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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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| 1490 | killagreg | 9 | #include <avr/pgmspace.h> |
| 1 | ingob | 10 | #include "main.h" |
| 11 | #include "uart.h" |
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| 1438 | ingob | 12 | #include "libfc.h" |
| 1622 | killagreg | 13 | #include "eeprom.h" |
| 1 | ingob | 14 | |
| 1054 | killagreg | 15 | #define FC_ADDRESS 1 |
| 16 | #define NC_ADDRESS 2 |
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| 17 | #define MK3MAG_ADDRESS 3 |
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| 1622 | killagreg | 18 | #define BL_CTRL_ADDRESS 5 |
| 1054 | killagreg | 19 | |
| 1415 | killagreg | 20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 2012 | holgerb | 21 | #define MAX_SENDE_BUFF 175 |
| 22 | #define MAX_EMPFANGS_BUFF 175 |
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| 1657 | killagreg | 23 | |
| 24 | #define BLPARAM_REVISION 1 |
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| 25 | #define MASK_SET_PWM_SCALING 0x01 |
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| 26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 27 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 28 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 29 | #define MASK_SET_BITCONFIG 0x10 |
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| 30 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 32 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 33 | |||
| 1053 | killagreg | 34 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 35 | unsigned char DisplayLine = 0; |
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| 1 | ingob | 36 | unsigned volatile char SioTmp = 0; |
| 37 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 38 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 39 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 40 | unsigned volatile char CntCrcError = 0; |
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| 41 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 1441 | ingob | 42 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 43 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 44 | |||
| 1051 | killagreg | 45 | unsigned char *pRxData = 0; |
| 46 | unsigned char RxDataLen = 0; |
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| 1 | ingob | 47 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 48 | unsigned volatile char PC_MotortestActive = 0; |
| 1636 | ingob | 49 | unsigned char DebugTextAnforderung = 255; |
| 1051 | killagreg | 50 | |
| 1 | ingob | 51 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 52 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 53 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 54 | unsigned char ConfirmFrame; |
| 1 | ingob | 55 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 56 | struct str_ExternControl ExternControl; |
| 1 | ingob | 57 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 58 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 59 | struct str_Data3D Data3D; |
| 1 | ingob | 60 | |
| 1399 | killagreg | 61 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 1415 | killagreg | 62 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 63 | unsigned int AboTimeOut = 0; |
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| 1942 | holgerb | 64 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
| 693 | hbuss | 65 | |
| 1490 | killagreg | 66 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 499 | hbuss | 67 | { |
| 1051 | killagreg | 68 | //1234567890123456 |
| 1175 | hbuss | 69 | "AngleNick ", //0 |
| 70 | "AngleRoll ", |
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| 1051 | killagreg | 71 | "AccNick ", |
| 499 | hbuss | 72 | "AccRoll ", |
| 1523 | holgerb | 73 | "YawGyro ", |
| 1521 | killagreg | 74 | "Height Value ", //5 |
| 499 | hbuss | 75 | "AccZ ", |
| 76 | "Gas ", |
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| 1175 | hbuss | 77 | "Compass Value ", |
| 1528 | holgerb | 78 | "Voltage [0.1V] ", |
| 1521 | killagreg | 79 | "Receiver Level ", //10 |
| 80 | "Gyro Compass ", |
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| 81 | "Motor 1 ", |
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| 82 | "Motor 2 ", |
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| 83 | "Motor 3 ", |
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| 84 | "Motor 4 ", //15 |
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| 1983 | holgerb | 85 | "16 ", |
| 86 | "17 ", |
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| 1865 | holgerb | 87 | "18 ", |
| 88 | "19 ", |
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| 854 | hbuss | 89 | "Servo ", //20 |
| 1521 | killagreg | 90 | "Hovergas ", |
| 1523 | holgerb | 91 | "Current [0.1A] ", |
| 1501 | holgerb | 92 | "Capacity [mAh] ", |
| 1913 | holgerb | 93 | "Height Setpoint ", |
| 1871 | holgerb | 94 | "25 ", //25 |
| 1936 | holgerb | 95 | "26 ", //"26 CPU OverLoad ", |
| 1839 | holgerb | 96 | "Compass Setpoint", |
| 1322 | hbuss | 97 | "I2C-Error ", |
| 1761 | killagreg | 98 | "BL Limit ", |
| 720 | ingob | 99 | "GPS_Nick ", //30 |
| 100 | "GPS_Roll " |
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| 499 | hbuss | 101 | }; |
| 1871 | holgerb | 102 | |
| 103 | |||
| 1 | ingob | 104 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 105 | //++ Sende-Part der Datenübertragung |
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| 106 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 107 | ISR(USART0_TX_vect) |
