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| Rev | Author | Line No. | Line |
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| 2287 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | #include <stdarg.h> |
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| 54 | #include <string.h> |
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| 55 | #include <avr/pgmspace.h> |
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| 56 | #include "main.h" |
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| 57 | #include "uart.h" |
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| 58 | #include "libfc.h" |
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| 59 | #include "eeprom.h" |
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| 60 | |||
| 61 | #define FC_ADDRESS 1 |
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| 62 | #define NC_ADDRESS 2 |
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| 63 | #define MK3MAG_ADDRESS 3 |
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| 64 | #define BL_CTRL_ADDRESS 5 |
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| 65 | |||
| 66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
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| 67 | #define MAX_SENDE_BUFF 175 |
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| 68 | #define MAX_EMPFANGS_BUFF 175 |
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| 69 | |||
| 70 | #define BLPARAM_REVISION 1 |
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| 71 | #define MASK_SET_PWM_SCALING 0x01 |
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| 72 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 73 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 74 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 75 | #define MASK_SET_BITCONFIG 0x10 |
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| 76 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 77 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 78 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 79 | |||
| 80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
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| 81 | unsigned char DisplayLine = 0; |
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| 82 | unsigned volatile char SioTmp = 0; |
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| 83 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 84 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 85 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 86 | unsigned volatile char CntCrcError = 0; |
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| 87 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
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| 89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 90 | |||
| 91 | unsigned char *pRxData = 0; |
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| 92 | unsigned char RxDataLen = 0; |
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| 93 | unsigned volatile char PC_DebugTimeout = 0; |
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| 94 | unsigned volatile char PC_MotortestActive = 0; |
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| 95 | unsigned char DebugTextAnforderung = 255; |
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| 96 | |||
| 97 | unsigned char PcZugriff = 100; |
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| 98 | unsigned char MotorTest[16]; |
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| 99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
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| 100 | unsigned char ConfirmFrame; |
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| 101 | struct str_DebugOut DebugOut; |
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| 102 | struct str_ExternControl ExternControl; |
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| 103 | struct str_VersionInfo VersionInfo; |
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| 104 | struct str_WinkelOut WinkelOut; |
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| 105 | struct str_Data3D Data3D; |
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| 106 | |||
| 107 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
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| 108 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
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| 109 | unsigned int AboTimeOut = 0; |
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| 110 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
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| 111 | |||
| 112 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
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| 113 | { |
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| 114 | //1234567890123456 |
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| 115 | "AngleNick ", //0 |
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| 116 | "AngleRoll ", //1 |
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| 117 | "AccNick ", //2 |
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| 118 | "AccRoll ", //3 |
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| 119 | "YawGyro ", //4 |
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| 120 | "Height Value ", //5 |
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| 121 | "AccZ ", //6 |
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| 122 | "Voltage [0.1V] ", //7 |
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| 123 | "Motor 1 ", //8 |
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| 124 | "Motor 2 ", //9 |
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| 125 | "Motor 3 ", //10 |
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| 126 | "Motor 4 ", //11 |
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| 127 | "Motor 5 ", //12 |
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| 128 | "Motor 6 ", //13 |
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| 129 | "Motor 7 ", //14 |
