptrIn++] - '='; |
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| 274 | d = RxdBuffer[ptrIn++] - '='; |
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| 275 | |||
| 276 | x = (a << 2) | (b >> 4); |
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| 277 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 278 | z = ((c & 0x03) << 6) | d; |
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| 279 | |||
| 1051 | killagreg | 280 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 281 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 282 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 283 | } |
| 1051 | killagreg | 284 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 285 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 286 | |
| 287 | } |
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| 288 | |||
| 289 | // -------------------------------------------------------------------------- |
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| 290 | void BearbeiteRxDaten(void) |
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| 291 | { |
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| 292 | if(!NeuerDatensatzEmpfangen) return; |
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| 293 | |||
| 1058 | killagreg | 294 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 295 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 296 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 297 | { |
| 298 | case FC_ADDRESS: // FC special commands |
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| 1056 | killagreg | 299 | |
| 1054 | killagreg | 300 | switch(RxdBuffer[2]) |
| 301 | { |
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| 302 | case 'K':// Kompasswert |
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| 303 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 304 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 305 | break; |
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| 306 | case 't':// Motortest |
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| 1212 | hbuss | 307 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 308 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 309 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 310 | //while(!UebertragungAbgeschlossen); |
| 311 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 312 | PcZugriff = 255; |
| 313 | break; |
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| 1053 | killagreg | 314 | |
| 1209 | hbuss | 315 | case 'n':// "Get Mixer |
| 316 | while(!UebertragungAbgeschlossen); |
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| 317 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
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| 318 | break; |
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| 319 | |||
| 320 | case 'm':// "Write Mixer |
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| 321 | while(!UebertragungAbgeschlossen); |
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| 1211 | hbuss | 322 | if(pRxData[0] == MIXER_REVISION) |
| 323 | { |
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| 324 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
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| 325 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 326 | tempchar1 = 1; |
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| 327 | } |
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| 328 | else tempchar1 = 0; |
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| 329 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1209 | hbuss | 330 | break; |
| 331 | |||
| 1054 | killagreg | 332 | case 'p': // get PPM Channels |
| 333 | GetPPMChannelAnforderung = 1; |
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| 334 | break; |
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| 1053 | killagreg | 335 | |
| 1054 | killagreg | 336 | case 'q':// "Get"-Anforderung für Settings |
| 337 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 338 | if(pRxData[0] == 0xFF) |
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| 339 | { |
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| 340 | pRxData[0] = GetActiveParamSetNumber(); |
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| 341 | } |
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| 1063 | killagreg | 342 | // limit settings range |
| 343 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
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| 344 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
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| 345 | // load requested parameter set |
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| 346 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 347 | |||
| 1054 | killagreg | 348 | while(!UebertragungAbgeschlossen); |
| 1058 | killagreg | 349 | tempchar1 = pRxData[0]; |
| 350 | tempchar2 = EE_DATENREVISION; |
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| 351 | 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 | 352 | break; |
| 1051 | killagreg | 353 | |
| 1054 | killagreg | 354 | case 's': // Parametersatz speichern |
| 1058 | killagreg | 355 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 1054 | killagreg | 356 | { |
| 1058 | killagreg | 357 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 1054 | killagreg | 358 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 359 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 360 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1063 | killagreg | 361 | SetActiveParamSetNumber(pRxData[0]); |
| 362 | tempchar1 = GetActiveParamSetNumber(); |
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| 1232 | hbuss | 363 | Piep(tempchar1,110); |
| 1054 | killagreg | 364 | } |
| 1058 | killagreg | 365 | else |
| 366 | { |
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| 367 | tempchar1 = 0; // mark in response an invlid setting |
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| 368 | } |
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| 369 | while(!UebertragungAbgeschlossen); |
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| 370 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1054 | killagreg | 371 | break; |
| 372 | |||
| 1056 | killagreg | 373 | } // case FC_ADDRESS: |
| 1054 | killagreg | 374 | |
| 375 | default: // any Slave Address |
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| 1056 | killagreg | 376 | |
| 1054 | killagreg | 377 | switch(RxdBuffer[2]) |
| 378 | { |
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| 379 | // 't' comand placed here only for compatibility to BL |
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| 380 | case 't':// Motortest |
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| 1212 | hbuss | 381 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 382 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 1054 | killagreg | 383 | while(!UebertragungAbgeschlossen); |
| 384 | SendOutData('T', MeineSlaveAdresse, 0); |
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| 1212 | hbuss | 385 | PC_MotortestActive = 250; |
| 1054 | killagreg | 386 | PcZugriff = 255; |
| 387 | break; |
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| 388 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
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| 389 | case 'K':// Kompasswert |
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| 390 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 391 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 392 | break; |
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| 393 | case 'a':// Texte der Analogwerte |
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| 394 | DebugTextAnforderung = pRxData[0]; |
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| 395 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
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| 396 | PcZugriff = 255; |
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| 397 | break; |
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| 398 | case 'b': |
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| 399 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
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| 400 | ConfirmFrame = ExternControl.Frame; |
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| 401 | PcZugriff = 255; |
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| 402 | break; |
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| 1171 | hbuss | 403 | case 'c': // Poll the 3D-Data |
| 404 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
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| 405 | Intervall3D = pRxData[0] * 10; |
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| 406 | break; |