| 1 | ingob | 108 | { |
| 109 | static unsigned int ptr = 0; |
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| 110 | unsigned char tmp_tx; |
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| 1783 | killagreg | 111 | |
| 112 | if(!UebertragungAbgeschlossen) |
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| 1 | ingob | 113 | { |
| 114 | ptr++; // die [0] wurde schon gesendet |
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| 1438 | ingob | 115 | tmp_tx = TxdBuffer[ptr]; |
| 1 | ingob | 116 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 117 | { |
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| 118 | ptr = 0; |
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| 119 | UebertragungAbgeschlossen = 1; |
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| 120 | } |
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| 1561 | killagreg | 121 | UDR0 = tmp_tx; |
| 1051 | killagreg | 122 | } |
| 1 | ingob | 123 | else ptr = 0; |
| 124 | } |
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| 125 | |||
| 126 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 127 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 128 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1561 | killagreg | 129 | ISR(USART0_RX_vect) |
| 1 | ingob | 130 | { |
| 131 | static unsigned int crc; |
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| 132 | static unsigned char crc1,crc2,buf_ptr; |
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| 133 | static unsigned char UartState = 0; |
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| 134 | unsigned char CrcOkay = 0; |
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| 135 | |||
| 1942 | holgerb | 136 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
| 137 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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| 1783 | killagreg | 138 | |
| 1561 | killagreg | 139 | SioTmp = UDR0; |
| 1783 | killagreg | 140 | |
| 1438 | ingob | 141 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 1051 | killagreg | 142 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 143 | { |
| 144 | UartState = 0; |
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| 145 | crc -= RxdBuffer[buf_ptr-2]; |
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| 146 | crc -= RxdBuffer[buf_ptr-1]; |
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| 147 | crc %= 4096; |
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| 148 | crc1 = '=' + crc / 64; |
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| 149 | crc2 = '=' + crc % 64; |
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| 150 | CrcOkay = 0; |
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| 151 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 152 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 153 | { |
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| 1051 | killagreg | 154 | NeuerDatensatzEmpfangen = 1; |
| 155 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 1 | ingob | 156 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 157 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 158 | { |
| 1435 | killagreg | 159 | LcdClear(); |
| 1232 | hbuss | 160 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 161 | ServoActive = 0; |
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| 1253 | killagreg | 162 | } |
| 1783 | killagreg | 163 | |
| 1051 | killagreg | 164 | } |
| 1 | ingob | 165 | } |
| 166 | else |
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| 167 | switch(UartState) |
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| 168 | { |
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| 169 | case 0: |
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| 170 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 171 | buf_ptr = 0; |
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| 172 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 173 | crc = SioTmp; |
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| 174 | break; |
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| 175 | case 1: // Adresse auswerten |
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| 176 | UartState++; |
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| 177 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 178 | crc += SioTmp; |
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| 179 | break; |
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| 180 | case 2: // Eingangsdaten sammeln |
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| 181 | RxdBuffer[buf_ptr] = SioTmp; |
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| 1490 | killagreg | 182 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 183 | else UartState = 0; |
| 184 | crc += SioTmp; |
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| 185 | break; |
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| 1051 | killagreg | 186 | default: |
| 187 | UartState = 0; |
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| 1 | ingob | 188 | break; |
| 189 | } |
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| 190 | } |
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| 191 | |||
| 192 | |||
| 193 | // -------------------------------------------------------------------------- |
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| 194 | void AddCRC(unsigned int wieviele) |
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| 195 | { |