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| 130 | "Motor 8 ", //15 |
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| 131 | "Receiver Level ", //16 |
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| 132 | "Gyro Compass ", //17 |
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| 133 | "Current [0.1A] ", //18 |
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| 134 | "Capacity [mAh] ", //19 |
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| 135 | "Servo ", //20 |
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| 136 | "Compass Value ", //21 |
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| 137 | "I2C-Error ", //22 |
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| 138 | "23 ", //23 |
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| 139 | "GPS_Nick ", //24 |
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| 140 | "GPS_Roll ", //25 |
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| 141 | "26 ", //26 |
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| 142 | "27 ", //27 |
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| 143 | "28 ", //28 |
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| 144 | "29 ", //29 |
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| 145 | "30 ", //30 |
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| 146 | "31 " //31 |
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| 147 | }; |
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| 148 | |||
| 149 | |||
| 150 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 151 | //++ Sende-Part der Datenübertragung |
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| 152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 153 | ISR(USART0_TX_vect) |
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| 154 | { |
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| 155 | static unsigned int ptr = 0; |
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| 156 | unsigned char tmp_tx; |
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| 157 | |||
| 158 | if(!UebertragungAbgeschlossen) |
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| 159 | { |
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| 160 | ptr++; // die [0] wurde schon gesendet |
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| 161 | tmp_tx = TxdBuffer[ptr]; |
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| 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 163 | { |
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| 164 | ptr = 0; |
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| 165 | UebertragungAbgeschlossen = 1; |
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| 166 | } |
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| 167 | UDR0 = tmp_tx; |
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| 168 | } |
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| 169 | else ptr = 0; |
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| 170 | } |
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| 171 | |||
| 172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 173 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 175 | ISR(USART0_RX_vect) |
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| 176 | { |
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| 177 | static unsigned int crc; |
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| 178 | static unsigned char crc1,crc2,buf_ptr; |
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| 179 | static unsigned char UartState = 0; |
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| 180 | unsigned char CrcOkay = 0; |
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| 181 | |||
| 182 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
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| 183 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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| 184 | |||
| 185 | SioTmp = UDR0; |
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| 186 | |||
| 187 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
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| 188 | if(SioTmp == '\r' && UartState == 2) |
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| 189 | { |
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| 190 | UartState = 0; |
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| 191 | crc -= RxdBuffer[buf_ptr-2]; |
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| 192 | crc -= RxdBuffer[buf_ptr-1]; |
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| 193 | crc %= 4096; |
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| 194 | crc1 = '=' + crc / 64; |
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| 195 | crc2 = '=' + crc % 64; |
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| 196 | CrcOkay = 0; |
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| 197 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 198 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 199 | { |
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| 200 | NeuerDatensatzEmpfangen = 1; |
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| 201 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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| 202 | RxdBuffer[buf_ptr] = '\r'; |
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| 203 | if(RxdBuffer[2] == 'R') |
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| 204 | { |
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| 205 | LcdClear(); |
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| 206 | wdt_enable(WDTO_250MS); // Reset-Commando |
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| 207 | ServoActive = 0; |
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| 208 | } |
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| 209 | |||
| 210 | } |
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| 211 | } |
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| 212 | else |
