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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 |
2631 | holgerb | 67 | #define MAX_SENDE_BUFF 250 // 180 setting need 246 bytes |
68 | #define MAX_EMPFANGS_BUFF 250 |
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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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2516 | holgerb | 87 | unsigned volatile char AnzahlEmpfangsBytes = 0; // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge |
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; |
2516 | holgerb | 101 | unsigned char ExternalControlTimeout = 0; |
1 | ingob | 102 | struct str_DebugOut DebugOut; |
2516 | holgerb | 103 | struct str_ExternControl ExternalControl; |
1 | ingob | 104 | struct str_VersionInfo VersionInfo; |
693 | hbuss | 105 | struct str_WinkelOut WinkelOut; |
1171 | hbuss | 106 | struct str_Data3D Data3D; |
1 | ingob | 107 | |
1399 | killagreg | 108 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
1415 | killagreg | 109 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
110 | unsigned int AboTimeOut = 0; |
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1942 | holgerb | 111 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
2620 | holgerb | 112 | unsigned char SwitchMultiplexerToUpdate = 0; // the Uart-Multiplexer on the FC V3.0 |
2627 | holgerb | 113 | unsigned char SerialChannelDataOkay = 0; // timeout |
693 | hbuss | 114 | |
1490 | killagreg | 115 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
499 | hbuss | 116 | { |
1051 | killagreg | 117 | //1234567890123456 |
1175 | hbuss | 118 | "AngleNick ", //0 |
119 | "AngleRoll ", |
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1051 | killagreg | 120 | "AccNick ", |
499 | hbuss | 121 | "AccRoll ", |
1523 | holgerb | 122 | "YawGyro ", |
2316 | holgerb | 123 | "Altitude [0.1m] ", //5 |
499 | hbuss | 124 | "AccZ ", |
125 | "Gas ", |
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1175 | hbuss | 126 | "Compass Value ", |
1528 | holgerb | 127 | "Voltage [0.1V] ", |
1521 | killagreg | 128 | "Receiver Level ", //10 |
129 | "Gyro Compass ", |
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130 | "Motor 1 ", |
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131 | "Motor 2 ", |
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132 | "Motor 3 ", |
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133 | "Motor 4 ", //15 |
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2316 | holgerb | 134 | "16 ", |
135 | "17 ", |
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136 | "18 ", |
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137 | "19 ", |
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2230 | holgerb | 138 | "Servo ", //20 |
1521 | killagreg | 139 | "Hovergas ", |
2230 | holgerb | 140 | "Current [0.1A] ", |
1501 | holgerb | 141 | "Capacity [mAh] ", |
1913 | holgerb | 142 | "Height Setpoint ", |
2316 | holgerb | 143 | "25 ", //25 |
144 | "26 ", //"26 CPU OverLoad ", |
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2595 | holgerb | 145 | "SPI-Error ", |
1322 | hbuss | 146 | "I2C-Error ", |
2230 | holgerb | 147 | "BL Limit ", |
720 | ingob | 148 | "GPS_Nick ", //30 |
149 | "GPS_Roll " |
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499 | hbuss | 150 | }; |
2230 | holgerb | 151 | |
2518 | holgerb | 152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
153 | //++ Calculate checksum |
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154 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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155 | unsigned char CalculateDebugLableCrc(void) |
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156 | { |
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157 | unsigned int i; |
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158 | unsigned char crc = 0; |
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159 | for(i=0;i<sizeof(ANALOG_TEXT);i++) crc += pgm_read_word(&ANALOG_TEXT[0][i]); |
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160 | return(crc); |
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161 | } |
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2230 | holgerb | 162 | |
1 | ingob | 163 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
164 | //++ Sende-Part der Datenübertragung |
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165 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1561 | killagreg | 166 | ISR(USART0_TX_vect) |
1 | ingob | 167 | { |
168 | static unsigned int ptr = 0; |
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169 | unsigned char tmp_tx; |
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1783 | killagreg | 170 | |
171 | if(!UebertragungAbgeschlossen) |
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1 | ingob | 172 | { |
173 | ptr++; // die [0] wurde schon gesendet |
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1438 | ingob | 174 | tmp_tx = TxdBuffer[ptr]; |
1 | ingob | 175 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
176 | { |
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2541 | holgerb | 177 | //if(DebugOut.Analog[] < ptr) DebugOut.Analog[] = ptr; |
1 | ingob | 178 | ptr = 0; |
179 | UebertragungAbgeschlossen = 1; |
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180 | } |
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1561 | killagreg | 181 | UDR0 = tmp_tx; |
1051 | killagreg | 182 | } |