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| 1051 | killagreg | 196 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 197 | for(i = 0; i < wieviele;i++) |
| 198 | { |
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| 1438 | ingob | 199 | tmpCRC += TxdBuffer[i]; |
| 1 | ingob | 200 | } |
| 201 | tmpCRC %= 4096; |
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| 1438 | ingob | 202 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 203 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 204 | TxdBuffer[i++] = '\r'; |
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| 1 | ingob | 205 | UebertragungAbgeschlossen = 0; |
| 1561 | killagreg | 206 | UDR0 = TxdBuffer[0]; |
| 1 | ingob | 207 | } |
| 208 | |||
| 209 | |||
| 210 | |||
| 211 | // -------------------------------------------------------------------------- |
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| 1056 | killagreg | 212 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 213 | { |
| 1051 | killagreg | 214 | va_list ap; |
| 1 | ingob | 215 | unsigned int pt = 0; |
| 216 | unsigned char a,b,c; |
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| 217 | unsigned char ptr = 0; |
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| 218 | |||
| 1051 | killagreg | 219 | unsigned char *snd = 0; |
| 220 | int len = 0; |
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| 221 | |||
| 1438 | ingob | 222 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 223 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 224 | TxdBuffer[pt++] = cmd; // Commando |
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| 1 | ingob | 225 | |
| 1051 | killagreg | 226 | va_start(ap, BufferAnzahl); |
| 227 | if(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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| 1 | ingob | 234 | while(len) |
| 235 | { |
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| 1051 | killagreg | 236 | if(len) |
| 237 | { |
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| 238 | a = 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 a = 0; |
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| 249 | if(len) |
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| 250 | { |
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| 251 | b = snd[ptr++]; |
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| 252 | len--; |
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| 253 | if((!len) && BufferAnzahl) |
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| 254 | { |
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| 255 | snd = va_arg(ap, unsigned char*); |
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| 256 | len = va_arg(ap, int); |
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| 257 | ptr = 0; |
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| 258 | BufferAnzahl--; |
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| 259 | } |
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| 260 | } |
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| 261 | else b = 0; |
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| 262 | if(len) |
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| 263 | { |
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| 264 | c = snd[ptr++]; |
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| 265 | len--; |
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| 266 | if((!len) && BufferAnzahl) |
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| 267 | { |
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| 268 | snd = va_arg(ap, unsigned char*); |
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| 269 | len = va_arg(ap, int); |
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| 270 | ptr = 0; |
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| 271 | BufferAnzahl--; |
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| 272 | } |
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| 273 | } |
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| 274 | else c = 0; |
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| 1438 | ingob | 275 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 276 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 277 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 278 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 1 | ingob | 279 | } |
| 1051 | killagreg | 280 | va_end(ap); |
| 1 | ingob | 281 | AddCRC(pt); |
| 282 | } |
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| 283 | |||
| 284 | // -------------------------------------------------------------------------- |
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| 1051 | killagreg | 285 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 286 | { |
| 287 | unsigned char a,b,c,d; |
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| 288 | unsigned char x,y,z; |
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| 1051 | killagreg | 289 | unsigned char ptrIn = 3; // start at begin of data block |
| 290 | unsigned char ptrOut = 3; |
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| 291 | 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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| 292 | |||
| 1 | ingob | 293 | while(len) |
| 294 | { |
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| 295 | a = RxdBuffer[ptrIn++] - '='; |
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| 296 | b = RxdBuffer[ptrIn++] - '='; |
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| 297 | c = RxdBuffer[ptrIn++] - '='; |
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| 298 | d = RxdBuffer[ptrIn++] - '='; |