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| 213 | switch(UartState) |
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| 214 | { |
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| 215 | case 0: |
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| 216 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 217 | buf_ptr = 0; |
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| 218 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 219 | crc = SioTmp; |
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| 220 | break; |
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| 221 | case 1: // Adresse auswerten |
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| 222 | UartState++; |
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| 223 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 224 | crc += SioTmp; |
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| 225 | break; |
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| 226 | case 2: // Eingangsdaten sammeln |
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| 227 | RxdBuffer[buf_ptr] = SioTmp; |
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| 228 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 229 | else UartState = 0; |
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| 230 | crc += SioTmp; |
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| 231 | break; |
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| 232 | default: |
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| 233 | UartState = 0; |
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| 234 | break; |
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| 235 | } |
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| 236 | } |
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| 237 | |||
| 238 | |||
| 239 | // -------------------------------------------------------------------------- |
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| 240 | void AddCRC(unsigned int wieviele) |
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| 241 | { |
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| 242 | unsigned int tmpCRC = 0,i; |
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| 243 | for(i = 0; i < wieviele;i++) |
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| 244 | { |
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| 245 | tmpCRC += TxdBuffer[i]; |
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| 246 | } |
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| 247 | tmpCRC %= 4096; |
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| 248 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
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| 249 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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| 250 | TxdBuffer[i++] = '\r'; |
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| 251 | UebertragungAbgeschlossen = 0; |
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| 252 | UDR0 = TxdBuffer[0]; |
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| 253 | } |
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| 254 | |||
| 255 | |||
| 256 | |||
| 257 | // -------------------------------------------------------------------------- |
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| 258 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
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| 259 | { |
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| 260 | va_list ap; |
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| 261 | unsigned int pt = 0; |
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| 262 | unsigned char a,b,c; |
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| 263 | unsigned char ptr = 0; |
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| 264 | |||
| 265 | unsigned char *snd = 0; |
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| 266 | int len = 0; |
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| 267 | |||
| 268 | TxdBuffer[pt++] = '#'; // Startzeichen |
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| 269 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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| 270 | TxdBuffer[pt++] = cmd; // Commando |
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| 271 | |||
| 272 | va_start(ap, BufferAnzahl); |
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| 273 | if(BufferAnzahl) |
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| 274 | { |
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| 275 | snd = va_arg(ap, unsigned char*); |
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| 276 | len = va_arg(ap, int); |
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| 277 | ptr = 0; |
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| 278 | BufferAnzahl--; |
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| 279 | } |
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| 280 | while(len) |
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| 281 | { |
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| 282 | if(len) |
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| 283 | { |
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| 284 | a = snd[ptr++]; |
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| 285 | len--; |
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| 286 | if((!len) && BufferAnzahl) |
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| 287 | { |
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| 288 | snd = va_arg(ap, unsigned char*); |
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| 289 | len = va_arg(ap, int); |
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| 290 | ptr = 0; |
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| 291 | BufferAnzahl--; |
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| 292 | } |
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| 293 | } |
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| 294 | else a = 0; |
