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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <avr/io.h> |
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52 | #include <avr/interrupt.h> |
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53 | #include <avr/wdt.h> |
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54 | #include <avr/pgmspace.h> |
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55 | #include <stdarg.h> |
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56 | #include <string.h> |
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57 | |||
58 | #include "eeprom.h" |
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59 | #include "menu.h" |
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60 | #include "timer0.h" |
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61 | #include "uart0.h" |
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62 | #include "attitude.h" |
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63 | #include "rc.h" |
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64 | #include "externalControl.h" |
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65 | |||
66 | #if defined (USE_MK3MAG) |
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67 | #include "ubx.h" |
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68 | #endif |
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69 | #ifdef USE_MK3MAG |
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70 | #include "mk3mag.h" |
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71 | #endif |
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72 | |||
73 | #define FC_ADDRESS 1 |
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74 | #define NC_ADDRESS 2 |
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75 | #define MK3MAG_ADDRESS 3 |
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76 | |||
77 | #define FALSE 0 |
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78 | #define TRUE 1 |
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79 | //int8_t test __attribute__ ((section (".noinit"))); |
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80 | uint8_t Request_VerInfo = FALSE; |
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81 | uint8_t Request_ExternalControl = FALSE; |
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82 | uint8_t Request_Display = FALSE; |
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83 | uint8_t Request_Display1 = FALSE; |
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84 | uint8_t Request_DebugData = FALSE; |
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85 | uint8_t Request_Data3D = FALSE; |
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86 | uint8_t Request_DebugLabel = 255; |
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87 | uint8_t Request_PPMChannels = FALSE; |
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88 | uint8_t Request_MotorTest = FALSE; |
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89 | uint8_t DisplayLine = 0; |
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90 | |||
91 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
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92 | volatile uint8_t rxd_buffer_locked = FALSE; |
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93 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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94 | volatile uint8_t txd_complete = TRUE; |
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95 | volatile uint8_t ReceivedBytes = 0; |
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96 | volatile uint8_t *pRxData = 0; |
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97 | volatile uint8_t RxDataLen = 0; |
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98 | |||
99 | uint8_t motorTestActive = 0; |
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100 | uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
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101 | uint8_t ConfirmFrame; |
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102 | |||
103 | typedef struct { |
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104 | int16_t Heading; |
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105 | } __attribute__((packed)) Heading_t; |
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106 | |||
107 | DebugOut_t DebugOut; |
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108 | Data3D_t Data3D; |
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109 | UART_VersionInfo_t UART_VersionInfo; |
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110 | |||
111 | uint16_t DebugData_Timer; |
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112 | uint16_t Data3D_Timer; |
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113 | uint16_t DebugData_Interval = 500; // in 1ms |
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114 | uint16_t Data3D_Interval = 0; // in 1ms |
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115 | |||
116 | #ifdef USE_MK3MAG |
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117 | int16_t Compass_Timer; |
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118 | #endif |
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119 | |||
120 | // keep lables in flash to save 512 bytes of sram space |
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121 | const prog_uint8_t ANALOG_LABEL[32][16] = { |
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122 | //1234567890123456 |
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123 | "AnglePitch ", //0 |
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124 | "AngleRoll ", |
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125 | "AngleYaw ", |
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126 | "GyroPitch ", |
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127 | "GyroRoll ", |
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128 | "GyroYaw ", //5 |
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129 | "ACGyroPitch ", |
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130 | "ACGyroRoll ", |
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131 | "ACGyroYaw ", |
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132 | "SetPointYaw ", |
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133 | "YawRateIFactor ", //10 |
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134 | "Gyro I Factor ", |
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135 | "R/C Var 0 ", |
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136 | "User Param 0 ", |
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137 | "R/C Var 4 ", |
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138 | "User Param 4 ", //15 |
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139 | "RCQuality ", |
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140 | "Ext. Quality ", |
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141 | "Looping ", |
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142 | "throttleTerm ", |
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143 | "pitchTerm ", //20 |
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144 | "rollTerm ", |
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145 | "yawTerm ", |
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146 | "P Pitch ", |
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147 | "I Pitch ", |
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148 | "P+D Pitch ", //25 |
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149 | "Pitch acc noise ", |
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150 | "Roll acc noise ", |
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151 | "Pitch Corr ", |
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152 | "Roll Corr ", |
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153 | "Pitch Noise ", //30 |
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154 | "Roll Noise " |
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155 | }; |