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| 299 | |||
| 300 | x = (a << 2) | (b >> 4); |
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| 301 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 302 | z = ((c & 0x03) << 6) | d; |
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| 303 | |||
| 1051 | killagreg | 304 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 305 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 306 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 1 | ingob | 307 | } |
| 1051 | killagreg | 308 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 309 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 1 | ingob | 310 | |
| 311 | } |
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| 312 | |||
| 313 | // -------------------------------------------------------------------------- |
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| 314 | void BearbeiteRxDaten(void) |
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| 315 | { |
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| 316 | if(!NeuerDatensatzEmpfangen) return; |
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| 317 | |||
| 1665 | killagreg | 318 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 319 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 320 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 321 | { |
| 322 | case FC_ADDRESS: // FC special commands |
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| 323 | switch(RxdBuffer[2]) |
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| 324 | { |
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| 325 | case 'K':// Kompasswert |
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| 326 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 1941 | holgerb | 327 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 1054 | killagreg | 328 | break; |
| 329 | case 't':// Motortest |
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| 1212 | hbuss | 330 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 331 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 332 | PC_MotortestActive = 240; |
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| 1065 | killagreg | 333 | //while(!UebertragungAbgeschlossen); |
| 334 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 1054 | killagreg | 335 | PcZugriff = 255; |
| 336 | break; |
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| 1053 | killagreg | 337 | |
| 1209 | hbuss | 338 | case 'n':// "Get Mixer |
| 339 | while(!UebertragungAbgeschlossen); |
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| 1622 | killagreg | 340 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 1636 | ingob | 341 | Debug("Mixer lesen"); |
| 1209 | hbuss | 342 | break; |
| 343 | |||
| 344 | case 'm':// "Write Mixer |
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| 1622 | killagreg | 345 | if(pRxData[0] == EEMIXER_REVISION) |
| 1521 | killagreg | 346 | { |
| 1622 | killagreg | 347 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 348 | MixerTable_WriteToEEProm(); |
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| 1211 | hbuss | 349 | tempchar1 = 1; |
| 1765 | killagreg | 350 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| 1521 | killagreg | 351 | } |
| 1622 | killagreg | 352 | else |
| 353 | { |
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| 354 | tempchar1 = 0; |
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| 355 | } |
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| 356 | while(!UebertragungAbgeschlossen); |
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| 1211 | hbuss | 357 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 1209 | hbuss | 358 | break; |
| 359 | |||
| 1054 | killagreg | 360 | case 'p': // get PPM Channels |
| 361 | GetPPMChannelAnforderung = 1; |
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| 1377 | hbuss | 362 | PcZugriff = 255; |
| 1054 | killagreg | 363 | break; |
| 1053 | killagreg | 364 | |
| 1054 | killagreg | 365 | case 'q':// "Get"-Anforderung für Settings |
| 366 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 1761 | killagreg | 367 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| 1054 | killagreg | 368 | { |
| 1761 | killagreg | 369 | tempchar1 = pRxData[0] - 10; |
| 370 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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| 371 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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| 372 | SetDefaultParameter(tempchar1, 1); |
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| 1054 | killagreg | 373 | } |
| 1761 | killagreg | 374 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| 375 | { |
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| 376 | tempchar1 = pRxData[0] - 20; |
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| 377 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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| 378 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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| 379 | SetDefaultParameter(tempchar1, 0); |
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| 380 | } |
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| 381 | else |
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| 382 | { |
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| 383 | tempchar1 = pRxData[0]; |
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| 384 | if(tempchar1 == 0xFF) |