2620 | holgerb | 183 | else |
184 | { |
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185 | ptr = 0; |
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186 | UebertragungAbgeschlossen = 2; // last Byte was also transmitted |
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187 | if(SwitchMultiplexerToUpdate == 1) UART_MUX_TO_UPDATE; |
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188 | } |
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1 | ingob | 189 | } |
190 | |||
191 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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192 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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193 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1561 | killagreg | 194 | ISR(USART0_RX_vect) |
1 | ingob | 195 | { |
196 | static unsigned int crc; |
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197 | static unsigned char crc1,crc2,buf_ptr; |
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198 | static unsigned char UartState = 0; |
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199 | unsigned char CrcOkay = 0; |
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200 | |||
2230 | holgerb | 201 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
202 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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1783 | killagreg | 203 | |
1561 | killagreg | 204 | SioTmp = UDR0; |
1783 | killagreg | 205 | |
1438 | ingob | 206 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
1051 | killagreg | 207 | if(SioTmp == '\r' && UartState == 2) |
1 | ingob | 208 | { |
2541 | holgerb | 209 | //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
1 | ingob | 210 | UartState = 0; |
211 | crc -= RxdBuffer[buf_ptr-2]; |
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212 | crc -= RxdBuffer[buf_ptr-1]; |
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213 | crc %= 4096; |
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214 | crc1 = '=' + crc / 64; |
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215 | crc2 = '=' + crc % 64; |
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216 | CrcOkay = 0; |
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217 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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218 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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219 | { |
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1051 | killagreg | 220 | NeuerDatensatzEmpfangen = 1; |
221 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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1 | ingob | 222 | RxdBuffer[buf_ptr] = '\r'; |
2380 | holgerb | 223 | if(RxdBuffer[2] == 'R' && !MotorenEin) |
1232 | hbuss | 224 | { |
1435 | killagreg | 225 | LcdClear(); |
2593 | holgerb | 226 | wdt_enable(WDTO_15MS); // Reset-Commando |
1232 | hbuss | 227 | ServoActive = 0; |
1253 | killagreg | 228 | } |
1051 | killagreg | 229 | } |
1 | ingob | 230 | } |
231 | else |
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232 | switch(UartState) |
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233 | { |
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234 | case 0: |
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235 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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236 | buf_ptr = 0; |
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237 | RxdBuffer[buf_ptr++] = SioTmp; |
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238 | crc = SioTmp; |
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239 | break; |
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240 | case 1: // Adresse auswerten |
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241 | UartState++; |
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242 | RxdBuffer[buf_ptr++] = SioTmp; |
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243 | crc += SioTmp; |
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244 | break; |
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245 | case 2: // Eingangsdaten sammeln |
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246 | RxdBuffer[buf_ptr] = SioTmp; |
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1490 | killagreg | 247 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
1 | ingob | 248 | else UartState = 0; |
2443 | holgerb | 249 | //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
1 | ingob | 250 | crc += SioTmp; |
251 | break; |
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1051 | killagreg | 252 | default: |
253 | UartState = 0; |
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1 | ingob | 254 | break; |
255 | } |
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256 | } |
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257 | |||
258 | |||
259 | // -------------------------------------------------------------------------- |
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260 | void AddCRC(unsigned int wieviele) |
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261 | { |
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1051 | killagreg | 262 | unsigned int tmpCRC = 0,i; |
1 | ingob | 263 | for(i = 0; i < wieviele;i++) |
264 | { |
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1438 | ingob | 265 | tmpCRC += TxdBuffer[i]; |