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156 | |||
157 | /****************************************************************/ |
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158 | /* Initialization of the USART0 */ |
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159 | /****************************************************************/ |
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160 | void USART0_Init (void) { |
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161 | uint8_t sreg = SREG; |
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162 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
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163 | |||
164 | // disable all interrupts before configuration |
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165 | cli(); |
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166 | |||
167 | // disable RX-Interrupt |
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168 | UCSR0B &= ~(1 << RXCIE0); |
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169 | // disable TX-Interrupt |
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170 | UCSR0B &= ~(1 << TXCIE0); |
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171 | |||
172 | // set direction of RXD0 and TXD0 pins |
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173 | // set RXD0 (PD0) as an input pin |
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174 | PORTD |= (1 << PORTD0); |
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175 | DDRD &= ~(1 << DDD0); |
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176 | // set TXD0 (PD1) as an output pin |
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177 | PORTD |= (1 << PORTD1); |
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178 | DDRD |= (1 << DDD1); |
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179 | |||
180 | // USART0 Baud Rate Register |
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181 | // set clock divider |
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182 | UBRR0H = (uint8_t)(ubrr >> 8); |
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183 | UBRR0L = (uint8_t)ubrr; |
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184 | |||
185 | // USART0 Control and Status Register A, B, C |
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186 | |||
187 | // enable double speed operation in |
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188 | UCSR0A |= (1 << U2X0); |
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189 | // enable receiver and transmitter in |
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190 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
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191 | // set asynchronous mode |
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192 | UCSR0C &= ~(1 << UMSEL01); |
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193 | UCSR0C &= ~(1 << UMSEL00); |
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194 | // no parity |
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195 | UCSR0C &= ~(1 << UPM01); |
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196 | UCSR0C &= ~(1 << UPM00); |
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197 | // 1 stop bit |
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198 | UCSR0C &= ~(1 << USBS0); |
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199 | // 8-bit |
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200 | UCSR0B &= ~(1 << UCSZ02); |
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201 | UCSR0C |= (1 << UCSZ01); |
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202 | UCSR0C |= (1 << UCSZ00); |
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203 | |||
204 | // flush receive buffer |
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205 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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206 | |||
207 | // enable interrupts at the end |
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208 | // enable RX-Interrupt |
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209 | UCSR0B |= (1 << RXCIE0); |
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210 | // enable TX-Interrupt |
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211 | UCSR0B |= (1 << TXCIE0); |
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212 | |||
213 | // initialize the debug timer |
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214 | DebugData_Timer = SetDelay(DebugData_Interval); |
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215 | |||
216 | // unlock rxd_buffer |
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217 | rxd_buffer_locked = FALSE; |
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218 | pRxData = 0; |
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219 | RxDataLen = 0; |
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220 | |||
221 | // no bytes to send |
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222 | txd_complete = TRUE; |
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223 | |||
224 | #ifdef USE_MK3MAG |
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225 | Compass_Timer = SetDelay(220); |
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226 | #endif |
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227 | |||
228 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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229 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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230 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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231 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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232 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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233 | |||
234 | // restore global interrupt flags |
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235 | SREG = sreg; |
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236 | } |
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237 | |||
238 | /****************************************************************/ |
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239 | /* USART0 transmitter ISR */ |
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240 | /****************************************************************/ |
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241 | ISR(USART0_TX_vect) { |
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242 | static uint16_t ptr_txd_buffer = 0; |
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243 | uint8_t tmp_tx; |
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244 | if(!txd_complete) { // transmission not completed |
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245 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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246 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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247 | // if terminating character or end of txd buffer was reached |
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248 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
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249 | ptr_txd_buffer = 0; // reset txd pointer |
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250 | txd_complete = 1; // stop transmission |
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251 | } |
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252 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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253 | } |
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254 | // transmission completed |
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255 | else ptr_txd_buffer = 0; |
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256 | } |
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257 | |||
258 | /****************************************************************/ |
