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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2506 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | #include <stdarg.h> |
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| 54 | #include <string.h> |
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| 55 | #include <avr/pgmspace.h> |
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| 56 | #include "main.h" |
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| 57 | #include "uart.h" |
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| 58 | #include "libfc.h" |
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| 59 | #include "eeprom.h" |
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| 60 | |||
| 61 | #define FC_ADDRESS 1 |
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| 62 | #define NC_ADDRESS 2 |
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| 63 | #define MK3MAG_ADDRESS 3 |
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| 64 | #define BL_CTRL_ADDRESS 5 |
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| 65 | |||
| 66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
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| 67 | #define MAX_SENDE_BUFF 220 |
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| 68 | #define MAX_EMPFANGS_BUFF 220 |
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| 69 | |||
| 70 | #define BLPARAM_REVISION 1 |
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| 71 | #define MASK_SET_PWM_SCALING 0x01 |
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| 72 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 73 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 74 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 75 | #define MASK_SET_BITCONFIG 0x10 |
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| 76 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 77 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 78 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 79 | |||
| 80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
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| 81 | unsigned char DisplayLine = 0; |
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| 82 | unsigned volatile char SioTmp = 0; |
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| 83 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 84 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 85 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 86 | unsigned volatile char CntCrcError = 0; |
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| 87 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
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| 89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 90 | |||
| 91 | unsigned char *pRxData = 0; |
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| 92 | unsigned char RxDataLen = 0; |
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| 93 | unsigned volatile char PC_DebugTimeout = 0; |
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| 94 | unsigned volatile char PC_MotortestActive = 0; |
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| 95 | unsigned char DebugTextAnforderung = 255; |
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| 96 | |||
| 97 | unsigned char PcZugriff = 100; |
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| 98 | unsigned char MotorTest[16]; |
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| 99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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| 100 | unsigned char ConfirmFrame; |
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| 101 | struct str_DebugOut DebugOut; |
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| 102 | struct str_ExternControl ExternControl; |
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| 103 | struct str_VersionInfo VersionInfo; |
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| 104 | struct str_WinkelOut WinkelOut; |
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| 105 | struct str_Data3D Data3D; |
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| 106 | |||
| 107 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
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| 108 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
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| 109 | unsigned int AboTimeOut = 0; |
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| 110 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
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| 111 | |||
| 112 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
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| 113 | { |
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| 114 | //1234567890123456 |
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| 115 | "AngleNick ", //0 |
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| 116 | "AngleRoll ", |
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| 117 | "AccNick ", |
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| 118 | "AccRoll ", |
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| 119 | "YawGyro ", |
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| 120 | "Altitude [0.1m] ", //5 |
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| 121 | "AccZ ", |
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| 122 | "Gas ", |
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| 123 | "Compass Value ", |
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| 124 | "Voltage [0.1V] ", |
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| 125 | "Receiver Level ", //10 |
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| 126 | "Gyro Compass ", |
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| 127 | "Motor 1 ", |
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| 128 | "Motor 2 ", |
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| 129 | "Motor 3 ", |
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| 130 | "Motor 4 ", //15 |
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| 131 | "16 ", |
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| 132 | "17 ", |
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| 133 | "18 ", |
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| 134 | "19 ", |