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| 295 | if(len) |
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| 296 | { |
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| 297 | b = snd[ptr++]; |
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| 298 | len--; |
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| 299 | if((!len) && BufferAnzahl) |
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| 300 | { |
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| 301 | snd = va_arg(ap, unsigned char*); |
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| 302 | len = va_arg(ap, int); |
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| 303 | ptr = 0; |
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| 304 | BufferAnzahl--; |
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| 305 | } |
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| 306 | } |
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| 307 | else b = 0; |
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| 308 | if(len) |
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| 309 | { |
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| 310 | c = snd[ptr++]; |
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| 311 | len--; |
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| 312 | if((!len) && BufferAnzahl) |
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| 313 | { |
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| 314 | snd = va_arg(ap, unsigned char*); |
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| 315 | len = va_arg(ap, int); |
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| 316 | ptr = 0; |
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| 317 | BufferAnzahl--; |
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| 318 | } |
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| 319 | } |
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| 320 | else c = 0; |
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| 321 | TxdBuffer[pt++] = '=' + (a >> 2); |
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| 322 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 323 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 324 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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| 325 | } |
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| 326 | va_end(ap); |
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| 327 | AddCRC(pt); |
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| 328 | } |
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| 329 | |||
| 330 | // -------------------------------------------------------------------------- |
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| 331 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
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| 332 | { |
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| 333 | unsigned char a,b,c,d; |
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| 334 | unsigned char x,y,z; |
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| 335 | unsigned char ptrIn = 3; // start at begin of data block |
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| 336 | unsigned char ptrOut = 3; |
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| 337 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
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| 338 | |||
| 339 | while(len) |
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| 340 | { |
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| 341 | a = RxdBuffer[ptrIn++] - '='; |
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| 342 | b = RxdBuffer[ptrIn++] - '='; |
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| 343 | c = RxdBuffer[ptrIn++] - '='; |
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| 344 | d = RxdBuffer[ptrIn++] - '='; |
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| 345 | |||
| 346 | x = (a << 2) | (b >> 4); |
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| 347 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 348 | z = ((c & 0x03) << 6) | d; |
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| 349 | |||
| 350 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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| 351 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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| 352 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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| 353 | } |
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| 354 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
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| 355 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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| 356 | |||
| 357 | } |
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| 358 | |||
| 359 | // -------------------------------------------------------------------------- |
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| 360 | void BearbeiteRxDaten(void) |
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| 361 | { |
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| 362 | if(!NeuerDatensatzEmpfangen) return; |
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| 363 | |||
| 364 | unsigned char tempchar1, tempchar2; |
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| 365 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
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| 366 | switch(RxdBuffer[1]-'a') // check for Slave Address |
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| 367 | { |
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| 368 | case FC_ADDRESS: // FC special commands |
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| 369 | switch(RxdBuffer[2]) |
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| 370 | { |
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| 371 | case 'K':// Kompasswert |