1 | ingob | 266 | } |
2340 | holgerb | 267 | // if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; |
1 | ingob | 268 | tmpCRC %= 4096; |
1438 | ingob | 269 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
270 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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271 | TxdBuffer[i++] = '\r'; |
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1 | ingob | 272 | UebertragungAbgeschlossen = 0; |
1561 | killagreg | 273 | UDR0 = TxdBuffer[0]; |
2340 | holgerb | 274 | //if(DebugOut.Analog[] < i) DebugOut.Analog[] = i; |
1 | ingob | 275 | } |
276 | |||
277 | |||
278 | // -------------------------------------------------------------------------- |
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1056 | killagreg | 279 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
1 | ingob | 280 | { |
1051 | killagreg | 281 | va_list ap; |
1 | ingob | 282 | unsigned int pt = 0; |
283 | unsigned char a,b,c; |
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284 | unsigned char ptr = 0; |
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285 | |||
1051 | killagreg | 286 | unsigned char *snd = 0; |
287 | int len = 0; |
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288 | |||
1438 | ingob | 289 | TxdBuffer[pt++] = '#'; // Startzeichen |
290 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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291 | TxdBuffer[pt++] = cmd; // Commando |
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1 | ingob | 292 | |
1051 | killagreg | 293 | va_start(ap, BufferAnzahl); |
294 | if(BufferAnzahl) |
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295 | { |
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296 | snd = va_arg(ap, unsigned char*); |
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297 | len = va_arg(ap, int); |
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298 | ptr = 0; |
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299 | BufferAnzahl--; |
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300 | } |
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1 | ingob | 301 | while(len) |
302 | { |
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1051 | killagreg | 303 | if(len) |
304 | { |
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305 | a = snd[ptr++]; |
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306 | len--; |
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307 | if((!len) && BufferAnzahl) |
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308 | { |
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309 | snd = va_arg(ap, unsigned char*); |
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310 | len = va_arg(ap, int); |
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311 | ptr = 0; |
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312 | BufferAnzahl--; |
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313 | } |
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314 | } |
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315 | else a = 0; |
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316 | if(len) |
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317 | { |
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318 | b = snd[ptr++]; |
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319 | len--; |
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320 | if((!len) && BufferAnzahl) |
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321 | { |
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322 | snd = va_arg(ap, unsigned char*); |
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323 | len = va_arg(ap, int); |
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324 | ptr = 0; |
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325 | BufferAnzahl--; |
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326 | } |
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327 | } |
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328 | else b = 0; |
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329 | if(len) |
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330 | { |
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331 | c = snd[ptr++]; |
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332 | len--; |
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333 | if((!len) && BufferAnzahl) |
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334 | { |
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335 | snd = va_arg(ap, unsigned char*); |
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336 | len = va_arg(ap, int); |
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337 | ptr = 0; |
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338 | BufferAnzahl--; |
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339 | } |
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340 | } |
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341 | else c = 0; |
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1438 | ingob | 342 | TxdBuffer[pt++] = '=' + (a >> 2); |
343 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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344 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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345 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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1 | ingob | 346 | } |