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| 135 | "Servo ", //20 |
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| 136 | "Hovergas ", |
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| 137 | "Current [0.1A] ", |
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| 138 | "Capacity [mAh] ", |
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| 139 | "Height Setpoint ", |
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| 140 | "25 ", //25 |
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| 141 | "26 ", //"26 CPU OverLoad ", |
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| 142 | "27 ", |
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| 143 | "I2C-Error ", |
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| 144 | "BL Limit ", |
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| 145 | "GPS_Nick ", //30 |
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| 146 | "GPS_Roll " |
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| 147 | }; |
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| 148 | |||
| 149 | |||
| 150 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 151 | //++ Sende-Part der Datenübertragung |
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| 152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 153 | ISR(USART0_TX_vect) |
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| 154 | { |
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| 155 | static unsigned int ptr = 0; |
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| 156 | unsigned char tmp_tx; |
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| 157 | |||
| 158 | if(!UebertragungAbgeschlossen) |
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| 159 | { |
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| 160 | ptr++; // die [0] wurde schon gesendet |
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| 161 | tmp_tx = TxdBuffer[ptr]; |
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| 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 163 | { |
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| 164 | ptr = 0; |
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| 165 | UebertragungAbgeschlossen = 1; |
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| 166 | } |
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| 167 | UDR0 = tmp_tx; |
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| 168 | } |
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| 169 | else ptr = 0; |
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| 170 | } |
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| 171 | |||
| 172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 173 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 175 | ISR(USART0_RX_vect) |
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| 176 | { |
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| 177 | static unsigned int crc; |
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| 178 | static unsigned char crc1,crc2,buf_ptr; |
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| 179 | static unsigned char UartState = 0; |
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| 180 | unsigned char CrcOkay = 0; |
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| 181 | |||
| 182 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
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| 183 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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| 184 | |||
| 185 | SioTmp = UDR0; |
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| 186 | |||
| 187 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
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| 188 | if(SioTmp == '\r' && UartState == 2) |
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| 189 | { |
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| 190 | UartState = 0; |
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| 191 | crc -= RxdBuffer[buf_ptr-2]; |
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| 192 | crc -= RxdBuffer[buf_ptr-1]; |
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| 193 | crc %= 4096; |
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| 194 | crc1 = '=' + crc / 64; |
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| 195 | crc2 = '=' + crc % 64; |
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| 196 | CrcOkay = 0; |
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| 197 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 198 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 199 | { |
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| 200 | NeuerDatensatzEmpfangen = 1; |
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| 201 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 202 | RxdBuffer[buf_ptr] = '\r'; |
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| 203 | if(RxdBuffer[2] == 'R' && !MotorenEin) |
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| 204 | { |
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| 205 | LcdClear(); |
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| 206 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 207 | ServoActive = 0; |
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| 208 | } |
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| 209 | } |
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| 210 | } |
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| 211 | else |
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| 212 | switch(UartState) |
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| 213 | { |
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| 214 | case 0: |
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| 215 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 216 | buf_ptr = 0; |
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| 217 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 218 | crc = SioTmp; |
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| 219 | break; |
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| 220 | case 1: // Adresse auswerten |
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| 221 | UartState++; |
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| 222 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 223 | crc += SioTmp; |
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| 224 | break; |