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| 372 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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| 373 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
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| 374 | break; |
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| 375 | case 't':// Motortest |
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| 376 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
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| 377 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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| 378 | PC_MotortestActive = 240; |
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| 379 | //while(!UebertragungAbgeschlossen); |
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| 380 | //SendOutData('T', MeineSlaveAdresse, 0); |
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| 381 | PcZugriff = 255; |
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| 382 | break; |
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| 383 | |||
| 384 | case 'n':// "Get Mixer |
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| 385 | while(!UebertragungAbgeschlossen); |
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| 386 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
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| 387 | Debug("Mixer lesen"); |
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| 388 | break; |
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| 389 | |||
| 390 | case 'm':// "Write Mixer |
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| 391 | if(pRxData[0] == EEMIXER_REVISION) |
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| 392 | { |
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| 393 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
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| 394 | MixerTable_WriteToEEProm(); |
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| 395 | tempchar1 = 1; |
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| 396 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
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| 397 | } |
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| 398 | else |
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| 399 | { |
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| 400 | tempchar1 = 0; |
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| 401 | } |
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| 402 | while(!UebertragungAbgeschlossen); |
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| 403 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
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| 404 | break; |
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| 405 | |||
| 406 | case 'p': // get PPM Channels |
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| 407 | GetPPMChannelAnforderung = 1; |
||
| 408 | PcZugriff = 255; |
||
| 409 | break; |
||
| 410 | |||
| 411 | case 'q':// "Get"-Anforderung für Settings |
||
| 412 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 413 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
||
| 414 | { |
||
| 415 | tempchar1 = pRxData[0] - 10; |
||
| 416 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 417 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 418 | SetDefaultParameter(tempchar1, 1); |
||
| 419 | } |
||
| 420 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
||
| 421 | { |
||
| 422 | tempchar1 = pRxData[0] - 20; |
||
| 423 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 424 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 425 | SetDefaultParameter(tempchar1, 0); |
||
| 426 | } |
||
| 427 | else |
||
| 428 | { |
||
| 429 | tempchar1 = pRxData[0]; |
||
| 430 | if(tempchar1 == 0xFF) |
||
| 431 | { |
||
| 432 | tempchar1 = GetActiveParamSet(); |
||
| 433 | } |
||
| 434 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
| 435 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
| 436 | // load requested parameter set |
||
| 437 | ParamSet_ReadFromEEProm(tempchar1); |
||
| 438 | } |
||
| 439 | while(!UebertragungAbgeschlossen); |
||
| 440 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
||
| 441 | Debug("Lese Setting %d", tempchar1); |
||
| 442 | |||
| 443 | break; |
||
| 444 | |||
| 445 | case 's': // Parametersatz speichern |
||
| 446 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
||
| 447 | { |
||
| 448 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
||
| 449 | ParamSet_WriteToEEProm(pRxData[0]); |
||
| 450 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 451 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 452 | tempchar1 = GetActiveParamSet(); |
||
| 453 | } |
||
| 454 | else |
||
| 455 | { |
||
| 456 | tempchar1 = 0; // mark in response an invlid setting |
||
| 457 | } |
||
| 458 | while(!UebertragungAbgeschlossen); |
||
| 459 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 460 | if(!MotorenEin) Piep(tempchar1,110); |
||
| 461 | LipoDetection(0); |
||
| 462 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
||
| 463 | break; |
||
| 464 | case 'f': // auf anderen Parametersatz umschalten |
||
| 465 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
||
| 466 | tempchar1 = GetActiveParamSet(); |
||
| 467 | while(!UebertragungAbgeschlossen); |
||
| 468 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
| 469 | if(!MotorenEin) Piep(tempchar1,110); |
||
| 470 | LipoDetection(0); |
||
| 471 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
||
| 472 | break; |
||
| 473 | case 'y':// serial Potis |
||
| 474 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
||
| 475 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
||
| 476 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
||
| 477 | break; |
||
| 478 | |||
| 479 | case 'u': // request BL parameter |
||
| 480 | Debug("Reading BL %d", pRxData[0]); |
||
| 481 | // try to read BL configuration |
||
