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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
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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2230 | holgerb | 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
2050 | holgerb | 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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2230 | holgerb | 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
2050 | holgerb | 19 | // + des Mitverschuldens offen. |
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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2230 | holgerb | 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 |
2050 | holgerb | 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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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1051 | killagreg | 53 | #include <stdarg.h> |
54 | #include <string.h> |
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1490 | killagreg | 55 | #include <avr/pgmspace.h> |
1 | ingob | 56 | #include "main.h" |
57 | #include "uart.h" |
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1438 | ingob | 58 | #include "libfc.h" |
1622 | killagreg | 59 | #include "eeprom.h" |
1 | ingob | 60 | |
1054 | killagreg | 61 | #define FC_ADDRESS 1 |
62 | #define NC_ADDRESS 2 |
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63 | #define MK3MAG_ADDRESS 3 |
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1622 | killagreg | 64 | #define BL_CTRL_ADDRESS 5 |
1054 | killagreg | 65 | |
1415 | killagreg | 66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
2340 | holgerb | 67 | #define MAX_SENDE_BUFF 220 |
68 | #define MAX_EMPFANGS_BUFF 220 |
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1657 | killagreg | 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 | |||
1053 | killagreg | 80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
81 | unsigned char DisplayLine = 0; |
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1 | ingob | 82 | unsigned volatile char SioTmp = 0; |
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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1441 | ingob | 88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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90 | |||
1051 | killagreg | 91 | unsigned char *pRxData = 0; |
92 | unsigned char RxDataLen = 0; |
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1 | ingob | 93 | unsigned volatile char PC_DebugTimeout = 0; |
1212 | hbuss | 94 | unsigned volatile char PC_MotortestActive = 0; |
1636 | ingob | 95 | unsigned char DebugTextAnforderung = 255; |
1051 | killagreg | 96 | |
1 | ingob | 97 | unsigned char PcZugriff = 100; |
1212 | hbuss | 98 | unsigned char MotorTest[16]; |
1036 | hbuss | 99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
595 | hbuss | 100 | unsigned char ConfirmFrame; |
1 | ingob | 101 | struct str_DebugOut DebugOut; |
595 | hbuss | 102 | struct str_ExternControl ExternControl; |
1 | ingob | 103 | struct str_VersionInfo VersionInfo; |
693 | hbuss | 104 | struct str_WinkelOut WinkelOut; |
1171 | hbuss | 105 | struct str_Data3D Data3D; |
1 | ingob | 106 | |
1399 | killagreg | 107 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
1415 | killagreg | 108 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
109 | unsigned int AboTimeOut = 0; |
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1942 | holgerb | 110 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
693 | hbuss | 111 | |
1490 | killagreg | 112 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
499 | hbuss | 113 | { |
1051 | killagreg | 114 | //1234567890123456 |
1175 | hbuss | 115 | "AngleNick ", //0 |
116 | "AngleRoll ", |
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1051 | killagreg | 117 | "AccNick ", |
499 | hbuss | 118 | "AccRoll ", |
1523 | holgerb | 119 | "YawGyro ", |
2316 | holgerb | 120 | "Altitude [0.1m] ", //5 |
499 | hbuss | 121 | "AccZ ", |
122 | "Gas ", |
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1175 | hbuss | 123 | "Compass Value ", |
1528 | holgerb | 124 | "Voltage [0.1V] ", |
1521 | killagreg | 125 | "Receiver Level ", //10 |
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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2316 | holgerb | 131 | "16 ", |
132 | "17 ", |
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133 | "18 ", |
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134 | "19 ", |
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2230 | holgerb | 135 | "Servo ", //20 |
1521 | killagreg | 136 | "Hovergas ", |
2230 | holgerb | 137 | "Current [0.1A] ", |
1501 | holgerb | 138 | "Capacity [mAh] ", |
1913 | holgerb | 139 | "Height Setpoint ", |
2316 | holgerb | 140 | "25 ", //25 |
141 | "26 ", //"26 CPU OverLoad ", |
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2230 | holgerb | 142 | "Compass Setpoint", |
1322 | hbuss | 143 | "I2C-Error ", |
2230 | holgerb | 144 | "BL Limit ", |
720 | ingob | 145 | "GPS_Nick ", //30 |
146 | "GPS_Roll " |
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499 | hbuss | 147 | }; |
2230 | holgerb | 148 | |
149 | |||