1051 | killagreg | 347 | va_end(ap); |
1 | ingob | 348 | AddCRC(pt); |
349 | } |
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350 | |||
351 | // -------------------------------------------------------------------------- |
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1051 | killagreg | 352 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
1 | ingob | 353 | { |
354 | unsigned char a,b,c,d; |
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2230 | holgerb | 355 | unsigned char x,y,z; |
1051 | killagreg | 356 | unsigned char ptrIn = 3; // start at begin of data block |
357 | unsigned char ptrOut = 3; |
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358 | 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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359 | |||
2230 | holgerb | 360 | while(len) |
1 | ingob | 361 | { |
362 | a = RxdBuffer[ptrIn++] - '='; |
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363 | b = RxdBuffer[ptrIn++] - '='; |
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364 | c = RxdBuffer[ptrIn++] - '='; |
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365 | d = RxdBuffer[ptrIn++] - '='; |
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366 | |||
2230 | holgerb | 367 | x = (a << 2) | (b >> 4); |
368 | y = ((b & 0x0f) << 4) | (c >> 2); |
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369 | z = ((c & 0x03) << 6) | d; |
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370 | |||
371 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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372 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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373 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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1 | ingob | 374 | } |
1051 | killagreg | 375 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
376 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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2631 | holgerb | 377 | //if(DebugOut.Analog[] < AnzahlEmpfangsBytes) DebugOut.Analog[] = AnzahlEmpfangsBytes; |
1 | ingob | 378 | } |
379 | |||
380 | // -------------------------------------------------------------------------- |
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381 | void BearbeiteRxDaten(void) |
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382 | { |
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383 | if(!NeuerDatensatzEmpfangen) return; |
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384 | |||
1665 | killagreg | 385 | unsigned char tempchar1, tempchar2; |
1056 | killagreg | 386 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
1055 | ingob | 387 | switch(RxdBuffer[1]-'a') // check for Slave Address |
1054 | killagreg | 388 | { |
389 | case FC_ADDRESS: // FC special commands |
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390 | switch(RxdBuffer[2]) |
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391 | { |
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392 | case 'K':// Kompasswert |
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393 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
394 | break; |
||
395 | case 't':// Motortest |
||
1212 | hbuss | 396 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
397 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
398 | PC_MotortestActive = 240; |
||
1065 | killagreg | 399 | //while(!UebertragungAbgeschlossen); |
400 | //SendOutData('T', MeineSlaveAdresse, 0); |
||
1054 | killagreg | 401 | PcZugriff = 255; |
402 | break; |
||
1053 | killagreg | 403 | |
1209 | hbuss | 404 | case 'n':// "Get Mixer |
405 | while(!UebertragungAbgeschlossen); |
||
1622 | killagreg | 406 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
1636 | ingob | 407 | Debug("Mixer lesen"); |
1209 | hbuss | 408 | break; |
409 | |||
410 | case 'm':// "Write Mixer |
||
1622 | killagreg | 411 | if(pRxData[0] == EEMIXER_REVISION) |
1521 | killagreg | 412 | { |
1622 | killagreg | 413 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
414 | MixerTable_WriteToEEProm(); |
||
1211 | hbuss | 415 | tempchar1 = 1; |
1765 | killagreg | 416 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
1521 | killagreg | 417 | } |
1622 | killagreg | 418 | else |
419 | { |
||
420 | tempchar1 = 0; |
||
421 | } |
||
422 | while(!UebertragungAbgeschlossen); |
||
1211 | hbuss | 423 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
1209 | hbuss | 424 | break; |
425 | |||
1054 | killagreg | 426 | case 'p': // get PPM Channels |
427 | GetPPMChannelAnforderung = 1; |
||
1377 | hbuss | 428 | PcZugriff = 255; |
1054 | killagreg | 429 | break; |
1053 | killagreg | 430 | |
1054 | killagreg | 431 | case 'q':// "Get"-Anforderung für Settings |
432 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
2416 | holgerb | 433 | if(!MotorenEin) |
434 | { |
||
1761 | killagreg | 435 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
1054 | killagreg | 436 | { |
1761 | killagreg | 437 | tempchar1 = pRxData[0] - 10; |
438 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
439 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
440 | SetDefaultParameter(tempchar1, 1); |
||
1054 | killagreg | 441 | } |
1761 | killagreg | 442 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
443 | { |
||
444 | tempchar1 = pRxData[0] - 20; |
||
445 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
446 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