| 482 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
||
| 483 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 484 | else tempchar1 = 0; |
||
| 485 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 486 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
||
| 487 | break; |
||
| 488 | |||
| 489 | case 'w': // write BL parameter |
||
| 490 | Debug("Writing BL %d", pRxData[0]); |
||
| 491 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
| 492 | { |
||
| 493 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
| 494 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
||
| 495 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
| 496 | else tempchar1 = 0; // indicate error |
||
| 497 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
| 498 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
||
| 499 | } |
||
| 500 | break; |
||
| 501 | case 'j': |
||
| 502 | if(MotorenEin) break; |
||
| 503 | tempchar1 = LIBFC_GetCPUType(); |
||
| 504 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
| 505 | { |
||
| 506 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
||
| 507 | |||
| 508 | cli(); |
||
| 509 | |||
| 510 | // UART0 & UART1 disable RX and TX-Interrupt |
||
| 511 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
| 512 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
| 513 | |||
| 514 | // UART0 & UART1 disable receiver and transmitter |
||
| 515 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
| 516 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
| 517 | |||
| 518 | // UART0 & UART1 flush receive buffer explicit |
||
| 519 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
| 520 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
| 521 | |||
| 522 | |||
| 523 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
||
| 524 | else |
||
| 525 | { // Jeti or HoTT update |
||
| 526 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 527 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
| 528 | //#endif |
||
| 529 | ReceiverUpdateModeActive = 1; |
||
| 530 | // UART0 & UART1 set baudrate |
||
| 531 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 532 | UBRR1L = (uint8_t)ubrr; |
||
| 533 | UBRR0H = UBRR1H; |
||
| 534 | UBRR0L = UBRR1L; |
||
| 535 | // UART1 no parity |
||
| 536 | UCSR1C &= ~(1 << UPM11); |
||
| 537 | UCSR1C &= ~(1 << UPM10); |
||
| 538 | // UART1 8-bit |
||
| 539 | UCSR1B &= ~(1 << UCSZ12); |
||
| 540 | UCSR1C |= (1 << UCSZ11); |
||
| 541 | UCSR1C |= (1 << UCSZ10); |
||
| 542 | } |
||
| 543 | // UART0 & UART1 1 stop bit |
||
| 544 | UCSR1C &= ~(1 << USBS1); |
||
| 545 | UCSR0C &= ~(1 << USBS0); |
||
| 546 | // UART1 clear 9th bit |
||
| 547 | UCSR1B &= ~(1<<TXB81); |
||
| 548 | // enable receiver and transmitter for UART0 and UART1 |
||
| 549 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
| 550 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
| 551 | // enable RX-Interrupt for UART0 and UART1 |
||
| 552 | UCSR0B |= (1 << RXCIE0); |
||
| 553 | UCSR1B |= (1 << RXCIE1); |
||
| 554 | // disable other Interrupts |
||
| 555 | TIMSK0 = 0; |
||
| 556 | TIMSK1 = 0; |
||
| 557 | TIMSK2 = 0; |
||
| 558 | |||
| 559 | sei(); |
||
| 560 | } |
||
| 561 | break; |
||
| 562 | |||
| 563 | } // case FC_ADDRESS: |
||
| 564 | |||
| 565 | default: // any Slave Address |
||
| 566 | |||
| 567 | switch(RxdBuffer[2]) |
||
| 568 | { |
||
| 569 | // 't' comand placed here only for compatibility to BL |
||
| 570 | case 't':// Motortest |
||
| 571 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
||
| 572 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
||
| 573 | while(!UebertragungAbgeschlossen); |
||
| 574 | SendOutData('T', MeineSlaveAdresse, 0); |
||
| 575 | PC_MotortestActive = 250; |
||
| 576 | PcZugriff = 255; |
||
| 577 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 578 | break; |
||
| 579 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
| 580 | case 'K':// Kompasswert |
||
| 581 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
| 582 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
||
| 583 | break; |
||
| 584 | case 'a':// Texte der Analogwerte |
||
| 585 | DebugTextAnforderung = pRxData[0]; |
||
| 586 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
| 587 | PcZugriff = 255; |
||
| 588 | break; |
||
| 589 | case 'b': |
||
| 590 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
||
| 591 | ConfirmFrame = ExternControl.Frame; |
||
| 592 | PcZugriff = 255; |
||
| 593 | break; |
||
| 594 | case 'c': // Poll the 3D-Data |
||
| 595 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
| 596 | Intervall3D = pRxData[0] * 10; |
||
| 597 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 598 | break; |
||
| 599 | case 'd': // Poll the debug data |
||
| 600 | PcZugriff = 255; |
||
| 601 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
||
| 602 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
||
| 603 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 604 | break; |
||
| 605 | |||
| 606 | case 'h':// x-1 Displayzeilen |
||
| 607 | PcZugriff = 255; |
||
| 608 | if((pRxData[0] & 0x80) == 0x00) // old format |
||
| 609 | { |
||
| 610 | DisplayLine = 2; |
||
| 611 | Display_Interval = 0; |
||
| 612 | } |
||
| 613 | else // new format |
||
| 614 | { |
||
| 615 | RemoteKeys |= ~pRxData[0]; |
||
| 616 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
| 617 | DisplayLine = 4; |
||
| 618 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
| 619 | } |
||
| 620 | DebugDisplayAnforderung = 1; |
||
| 621 | break; |
||
| 622 | |||
| 623 | case 'l':// x-1 Displayzeilen |
||
| 624 | PcZugriff = 255; |
||
| 625 | MenuePunkt = pRxData[0]; |
||
| 626 | DebugDisplayAnforderung1 = 1; |
||
| 627 | break; |
||
| 628 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 629 | GetVersionAnforderung = 1; |
||
| 630 | break; |
||
| 631 | |||
| 632 | case 'g':// |
||
| 633 | GetExternalControl = 1; |
||
| 634 | break; |
||
| 635 | |||
| 636 | default: |
||
| 637 | //unsupported command received |
||
| 638 | break; |
||
| 639 | } |
||
| 640 | break; // default: |