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| 225 | case 2: // Eingangsdaten sammeln |
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| 226 | RxdBuffer[buf_ptr] = SioTmp; |
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| 227 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 228 | else UartState = 0; |
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| 229 | //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
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| 230 | crc += SioTmp; |
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| 231 | break; |
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| 232 | default: |
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| 233 | UartState = 0; |
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| 234 | break; |
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| 235 | } |
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| 236 | } |
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| 237 | |||
| 238 | |||
| 239 | // -------------------------------------------------------------------------- |
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| 240 | void AddCRC(unsigned int wieviele) |
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| 241 | { |
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| 242 | unsigned int tmpCRC = 0,i; |
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| 243 | for(i = 0; i < wieviele;i++) |
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| 244 | { |
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| 245 | tmpCRC += TxdBuffer[i]; |
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| 246 | } |
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| 247 | // if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; |
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| 248 | tmpCRC %= 4096; |
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| 249 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
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| 250 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 251 | TxdBuffer[i++] = '\r'; |
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| 252 | UebertragungAbgeschlossen = 0; |
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| 253 | UDR0 = TxdBuffer[0]; |
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| 254 | //if(DebugOut.Analog[] < i) DebugOut.Analog[] = i; |
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| 255 | } |
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| 256 | |||
| 257 | |||
| 258 | // -------------------------------------------------------------------------- |
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| 259 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
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| 260 | { |
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| 261 | va_list ap; |
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| 262 | unsigned int pt = 0; |
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| 263 | unsigned char a,b,c; |
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| 264 | unsigned char ptr = 0; |
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| 265 | |||
| 266 | unsigned char *snd = 0; |
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| 267 | int len = 0; |
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| 268 | |||
| 269 | TxdBuffer[pt++] = '#'; // Startzeichen |
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| 270 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 271 | TxdBuffer[pt++] = cmd; // Commando |
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| 272 | |||
| 273 | va_start(ap, BufferAnzahl); |
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| 274 | if(BufferAnzahl) |
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| 275 | { |
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| 276 | snd = va_arg(ap, unsigned char*); |
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| 277 | len = va_arg(ap, int); |
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| 278 | ptr = 0; |
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| 279 | BufferAnzahl--; |
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| 280 | } |
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| 281 | while(len) |
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| 282 | { |
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| 283 | if(len) |
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| 284 | { |
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| 285 | a = snd[ptr++]; |
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| 286 | len--; |
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| 287 | if((!len) && BufferAnzahl) |
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| 288 | { |
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| 289 | snd = va_arg(ap, unsigned char*); |
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| 290 | len = va_arg(ap, int); |
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| 291 | ptr = 0; |
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| 292 | BufferAnzahl--; |
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| 293 | } |
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| 294 | } |
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| 295 | else a = 0; |
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| 296 | if(len) |
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| 297 | { |
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| 298 | b = snd[ptr++]; |
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| 299 | len--; |
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| 300 | if((!len) && BufferAnzahl) |
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| 301 | { |
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| 302 | snd = va_arg(ap, unsigned char*); |
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| 303 | len = va_arg(ap, int); |
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| 304 | ptr = 0; |
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| 305 | BufferAnzahl--; |
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| 306 | } |
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| 307 | } |
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| 308 | else b = 0; |
