Go to most recent revision | Details | Last modification | View Log | RSS feed
| 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 |
||
| 5 | // + see the File "License.txt" for further Informations |
||
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1051 | killagreg | 7 | #include <stdarg.h> |
| 8 | #include <string.h> |
||
| 1 | ingob | 9 | #include "main.h" |
| 10 | #include "uart.h" |
||
| 11 | |||
| 1054 | killagreg | 12 | |
| 13 | #define FC_ADDRESS 1 |
||
| 14 | #define NC_ADDRESS 2 |
||
| 15 | #define MK3MAG_ADDRESS 3 |
||
| 16 | |||
| 1053 | killagreg | 17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 18 | unsigned char DisplayLine = 0; |
||
| 1 | ingob | 19 | unsigned volatile char SioTmp = 0; |
| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
||
| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
||
| 22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
||
| 23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
||
| 24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
||
| 25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
||
| 26 | unsigned volatile char CntCrcError = 0; |
||
| 27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
||
| 1051 | killagreg | 28 | unsigned char *pRxData = 0; |
| 29 | unsigned char RxDataLen = 0; |
||
| 1 | ingob | 30 | unsigned volatile char PC_DebugTimeout = 0; |
| 1212 | hbuss | 31 | unsigned volatile char PC_MotortestActive = 0; |
| 1051 | killagreg | 32 | |
| 499 | hbuss | 33 | unsigned char DebugTextAnforderung = 255; |
| 1 | ingob | 34 | unsigned char PcZugriff = 100; |
| 1212 | hbuss | 35 | unsigned char MotorTest[16]; |
| 1036 | hbuss | 36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 595 | hbuss | 37 | unsigned char ConfirmFrame; |
| 1 | ingob | 38 | struct str_DebugOut DebugOut; |
| 595 | hbuss | 39 | struct str_ExternControl ExternControl; |
| 1 | ingob | 40 | struct str_VersionInfo VersionInfo; |
| 693 | hbuss | 41 | struct str_WinkelOut WinkelOut; |
| 1171 | hbuss | 42 | struct str_Data3D Data3D; |
| 1 | ingob | 43 | |
| 1171 | hbuss | 44 | int Debug_Timer,Kompass_Timer,Timer3D; |
| 45 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
||
| 693 | hbuss | 46 | |
| 499 | hbuss | 47 | const unsigned char ANALOG_TEXT[32][16] = |
| 48 | { |
||
| 1051 | killagreg | 49 | //1234567890123456 |
| 1175 | hbuss | 50 | "AngleNick ", //0 |
| 51 | "AngleRoll ", |
||
| 1051 | killagreg | 52 | "AccNick ", |
| 499 | hbuss | 53 | "AccRoll ", |
| 54 | "GyroGier ", |
||
| 1175 | hbuss | 55 | "Hight Value ", //5 |
| 499 | hbuss | 56 | "AccZ ", |
| 57 | "Gas ", |
||
| 1175 | hbuss | 58 | "Compass Value ", |
| 59 | "Voltage ", |
||
| 513 | hbuss | 60 | "Empfang ", //10 |
| 1175 | hbuss | 61 | "Gyro Kompass ", |
| 62 | "Motor Front ", |
||
| 63 | "Motor Rear ", |
||
| 64 | "Motor Left ", |
||
| 65 | "Motor Right ", //15 |
||
| 929 | hbuss | 66 | " ", |
| 1175 | hbuss | 67 | " ", |
| 1253 | killagreg | 68 | "VarioMeter ", |
| 819 | hbuss | 69 | "MK3Mag CalState ", |
| 854 | hbuss | 70 | "Servo ", //20 |
| 1322 | hbuss | 71 | "Hoovergas ", |
| 720 | ingob | 72 | " ", |
| 1322 | hbuss | 73 | " ", |
| 74 | " ", |
||
| 75 | " ", //25 |
||
| 76 | " ", |
||
| 77 | " ", |
||
| 78 | "I2C-Error ", |
||
| 1352 | hbuss | 79 | " ",// "Navi Serial Data", |
| 720 | ingob | 80 | "GPS_Nick ", //30 |
| 81 | "GPS_Roll " |
||
| 499 | hbuss | 82 | }; |
| 83 | |||
| 84 | |||
| 85 | |||
| 1 | ingob | 86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 87 | //++ Sende-Part der Datenübertragung |
||
| 88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 89 | SIGNAL(INT_VEC_TX) |
||
| 90 | { |
||
| 91 | static unsigned int ptr = 0; |
||
| 92 | unsigned char tmp_tx; |
||
| 1051 | killagreg | 93 | if(!UebertragungAbgeschlossen) |
| 1 | ingob | 94 | { |
| 95 | ptr++; // die [0] wurde schon gesendet |
||
| 1051 | killagreg | 96 | tmp_tx = SendeBuffer[ptr]; |