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| 1054 | killagreg | 407 | case 'd': // Poll the debug data |
| 408 | DebugDataIntervall = pRxData[0] * 10; |
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| 1171 | hbuss | 409 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1054 | killagreg | 410 | break; |
| 411 | |||
| 412 | case 'h':// x-1 Displayzeilen |
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| 1059 | hbuss | 413 | PcZugriff = 255; |
| 1054 | killagreg | 414 | RemoteKeys |= pRxData[0]; |
| 415 | if(RemoteKeys) DisplayLine = 0; |
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| 416 | DebugDisplayAnforderung = 1; |
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| 417 | break; |
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| 418 | |||
| 419 | case 'l':// x-1 Displayzeilen |
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| 1059 | hbuss | 420 | PcZugriff = 255; |
| 1054 | killagreg | 421 | MenuePunkt = pRxData[0]; |
| 422 | DebugDisplayAnforderung1 = 1; |
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| 423 | break; |
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| 424 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 425 | GetVersionAnforderung = 1; |
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| 426 | break; |
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| 427 | |||
| 428 | case 'g':// |
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| 429 | GetExternalControl = 1; |
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| 430 | break; |
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| 431 | } |
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| 432 | break; // default: |
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| 433 | } |
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| 1051 | killagreg | 434 | NeuerDatensatzEmpfangen = 0; |
| 435 | pRxData = 0; |
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| 436 | RxDataLen = 0; |
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| 1 | ingob | 437 | } |
| 438 | |||
| 439 | //############################################################################ |
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| 440 | //Routine für die Serielle Ausgabe |
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| 441 | int uart_putchar (char c) |
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| 442 | //############################################################################ |
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| 443 | { |
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| 444 | if (c == '\n') |
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| 445 | uart_putchar('\r'); |
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| 446 | //Warten solange bis Zeichen gesendet wurde |
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| 447 | loop_until_bit_is_set(USR, UDRE); |
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| 448 | //Ausgabe des Zeichens |
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| 449 | UDR = c; |
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| 1051 | killagreg | 450 | |
| 1 | ingob | 451 | return (0); |
| 452 | } |
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| 453 | |||
| 454 | // -------------------------------------------------------------------------- |
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| 455 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 456 | { |
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| 457 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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| 458 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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| 459 | // Buffer[pos] = wert; |
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| 460 | } |
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| 461 | |||
| 462 | //############################################################################ |
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| 463 | //INstallation der Seriellen Schnittstelle |
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| 464 | void UART_Init (void) |
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| 465 | //############################################################################ |
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| 466 | { |
||
| 467 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 468 | |||
| 469 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 470 | // UART Double Speed (U2X) |
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| 1051 | killagreg | 471 | USR |= (1<<U2X); |
| 1 | ingob | 472 | // RX-Interrupt Freigabe |
| 1051 | killagreg | 473 | UCSRB |= (1<<RXCIE); |
| 1 | ingob | 474 | // TX-Interrupt Freigabe |
| 1051 | killagreg | 475 | UCSRB |= (1<<TXCIE); |
| 1 | ingob | 476 | |
| 1051 | killagreg | 477 | //Teiler wird gesetzt |
| 1 | ingob | 478 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 479 | //UBRR = 33; |
||
| 480 | //öffnet einen Kanal für printf (STDOUT) |
||
| 481 | //fdevopen (uart_putchar, 0); |
||
| 482 | //sbi(PORTD,4); |
||
| 1051 | killagreg | 483 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 484 | Kompass_Timer = SetDelay(220); |
||
| 485 | |||
| 1058 | killagreg | 486 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 487 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 488 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 489 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 490 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 491 | |
| 492 | pRxData = 0; |
||
| 493 | RxDataLen = 0; |
||
| 1 | ingob | 494 | } |
| 495 | |||
| 496 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 497 | void DatenUebertragung(void) |
| 1 | ingob | 498 | { |
| 499 | if(!UebertragungAbgeschlossen) return; |
||
| 500 | |||
| 1065 | killagreg | 501 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| 502 | { |
||
| 503 | Menu(); |
||
| 504 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
||
| 505 | DisplayLine++; |
||
| 506 | if(DisplayLine >= 4) DisplayLine = 0; |
||
| 507 | DebugDisplayAnforderung = 0; |
||
| 508 | } |
||
| 509 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 510 | { |
||
| 511 | Menu(); |
||
| 512 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 513 | DebugDisplayAnforderung1 = 0; |
||
| 514 | } |
||
| 515 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 516 | { |
||
| 517 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 518 | GetVersionAnforderung = 0; |
||
| 519 | } |
||
| 1 | ingob | 520 | |
| 1065 | killagreg | 521 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 522 | { |
||
| 523 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 524 | GetExternalControl = 0; |
||
| 525 | } |
||
| 1051 | killagreg | 526 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 527 | { |
| 1171 | hbuss | 528 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 529 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 530 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 531 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1054 | killagreg | 532 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 533 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 534 | Kompass_Timer = SetDelay(99); |
| 535 | } |
||
| 1171 | hbuss | 536 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 537 | { |
| 1054 | killagreg | 538 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 539 | DebugDataAnforderung = 0; |
| 1055 | ingob | 540 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 541 | } |
| 1171 | hbuss | 542 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 543 | { |
||
| 544 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 545 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 546 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 547 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 548 | Timer3D = SetDelay(Intervall3D); |
||
| 549 | } |
||
| 499 | hbuss | 550 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 551 | { |
||
| 1054 | killagreg | 552 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 499 | hbuss | 553 | DebugTextAnforderung = 255; |
| 554 | } |
||
| 1051 | killagreg | 555 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 556 | { |
| 1054 | killagreg | 557 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 558 | ConfirmFrame = 0; |
| 595 | hbuss | 559 | } |
| 1053 | killagreg | 560 | |
| 1051 | killagreg | 561 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 562 | { |
||
| 1054 | killagreg | 563 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 564 | GetPPMChannelAnforderung = 0; |
| 565 | } |
||
| 1 | ingob | 566 | |
| 567 | } |
||
| 568 |