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| 309 | if(len) |
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| 310 | { |
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| 311 | c = snd[ptr++]; |
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| 312 | len--; |
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| 313 | if((!len) && BufferAnzahl) |
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| 314 | { |
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| 315 | snd = va_arg(ap, unsigned char*); |
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| 316 | len = va_arg(ap, int); |
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| 317 | ptr = 0; |
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| 318 | BufferAnzahl--; |
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| 319 | } |
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| 320 | } |
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| 321 | else c = 0; |
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| 322 | TxdBuffer[pt++] = '=' + (a >> 2); |
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| 323 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 324 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 325 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 326 | } |
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| 327 | va_end(ap); |
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| 328 | AddCRC(pt); |
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| 329 | } |
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| 330 | |||
| 331 | // -------------------------------------------------------------------------- |
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| 332 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
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| 333 | { |
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| 334 | unsigned char a,b,c,d; |
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| 335 | unsigned char x,y,z; |
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| 336 | unsigned char ptrIn = 3; // start at begin of data block |
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| 337 | unsigned char ptrOut = 3; |
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| 338 | 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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| 339 | |||
| 340 | while(len) |
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| 341 | { |
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| 342 | a = RxdBuffer[ptrIn++] - '='; |
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| 343 | b = RxdBuffer[ptrIn++] - '='; |
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| 344 | c = RxdBuffer[ptrIn++] - '='; |
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| 345 | d = RxdBuffer[ptrIn++] - '='; |
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| 346 | |||
| 347 | x = (a << 2) | (b >> 4); |
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| 348 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 349 | z = ((c & 0x03) << 6) | d; |
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| 350 | |||
| 351 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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| 352 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 353 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 354 | } |
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| 355 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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| 356 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 357 | |||
| 358 | } |
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| 359 | |||
| 360 | // -------------------------------------------------------------------------- |
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| 361 | void BearbeiteRxDaten(void) |
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| 362 | { |
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| 363 | if(!NeuerDatensatzEmpfangen) return; |
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| 364 | |||
| 365 | unsigned char tempchar1, tempchar2; |
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| 366 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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| 367 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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| 368 | { |
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| 369 | case FC_ADDRESS: // FC special commands |
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| 370 | switch(RxdBuffer[2]) |
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| 371 | { |
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| 372 | case 'K':// Kompasswert |
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| 373 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 374 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
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| 375 | break; |
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| 376 | case 't':// Motortest |
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| 377 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 378 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 379 | PC_MotortestActive = 240; |
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| 380 | //while(!UebertragungAbgeschlossen); |
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| 381 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 382 | PcZugriff = 255; |
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| 383 | break; |
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| 384 | |||
| 385 | case 'n':// "Get Mixer |
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| 386 | while(!UebertragungAbgeschlossen); |
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| 387 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
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| 388 | Debug("Mixer lesen"); |
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| 389 | break; |
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| 390 | |||
| 391 | case 'm':// "Write Mixer |
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| 392 | if(pRxData[0] == EEMIXER_REVISION) |
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| 393 | { |