1 | ingob | 150 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
151 | //++ Sende-Part der Datenübertragung |
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152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1561 | killagreg | 153 | ISR(USART0_TX_vect) |
1 | ingob | 154 | { |
155 | static unsigned int ptr = 0; |
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156 | unsigned char tmp_tx; |
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1783 | killagreg | 157 | |
158 | if(!UebertragungAbgeschlossen) |
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1 | ingob | 159 | { |
160 | ptr++; // die [0] wurde schon gesendet |
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1438 | ingob | 161 | tmp_tx = TxdBuffer[ptr]; |
1 | ingob | 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
163 | { |
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164 | ptr = 0; |
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165 | UebertragungAbgeschlossen = 1; |
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166 | } |
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1561 | killagreg | 167 | UDR0 = tmp_tx; |
1051 | killagreg | 168 | } |
1 | ingob | 169 | else ptr = 0; |
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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1561 | killagreg | 175 | ISR(USART0_RX_vect) |
1 | ingob | 176 | { |
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 | |||
2230 | holgerb | 182 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
183 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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1783 | killagreg | 184 | |
1561 | killagreg | 185 | SioTmp = UDR0; |
1783 | killagreg | 186 | |
1438 | ingob | 187 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
1051 | killagreg | 188 | if(SioTmp == '\r' && UartState == 2) |
1 | ingob | 189 | { |
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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1051 | killagreg | 200 | NeuerDatensatzEmpfangen = 1; |
201 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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1 | ingob | 202 | RxdBuffer[buf_ptr] = '\r'; |
2380 | holgerb | 203 | if(RxdBuffer[2] == 'R' && !MotorenEin) |
1232 | hbuss | 204 | { |
1435 | killagreg | 205 | LcdClear(); |
1232 | hbuss | 206 | wdt_enable(WDTO_250MS); // Reset-Commando |
207 | ServoActive = 0; |
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1253 | killagreg | 208 | } |
1051 | killagreg | 209 | } |
1 | ingob | 210 | } |
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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1490 | killagreg | 227 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
1 | ingob | 228 | else UartState = 0; |
229 | crc += SioTmp; |
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230 | break; |
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1051 | killagreg | 231 | default: |
232 | UartState = 0; |
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1 | ingob | 233 | break; |
234 | } |
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235 | } |
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236 | |||
237 | |||
238 | // -------------------------------------------------------------------------- |
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239 | void AddCRC(unsigned int wieviele) |
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240 | { |
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1051 | killagreg | 241 | unsigned int tmpCRC = 0,i; |
1 | ingob | 242 | for(i = 0; i < wieviele;i++) |
243 | { |
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1438 | ingob | 244 | tmpCRC += TxdBuffer[i]; |
1 | ingob | 245 | } |
2340 | holgerb | 246 | // if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; |
1 | ingob | 247 | tmpCRC %= 4096; |
1438 | ingob | 248 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
249 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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250 | TxdBuffer[i++] = '\r'; |
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1 | ingob | 251 | UebertragungAbgeschlossen = 0; |
1561 | killagreg | 252 | UDR0 = TxdBuffer[0]; |
2340 | holgerb | 253 | //if(DebugOut.Analog[] < i) DebugOut.Analog[] = i; |
1 | ingob | 254 | } |
255 | |||
256 | |||
257 | // -------------------------------------------------------------------------- |
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1056 | killagreg | 258 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
1 | ingob | 259 | { |
1051 | killagreg | 260 | va_list ap; |
1 | ingob | 261 | unsigned int pt = 0; |
262 | unsigned char a,b,c; |
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263 | unsigned char ptr = 0; |
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264 | |||
1051 | killagreg | 265 | unsigned char *snd = 0; |
266 | int len = 0; |
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267 | |||
1438 | ingob | 268 | TxdBuffer[pt++] = '#'; // Startzeichen |
269 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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270 | TxdBuffer[pt++] = cmd; // Commando |