447 | SetDefaultParameter(tempchar1, 0); |
||
448 | } |
||
449 | else |
||
450 | { |
||
451 | tempchar1 = pRxData[0]; |
||
452 | if(tempchar1 == 0xFF) |
||
453 | { |
||
454 | tempchar1 = GetActiveParamSet(); |
||
455 | } |
||
456 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
457 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
458 | // load requested parameter set |
||
459 | ParamSet_ReadFromEEProm(tempchar1); |
||
460 | } |
||
2416 | holgerb | 461 | LipoDetection(0); |
462 | } else tempchar1 = GetActiveParamSet(); |
||
1054 | killagreg | 463 | while(!UebertragungAbgeschlossen); |
1622 | killagreg | 464 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
1636 | ingob | 465 | Debug("Lese Setting %d", tempchar1); |
1054 | killagreg | 466 | break; |
1051 | killagreg | 467 | |
1054 | killagreg | 468 | case 's': // Parametersatz speichern |
1862 | holgerb | 469 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
1054 | killagreg | 470 | { |
1622 | killagreg | 471 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
472 | ParamSet_WriteToEEProm(pRxData[0]); |
||
1054 | killagreg | 473 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
474 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
1622 | killagreg | 475 | tempchar1 = GetActiveParamSet(); |
1054 | killagreg | 476 | } |
1058 | killagreg | 477 | else |
478 | { |
||
479 | tempchar1 = 0; // mark in response an invlid setting |
||
480 | } |
||
481 | while(!UebertragungAbgeschlossen); |
||
482 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 483 | if(!MotorenEin) |
484 | { |
||
485 | Piep(tempchar1,110); |
||
486 | LipoDetection(0); |
||
487 | } |
||
1626 | killagreg | 488 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1054 | killagreg | 489 | break; |
1405 | hbuss | 490 | case 'f': // auf anderen Parametersatz umschalten |
2340 | holgerb | 491 | if(MotorenEin) break; |
1622 | killagreg | 492 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
493 | tempchar1 = GetActiveParamSet(); |
||
1405 | hbuss | 494 | while(!UebertragungAbgeschlossen); |
495 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 496 | if(!MotorenEin) |
497 | { |
||
498 | Piep(tempchar1,110); |
||
499 | LipoDetection(0); |
||
500 | } |
||
1626 | killagreg | 501 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1405 | hbuss | 502 | break; |
1391 | killagreg | 503 | case 'y':// serial Potis |
2340 | holgerb | 504 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1]; |
2627 | holgerb | 505 | SerialChannelDataOkay = 30; |
1391 | killagreg | 506 | break; |
1662 | killagreg | 507 | case 'u': // request BL parameter |
508 | Debug("Reading BL %d", pRxData[0]); |
||
509 | // try to read BL configuration |
||
1665 | killagreg | 510 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
1673 | killagreg | 511 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
512 | else tempchar1 = 0; |
||
513 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
1674 | ingob | 514 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
1662 | killagreg | 515 | break; |
516 | case 'w': // write BL parameter |
||
517 | Debug("Writing BL %d", pRxData[0]); |
||
518 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
519 | { |
||
520 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
1665 | killagreg | 521 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
522 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
523 | else tempchar1 = 0; // indicate error |
||
1662 | killagreg | 524 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
1665 | killagreg | 525 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
1662 | killagreg | 526 | } |
527 | break; |
||
1783 | killagreg | 528 | case 'j': |
1942 | holgerb | 529 | if(MotorenEin) break; |
1783 | killagreg | 530 | tempchar1 = LIBFC_GetCPUType(); |
531 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
1782 | ingob | 532 | { |
1783 | killagreg | 533 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
1782 | ingob | 534 | |
1783 | killagreg | 535 | cli(); |
1782 | ingob | 536 | |
1783 | killagreg | 537 | // UART0 & UART1 disable RX and TX-Interrupt |
538 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
539 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
540 | |||
541 | // UART0 & UART1 disable receiver and transmitter |
||
542 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
543 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
544 | |||
545 | // UART0 & UART1 flush receive buffer explicit |
||
546 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
547 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
548 | |||
549 | |||
1942 | holgerb | 550 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
551 | else |
||
552 | { // Jeti or HoTT update |
||
553 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
554 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
555 | //#endif |
||
556 | ReceiverUpdateModeActive = 1; |
||
1783 | killagreg | 557 | // UART0 & UART1 set baudrate |
558 | UBRR1H = (uint8_t)(ubrr>>8); |
||
559 | UBRR1L = (uint8_t)ubrr; |
||
560 | UBRR0H = UBRR1H; |
||
561 | UBRR0L = UBRR1L; |
||
562 | // UART1 no parity |
||
563 | UCSR1C &= ~(1 << UPM11); |
||
564 | UCSR1C &= ~(1 << UPM10); |
||
565 | // UART1 8-bit |
||
566 | UCSR1B &= ~(1 << UCSZ12); |
||
567 | UCSR1C |= (1 << UCSZ11); |
||
568 | UCSR1C |= (1 << UCSZ10); |
||
569 | } |
||
570 | // UART0 & UART1 1 stop bit |
||
571 | UCSR1C &= ~(1 << USBS1); |