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| 394 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
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| 395 | MixerTable_WriteToEEProm(); |
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| 396 | tempchar1 = 1; |
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| 397 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
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| 398 | } |
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| 399 | else |
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| 400 | { |
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| 401 | tempchar1 = 0; |
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| 402 | } |
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| 403 | while(!UebertragungAbgeschlossen); |
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| 404 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 405 | break; |
||
| 406 | |||
| 407 | case 'p': // get PPM Channels |
||
| 408 | GetPPMChannelAnforderung = 1; |
||
| 409 | PcZugriff = 255; |
||
| 410 | break; |
||
| 411 | |||
| 412 | case 'q':// "Get"-Anforderung für Settings |
||
| 413 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 414 | if(!MotorenEin) |
||
| 415 | { |
||
| 416 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
||
| 417 | { |
||
| 418 | tempchar1 = pRxData[0] - 10; |
||
| 419 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 420 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 421 | SetDefaultParameter(tempchar1, 1); |
||
| 422 | } |
||
| 423 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
||
| 424 | { |
||
| 425 | tempchar1 = pRxData[0] - 20; |
||
| 426 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 427 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 428 | SetDefaultParameter(tempchar1, 0); |
||
| 429 | } |
||
| 430 | else |
||
| 431 | { |
||
| 432 | tempchar1 = pRxData[0]; |
||
| 433 | if(tempchar1 == 0xFF) |
||
| 434 | { |
||
| 435 | tempchar1 = GetActiveParamSet(); |
||
| 436 | } |
||
| 437 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 438 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 439 | // load requested parameter set |
||
| 440 | ParamSet_ReadFromEEProm(tempchar1); |
||
| 441 | } |
||
| 442 | LipoDetection(0); |
||
| 443 | } else tempchar1 = GetActiveParamSet(); |
||
| 444 | while(!UebertragungAbgeschlossen); |
||
| 445 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
||
| 446 | Debug("Lese Setting %d", tempchar1); |
||
| 447 | break; |
||
| 448 | |||
| 449 | case 's': // Parametersatz speichern |
||
| 450 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
||
| 451 | { |
||
| 452 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
||
| 453 | ParamSet_WriteToEEProm(pRxData[0]); |
||
| 454 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 455 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 456 | tempchar1 = GetActiveParamSet(); |
||
| 457 | } |
||
| 458 | else |
||
| 459 | { |
||
| 460 | tempchar1 = 0; // mark in response an invlid setting |
||
| 461 | } |
||
| 462 | while(!UebertragungAbgeschlossen); |
||
| 463 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 464 | if(!MotorenEin) |
||
| 465 | { |
||
| 466 | Piep(tempchar1,110); |
||
| 467 | LipoDetection(0); |
||
| 468 | } |
||
| 469 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
||
| 470 | break; |
||
| 471 | case 'f': // auf anderen Parametersatz umschalten |
||
| 472 | if(MotorenEin) break; |
||
| 473 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
||
| 474 | tempchar1 = GetActiveParamSet(); |
||
| 475 | while(!UebertragungAbgeschlossen); |
||
| 476 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 477 | if(!MotorenEin) |
||
| 478 | { |
||
| 479 | Piep(tempchar1,110); |
||
| 480 | LipoDetection(0); |
||
| 481 | } |
||
| 482 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
||
| 483 | break; |
||
| 484 | case 'y':// serial Potis |
||
| 485 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1]; |
||
| 486 | break; |
||
| 487 | case 'u': // request BL parameter |
||
| 488 | Debug("Reading BL %d", pRxData[0]); |
||
| 489 | // try to read BL configuration |
||
| 490 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
||
| 491 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 492 | else tempchar1 = 0; |
||
| 493 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 494 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
||
| 495 | break; |
||
| 496 | case 'w': // write BL parameter |
||
| 497 | Debug("Writing BL %d", pRxData[0]); |
||
| 498 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
| 499 | { |
||
| 500 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
| 501 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
||
| 502 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 503 | else tempchar1 = 0; // indicate error |
||
| 504 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 505 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
||
| 506 | } |
||
| 507 | break; |
||
| 508 | case 'j': |
||
| 509 | if(MotorenEin) break; |
||
| 510 | tempchar1 = LIBFC_GetCPUType(); |
||
| 511 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
| 512 | { |
||
| 513 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
||
| 514 | |||
| 515 | cli(); |
||
| 516 | |||
| 517 | // UART0 & UART1 disable RX and TX-Interrupt |
||
| 518 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
| 519 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
| 520 | |||
| 521 | // UART0 & UART1 disable receiver and transmitter |
||
| 522 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
| 523 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
| 524 | |||
| 525 | // UART0 & UART1 flush receive buffer explicit |
||
| 526 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
| 527 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
| 528 | |||
| 529 | |||
| 530 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
||
| 531 | else |
||
| 532 | { // Jeti or HoTT update |
||
| 533 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 534 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
| 535 | //#endif |
||
| 536 | ReceiverUpdateModeActive = 1; |
||
| 537 | // UART0 & UART1 set baudrate |
||
| 538 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 539 | UBRR1L = (uint8_t)ubrr; |
||