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1 | ingob | 271 | |
1051 | killagreg | 272 | va_start(ap, BufferAnzahl); |
273 | if(BufferAnzahl) |
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274 | { |
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275 | snd = va_arg(ap, unsigned char*); |
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276 | len = va_arg(ap, int); |
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277 | ptr = 0; |
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278 | BufferAnzahl--; |
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279 | } |
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1 | ingob | 280 | while(len) |
281 | { |
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1051 | killagreg | 282 | if(len) |
283 | { |
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284 | a = snd[ptr++]; |
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285 | len--; |
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286 | if((!len) && BufferAnzahl) |
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287 | { |
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288 | snd = va_arg(ap, unsigned char*); |
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289 | len = va_arg(ap, int); |
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290 | ptr = 0; |
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291 | BufferAnzahl--; |
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292 | } |
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293 | } |
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294 | else a = 0; |
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295 | if(len) |
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296 | { |
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297 | b = snd[ptr++]; |
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298 | len--; |
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299 | if((!len) && BufferAnzahl) |
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300 | { |
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301 | snd = va_arg(ap, unsigned char*); |
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302 | len = va_arg(ap, int); |
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303 | ptr = 0; |
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304 | BufferAnzahl--; |
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305 | } |
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306 | } |
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307 | else b = 0; |
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308 | if(len) |
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309 | { |
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310 | c = snd[ptr++]; |
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311 | len--; |
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312 | if((!len) && BufferAnzahl) |
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313 | { |
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314 | snd = va_arg(ap, unsigned char*); |
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315 | len = va_arg(ap, int); |
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316 | ptr = 0; |
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317 | BufferAnzahl--; |
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318 | } |
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319 | } |
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320 | else c = 0; |
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1438 | ingob | 321 | TxdBuffer[pt++] = '=' + (a >> 2); |
322 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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323 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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324 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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1 | ingob | 325 | } |
1051 | killagreg | 326 | va_end(ap); |
1 | ingob | 327 | AddCRC(pt); |
328 | } |
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329 | |||
330 | // -------------------------------------------------------------------------- |
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1051 | killagreg | 331 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
1 | ingob | 332 | { |
333 | unsigned char a,b,c,d; |
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2230 | holgerb | 334 | unsigned char x,y,z; |
1051 | killagreg | 335 | unsigned char ptrIn = 3; // start at begin of data block |
336 | unsigned char ptrOut = 3; |
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337 | 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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338 | |||
2230 | holgerb | 339 | while(len) |
1 | ingob | 340 | { |
341 | a = RxdBuffer[ptrIn++] - '='; |
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342 | b = RxdBuffer[ptrIn++] - '='; |
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343 | c = RxdBuffer[ptrIn++] - '='; |
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344 | d = RxdBuffer[ptrIn++] - '='; |