||
572 | UCSR0C &= ~(1 << USBS0); |
||
573 | // UART1 clear 9th bit |
||
574 | UCSR1B &= ~(1<<TXB81); |
||
575 | // enable receiver and transmitter for UART0 and UART1 |
||
576 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
577 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
578 | // enable RX-Interrupt for UART0 and UART1 |
||
579 | UCSR0B |= (1 << RXCIE0); |
||
580 | UCSR1B |= (1 << RXCIE1); |
||
581 | // disable other Interrupts |
||
582 | TIMSK0 = 0; |
||
583 | TIMSK1 = 0; |
||
584 | TIMSK2 = 0; |
||
585 | |||
586 | sei(); |
||
1777 | ingob | 587 | } |
588 | break; |
||
589 | |||
1056 | killagreg | 590 | } // case FC_ADDRESS: |
1054 | killagreg | 591 | |
592 | default: // any Slave Address |
||
1056 | killagreg | 593 | |
1054 | killagreg | 594 | switch(RxdBuffer[2]) |
595 | { |
||
2437 | holgerb | 596 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 597 | static unsigned int clear_I; |
598 | case '?':// Serielle Antwort eines BL-Reglers |
||
599 | tempchar1 = RxdBuffer[1] - ('a'+11); |
||
600 | if(tempchar1 >= MAX_MOTORS) break; |
||
601 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
||
602 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
||
2437 | holgerb | 603 | if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH; |
604 | GRN_FLASH; |
||
2418 | holgerb | 605 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
606 | { |
||
2437 | holgerb | 607 | ROT_ON; |
2418 | holgerb | 608 | if(clear_I == 0) |
609 | { |
||
610 | SummeNick = 0; |
||
611 | SummeRoll = 0; |
||
612 | Mess_Integral_Gier = 0; |
||
613 | } |
||
614 | clear_I = 500; |
||
615 | } |
||
2535 | holgerb | 616 | Motor[tempchar1].Current = RedundantMotor[tempchar1].Current; |
617 | Motor[tempchar1].MaxPWM = RedundantMotor[tempchar1].State; |
||
618 | Motor[tempchar1].Temperature = RedundantMotor[tempchar1].TemperatureInDeg; |
||
2620 | holgerb | 619 | Motor[tempchar1].State |= MOTOR_STATE_PRESENT_MASK; |
2418 | holgerb | 620 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
621 | //DebugOut.Analog[17]++; |
||
622 | //DebugOut.Analog[18] = tempchar1; |
||
623 | break; |
||
2437 | holgerb | 624 | #endif |
1054 | killagreg | 625 | // 't' comand placed here only for compatibility to BL |
626 | case 't':// Motortest |
||
1662 | killagreg | 627 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
1212 | hbuss | 628 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
1054 | killagreg | 629 | while(!UebertragungAbgeschlossen); |
630 | SendOutData('T', MeineSlaveAdresse, 0); |
||
1212 | hbuss | 631 | PC_MotortestActive = 250; |
1054 | killagreg | 632 | PcZugriff = 255; |
1638 | holgerb | 633 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 634 | break; |
635 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
636 | case 'K':// Kompasswert |
||
637 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
638 | break; |
||
639 | case 'a':// Texte der Analogwerte |
||
640 | DebugTextAnforderung = pRxData[0]; |
||
641 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
642 | PcZugriff = 255; |
||
643 | break; |
||
644 | case 'b': |
||
2526 | holgerb | 645 | if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is valid |
2516 | holgerb | 646 | { |
647 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl)); |
||
648 | ConfirmFrame = ExternalControl.Frame; |
||
2593 | holgerb | 649 | if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
650 | else ExternalControlTimeout = 100; // 2 seconds timeout |
||
2516 | holgerb | 651 | } |
1054 | killagreg | 652 | break; |
1171 | hbuss | 653 | case 'c': // Poll the 3D-Data |
654 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
655 | Intervall3D = pRxData[0] * 10; |
||
1417 | killagreg | 656 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1171 | hbuss | 657 | break; |
1054 | killagreg | 658 | case 'd': // Poll the debug data |
1438 | ingob | 659 | PcZugriff = 255; |
1399 | killagreg | 660 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
1171 | hbuss | 661 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
1415 | killagreg | 662 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 663 | break; |
664 | |||
665 | case 'h':// x-1 Displayzeilen |
||
1059 | hbuss | 666 | PcZugriff = 255; |
1399 | killagreg | 667 | if((pRxData[0] & 0x80) == 0x00) // old format |
668 | { |
||
669 | DisplayLine = 2; |
||
670 | Display_Interval = 0; |
||
671 | } |
||
672 | else // new format |
||
673 | { |
||
674 | RemoteKeys |= ~pRxData[0]; |
||
675 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
676 | DisplayLine = 4; |
||
1415 | killagreg | 677 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1399 | killagreg | 678 | } |
1054 | killagreg | 679 | DebugDisplayAnforderung = 1; |
680 | break; |
||
681 | |||
682 | case 'l':// x-1 Displayzeilen |
||
1059 | hbuss | 683 | PcZugriff = 255; |
1054 | killagreg | 684 | MenuePunkt = pRxData[0]; |
685 | DebugDisplayAnforderung1 = 1; |
||
686 | break; |
||
687 | case 'v': // Version-Anforderung und Ausbaustufe |
||
2466 | holgerb | 688 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
689 | if(RxDataLen > 0 && pRxData[0] == 2) GetVersionAnforderung = 2; |
||
690 | else |
||
691 | #endif |
||
1054 | killagreg | 692 | GetVersionAnforderung = 1; |
693 | break; |
||
694 | case 'g':// |
||
695 | GetExternalControl = 1; |
||
696 | break; |
||
1657 | killagreg | 697 | |
698 | default: |
||
699 | //unsupported command received |
||
700 | break; |
||
1054 | killagreg | 701 | } |