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| 385 | { |
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| 386 | tempchar1 = GetActiveParamSet(); |
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| 387 | } |
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| 388 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
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| 389 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
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| 390 | // load requested parameter set |
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| 391 | ParamSet_ReadFromEEProm(tempchar1); |
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| 392 | } |
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| 1054 | killagreg | 393 | while(!UebertragungAbgeschlossen); |
| 1622 | killagreg | 394 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 1636 | ingob | 395 | Debug("Lese Setting %d", tempchar1); |
| 1654 | killagreg | 396 | |
| 1054 | killagreg | 397 | break; |
| 1051 | killagreg | 398 | |
| 1054 | killagreg | 399 | case 's': // Parametersatz speichern |
| 1862 | holgerb | 400 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| 1054 | killagreg | 401 | { |
| 1622 | killagreg | 402 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 403 | ParamSet_WriteToEEProm(pRxData[0]); |
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| 1054 | killagreg | 404 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 405 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 1622 | killagreg | 406 | tempchar1 = GetActiveParamSet(); |
| 1054 | killagreg | 407 | } |
| 1058 | killagreg | 408 | else |
| 409 | { |
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| 410 | tempchar1 = 0; // mark in response an invlid setting |
||
| 411 | } |
||
| 412 | while(!UebertragungAbgeschlossen); |
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| 413 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 1405 | hbuss | 414 | if(!MotorenEin) Piep(tempchar1,110); |
| 415 | LipoDetection(0); |
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| 1626 | killagreg | 416 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1054 | killagreg | 417 | break; |
| 1405 | hbuss | 418 | case 'f': // auf anderen Parametersatz umschalten |
| 1622 | killagreg | 419 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 420 | tempchar1 = GetActiveParamSet(); |
||
| 1405 | hbuss | 421 | while(!UebertragungAbgeschlossen); |
| 422 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 423 | if(!MotorenEin) Piep(tempchar1,110); |
||
| 424 | LipoDetection(0); |
||
| 1626 | killagreg | 425 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1405 | hbuss | 426 | break; |
| 1391 | killagreg | 427 | case 'y':// serial Potis |
| 428 | 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]; |
||
| 429 | 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]; |
||
| 430 | 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]; |
||
| 431 | break; |
||
| 432 | |||
| 1662 | killagreg | 433 | case 'u': // request BL parameter |
| 434 | Debug("Reading BL %d", pRxData[0]); |
||
| 435 | // try to read BL configuration |
||
| 1665 | killagreg | 436 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 1673 | killagreg | 437 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 438 | else tempchar1 = 0; |
||
| 439 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 1674 | ingob | 440 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 1662 | killagreg | 441 | break; |
| 442 | |||
| 443 | case 'w': // write BL parameter |
||
| 444 | Debug("Writing BL %d", pRxData[0]); |
||
| 445 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
| 446 | { |
||
| 447 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
| 1665 | killagreg | 448 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 449 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 450 | else tempchar1 = 0; // indicate error |
||
| 1662 | killagreg | 451 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 1665 | killagreg | 452 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 1662 | killagreg | 453 | } |
| 454 | break; |
||
| 1783 | killagreg | 455 | case 'j': |
| 1942 | holgerb | 456 | if(MotorenEin) break; |
| 1783 | killagreg | 457 | tempchar1 = LIBFC_GetCPUType(); |
| 458 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
| 1782 | ingob | 459 | { |
| 1783 | killagreg | 460 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| 1782 | ingob | 461 | |
| 1783 | killagreg | 462 | cli(); |
| 1782 | ingob | 463 | |
| 1783 | killagreg | 464 | // UART0 & UART1 disable RX and TX-Interrupt |
| 465 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
| 466 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
| 467 | |||
| 468 | // UART0 & UART1 disable receiver and transmitter |
||
| 469 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
| 470 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
| 471 | |||
| 472 | // UART0 & UART1 flush receive buffer explicit |
||
| 473 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
| 474 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
| 475 | |||
| 476 | |||
| 1942 | holgerb | 477 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
| 478 | else |
||
| 479 | { // Jeti or HoTT update |
||
| 480 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 481 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
| 482 | //#endif |
||
| 483 | ReceiverUpdateModeActive = 1; |
||
| 1783 | killagreg | 484 | // UART0 & UART1 set baudrate |