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345 | |||
2230 | holgerb | 346 | x = (a << 2) | (b >> 4); |
347 | y = ((b & 0x0f) << 4) | (c >> 2); |
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348 | z = ((c & 0x03) << 6) | d; |
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349 | |||
350 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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351 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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352 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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1 | ingob | 353 | } |
1051 | killagreg | 354 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
355 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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1 | ingob | 356 | |
357 | } |
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358 | |||
359 | // -------------------------------------------------------------------------- |
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360 | void BearbeiteRxDaten(void) |
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361 | { |
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362 | if(!NeuerDatensatzEmpfangen) return; |
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363 | |||
1665 | killagreg | 364 | unsigned char tempchar1, tempchar2; |
1056 | killagreg | 365 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
1055 | ingob | 366 | switch(RxdBuffer[1]-'a') // check for Slave Address |
1054 | killagreg | 367 | { |
368 | case FC_ADDRESS: // FC special commands |
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369 | switch(RxdBuffer[2]) |
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370 | { |
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371 | case 'K':// Kompasswert |
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372 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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1941 | holgerb | 373 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1054 | killagreg | 374 | break; |
375 | case 't':// Motortest |
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1212 | hbuss | 376 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
377 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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378 | PC_MotortestActive = 240; |
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1065 | killagreg | 379 | //while(!UebertragungAbgeschlossen); |
380 | //SendOutData('T', MeineSlaveAdresse, 0); |
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1054 | killagreg | 381 | PcZugriff = 255; |
382 | break; |
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1053 | killagreg | 383 | |
1209 | hbuss | 384 | case 'n':// "Get Mixer |
385 | while(!UebertragungAbgeschlossen); |
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1622 | killagreg | 386 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
1636 | ingob | 387 | Debug("Mixer lesen"); |
1209 | hbuss | 388 | break; |
389 | |||
390 | case 'm':// "Write Mixer |
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1622 | killagreg | 391 | if(pRxData[0] == EEMIXER_REVISION) |
1521 | killagreg | 392 | { |
1622 | killagreg | 393 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
394 | MixerTable_WriteToEEProm(); |
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1211 | hbuss | 395 | tempchar1 = 1; |
1765 | killagreg | 396 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
1521 | killagreg | 397 | } |
1622 | killagreg | 398 | else |
399 | { |
||
400 | tempchar1 = 0; |
||
401 | } |
||
402 | while(!UebertragungAbgeschlossen); |
||
1211 | hbuss | 403 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
1209 | hbuss | 404 | break; |
405 | |||
1054 | killagreg | 406 | case 'p': // get PPM Channels |
407 | GetPPMChannelAnforderung = 1; |
||
1377 | hbuss | 408 | PcZugriff = 255; |
1054 | killagreg | 409 | break; |
1053 | killagreg | 410 | |
1054 | killagreg | 411 | case 'q':// "Get"-Anforderung für Settings |
412 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
2416 | holgerb | 413 | if(!MotorenEin) |
414 | { |
||
1761 | killagreg | 415 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
1054 | killagreg | 416 | { |
1761 | killagreg | 417 | tempchar1 = pRxData[0] - 10; |
418 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
419 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
420 | SetDefaultParameter(tempchar1, 1); |
||
1054 | killagreg | 421 | } |
1761 | killagreg | 422 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
423 | { |
||
424 | tempchar1 = pRxData[0] - 20; |
||
425 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
426 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
427 | SetDefaultParameter(tempchar1, 0); |
||
428 | } |
||
429 | else |
||
430 | { |
||
431 | tempchar1 = pRxData[0]; |
||
432 | if(tempchar1 == 0xFF) |
||
433 | { |
||
434 | tempchar1 = GetActiveParamSet(); |
||
435 | } |
||
436 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
437 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
438 | // load requested parameter set |
||