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259 | /* USART0 receiver ISR */ |
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260 | /****************************************************************/ |
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261 | ISR(USART0_RX_vect) { |
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262 | static uint16_t crc; |
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263 | static uint8_t ptr_rxd_buffer = 0; |
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264 | uint8_t crc1, crc2; |
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265 | uint8_t c; |
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266 | |||
267 | c = UDR0; // catch the received byte |
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268 | |||
269 | #if (defined (USE_MK3MAG)) |
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270 | // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
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271 | if(CPUType != ATMEGA644P) ubx_parser(c); |
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272 | #endif |
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273 | |||
274 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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275 | |||
276 | // the rxd buffer is unlocked |
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277 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
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278 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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279 | crc = c; // init crc |
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280 | } |
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281 | #if 0 |
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282 | else if (ptr_rxd_buffer == 1) { // handle address |
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283 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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284 | crc += c; // update crc |
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285 | } |
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286 | #endif |
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287 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
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288 | if(c != '\r') { // no termination character |
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289 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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290 | crc += c; // update crc |
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291 | } else { // termination character was received |
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292 | // the last 2 bytes are no subject for checksum calculation |
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293 | // they are the checksum itself |
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294 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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295 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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296 | // calculate checksum from transmitted data |
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297 | crc %= 4096; |
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298 | crc1 = '=' + crc / 64; |
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299 | crc2 = '=' + crc % 64; |
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300 | // compare checksum to transmitted checksum bytes |
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301 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
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302 | // checksum valid |
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303 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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304 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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305 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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306 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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307 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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308 | } else { // checksum invalid |
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309 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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310 | } |
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311 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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312 | } |
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313 | } else { // rxd buffer overrun |
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314 | ptr_rxd_buffer = 0; // reset rxd buffer |
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315 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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316 | } |
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317 | } |
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318 | |||
319 | // -------------------------------------------------------------------------- |
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320 | void AddCRC(uint16_t datalen) { |
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321 | uint16_t tmpCRC = 0, i; |
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322 | for(i = 0; i < datalen; i++) { |
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323 | tmpCRC += txd_buffer[i]; |
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324 | } |
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325 | tmpCRC %= 4096; |
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326 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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327 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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328 | txd_buffer[i++] = '\r'; |
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329 | txd_complete = FALSE; |
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330 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
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331 | } |
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332 | |||
333 | // -------------------------------------------------------------------------- |
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334 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
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335 | va_list ap; |
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336 | uint16_t pt = 0; |
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337 | uint8_t a,b,c; |
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338 | uint8_t ptr = 0; |
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339 | |||
340 | uint8_t *pdata = 0; |
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341 | int len = 0; |
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342 | |||
343 | txd_buffer[pt++] = '#'; // Start character |
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344 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
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345 | txd_buffer[pt++] = cmd; // Command |
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346 | |||
347 | va_start(ap, numofbuffers); |
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348 | |||
349 | if(numofbuffers) { |
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350 | pdata = va_arg(ap, uint8_t*); |
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351 | len = va_arg(ap, int); |
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352 | ptr = 0; |
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353 | numofbuffers--; |
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354 | } |