| 540 | UBRR0H = UBRR1H; |
||
| 541 | UBRR0L = UBRR1L; |
||
| 542 | // UART1 no parity |
||
| 543 | UCSR1C &= ~(1 << UPM11); |
||
| 544 | UCSR1C &= ~(1 << UPM10); |
||
| 545 | // UART1 8-bit |
||
| 546 | UCSR1B &= ~(1 << UCSZ12); |
||
| 547 | UCSR1C |= (1 << UCSZ11); |
||
| 548 | UCSR1C |= (1 << UCSZ10); |
||
| 549 | } |
||
| 550 | // UART0 & UART1 1 stop bit |
||
| 551 | UCSR1C &= ~(1 << USBS1); |
||
| 552 | UCSR0C &= ~(1 << USBS0); |
||
| 553 | // UART1 clear 9th bit |
||
| 554 | UCSR1B &= ~(1<<TXB81); |
||
| 555 | // enable receiver and transmitter for UART0 and UART1 |
||
| 556 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
| 557 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
| 558 | // enable RX-Interrupt for UART0 and UART1 |
||
| 559 | UCSR0B |= (1 << RXCIE0); |
||
| 560 | UCSR1B |= (1 << RXCIE1); |
||
| 561 | // disable other Interrupts |
||
| 562 | TIMSK0 = 0; |
||
| 563 | TIMSK1 = 0; |
||
| 564 | TIMSK2 = 0; |
||
| 565 | |||
| 566 | sei(); |
||
| 567 | } |
||
| 568 | break; |
||
| 569 | |||
| 570 | } // case FC_ADDRESS: |
||
| 571 | |||
| 572 | default: // any Slave Address |
||
| 573 | |||
| 574 | switch(RxdBuffer[2]) |
||
| 575 | { |
||
| 576 | #ifdef REDUNDANT_FC_SLAVE |
||
| 577 | static unsigned int clear_I; |
||
| 578 | case '?':// Serielle Antwort eines BL-Reglers |
||
| 579 | tempchar1 = RxdBuffer[1] - ('a'+11); |
||
| 580 | if(tempchar1 >= MAX_MOTORS) break; |
||
| 581 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
||
| 582 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
||
| 583 | if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH; |
||
| 584 | GRN_FLASH; |
||
| 585 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
||
| 586 | { |
||
| 587 | ROT_ON; |
||
| 588 | if(clear_I == 0) |
||
| 589 | { |
||
| 590 | SummeNick = 0; |
||
| 591 | SummeRoll = 0; |
||
| 592 | Mess_Integral_Gier = 0; |
||
| 593 | } |
||
| 594 | clear_I = 500; |
||
| 595 | } |
||
| 596 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
||
| 597 | //DebugOut.Analog[17]++; |
||
| 598 | //DebugOut.Analog[18] = tempchar1; |
||
| 599 | break; |
||
| 600 | #endif |
||
| 601 | // 't' comand placed here only for compatibility to BL |
||
| 602 | case 't':// Motortest |
||
| 603 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
||
| 604 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
| 605 | while(!UebertragungAbgeschlossen); |
||
| 606 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 607 | PC_MotortestActive = 250; |
||
| 608 | PcZugriff = 255; |
||
| 609 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 610 | break; |
||
| 611 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 612 | case 'K':// Kompasswert |
||
| 613 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 614 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
||
| 615 | break; |
||
| 616 | case 'a':// Texte der Analogwerte |
||
| 617 | DebugTextAnforderung = pRxData[0]; |
||
| 618 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 619 | PcZugriff = 255; |
||
| 620 | break; |
||
| 621 | case 'b': |
||
| 622 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 623 | ConfirmFrame = ExternControl.Frame; |
||
| 624 | PcZugriff = 255; |
||
| 625 | break; |
||
| 626 | case 'c': // Poll the 3D-Data |
||
| 627 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 628 | Intervall3D = pRxData[0] * 10; |
||
| 629 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 630 | break; |
||
| 631 | case 'd': // Poll the debug data |
||
| 632 | PcZugriff = 255; |
||
| 633 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
||
| 634 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
||
| 635 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 636 | break; |
||
| 637 | |||
| 638 | case 'h':// x-1 Displayzeilen |
||
| 639 | PcZugriff = 255; |
||
| 640 | if((pRxData[0] & 0x80) == 0x00) // old format |
||
| 641 | { |
||
| 642 | DisplayLine = 2; |
||
| 643 | Display_Interval = 0; |
||
| 644 | } |
||
| 645 | else // new format |
||
| 646 | { |
||
| 647 | RemoteKeys |= ~pRxData[0]; |
||
| 648 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 649 | DisplayLine = 4; |
||
| 650 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 651 | } |
||
| 652 | DebugDisplayAnforderung = 1; |
||
| 653 | break; |
||
| 654 | |||
| 655 | case 'l':// x-1 Displayzeilen |
||
| 656 | PcZugriff = 255; |
||
| 657 | MenuePunkt = pRxData[0]; |
||
| 658 | DebugDisplayAnforderung1 = 1; |
||
| 659 | break; |
||
| 660 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 661 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 662 | if(RxDataLen > 0 && pRxData[0] == 2) GetVersionAnforderung = 2; |
||
| 663 | else |
||
| 664 | #endif |
||
| 665 | GetVersionAnforderung = 1; |
||
| 666 | break; |
||
| 667 | case 'g':// |
||
| 668 | GetExternalControl = 1; |
||
| 669 | break; |
||
| 670 | |||
| 671 | default: |
||
| 672 | //unsupported command received |
||
| 673 | break; |
||
| 674 | } |
||
| 675 | break; // default: |
||
| 676 | } |
||
| 677 | NeuerDatensatzEmpfangen = 0; |
||
| 678 | pRxData = 0; |
||
| 679 | RxDataLen = 0; |
||
| 680 | } |
||
| 681 | |||
| 682 | //############################################################################ |
||
| 683 | //Routine für die Serielle Ausgabe |
||
| 684 | void uart_putchar (char c) |
||
| 685 | //############################################################################ |
||
| 686 | { |
||
| 687 | //Warten solange bis Zeichen gesendet wurde |
||
| 688 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
| 689 | //Ausgabe des Zeichens |
||
| 690 | UDR0 = c; |
||
| 691 | } |
||
| 692 | |||
| 693 | |||
| 694 | //############################################################################ |
||
| 695 | //INstallation der Seriellen Schnittstelle |
||
| 696 | void UART_Init (void) |
||
| 697 | //############################################################################ |
||
| 698 | { |
||
| 699 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
||
| 700 | |||
| 701 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 702 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
||
| 703 | // UART Double Speed (U2X) |
||
| 704 | UCSR0A |= (1 << U2X0); |
||
| 705 | // RX-Interrupt Freigabe |
||
| 706 | UCSR0B |= (1 << RXCIE0); |
||
| 707 | // TX-Interrupt Freigabe |
||
| 708 | UCSR0B |= (1 << TXCIE0); |
||
| 709 | // USART0 Baud Rate Register |
||