| 1 | ingob | 97 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 98 | { |
||
| 99 | ptr = 0; |
||
| 100 | UebertragungAbgeschlossen = 1; |
||
| 101 | } |
||
| 1051 | killagreg | 102 | UDR = tmp_tx; |
| 103 | } |
||
| 1 | ingob | 104 | else ptr = 0; |
| 105 | } |
||
| 106 | |||
| 107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 108 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
||
| 109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 110 | SIGNAL(INT_VEC_RX) |
||
| 111 | { |
||
| 112 | static unsigned int crc; |
||
| 113 | static unsigned char crc1,crc2,buf_ptr; |
||
| 114 | static unsigned char UartState = 0; |
||
| 115 | unsigned char CrcOkay = 0; |
||
| 116 | |||
| 1051 | killagreg | 117 | SioTmp = UDR; |
| 1 | ingob | 118 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| 1051 | killagreg | 119 | if(SioTmp == '\r' && UartState == 2) |
| 1 | ingob | 120 | { |
| 121 | UartState = 0; |
||
| 122 | crc -= RxdBuffer[buf_ptr-2]; |
||
| 123 | crc -= RxdBuffer[buf_ptr-1]; |
||
| 124 | crc %= 4096; |
||
| 125 | crc1 = '=' + crc / 64; |
||
| 126 | crc2 = '=' + crc % 64; |
||
| 127 | CrcOkay = 0; |
||
| 128 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
||
| 129 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
||
| 130 | { |
||
| 1051 | killagreg | 131 | NeuerDatensatzEmpfangen = 1; |
| 132 | AnzahlEmpfangsBytes = buf_ptr + 1; |
||
| 1 | ingob | 133 | RxdBuffer[buf_ptr] = '\r'; |
| 1253 | killagreg | 134 | if(RxdBuffer[2] == 'R') |
| 1232 | hbuss | 135 | { |
| 136 | wdt_enable(WDTO_250MS); // Reset-Commando |
||
| 137 | ServoActive = 0; |
||
| 1253 | killagreg | 138 | } |
| 1051 | killagreg | 139 | } |
| 1 | ingob | 140 | } |
| 141 | else |
||
| 142 | switch(UartState) |
||
| 143 | { |
||
| 144 | case 0: |
||
| 145 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
||
| 146 | buf_ptr = 0; |
||
| 147 | RxdBuffer[buf_ptr++] = SioTmp; |
||
| 148 | crc = SioTmp; |
||
| 149 | break; |
||
| 150 | case 1: // Adresse auswerten |
||
| 151 | UartState++; |
||
| 152 | RxdBuffer[buf_ptr++] = SioTmp; |
||
| 153 | crc += SioTmp; |
||
| 154 | break; |
||
| 155 | case 2: // Eingangsdaten sammeln |
||
| 156 | RxdBuffer[buf_ptr] = SioTmp; |
||
| 1051 | killagreg | 157 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 1 | ingob | 158 | else UartState = 0; |
| 159 | crc += SioTmp; |
||
| 160 | break; |
||
| 1051 | killagreg | 161 | default: |
| 162 | UartState = 0; |
||
| 1 | ingob | 163 | break; |
| 164 | } |
||
| 165 | } |
||
| 166 | |||
| 167 | |||
| 168 | // -------------------------------------------------------------------------- |
||
| 169 | void AddCRC(unsigned int wieviele) |
||
| 170 | { |
||
| 1051 | killagreg | 171 | unsigned int tmpCRC = 0,i; |
| 1 | ingob | 172 | for(i = 0; i < wieviele;i++) |
| 173 | { |
||
| 174 | tmpCRC += SendeBuffer[i]; |
||
| 175 | } |
||
| 176 | tmpCRC %= 4096; |
||
| 177 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
||
| 178 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
||
| 179 | SendeBuffer[i++] = '\r'; |
||
| 180 | UebertragungAbgeschlossen = 0; |
||
| 181 | UDR = SendeBuffer[0]; |
||
| 182 | } |
||
| 183 | |||
| 184 | |||
| 185 | |||
| 186 | // -------------------------------------------------------------------------- |
||
| 1056 | killagreg | 187 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 1 | ingob | 188 | { |
| 1051 | killagreg | 189 | va_list ap; |
| 1 | ingob | 190 | unsigned int pt = 0; |
| 191 | unsigned char a,b,c; |
||
| 192 | unsigned char ptr = 0; |
||
| 193 | |||
| 1051 | killagreg | 194 | unsigned char *snd = 0; |
| 195 | int len = 0; |
||
| 196 | |||
| 1056 | killagreg | 197 | SendeBuffer[pt++] = '#'; // Startzeichen |
| 198 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
||
| 199 | SendeBuffer[pt++] = cmd; // Commando |
||
| 1 | ingob | 200 | |