439 | ParamSet_ReadFromEEProm(tempchar1); |
||
440 | } |
||
2416 | holgerb | 441 | LipoDetection(0); |
442 | } else tempchar1 = GetActiveParamSet(); |
||
1054 | killagreg | 443 | while(!UebertragungAbgeschlossen); |
1622 | killagreg | 444 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
1636 | ingob | 445 | Debug("Lese Setting %d", tempchar1); |
1054 | killagreg | 446 | break; |
1051 | killagreg | 447 | |
1054 | killagreg | 448 | case 's': // Parametersatz speichern |
1862 | holgerb | 449 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
1054 | killagreg | 450 | { |
1622 | killagreg | 451 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
452 | ParamSet_WriteToEEProm(pRxData[0]); |
||
1054 | killagreg | 453 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
454 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
1622 | killagreg | 455 | tempchar1 = GetActiveParamSet(); |
1054 | killagreg | 456 | } |
1058 | killagreg | 457 | else |
458 | { |
||
459 | tempchar1 = 0; // mark in response an invlid setting |
||
460 | } |
||
461 | while(!UebertragungAbgeschlossen); |
||
462 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 463 | if(!MotorenEin) |
464 | { |
||
465 | Piep(tempchar1,110); |
||
466 | LipoDetection(0); |
||
467 | } |
||
1626 | killagreg | 468 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1054 | killagreg | 469 | break; |
1405 | hbuss | 470 | case 'f': // auf anderen Parametersatz umschalten |
2340 | holgerb | 471 | if(MotorenEin) break; |
1622 | killagreg | 472 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
473 | tempchar1 = GetActiveParamSet(); |
||
1405 | hbuss | 474 | while(!UebertragungAbgeschlossen); |
475 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 476 | if(!MotorenEin) |
477 | { |
||
478 | Piep(tempchar1,110); |
||
479 | LipoDetection(0); |
||
480 | } |
||
1626 | killagreg | 481 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1405 | hbuss | 482 | break; |
1391 | killagreg | 483 | case 'y':// serial Potis |
2340 | holgerb | 484 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1]; |
1391 | killagreg | 485 | break; |
1662 | killagreg | 486 | case 'u': // request BL parameter |
487 | Debug("Reading BL %d", pRxData[0]); |
||
488 | // try to read BL configuration |
||
1665 | killagreg | 489 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
1673 | killagreg | 490 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
491 | else tempchar1 = 0; |
||
492 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
1674 | ingob | 493 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
1662 | killagreg | 494 | break; |
495 | case 'w': // write BL parameter |
||
496 | Debug("Writing BL %d", pRxData[0]); |
||
497 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
498 | { |
||
499 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
1665 | killagreg | 500 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
501 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
502 | else tempchar1 = 0; // indicate error |
||
1662 | killagreg | 503 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
1665 | killagreg | 504 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
1662 | killagreg | 505 | } |
506 | break; |
||
1783 | killagreg | 507 | case 'j': |
1942 | holgerb | 508 | if(MotorenEin) break; |
1783 | killagreg | 509 | tempchar1 = LIBFC_GetCPUType(); |
510 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
1782 | ingob | 511 | { |
1783 | killagreg | 512 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
1782 | ingob | 513 | |
1783 | killagreg | 514 | cli(); |
1782 | ingob | 515 | |
1783 | killagreg | 516 | // UART0 & UART1 disable RX and TX-Interrupt |
517 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
518 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
519 | |||
520 | // UART0 & UART1 disable receiver and transmitter |
||
521 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
522 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
523 | |||
524 | // UART0 & UART1 flush receive buffer explicit |
||
525 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
526 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
527 | |||
528 | |||
1942 | holgerb | 529 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
530 | else |
||
531 | { // Jeti or HoTT update |
||
532 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
533 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
534 | //#endif |
||
535 | ReceiverUpdateModeActive = 1; |
||
1783 | killagreg | 536 | // UART0 & UART1 set baudrate |
537 | UBRR1H = (uint8_t)(ubrr>>8); |
||
538 | UBRR1L = (uint8_t)ubrr; |
||
539 | UBRR0H = UBRR1H; |
||
540 | UBRR0L = UBRR1L; |
||
541 | // UART1 no parity |
||
542 | UCSR1C &= ~(1 << UPM11); |
||
543 | UCSR1C &= ~(1 << UPM10); |
||
544 | // UART1 8-bit |
||
545 | UCSR1B &= ~(1 << UCSZ12); |
||
546 | UCSR1C |= (1 << UCSZ11); |
||
547 | UCSR1C |= (1 << UCSZ10); |
||
548 | } |
||
549 | // UART0 & UART1 1 stop bit |
||
550 | UCSR1C &= ~(1 << USBS1); |
||
551 | UCSR0C &= ~(1 << USBS0); |
||
552 | // UART1 clear 9th bit |
||
553 | UCSR1B &= ~(1<<TXB81); |
||
554 | // enable receiver and transmitter for UART0 and UART1 |
||