702 | break; // default: |
||
703 | } |
||
1051 | killagreg | 704 | NeuerDatensatzEmpfangen = 0; |
705 | pRxData = 0; |
||
706 | RxDataLen = 0; |
||
1 | ingob | 707 | } |
708 | |||
709 | //############################################################################ |
||
710 | //Routine für die Serielle Ausgabe |
||
1444 | ingob | 711 | void uart_putchar (char c) |
1 | ingob | 712 | //############################################################################ |
713 | { |
||
714 | //Warten solange bis Zeichen gesendet wurde |
||
1561 | killagreg | 715 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 716 | //Ausgabe des Zeichens |
1561 | killagreg | 717 | UDR0 = c; |
1 | ingob | 718 | } |
719 | |||
720 | //############################################################################ |
||
721 | //INstallation der Seriellen Schnittstelle |
||
722 | void UART_Init (void) |
||
723 | //############################################################################ |
||
724 | { |
||
1561 | killagreg | 725 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
726 | |||
1 | ingob | 727 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
1561 | killagreg | 728 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
1 | ingob | 729 | // UART Double Speed (U2X) |
1561 | killagreg | 730 | UCSR0A |= (1 << U2X0); |
1 | ingob | 731 | // RX-Interrupt Freigabe |
1561 | killagreg | 732 | UCSR0B |= (1 << RXCIE0); |
1 | ingob | 733 | // TX-Interrupt Freigabe |
1561 | killagreg | 734 | UCSR0B |= (1 << TXCIE0); |
735 | // USART0 Baud Rate Register |
||
736 | // set clock divider |
||
737 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
738 | UBRR0L = (uint8_t)ubrr; |
||
1 | ingob | 739 | |
1051 | killagreg | 740 | Debug_Timer = SetDelay(DebugDataIntervall); |
741 | Kompass_Timer = SetDelay(220); |
||
742 | |||
1058 | killagreg | 743 | VersionInfo.SWMajor = VERSION_MAJOR; |
744 | VersionInfo.SWMinor = VERSION_MINOR; |
||
745 | VersionInfo.SWPatch = VERSION_PATCH; |
||
746 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
2466 | holgerb | 747 | VersionInfo.BL_Firmware = 255; |
2342 | holgerb | 748 | VersionInfo.HWMajor = PlatinenVersion; |
2518 | holgerb | 749 | VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
1051 | killagreg | 750 | pRxData = 0; |
751 | RxDataLen = 0; |
||
1 | ingob | 752 | } |
753 | |||
754 | //--------------------------------------------------------------------------------------------- |
||
1051 | killagreg | 755 | void DatenUebertragung(void) |
1 | ingob | 756 | { |
2418 | holgerb | 757 | |
1415 | killagreg | 758 | if(!UebertragungAbgeschlossen) return; |
1 | ingob | 759 | |
2620 | holgerb | 760 | if(CheckDelay(AboTimeOut)) // PC disconnected |
1415 | killagreg | 761 | { |
762 | Display_Interval = 0; |
||
763 | DebugDataIntervall = 0; |
||
1417 | killagreg | 764 | Intervall3D = 0; |
1415 | killagreg | 765 | } |
766 | |||
1399 | killagreg | 767 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
1065 | killagreg | 768 | { |
1399 | killagreg | 769 | if(DisplayLine > 3)// new format |
770 | { |
||
1423 | hbuss | 771 | Menu(); |
1399 | killagreg | 772 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
773 | } |
||
774 | else // old format |
||
775 | { |
||
776 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
777 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
778 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
779 | } |
||
780 | Display_Timer = SetDelay(Display_Interval); |
||
1065 | killagreg | 781 | DebugDisplayAnforderung = 0; |
782 | } |
||
783 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
784 | { |
||
785 | Menu(); |
||
786 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
787 | DebugDisplayAnforderung1 = 0; |
||
788 | } |
||
789 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
790 | { |
||
2466 | holgerb | 791 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
792 | if(GetVersionAnforderung == 2) // poll version of NC |
||
793 | { |
||
794 | struct str_VersionInfo nc; |
||
795 | nc.SWMajor = NC_Version.Major; |
||
796 | nc.SWMinor = NC_Version.Minor; |
||
797 | nc.SWPatch = NC_Version.Patch; |
||
798 | nc.HWMajor = NC_Version.Hardware; |
||
799 | nc.HardwareError[0] = 0xff; |
||
800 | nc.HardwareError[1] = 0xff; |
||
801 | nc.ProtoMajor = VersionInfo.ProtoMajor; |
||
802 | nc.BL_Firmware = VersionInfo.BL_Firmware; |
||
803 | nc.Flags = VersionInfo.Flags; |
||
2518 | holgerb | 804 | //nc.reserved1 = 0; |
2466 | holgerb | 805 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &nc, sizeof(nc)); |
806 | } |
||
807 | else |
||
808 | #endif |
||
809 | { |
||
810 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
811 | } |
||
1065 | killagreg | 812 | GetVersionAnforderung = 0; |
1636 | ingob | 813 | Debug_OK("Version gesendet"); |
1065 | killagreg | 814 | } |
1 | ingob | 815 | |
1065 | killagreg | 816 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
817 | { |
||
2516 | holgerb | 818 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl)); |
1065 | killagreg | 819 | GetExternalControl = 0; |
820 | } |
||
1171 | hbuss | 821 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
1 | ingob | 822 | { |
1639 | holgerb | 823 | CopyDebugValues(); |
1276 | hbuss | 824 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 825 | DebugDataAnforderung = 0; |
1055 | ingob | 826 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
1051 | killagreg | 827 | } |
1171 | hbuss | 828 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