| 1051 | killagreg | 201 | va_start(ap, BufferAnzahl); |
| 202 | if(BufferAnzahl) |
||
| 203 | { |
||
| 204 | snd = va_arg(ap, unsigned char*); |
||
| 205 | len = va_arg(ap, int); |
||
| 206 | ptr = 0; |
||
| 207 | BufferAnzahl--; |
||
| 208 | } |
||
| 1 | ingob | 209 | while(len) |
| 210 | { |
||
| 1051 | killagreg | 211 | if(len) |
| 212 | { |
||
| 213 | a = snd[ptr++]; |
||
| 214 | len--; |
||
| 215 | if((!len) && BufferAnzahl) |
||
| 216 | { |
||
| 217 | snd = va_arg(ap, unsigned char*); |
||
| 218 | len = va_arg(ap, int); |
||
| 219 | ptr = 0; |
||
| 220 | BufferAnzahl--; |
||
| 221 | } |
||
| 222 | } |
||
| 223 | else a = 0; |
||
| 224 | if(len) |
||
| 225 | { |
||
| 226 | b = snd[ptr++]; |
||
| 227 | len--; |
||
| 228 | if((!len) && BufferAnzahl) |
||
| 229 | { |
||
| 230 | snd = va_arg(ap, unsigned char*); |
||
| 231 | len = va_arg(ap, int); |
||
| 232 | ptr = 0; |
||
| 233 | BufferAnzahl--; |
||
| 234 | } |
||
| 235 | } |
||
| 236 | else b = 0; |
||
| 237 | if(len) |
||
| 238 | { |
||
| 239 | c = snd[ptr++]; |
||
| 240 | len--; |
||
| 241 | if((!len) && BufferAnzahl) |
||
| 242 | { |
||
| 243 | snd = va_arg(ap, unsigned char*); |
||
| 244 | len = va_arg(ap, int); |
||
| 245 | ptr = 0; |
||
| 246 | BufferAnzahl--; |
||
| 247 | } |
||
| 248 | } |
||
| 249 | else c = 0; |
||
| 1 | ingob | 250 | SendeBuffer[pt++] = '=' + (a >> 2); |
| 251 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
| 252 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
| 253 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
||
| 254 | } |
||
| 1051 | killagreg | 255 | va_end(ap); |
| 1 | ingob | 256 | AddCRC(pt); |
| 257 | } |
||
| 258 | |||
| 259 | |||
| 260 | // -------------------------------------------------------------------------- |
||
| 1051 | killagreg | 261 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 1 | ingob | 262 | { |
| 263 | unsigned char a,b,c,d; |
||
| 264 | unsigned char x,y,z; |
||
| 1051 | killagreg | 265 | unsigned char ptrIn = 3; // start at begin of data block |
| 266 | unsigned char ptrOut = 3; |
||
| 267 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
||
| 268 | |||
| 1 | ingob | 269 | while(len) |
| 270 | { |
||
| 271 | a = RxdBuffer[ptrIn++] - '='; |
||
| 272 | b = RxdBuffer[ptrIn++] - '='; |
||
| 273 | c = RxdBuffer[ptrIn++] - '='; |
||
| 274 | d = RxdBuffer[ptrIn++] - '='; |
||
| 275 | |||
| 276 | x = (a << 2) | (b >> 4); |
||
| 277 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
| 278 | z = ((c & 0x03) << 6) | d; |
||
| 279 | |||
| 1051 | killagreg | 280 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 281 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
||
| 282 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
||
| 1 | ingob | 283 | } |
| 1051 | killagreg | 284 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 285 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
||
| 1 | ingob | 286 | |
| 287 | } |
||
| 288 | |||
| 289 | // -------------------------------------------------------------------------- |
||
| 290 | void BearbeiteRxDaten(void) |
||
| 291 | { |
||
| 292 | if(!NeuerDatensatzEmpfangen) return; |
||
| 293 | |||
| 1058 | killagreg | 294 | unsigned char tempchar1, tempchar2; |
| 1056 | killagreg | 295 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 1055 | ingob | 296 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 1054 | killagreg | 297 | { |
| 298 | case FC_ADDRESS: // FC special commands |
||
| 299 | switch(RxdBuffer[2]) |
||
| 300 | { |
||
| 301 | case 'K':// Kompasswert |
||
| 302 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 303 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 304 | break; |
||
| 305 | case 't':// Motortest |
||
| 1212 | hbuss | 306 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 307 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
| 308 | PC_MotortestActive = 240; |
||