555 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
556 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
557 | // enable RX-Interrupt for UART0 and UART1 |
||
558 | UCSR0B |= (1 << RXCIE0); |
||
559 | UCSR1B |= (1 << RXCIE1); |
||
560 | // disable other Interrupts |
||
561 | TIMSK0 = 0; |
||
562 | TIMSK1 = 0; |
||
563 | TIMSK2 = 0; |
||
564 | |||
565 | sei(); |
||
1777 | ingob | 566 | } |
567 | break; |
||
568 | |||
1056 | killagreg | 569 | } // case FC_ADDRESS: |
1054 | killagreg | 570 | |
571 | default: // any Slave Address |
||
1056 | killagreg | 572 | |
1054 | killagreg | 573 | switch(RxdBuffer[2]) |
574 | { |
||
575 | // 't' comand placed here only for compatibility to BL |
||
576 | case 't':// Motortest |
||
1662 | killagreg | 577 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
1212 | hbuss | 578 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
1054 | killagreg | 579 | while(!UebertragungAbgeschlossen); |
580 | SendOutData('T', MeineSlaveAdresse, 0); |
||
1212 | hbuss | 581 | PC_MotortestActive = 250; |
1054 | killagreg | 582 | PcZugriff = 255; |
1638 | holgerb | 583 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 584 | break; |
585 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
586 | case 'K':// Kompasswert |
||
587 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
1941 | holgerb | 588 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
1054 | killagreg | 589 | break; |
590 | case 'a':// Texte der Analogwerte |
||
591 | DebugTextAnforderung = pRxData[0]; |
||
592 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
593 | PcZugriff = 255; |
||
594 | break; |
||
595 | case 'b': |
||
596 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
597 | ConfirmFrame = ExternControl.Frame; |
||
598 | PcZugriff = 255; |
||
599 | break; |
||
1171 | hbuss | 600 | case 'c': // Poll the 3D-Data |
601 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
602 | Intervall3D = pRxData[0] * 10; |
||
1417 | killagreg | 603 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1171 | hbuss | 604 | break; |
1054 | killagreg | 605 | case 'd': // Poll the debug data |
1438 | ingob | 606 | PcZugriff = 255; |
1399 | killagreg | 607 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
1171 | hbuss | 608 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
1415 | killagreg | 609 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 610 | break; |
611 | |||
612 | case 'h':// x-1 Displayzeilen |
||
1059 | hbuss | 613 | PcZugriff = 255; |
1399 | killagreg | 614 | if((pRxData[0] & 0x80) == 0x00) // old format |
615 | { |
||
616 | DisplayLine = 2; |
||
617 | Display_Interval = 0; |
||
618 | } |
||
619 | else // new format |
||
620 | { |
||
621 | RemoteKeys |= ~pRxData[0]; |
||
622 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
623 | DisplayLine = 4; |
||
1415 | killagreg | 624 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1399 | killagreg | 625 | } |
1054 | killagreg | 626 | DebugDisplayAnforderung = 1; |
627 | break; |
||
628 | |||
629 | case 'l':// x-1 Displayzeilen |
||
1059 | hbuss | 630 | PcZugriff = 255; |
1054 | killagreg | 631 | MenuePunkt = pRxData[0]; |
632 | DebugDisplayAnforderung1 = 1; |
||
633 | break; |
||
634 | case 'v': // Version-Anforderung und Ausbaustufe |
||
635 | GetVersionAnforderung = 1; |
||
636 | break; |
||
637 | |||
638 | case 'g':// |
||
639 | GetExternalControl = 1; |
||
640 | break; |
||
1657 | killagreg | 641 | |
642 | default: |
||
643 | //unsupported command received |
||
644 | break; |
||
1054 | killagreg | 645 | } |
646 | break; // default: |
||
647 | } |
||
1051 | killagreg | 648 | NeuerDatensatzEmpfangen = 0; |
649 | pRxData = 0; |
||
650 | RxDataLen = 0; |
||
1 | ingob | 651 | } |
652 | |||
653 | //############################################################################ |
||
654 | //Routine für die Serielle Ausgabe |
||
1444 | ingob | 655 | void uart_putchar (char c) |
1 | ingob | 656 | //############################################################################ |
657 | { |
||
658 | //Warten solange bis Zeichen gesendet wurde |
||
1561 | killagreg | 659 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 660 | //Ausgabe des Zeichens |
1561 | killagreg | 661 | UDR0 = c; |
1 | ingob | 662 | } |
663 | |||
664 | |||
665 | //############################################################################ |
||
666 | //INstallation der Seriellen Schnittstelle |
||
667 | void UART_Init (void) |
||
668 | //############################################################################ |
||
669 | { |
||
1561 | killagreg | 670 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
671 | |||
1 | ingob | 672 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
1561 | killagreg | 673 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
1 | ingob | 674 | // UART Double Speed (U2X) |
1561 | killagreg | 675 | UCSR0A |= (1 << U2X0); |
1 | ingob | 676 | // RX-Interrupt Freigabe |
1561 | killagreg | 677 | UCSR0B |= (1 << RXCIE0); |
1 | ingob | 678 | // TX-Interrupt Freigabe |
1561 | killagreg | 679 | UCSR0B |= (1 << TXCIE0); |
680 | // USART0 Baud Rate Register |
||
681 | // set clock divider |
||
682 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