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355 | |||
356 | while(len){ |
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357 | if(len) { |
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358 | a = pdata[ptr++]; |
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359 | len--; |
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360 | if((!len) && numofbuffers) { |
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361 | pdata = va_arg(ap, uint8_t*); |
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362 | len = va_arg(ap, int); |
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363 | ptr = 0; |
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364 | numofbuffers--; |
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365 | } |
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366 | } |
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367 | else a = 0; |
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368 | if(len) { |
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369 | b = pdata[ptr++]; |
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370 | len--; |
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371 | if((!len) && numofbuffers) { |
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372 | pdata = va_arg(ap, uint8_t*); |
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373 | len = va_arg(ap, int); |
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374 | ptr = 0; |
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375 | numofbuffers--; |
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376 | } |
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377 | } else b = 0; |
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378 | if(len) { |
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379 | c = pdata[ptr++]; |
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380 | len--; |
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381 | if((!len) && numofbuffers) { |
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382 | pdata = va_arg(ap, uint8_t*); |
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383 | len = va_arg(ap, int); |
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384 | ptr = 0; |
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385 | numofbuffers--; |
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386 | } |
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387 | } |
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388 | else c = 0; |
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389 | txd_buffer[pt++] = '=' + (a >> 2); |
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390 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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391 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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392 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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393 | } |
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394 | va_end(ap); |
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395 | AddCRC(pt); // add checksum after data block and initates the transmission |
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396 | } |
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397 | |||
398 | // -------------------------------------------------------------------------- |
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399 | void Decode64(void) { |
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400 | uint8_t a,b,c,d; |
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401 | uint8_t x,y,z; |
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402 | uint8_t ptrIn = 3; |
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403 | uint8_t ptrOut = 3; |
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404 | uint8_t len = ReceivedBytes - 6; |
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405 | |||
406 | while(len) { |
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407 | a = rxd_buffer[ptrIn++] - '='; |
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408 | b = rxd_buffer[ptrIn++] - '='; |
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409 | c = rxd_buffer[ptrIn++] - '='; |
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410 | d = rxd_buffer[ptrIn++] - '='; |
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411 | //if(ptrIn > ReceivedBytes - 3) break; |
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412 | |||
413 | x = (a << 2) | (b >> 4); |
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414 | y = ((b & 0x0f) << 4) | (c >> 2); |
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415 | z = ((c & 0x03) << 6) | d; |
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416 | |||
417 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
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418 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
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419 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
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420 | } |
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421 | pRxData = &rxd_buffer[3]; |
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422 | RxDataLen = ptrOut - 3; |
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423 | } |
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424 | |||
425 | // -------------------------------------------------------------------------- |
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426 | void USART0_ProcessRxData(void) { |
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427 | // if data in the rxd buffer are not locked immediately return |
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428 | if(!rxd_buffer_locked) return; |
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429 | |||
430 | uint8_t tempchar1, tempchar2; |
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431 | |||
432 | Decode64(); // decode data block in rxd_buffer |
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433 | |||
434 | switch(rxd_buffer[1] - 'a') { |
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435 | case FC_ADDRESS: |
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436 | switch(rxd_buffer[2]) { |
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437 | #ifdef USE_MK3MAG |
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438 | case 'K':// compass value |
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439 | CompassHeading = ((Heading_t *)pRxData)->Heading; |
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440 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
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441 | break; |
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442 | #endif |
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443 | |||
444 | case 't':// motor test |
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445 | if(RxDataLen > 20) // |
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446 | { |
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447 | memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
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448 | } |
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449 | else |
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450 | { |
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451 | memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
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452 | } |
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453 | //Request_MotorTest = TRUE; |
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454 | motorTestActive = 255; |
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455 | externalControlActive = 255; |
||
456 | break; |
||
457 | |||
458 | case 'n':// "Get Mixer Table |
||
459 | while(!txd_complete); // wait for previous frame to be sent |
||
460 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
||
461 | break; |