| 1065 | killagreg | 309 | //while(!UebertragungAbgeschlossen); |
| 310 | //SendOutData('T', MeineSlaveAdresse, 0); |
||
| 1054 | killagreg | 311 | PcZugriff = 255; |
| 312 | break; |
||
| 1053 | killagreg | 313 | |
| 1209 | hbuss | 314 | case 'n':// "Get Mixer |
| 315 | while(!UebertragungAbgeschlossen); |
||
| 316 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
||
| 317 | break; |
||
| 318 | |||
| 319 | case 'm':// "Write Mixer |
||
| 320 | while(!UebertragungAbgeschlossen); |
||
| 1211 | hbuss | 321 | if(pRxData[0] == MIXER_REVISION) |
| 322 | { |
||
| 323 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
||
| 324 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
||
| 325 | tempchar1 = 1; |
||
| 326 | } |
||
| 327 | else tempchar1 = 0; |
||
| 328 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 1209 | hbuss | 329 | break; |
| 330 | |||
| 1054 | killagreg | 331 | case 'p': // get PPM Channels |
| 332 | GetPPMChannelAnforderung = 1; |
||
| 1377 | hbuss | 333 | PcZugriff = 255; |
| 1054 | killagreg | 334 | break; |
| 1053 | killagreg | 335 | |
| 1054 | killagreg | 336 | case 'q':// "Get"-Anforderung für Settings |
| 337 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 338 | if(pRxData[0] == 0xFF) |
||
| 339 | { |
||
| 340 | pRxData[0] = GetActiveParamSetNumber(); |
||
| 341 | } |
||
| 1063 | killagreg | 342 | // limit settings range |
| 343 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
||
| 344 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
||
| 345 | // load requested parameter set |
||
| 346 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 347 | |||
| 1054 | killagreg | 348 | while(!UebertragungAbgeschlossen); |
| 1058 | killagreg | 349 | tempchar1 = pRxData[0]; |
| 350 | tempchar2 = EE_DATENREVISION; |
||
| 351 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 1054 | killagreg | 352 | break; |
| 1051 | killagreg | 353 | |
| 1054 | killagreg | 354 | case 's': // Parametersatz speichern |
| 1058 | killagreg | 355 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 1054 | killagreg | 356 | { |
| 1058 | killagreg | 357 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 1054 | killagreg | 358 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 359 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 360 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 1063 | killagreg | 361 | SetActiveParamSetNumber(pRxData[0]); |
| 362 | tempchar1 = GetActiveParamSetNumber(); |
||
| 1268 | hbuss | 363 | LipoDetection(0); |
| 1232 | hbuss | 364 | Piep(tempchar1,110); |
| 1054 | killagreg | 365 | } |
| 1058 | killagreg | 366 | else |
| 367 | { |
||
| 368 | tempchar1 = 0; // mark in response an invlid setting |
||
| 369 | } |
||
| 370 | while(!UebertragungAbgeschlossen); |
||
| 371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 1054 | killagreg | 372 | break; |
| 373 | |||
| 1391 | killagreg | 374 | case 'y':// serial Potis |
| 375 | 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]; |
||
| 376 | 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]; |
||
| 377 | 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]; |
||
| 378 | break; |
||
| 379 | |||
| 1056 | killagreg | 380 | } // case FC_ADDRESS: |
| 1054 | killagreg | 381 | |
| 382 | default: // any Slave Address |
||
| 1056 | killagreg | 383 | |
| 1054 | killagreg | 384 | switch(RxdBuffer[2]) |
| 385 | { |
||
| 386 | // 't' comand placed here only for compatibility to BL |
||
| 387 | case 't':// Motortest |
||
| 1212 | hbuss | 388 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 389 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
| 1054 | killagreg | 390 | while(!UebertragungAbgeschlossen); |
| 391 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 1212 | hbuss | 392 | PC_MotortestActive = 250; |
| 1054 | killagreg | 393 | PcZugriff = 255; |
| 394 | break; |
||