| 485 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 486 | UBRR1L = (uint8_t)ubrr; |
||
| 487 | UBRR0H = UBRR1H; |
||
| 488 | UBRR0L = UBRR1L; |
||
| 489 | // UART1 no parity |
||
| 490 | UCSR1C &= ~(1 << UPM11); |
||
| 491 | UCSR1C &= ~(1 << UPM10); |
||
| 492 | // UART1 8-bit |
||
| 493 | UCSR1B &= ~(1 << UCSZ12); |
||
| 494 | UCSR1C |= (1 << UCSZ11); |
||
| 495 | UCSR1C |= (1 << UCSZ10); |
||
| 496 | } |
||
| 497 | // UART0 & UART1 1 stop bit |
||
| 498 | UCSR1C &= ~(1 << USBS1); |
||
| 499 | UCSR0C &= ~(1 << USBS0); |
||
| 500 | // UART1 clear 9th bit |
||
| 501 | UCSR1B &= ~(1<<TXB81); |
||
| 502 | // enable receiver and transmitter for UART0 and UART1 |
||
| 503 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
| 504 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
| 505 | // enable RX-Interrupt for UART0 and UART1 |
||
| 506 | UCSR0B |= (1 << RXCIE0); |
||
| 507 | UCSR1B |= (1 << RXCIE1); |
||
| 508 | // disable other Interrupts |
||
| 509 | TIMSK0 = 0; |
||
| 510 | TIMSK1 = 0; |
||
| 511 | TIMSK2 = 0; |
||
| 512 | |||
| 513 | sei(); |
||
| 1777 | ingob | 514 | } |
| 515 | break; |
||
| 516 | |||
| 1056 | killagreg | 517 | } // case FC_ADDRESS: |
| 1054 | killagreg | 518 | |
| 519 | default: // any Slave Address |
||
| 1056 | killagreg | 520 | |
| 1054 | killagreg | 521 | switch(RxdBuffer[2]) |
| 522 | { |
||
| 523 | // 't' comand placed here only for compatibility to BL |
||
| 524 | case 't':// Motortest |
||
| 1662 | killagreg | 525 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 1212 | hbuss | 526 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 1054 | killagreg | 527 | while(!UebertragungAbgeschlossen); |
| 528 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 1212 | hbuss | 529 | PC_MotortestActive = 250; |
| 1054 | killagreg | 530 | PcZugriff = 255; |
| 1638 | holgerb | 531 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 532 | break; |
| 533 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 534 | case 'K':// Kompasswert |
||
| 535 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 1941 | holgerb | 536 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 1054 | killagreg | 537 | break; |
| 538 | case 'a':// Texte der Analogwerte |
||
| 539 | DebugTextAnforderung = pRxData[0]; |
||
| 540 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 541 | PcZugriff = 255; |
||
| 542 | break; |
||
| 543 | case 'b': |
||
| 544 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 545 | ConfirmFrame = ExternControl.Frame; |
||
| 546 | PcZugriff = 255; |
||
| 547 | break; |
||
| 1171 | hbuss | 548 | case 'c': // Poll the 3D-Data |
| 549 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 550 | Intervall3D = pRxData[0] * 10; |
||
| 1417 | killagreg | 551 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1171 | hbuss | 552 | break; |
| 1054 | killagreg | 553 | case 'd': // Poll the debug data |
| 1438 | ingob | 554 | PcZugriff = 255; |
| 1399 | killagreg | 555 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 1171 | hbuss | 556 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1415 | killagreg | 557 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1054 | killagreg | 558 | break; |
| 559 | |||
| 560 | case 'h':// x-1 Displayzeilen |
||
| 1059 | hbuss | 561 | PcZugriff = 255; |
| 1399 | killagreg | 562 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 563 | { |
||
| 564 | DisplayLine = 2; |
||
| 565 | Display_Interval = 0; |
||
| 566 | } |
||
| 567 | else // new format |
||
| 568 | { |
||
| 569 | RemoteKeys |= ~pRxData[0]; |
||
| 570 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 571 | DisplayLine = 4; |
||
| 1415 | killagreg | 572 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 1399 | killagreg | 573 | } |
| 1054 | killagreg | 574 | DebugDisplayAnforderung = 1; |
| 575 | break; |
||
| 576 | |||
| 577 | case 'l':// x-1 Displayzeilen |
||
| 1059 | hbuss | 578 | PcZugriff = 255; |
| 1054 | killagreg | 579 | MenuePunkt = pRxData[0]; |
| 580 | DebugDisplayAnforderung1 = 1; |
||
| 581 | break; |
||
| 582 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 583 | GetVersionAnforderung = 1; |
||
| 584 | break; |
||
| 585 | |||
| 586 | case 'g':// |
||
| 587 | GetExternalControl = 1; |
||
| 588 | break; |
||
| 1657 | killagreg | 589 | |
| 590 | default: |
||
| 591 | //unsupported command received |
||
| 592 | break; |
||
| 1054 | killagreg | 593 | } |
| 594 | break; // default: |
||
| 595 | } |
||
| 1051 | killagreg | 596 | NeuerDatensatzEmpfangen = 0; |
| 597 | pRxData = 0; |
||
| 598 | RxDataLen = 0; |
||
| 1 | ingob | 599 | } |
| 600 | |||
| 601 | //############################################################################ |
||
| 602 | //Routine für die Serielle Ausgabe |
||
| 1444 | ingob | 603 | void uart_putchar (char c) |
| 1 | ingob | 604 | //############################################################################ |
| 605 | { |
||
| 606 | //Warten solange bis Zeichen gesendet wurde |
||
| 1561 | killagreg | 607 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 1 | ingob | 608 | //Ausgabe des Zeichens |
| 1561 | killagreg | 609 | UDR0 = c; |
| 1 | ingob | 610 | } |
| 611 | |||
| 612 | |||
| 613 | //############################################################################ |
||
| 614 | //INstallation der Seriellen Schnittstelle |
||
| 615 | void UART_Init (void) |
||
| 616 | //############################################################################ |
||
| 617 | { |
||
| 1561 | killagreg | 618 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 619 | |||