| 710 | // set clock divider |
||
| 711 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 712 | UBRR0L = (uint8_t)ubrr; |
||
| 713 | |||
| 714 | Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 715 | Kompass_Timer = SetDelay(220); |
||
| 716 | |||
| 717 | VersionInfo.SWMajor = VERSION_MAJOR; |
||
| 718 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 719 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 720 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 721 | VersionInfo.reserved1 = 0; |
||
| 722 | VersionInfo.BL_Firmware = 255; |
||
| 723 | VersionInfo.HWMajor = PlatinenVersion; |
||
| 724 | pRxData = 0; |
||
| 725 | RxDataLen = 0; |
||
| 726 | } |
||
| 727 | |||
| 728 | //--------------------------------------------------------------------------------------------- |
||
| 729 | void DatenUebertragung(void) |
||
| 730 | { |
||
| 731 | |||
| 732 | if(!UebertragungAbgeschlossen) return; |
||
| 733 | |||
| 734 | if(CheckDelay(AboTimeOut)) |
||
| 735 | { |
||
| 736 | Display_Interval = 0; |
||
| 737 | DebugDataIntervall = 0; |
||
| 738 | Intervall3D = 0; |
||
| 739 | } |
||
| 740 | |||
| 741 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
||
| 742 | { |
||
| 743 | if(DisplayLine > 3)// new format |
||
| 744 | { |
||
| 745 | Menu(); |
||
| 746 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
| 747 | } |
||
| 748 | else // old format |
||
| 749 | { |
||
| 750 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 751 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 752 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 753 | } |
||
| 754 | Display_Timer = SetDelay(Display_Interval); |
||
| 755 | DebugDisplayAnforderung = 0; |
||
| 756 | } |
||
| 757 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 758 | { |
||
| 759 | Menu(); |
||
| 760 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 761 | DebugDisplayAnforderung1 = 0; |
||
| 762 | } |
||
| 763 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 764 | { |
||
| 765 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 766 | if(GetVersionAnforderung == 2) // poll version of NC |
||
| 767 | { |
||
| 768 | struct str_VersionInfo nc; |
||
| 769 | nc.SWMajor = NC_Version.Major; |
||
| 770 | nc.SWMinor = NC_Version.Minor; |
||
| 771 | nc.SWPatch = NC_Version.Patch; |
||
| 772 | nc.HWMajor = NC_Version.Hardware; |
||
| 773 | nc.HardwareError[0] = 0xff; |
||
| 774 | nc.HardwareError[1] = 0xff; |
||
| 775 | nc.ProtoMajor = VersionInfo.ProtoMajor; |
||
| 776 | nc.BL_Firmware = VersionInfo.BL_Firmware; |
||
| 777 | nc.Flags = VersionInfo.Flags; |
||
| 778 | nc.reserved1 = 0; |
||
| 779 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &nc, sizeof(nc)); |
||
| 780 | } |
||
| 781 | else |
||
| 782 | #endif |
||
| 783 | { |
||
| 784 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 785 | } |
||
| 786 | GetVersionAnforderung = 0; |
||
| 787 | Debug_OK("Version gesendet"); |
||
| 788 | } |
||
| 789 | |||
| 790 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 791 | { |
||
| 792 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 793 | GetExternalControl = 0; |
||
| 794 | } |
||
| 795 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 796 | { |
||
| 797 | CopyDebugValues(); |
||
| 798 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 799 | DebugDataAnforderung = 0; |
||
| 800 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 801 | } |
||
| 802 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
||
| 803 | { |
||
| 804 | Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 805 | Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 806 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 807 | Data3D.Centroid[0] = SummeNick >> 9; |
||
| 808 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
| 809 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
| 810 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 811 | Timer3D = SetDelay(Intervall3D); |
||
| 812 | } |
||
| 813 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 814 | { |
||
| 815 | unsigned char label[16]; // local sram buffer |
||
| 816 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 817 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 818 | DebugTextAnforderung = 255; |
||
| 819 | } |
||
| 820 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
| 821 | { |
||
| 822 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
| 823 | ConfirmFrame = 0; |
||
| 824 | } |
||
| 825 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
| 826 | { |
||
| 827 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
| 828 | GetPPMChannelAnforderung = 0; |
||
| 829 | } |
||
| 830 | #ifndef REDUNDANT_FC_SLAVE |
||
| 831 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
||
| 832 | { |
||
| 833 | if(!NaviDataOkay) // no external compass needed |
||
| 834 | { |
||
| 835 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 836 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 837 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
| 838 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 839 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
| 840 | } |
||
| 841 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
||
| 842 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
||
| 843 | else Kompass_Timer = SetDelay(999); |
||
| 844 | } |
||
| 845 | #endif |
||
| 846 | |||
| 847 | #ifdef REDUNDANT_FC_SLAVE |
||
| 848 | if(UebertragungAbgeschlossen || MotorenEin) |
||
| 849 | { |
||
| 850 | static unsigned char who, request; |
||
| 851 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
||
| 852 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
||
| 853 | else request = 0; |
||
| 854 | for(i=0; i<RequiredMotors; i++) |
||
| 855 | { |
||
| 856 | if(request) SendRedundantMotor[0] = who+1; |
||
| 857 | else SendRedundantMotor[0] = 0; |
||
| 858 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
||
| 859 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
||
| 860 | } |
||
| 861 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
||
| 862 | } |
||
| 863 | #endif |
||
| 864 | |||
| 865 | #ifdef DEBUG // only include functions if DEBUG is defined |
||
| 866 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 867 | { |
||
| 868 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 869 | SendDebugOutput = 0; |
||
| 870 | } |
||
| 871 | #endif |
||
| 872 | } |
||
| 873 | |||
| 874 |