| 395 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 396 | case 'K':// Kompasswert |
||
| 397 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 398 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
||
| 399 | break; |
||
| 400 | case 'a':// Texte der Analogwerte |
||
| 401 | DebugTextAnforderung = pRxData[0]; |
||
| 402 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 403 | PcZugriff = 255; |
||
| 404 | break; |
||
| 405 | case 'b': |
||
| 406 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 407 | ConfirmFrame = ExternControl.Frame; |
||
| 408 | PcZugriff = 255; |
||
| 409 | break; |
||
| 1171 | hbuss | 410 | case 'c': // Poll the 3D-Data |
| 411 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 412 | Intervall3D = pRxData[0] * 10; |
||
| 413 | break; |
||
| 1054 | killagreg | 414 | case 'd': // Poll the debug data |
| 415 | DebugDataIntervall = pRxData[0] * 10; |
||
| 1171 | hbuss | 416 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 1054 | killagreg | 417 | break; |
| 418 | |||
| 419 | case 'h':// x-1 Displayzeilen |
||
| 1059 | hbuss | 420 | PcZugriff = 255; |
| 1054 | killagreg | 421 | RemoteKeys |= pRxData[0]; |
| 422 | if(RemoteKeys) DisplayLine = 0; |
||
| 423 | DebugDisplayAnforderung = 1; |
||
| 424 | break; |
||
| 425 | |||
| 426 | case 'l':// x-1 Displayzeilen |
||
| 1059 | hbuss | 427 | PcZugriff = 255; |
| 1054 | killagreg | 428 | MenuePunkt = pRxData[0]; |
| 429 | DebugDisplayAnforderung1 = 1; |
||
| 430 | break; |
||
| 431 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 432 | GetVersionAnforderung = 1; |
||
| 433 | break; |
||
| 434 | |||
| 435 | case 'g':// |
||
| 436 | GetExternalControl = 1; |
||
| 437 | break; |
||
| 438 | } |
||
| 439 | break; // default: |
||
| 440 | } |
||
| 1051 | killagreg | 441 | NeuerDatensatzEmpfangen = 0; |
| 442 | pRxData = 0; |
||
| 443 | RxDataLen = 0; |
||
| 1 | ingob | 444 | } |
| 445 | |||
| 446 | //############################################################################ |
||
| 447 | //Routine für die Serielle Ausgabe |
||
| 448 | int uart_putchar (char c) |
||
| 449 | //############################################################################ |
||
| 450 | { |
||
| 451 | if (c == '\n') |
||
| 452 | uart_putchar('\r'); |
||
| 453 | //Warten solange bis Zeichen gesendet wurde |
||
| 454 | loop_until_bit_is_set(USR, UDRE); |
||
| 455 | //Ausgabe des Zeichens |
||
| 456 | UDR = c; |
||
| 1051 | killagreg | 457 | |
| 1 | ingob | 458 | return (0); |
| 459 | } |
||
| 460 | |||
| 461 | // -------------------------------------------------------------------------- |
||
| 462 | void WriteProgramData(unsigned int pos, unsigned char wert) |
||
| 463 | { |
||
| 464 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
||
| 465 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
||
| 466 | // Buffer[pos] = wert; |
||
| 467 | } |
||
| 468 | |||
| 469 | //############################################################################ |
||
| 470 | //INstallation der Seriellen Schnittstelle |
||
| 471 | void UART_Init (void) |
||
| 472 | //############################################################################ |
||
| 473 | { |
||
| 474 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 475 | |||
| 476 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 477 | // UART Double Speed (U2X) |
||
| 1051 | killagreg | 478 | USR |= (1<<U2X); |
| 1 | ingob | 479 | // RX-Interrupt Freigabe |
| 1051 | killagreg | 480 | UCSRB |= (1<<RXCIE); |
| 1 | ingob | 481 | // TX-Interrupt Freigabe |
| 1051 | killagreg | 482 | UCSRB |= (1<<TXCIE); |
| 1 | ingob | 483 | |
| 1051 | killagreg | 484 | //Teiler wird gesetzt |
| 1 | ingob | 485 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 486 | //UBRR = 33; |
||
| 487 | //öffnet einen Kanal für printf (STDOUT) |
||
| 488 | //fdevopen (uart_putchar, 0); |
||
| 489 | //sbi(PORTD,4); |
||