| 1 | ingob | 620 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 1561 | killagreg | 621 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 1 | ingob | 622 | // UART Double Speed (U2X) |
| 1561 | killagreg | 623 | UCSR0A |= (1 << U2X0); |
| 1 | ingob | 624 | // RX-Interrupt Freigabe |
| 1561 | killagreg | 625 | UCSR0B |= (1 << RXCIE0); |
| 1 | ingob | 626 | // TX-Interrupt Freigabe |
| 1561 | killagreg | 627 | UCSR0B |= (1 << TXCIE0); |
| 628 | // USART0 Baud Rate Register |
||
| 629 | // set clock divider |
||
| 630 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 631 | UBRR0L = (uint8_t)ubrr; |
||
| 1 | ingob | 632 | |
| 1051 | killagreg | 633 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 634 | Kompass_Timer = SetDelay(220); |
||
| 635 | |||
| 1058 | killagreg | 636 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 637 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 638 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 639 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 640 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 641 | |
| 642 | pRxData = 0; |
||
| 643 | RxDataLen = 0; |
||
| 1 | ingob | 644 | } |
| 645 | |||
| 646 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 647 | void DatenUebertragung(void) |
| 1 | ingob | 648 | { |
| 1415 | killagreg | 649 | if(!UebertragungAbgeschlossen) return; |
| 1 | ingob | 650 | |
| 1415 | killagreg | 651 | if(CheckDelay(AboTimeOut)) |
| 652 | { |
||
| 653 | Display_Interval = 0; |
||
| 654 | DebugDataIntervall = 0; |
||
| 1417 | killagreg | 655 | Intervall3D = 0; |
| 1415 | killagreg | 656 | } |
| 657 | |||
| 1399 | killagreg | 658 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 1065 | killagreg | 659 | { |
| 1399 | killagreg | 660 | if(DisplayLine > 3)// new format |
| 661 | { |
||
| 1423 | hbuss | 662 | Menu(); |
| 1399 | killagreg | 663 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 664 | } |
||
| 665 | else // old format |
||
| 666 | { |
||
| 667 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 668 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 669 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 670 | } |
||
| 671 | Display_Timer = SetDelay(Display_Interval); |
||
| 1065 | killagreg | 672 | DebugDisplayAnforderung = 0; |
| 673 | } |
||
| 674 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 675 | { |
||
| 676 | Menu(); |
||
| 677 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 678 | DebugDisplayAnforderung1 = 0; |
||
| 679 | } |
||
| 680 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 681 | { |
||
| 682 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 683 | GetVersionAnforderung = 0; |
||
| 1636 | ingob | 684 | Debug_OK("Version gesendet"); |
| 1065 | killagreg | 685 | } |
| 1 | ingob | 686 | |
| 1065 | killagreg | 687 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 688 | { |
||
| 689 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 690 | GetExternalControl = 0; |
||
| 691 | } |
||
| 1051 | killagreg | 692 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 693 | { |
| 1171 | hbuss | 694 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 695 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 696 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 697 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1619 | killagreg | 698 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 699 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 700 | Kompass_Timer = SetDelay(99); |
| 701 | } |
||
| 1171 | hbuss | 702 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 703 | { |
| 1639 | holgerb | 704 | CopyDebugValues(); |
| 1276 | hbuss | 705 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 706 | DebugDataAnforderung = 0; |
| 1055 | ingob | 707 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 708 | } |
| 1171 | hbuss | 709 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 710 | { |
||
| 711 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 712 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 713 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 1685 | holgerb | 714 | Data3D.Centroid[0] = SummeNick >> 9; |
| 715 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
| 716 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
| 1171 | hbuss | 717 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 718 | Timer3D = SetDelay(Intervall3D); |
||
| 719 | } |
||
| 499 | hbuss | 720 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 721 | { |
||
| 1490 | killagreg | 722 | unsigned char label[16]; // local sram buffer |
| 723 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 724 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 499 | hbuss | 725 | DebugTextAnforderung = 255; |
| 726 | } |
||
| 1051 | killagreg | 727 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 728 | { |
| 1054 | killagreg | 729 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 730 | ConfirmFrame = 0; |
| 595 | hbuss | 731 | } |
| 1053 | killagreg | 732 | |
| 1051 | killagreg | 733 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 734 | { |
||
| 1054 | killagreg | 735 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 736 | GetPPMChannelAnforderung = 0; |
| 737 | } |
||
| 1654 | killagreg | 738 | |
| 1636 | ingob | 739 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 740 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 741 | { |
||
| 742 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 743 | SendDebugOutput = 0; |
||
| 744 | } |
||
| 1654 | killagreg | 745 | #endif |
| 1 | ingob | 746 | |
| 747 | } |
||
| 748 | |||
| 1636 | ingob | 749 |