683 | UBRR0L = (uint8_t)ubrr; |
||
1 | ingob | 684 | |
1051 | killagreg | 685 | Debug_Timer = SetDelay(DebugDataIntervall); |
686 | Kompass_Timer = SetDelay(220); |
||
687 | |||
1058 | killagreg | 688 | VersionInfo.SWMajor = VERSION_MAJOR; |
689 | VersionInfo.SWMinor = VERSION_MINOR; |
||
690 | VersionInfo.SWPatch = VERSION_PATCH; |
||
691 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
2342 | holgerb | 692 | VersionInfo.reserved1 = 0; |
693 | VersionInfo.reserved2 = 0; |
||
694 | VersionInfo.HWMajor = PlatinenVersion; |
||
1051 | killagreg | 695 | pRxData = 0; |
696 | RxDataLen = 0; |
||
1 | ingob | 697 | } |
698 | |||
699 | //--------------------------------------------------------------------------------------------- |
||
1051 | killagreg | 700 | void DatenUebertragung(void) |
1 | ingob | 701 | { |
1415 | killagreg | 702 | if(!UebertragungAbgeschlossen) return; |
1 | ingob | 703 | |
1415 | killagreg | 704 | if(CheckDelay(AboTimeOut)) |
705 | { |
||
706 | Display_Interval = 0; |
||
707 | DebugDataIntervall = 0; |
||
1417 | killagreg | 708 | Intervall3D = 0; |
1415 | killagreg | 709 | } |
710 | |||
1399 | killagreg | 711 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
1065 | killagreg | 712 | { |
1399 | killagreg | 713 | if(DisplayLine > 3)// new format |
714 | { |
||
1423 | hbuss | 715 | Menu(); |
1399 | killagreg | 716 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
717 | } |
||
718 | else // old format |
||
719 | { |
||
720 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
721 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
722 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
723 | } |
||
724 | Display_Timer = SetDelay(Display_Interval); |
||
1065 | killagreg | 725 | DebugDisplayAnforderung = 0; |
726 | } |
||
727 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
728 | { |
||
729 | Menu(); |
||
730 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
731 | DebugDisplayAnforderung1 = 0; |
||
732 | } |
||
733 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
734 | { |
||
735 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
736 | GetVersionAnforderung = 0; |
||
1636 | ingob | 737 | Debug_OK("Version gesendet"); |
1065 | killagreg | 738 | } |
1 | ingob | 739 | |
1065 | killagreg | 740 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
741 | { |
||
742 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
743 | GetExternalControl = 0; |
||
744 | } |
||
1171 | hbuss | 745 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
1 | ingob | 746 | { |
1639 | holgerb | 747 | CopyDebugValues(); |
1276 | hbuss | 748 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 749 | DebugDataAnforderung = 0; |
1055 | ingob | 750 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
1051 | killagreg | 751 | } |
1171 | hbuss | 752 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
753 | { |
||
2373 | holgerb | 754 | Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
755 | Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
1171 | hbuss | 756 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
1685 | holgerb | 757 | Data3D.Centroid[0] = SummeNick >> 9; |
758 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
759 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
1171 | hbuss | 760 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
761 | Timer3D = SetDelay(Intervall3D); |
||
762 | } |
||
499 | hbuss | 763 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
764 | { |
||
1490 | killagreg | 765 | unsigned char label[16]; // local sram buffer |
766 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
767 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
499 | hbuss | 768 | DebugTextAnforderung = 255; |
769 | } |
||
1051 | killagreg | 770 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
595 | hbuss | 771 | { |
1054 | killagreg | 772 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
1051 | killagreg | 773 | ConfirmFrame = 0; |
595 | hbuss | 774 | } |
1051 | killagreg | 775 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
776 | { |
||
1054 | killagreg | 777 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
1051 | killagreg | 778 | GetPPMChannelAnforderung = 0; |
779 | } |
||
2346 | holgerb | 780 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
781 | { |
||
2373 | holgerb | 782 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
783 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
2346 | holgerb | 784 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
785 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
786 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
787 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
||
2416 | holgerb | 788 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
2346 | holgerb | 789 | else Kompass_Timer = SetDelay(999); |
790 | } |
||
1636 | ingob | 791 | #ifdef DEBUG // only include functions if DEBUG is defined |
792 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
793 | { |
||
794 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
795 | SendDebugOutput = 0; |
||
796 | } |
||
1654 | killagreg | 797 | #endif |
1 | ingob | 798 | } |
799 | |||
1636 | ingob | 800 |