| 1051 | killagreg | 490 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 491 | Kompass_Timer = SetDelay(220); |
||
| 492 | |||
| 1058 | killagreg | 493 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 494 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 495 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 496 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 497 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 1051 | killagreg | 498 | |
| 499 | pRxData = 0; |
||
| 500 | RxDataLen = 0; |
||
| 1 | ingob | 501 | } |
| 502 | |||
| 503 | //--------------------------------------------------------------------------------------------- |
||
| 1051 | killagreg | 504 | void DatenUebertragung(void) |
| 1 | ingob | 505 | { |
| 506 | if(!UebertragungAbgeschlossen) return; |
||
| 507 | |||
| 1065 | killagreg | 508 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| 509 | { |
||
| 510 | Menu(); |
||
| 511 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
||
| 512 | DisplayLine++; |
||
| 513 | if(DisplayLine >= 4) DisplayLine = 0; |
||
| 514 | DebugDisplayAnforderung = 0; |
||
| 515 | } |
||
| 516 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 517 | { |
||
| 518 | Menu(); |
||
| 519 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 520 | DebugDisplayAnforderung1 = 0; |
||
| 521 | } |
||
| 522 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 523 | { |
||
| 524 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 525 | GetVersionAnforderung = 0; |
||
| 526 | } |
||
| 1 | ingob | 527 | |
| 1065 | killagreg | 528 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 529 | { |
||
| 530 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 531 | GetExternalControl = 0; |
||
| 532 | } |
||
| 1051 | killagreg | 533 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 693 | hbuss | 534 | { |
| 1171 | hbuss | 535 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 536 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 717 | hbuss | 537 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 538 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 1054 | killagreg | 539 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 855 | hbuss | 540 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 1051 | killagreg | 541 | Kompass_Timer = SetDelay(99); |
| 542 | } |
||
| 1171 | hbuss | 543 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 1 | ingob | 544 | { |
| 1391 | killagreg | 545 | //if(Poti3 > 64) |
| 1276 | hbuss | 546 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 1 | ingob | 547 | DebugDataAnforderung = 0; |
| 1055 | ingob | 548 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 1051 | killagreg | 549 | } |
| 1171 | hbuss | 550 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 551 | { |
||
| 552 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 553 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 554 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 555 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 556 | Timer3D = SetDelay(Intervall3D); |
||
| 557 | } |
||
| 499 | hbuss | 558 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 559 | { |
||
| 1054 | killagreg | 560 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 499 | hbuss | 561 | DebugTextAnforderung = 255; |
| 562 | } |
||
| 1051 | killagreg | 563 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 595 | hbuss | 564 | { |
| 1054 | killagreg | 565 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 1051 | killagreg | 566 | ConfirmFrame = 0; |
| 595 | hbuss | 567 | } |
| 1053 | killagreg | 568 | |
| 1051 | killagreg | 569 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 570 | { |
||
| 1054 | killagreg | 571 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 1051 | killagreg | 572 | GetPPMChannelAnforderung = 0; |
| 573 | } |
||
| 1 | ingob | 574 | |
| 575 | } |
||
| 576 |