||
462 | |||
463 | case 'm':// "Set Mixer Table |
||
464 | if(pRxData[0] == EEMIXER_REVISION) |
||
465 | { |
||
466 | memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
||
467 | MixerTable_WriteToEEProm(); |
||
468 | while(!txd_complete); // wait for previous frame to be sent |
||
469 | tempchar1 = 1; |
||
470 | } |
||
471 | else |
||
472 | { |
||
473 | tempchar1 = 0; |
||
474 | } |
||
475 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
||
476 | break; |
||
477 | |||
478 | case 'p': // get PPM channels |
||
479 | Request_PPMChannels = TRUE; |
||
480 | break; |
||
481 | |||
482 | case 'q':// request settings |
||
483 | if(pRxData[0] == 0xFF) |
||
484 | { |
||
485 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
||
486 | } |
||
487 | // limit settings range |
||
488 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
||
489 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
||
490 | // load requested parameter set |
||
491 | ParamSet_ReadFromEEProm(pRxData[0]); |
||
492 | tempchar1 = pRxData[0]; |
||
493 | tempchar2 = EEPARAM_REVISION; |
||
494 | while(!txd_complete); // wait for previous frame to be sent |
||
495 | SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
||
496 | break; |
||
497 | |||
498 | case 's': // save settings |
||
499 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
||
500 | { |
||
501 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
||
502 | { |
||
503 | memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
||
504 | ParamSet_WriteToEEProm(pRxData[0]); |
||
505 | /* |
||
506 | TODO: Remove this encapsulation breach |
||
507 | turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
||
508 | turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
||
509 | */ |
||
510 | tempchar1 = getActiveParamSet(); |
||
511 | beepNumber(tempchar1); |
||
512 | } |
||
513 | else |
||
514 | { |
||
515 | tempchar1 = 0; //indicate bad data |
||
516 | } |
||
517 | while(!txd_complete); // wait for previous frame to be sent |
||
518 | SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
||
519 | } |
||
520 | break; |
||
521 | |||
522 | default: |
||
523 | //unsupported command received |
||
524 | break; |
||
525 | } // case FC_ADDRESS: |
||
526 | |||
527 | default: // any Slave Address |
||
528 | |||
529 | switch(rxd_buffer[2]) |
||
530 | { |
||
531 | case 'a':// request for labels of the analog debug outputs |
||
532 | Request_DebugLabel = pRxData[0]; |
||
533 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
||
534 | externalControlActive = 255; |
||
535 | break; |
||
536 | |||
537 | case 'b': // submit extern control |
||
538 | memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
||
539 | ConfirmFrame = externalControl.frame; |
||
540 | externalControlActive = 255; |
||
541 | break; |
||
542 | |||
543 | case 'h':// request for display columns |
||
544 | externalControlActive = 255; |
||
545 | RemoteKeys |= pRxData[0]; |
||
546 | if(RemoteKeys) DisplayLine = 0; |
||
547 | Request_Display = TRUE; |
||
548 | break; |
||
549 | |||
550 | case 'l':// request for display columns |
||
551 | externalControlActive = 255; |
||
552 | MenuItem = pRxData[0]; |
||
553 | Request_Display1 = TRUE; |
||
554 | break; |
||
555 | |||
556 | case 'v': // request for version and board release |
||
557 | Request_VerInfo = TRUE; |
||
558 | break; |
||
559 | |||
560 | case 'g':// get external control data |
||
561 | Request_ExternalControl = TRUE; |
||
562 | break; |
||
563 | |||
564 | case 'd': // request for the debug data |
||
565 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
||
566 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
||
567 | break; |
||
568 | |||
569 | case 'c': // request for the 3D data |
||
570 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
||
571 | if(Data3D_Interval > 0) Request_Data3D = TRUE; |
||
572 | break; |
||
573 | |||
574 | default: |
||
575 | //unsupported command received |
||
576 | break; |
||
577 | } |
||
578 | break; // default: |
||
579 | } |
||
580 | // unlock the rxd buffer after processing |
||
581 | pRxData = 0; |
||
582 | RxDataLen = 0; |
||
583 | rxd_buffer_locked = FALSE; |
||
584 | } |
||
585 | |||
586 | //############################################################################ |
||
587 | //Routine für die Serielle Ausgabe |
||
588 | //############################################################################ |
||
589 | int16_t uart_putchar (int8_t c) { |
||
590 | if (c == '\n') |
||
591 | uart_putchar('\r'); |
||
592 | // wait until previous character was send |
||
593 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
594 | // send character |
||
595 | UDR0 = c; |
||
596 | return (0); |
||
597 | } |
||
598 | |||
599 | //--------------------------------------------------------------------------------------------- |
||
600 | void USART0_TransmitTxData(void) { |
||
601 | if(!txd_complete) return; |
||
602 | |||
603 | if(Request_VerInfo && txd_complete) { |
||
604 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
605 | Request_VerInfo = FALSE; |
||
606 | } |
||
607 | |||
608 | if(Request_Display && txd_complete) { |
||
609 | LCD_PrintMenu(); |
||
610 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
||
611 | DisplayLine++; |
||
612 | if(DisplayLine >= 4) DisplayLine = 0; |
||
613 | Request_Display = FALSE; |
||
614 | } |
||
615 | |||
616 | if(Request_Display1 && txd_complete) { |
||
617 | LCD_PrintMenu(); |
||
618 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
||
619 | Request_Display1 = FALSE; |
||
620 | } |
||
621 | |||
622 | if(Request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
||
623 | uint8_t label[16]; // local sram buffer |
||
624 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
||
625 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
||
626 | Request_DebugLabel = 0xFF; |
||
627 | } |
||
628 | |||
629 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
||
630 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
631 | ConfirmFrame = 0; |
||
632 | } |
||
633 | |||
634 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) { |
||
635 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
||
636 | DebugData_Timer = SetDelay(DebugData_Interval); |
||
637 | Request_DebugData = FALSE; |
||
638 | } |
||
639 | |||
640 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) { |
||
641 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
||
642 | Data3D.AngleNick = (int16_t)((10 * pitchAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
||
643 | Data3D.AngleRoll = (int16_t)((10 * rollAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
||
644 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
||
645 | Data3D_Timer = SetDelay(Data3D_Interval); |
||
646 | Request_Data3D = FALSE; |
||
647 | } |
||
648 | |||
649 | if(Request_ExternalControl && txd_complete) { |
||
650 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
||
651 | Request_ExternalControl = FALSE; |
||
652 | } |
||
653 | |||
654 | #ifdef USE_MK3MAG |
||
655 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
||
656 | ToMk3Mag.Attitude[0] = (int16_t)((10 * pitchAngle) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
||
657 | ToMk3Mag.Attitude[1] = (int16_t)((10 * rollAngle) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
||
658 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
||
659 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
||
660 | ToMk3Mag.CalState = CompassCalState; |
||
661 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
||
662 | // the last state is 5 and should be send only once to avoid multiple flash writing |
||
663 | if(CompassCalState > 4) CompassCalState = 0; |
||
664 | Compass_Timer = SetDelay(99); |
||
665 | } |
||
666 | #endif |
||
667 | |||
668 | if(Request_MotorTest && txd_complete) { |
||
669 | SendOutData('T', FC_ADDRESS, 0); |
||
670 | Request_MotorTest = FALSE; |
||
671 | } |
||
672 | |||
673 | if(Request_PPMChannels && txd_complete) { |
||
674 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
||
675 | Request_PPMChannels = FALSE; |
||
676 | } |
||
677 | } |