||
| 641 | } |
||
| 642 | NeuerDatensatzEmpfangen = 0; |
||
| 643 | pRxData = 0; |
||
| 644 | RxDataLen = 0; |
||
| 645 | } |
||
| 646 | |||
| 647 | //############################################################################ |
||
| 648 | //Routine für die Serielle Ausgabe |
||
| 649 | void uart_putchar (char c) |
||
| 650 | //############################################################################ |
||
| 651 | { |
||
| 652 | //Warten solange bis Zeichen gesendet wurde |
||
| 653 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
| 654 | //Ausgabe des Zeichens |
||
| 655 | UDR0 = c; |
||
| 656 | } |
||
| 657 | |||
| 658 | |||
| 659 | //############################################################################ |
||
| 660 | //INstallation der Seriellen Schnittstelle |
||
| 661 | void UART_Init (void) |
||
| 662 | //############################################################################ |
||
| 663 | { |
||
| 664 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
||
| 665 | |||
| 666 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 667 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
||
| 668 | // UART Double Speed (U2X) |
||
| 669 | UCSR0A |= (1 << U2X0); |
||
| 670 | // RX-Interrupt Freigabe |
||
| 671 | UCSR0B |= (1 << RXCIE0); |
||
| 672 | // TX-Interrupt Freigabe |
||
| 673 | UCSR0B |= (1 << TXCIE0); |
||
| 674 | // USART0 Baud Rate Register |
||
| 675 | // set clock divider |
||
| 676 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
| 677 | UBRR0L = (uint8_t)ubrr; |
||
| 678 | |||
| 679 | Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 680 | Kompass_Timer = SetDelay(220); |
||
| 681 | |||
| 682 | VersionInfo.SWMajor = VERSION_MAJOR; |
||
| 683 | VersionInfo.SWMinor = VERSION_MINOR; |
||
| 684 | VersionInfo.SWPatch = VERSION_PATCH; |
||
| 685 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
| 686 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
| 687 | |||
| 688 | pRxData = 0; |
||
| 689 | RxDataLen = 0; |
||
| 690 | } |
||
| 691 | |||
| 692 | //--------------------------------------------------------------------------------------------- |
||
| 693 | void DatenUebertragung(void) |
||
| 694 | { |
||
| 695 | if(!UebertragungAbgeschlossen) return; |
||
| 696 | |||
| 697 | if(CheckDelay(AboTimeOut)) |
||
| 698 | { |
||
| 699 | Display_Interval = 0; |
||
| 700 | DebugDataIntervall = 0; |
||
| 701 | Intervall3D = 0; |
||
| 702 | } |
||
| 703 | |||
| 704 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
||
| 705 | { |
||
| 706 | if(DisplayLine > 3)// new format |
||
| 707 | { |
||
| 708 | Menu(); |
||
| 709 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
||
| 710 | } |
||
| 711 | else // old format |
||
| 712 | { |
||
| 713 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
| 714 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
| 715 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
| 716 | } |
||
| 717 | Display_Timer = SetDelay(Display_Interval); |
||
| 718 | DebugDisplayAnforderung = 0; |
||
| 719 | } |
||
| 720 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
| 721 | { |
||
| 722 | Menu(); |
||
| 723 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
| 724 | DebugDisplayAnforderung1 = 0; |
||
| 725 | } |
||
| 726 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 727 | { |
||
| 728 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
| 729 | GetVersionAnforderung = 0; |
||
| 730 | Debug_OK("Version gesendet"); |
||
| 731 | } |
||
| 732 | |||
| 733 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 734 | { |
||
| 735 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
||
| 736 | GetExternalControl = 0; |
||
| 737 | } |
||
| 738 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
||
| 739 | { |
||
| 740 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 741 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 742 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
| 743 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
| 744 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
| 745 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
||
| 746 | Kompass_Timer = SetDelay(99); |
||
| 747 | } |
||
| 748 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 749 | { |
||
| 750 | CopyDebugValues(); |
||
| 751 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 752 | DebugDataAnforderung = 0; |
||
| 753 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
||
| 754 | } |
||
| 755 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
||
| 756 | { |
||
| 757 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 758 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
| 759 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
||
| 760 | Data3D.Centroid[0] = SummeNick >> 9; |
||
| 761 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
| 762 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
| 763 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
||
| 764 | Timer3D = SetDelay(Intervall3D); |
||
| 765 | } |
||
| 766 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 767 | { |
||
| 768 | unsigned char label[16]; // local sram buffer |
||
| 769 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
| 770 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
| 771 | DebugTextAnforderung = 255; |
||
| 772 | } |
||
| 773 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
||
| 774 | { |
||
| 775 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
||
| 776 | ConfirmFrame = 0; |
||
| 777 | } |
||
| 778 | |||
| 779 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
||
| 780 | { |
||
| 781 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
||
| 782 | GetPPMChannelAnforderung = 0; |
||
| 783 | } |
||
| 784 | |||
| 785 | #ifdef DEBUG // only include functions if DEBUG is defined |
||
| 786 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
| 787 | { |
||
| 788 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
| 789 | SendDebugOutput = 0; |
||
| 790 | } |
||
| 791 | #endif |
||
| 792 | |||
| 793 | } |
||
| 794 | |||
| 795 |