829 | { |
||
2373 | holgerb | 830 | Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
831 | Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
1171 | hbuss | 832 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
1685 | holgerb | 833 | Data3D.Centroid[0] = SummeNick >> 9; |
834 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
835 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
2518 | holgerb | 836 | Data3D.AccZ = Aktuell_az; |
1171 | hbuss | 837 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
838 | Timer3D = SetDelay(Intervall3D); |
||
839 | } |
||
499 | hbuss | 840 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
841 | { |
||
1490 | killagreg | 842 | unsigned char label[16]; // local sram buffer |
843 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
844 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
499 | hbuss | 845 | DebugTextAnforderung = 255; |
846 | } |
||
1051 | killagreg | 847 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
595 | hbuss | 848 | { |
1054 | killagreg | 849 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
1051 | killagreg | 850 | ConfirmFrame = 0; |
595 | hbuss | 851 | } |
1051 | killagreg | 852 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
853 | { |
||
1054 | killagreg | 854 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
1051 | killagreg | 855 | GetPPMChannelAnforderung = 0; |
856 | } |
||
2427 | holgerb | 857 | #ifndef REDUNDANT_FC_SLAVE |
2612 | holgerb | 858 | |
2346 | holgerb | 859 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
860 | { |
||
2425 | holgerb | 861 | if(!NaviDataOkay) // no external compass needed |
862 | { |
||
863 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
864 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
865 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
866 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
867 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
868 | } |
||
2346 | holgerb | 869 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
2416 | holgerb | 870 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
2346 | holgerb | 871 | else Kompass_Timer = SetDelay(999); |
872 | } |
||
2593 | holgerb | 873 | |
874 | /* |
||
875 | #define EC_VALID 0x01 // only valid if this is 1 |
||
876 | #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
||
877 | #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
||
878 | #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
||
879 | #define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control |
||
880 | |||
881 | // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
||
882 | #define EC2_PH 0x01 // GPS-Mode: PH |
||
883 | #define EC2_CH 0x02 // GPS-Mode: CH |
||
884 | #define EC2_CAREFREE 0x10 // |
||
885 | #define EC2_ALTITUDE 0x20 // |
||
886 | #define EC2_AUTOSTART 0x40 // |
||
887 | #define EC2_AUTOLAND 0x80 // |
||
888 | |||
889 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
||
890 | { |
||
891 | static struct str_ExternControl Test; |
||
892 | |||
893 | Test.Nick = ChannelNick; |
||
894 | Test.Roll = ChannelRoll; |
||
895 | Test.Gier = ChannelYaw; |
||
896 | Test.Gas = ChannelGas; |
||
897 | Test.Frame++; |
||
898 | |||
899 | if(PPM_in[16] > 64) Test.Config = EC_GAS_ADD | EC_USE_SWITCH | EC_VALID; |
||
900 | else Test.Config = 0; |
||
901 | |||
902 | if(PPM_in[13] > 64) Test.Config |= EC_IGNORE_RC | EC_IGNORE_RC_STICK; |
||
903 | |||
904 | Test.Switches = 0; |
||
905 | if(PPM_in[5] > 64) Test.Switches |= EC2_ALTITUDE; |
||
906 | if(PPM_in[6] > 64) Test.Switches |= EC2_CH; |
||
907 | else if(PPM_in[6] > -64) Test.Switches |= EC2_PH; |
||
908 | if(PPM_in[8] > 64) Test.Switches |= EC2_CAREFREE; |
||
909 | if(PPM_in[10] > 64) Test.Switches |= EC2_AUTOSTART; |
||
910 | if(PPM_in[10] < -64) Test.Switches |= EC2_AUTOLAND; |
||
911 | |||
912 | SendOutData('b', FC_ADDRESS, 1, (unsigned char *) &Test,sizeof(Test)); |
||
913 | Kompass_Timer = SetDelay(50); |
||
914 | } |
||
915 | */ |
||
2418 | holgerb | 916 | #endif |
917 | |||
2427 | holgerb | 918 | #ifdef REDUNDANT_FC_SLAVE |
2514 | holgerb | 919 | //if(UebertragungAbgeschlossen || MotorenEin) |
2612 | holgerb | 920 | if(UebertragungAbgeschlossen && (CheckDelay(Kompass_Timer))) |
2418 | holgerb | 921 | { |
2452 | holgerb | 922 | static unsigned char who, request; |
2418 | holgerb | 923 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
2452 | holgerb | 924 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
925 | else request = 0; |
||
2418 | holgerb | 926 | for(i=0; i<RequiredMotors; i++) |
927 | { |
||
2452 | holgerb | 928 | if(request) SendRedundantMotor[0] = who+1; |
929 | else SendRedundantMotor[0] = 0; |
||
2418 | holgerb | 930 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
931 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
||
932 | } |
||
2612 | holgerb | 933 | if(MotorenEin) Kompass_Timer = SetDelay(2); // fast if Motors are on |
2620 | holgerb | 934 | else Kompass_Timer = SetDelay(100); |
935 | UART_MUX_TO_BL; |
||
2418 | holgerb | 936 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
937 | } |
||
938 | #endif |
||
939 | |||
1636 | ingob | 940 | #ifdef DEBUG // only include functions if DEBUG is defined |
941 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
942 | { |
||
943 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
944 | SendDebugOutput = 0; |
||
945 | } |
||
1654 | killagreg | 946 | #endif |
1 | ingob | 947 | } |
948 | |||
1636 | ingob | 949 |