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Rev | Author | Line No. | Line |
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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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32 | holgerb | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
12 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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1 | ingob | 8 | // + Nur für den privaten Gebrauch |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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32 | holgerb | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
32 | holgerb | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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42 | // + In case of doubt please contact: info@MikroKopter.de |
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32 | holgerb | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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12 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | holgerb | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
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59 | #include <avr/wdt.h> |
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1 | ingob | 60 | #include "main.h" |
61 | #include "uart.h" |
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32 | holgerb | 62 | #include "timer0.h" |
63 | #include "twislave.h" |
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1 | ingob | 64 | |
37 | killagreg | 65 | // slave addresses |
66 | #define FC_ADDRESS 1 |
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67 | #define NC_ADDRESS 2 |
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68 | #define MK3MAG_ADDRESS 3 |
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1 | ingob | 69 | |
32 | holgerb | 70 | #define FALSE 0 |
71 | #define TRUE 1 |
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1 | ingob | 72 | |
32 | holgerb | 73 | // keep buffers as small as possible |
74 | #define TXD_BUFFER_LEN 100 |
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75 | #define RXD_BUFFER_LEN 30 |
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1 | ingob | 76 | |
32 | holgerb | 77 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
78 | volatile uint8_t rxd_buffer_locked = FALSE; |
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79 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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80 | volatile uint8_t txd_complete = TRUE; |
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81 | volatile uint8_t ReceivedBytes = 0; |
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1 | ingob | 82 | |
37 | killagreg | 83 | // send flags |
84 | #define RQST_VERSION_INFO 0x01 |
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85 | #define RQST_DEBUG_DATA 0x02 |
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86 | #define RQST_DEBUG_LABEL 0x04 |
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87 | #define RQST_COMPASS_HEADING 0x08 |
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88 | #define RQST_EXTERN_CTRL 0x10 |
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3 | ingob | 89 | |
37 | killagreg | 90 | |
32 | holgerb | 91 | uint8_t RequestFlags = 0x00; |
92 | uint8_t RequestDebugLabel = 0; |
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1 | ingob | 93 | |
32 | holgerb | 94 | uint8_t PC_Connected = 0; |
95 | uint8_t FC_Connected = 0; |
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96 | |||
37 | killagreg | 97 | uint8_t MySlaveAddr = MK3MAG_ADDRESS; |
32 | holgerb | 98 | |
99 | |||
100 | DebugOut_t DebugOut; |
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101 | ExternData_t ExternData; |
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102 | ExternControl_t ExternControl; |
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103 | VersionInfo_t VersionInfo; |
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104 | |||
105 | uint16_t Debug_Timer; |
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106 | |||
107 | const uint8_t ANALOG_LABEL[32][16] = |
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1 | ingob | 108 | { |
37 | killagreg | 109 | //1234567890123456 |
110 | "Magnet X ", //0 |
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111 | "Magnet Y ", |
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112 | "Magnet Z ", |
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113 | "RawMagnet X ", |
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114 | "RawMagnet Y ", |
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115 | "RawMagnet Z ", //5 |
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116 | "Attitude Nick ", |
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117 | "Attitude Roll ", |
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118 | "Magnet X Offset ", |
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119 | "Magnet X Range ", |
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120 | "Magnet Y Offset ", //10 |
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121 | "Magnet Y Range ", |
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122 | "Magnet Z Offset ", |
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123 | "Magnet Z Range ", |
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124 | "Calstate ", |
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125 | "Heading ", //15 |
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126 | "User0 ", |
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127 | "User1 ", |
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128 | "Acc X ", |
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129 | "Acc Y ", |
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130 | "Acc Z ", //20 |
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131 | "RawAcc X ", |
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132 | "RawAcc Y ", |
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133 | "RawAcc Z ", |
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134 | "Acc X Offset ", |
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135 | "Acc Y Offset ", //25 |
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136 | "Acc Z Offset ", |
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137 | "Analog27 ", |
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138 | "Analog28 ", |
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139 | "Analog29 ", |
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140 | "I2C Error ", //30 |
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141 | "I2C Okay " |
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1 | ingob | 142 | }; |
143 | |||
144 | |||
32 | holgerb | 145 | /****************************************************************/ |
146 | /* Initialization of the USART0 */ |
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147 | /****************************************************************/ |
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148 | void USART0_Init (void) |
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149 | { |
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150 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
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7 | hbuss | 151 | |
32 | holgerb | 152 | // disable all interrupts before configuration |
153 | cli(); |
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154 | |||
155 | // disable RX-Interrupt |
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156 | UCSR0B &= ~(1 << RXCIE0); |
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157 | // disable TX-Interrupt |
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158 | UCSR0B &= ~(1 << TXCIE0); |
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159 | |||
160 | // set direction of RXD0 and TXD0 pins |
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161 | |||
162 | // set RXD0 (PD0) as an input pin tristate |
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163 | DDRD &= ~(1 << DDD0); |
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164 | PORTD &= ~(1 << PORTD0); |
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165 | // set TXD0 (PD1) as an output pin |
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166 | DDRD |= (1 << DDD1); |
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167 | PORTD &= ~(1 << PORTD1); |
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168 | |||
169 | |||
170 | // USART0 Baud Rate Register |
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171 | // set clock divider |
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172 | UBRR0H = (uint8_t)(ubrr >> 8); |
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173 | UBRR0L = (uint8_t)ubrr; |
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174 | |||
37 | killagreg | 175 | // USART0 Control and Status Register A, B, C |
32 | holgerb | 176 | |
177 | // enable double speed operation |
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178 | UCSR0A |= (1 << U2X0); |
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179 | |||
180 | // set asynchronous mode |
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181 | UCSR0C &= ~(1 << UMSEL01); |
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182 | UCSR0C &= ~(1 << UMSEL00); |
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183 | // no parity |
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184 | UCSR0C &= ~(1 << UPM01); |
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185 | UCSR0C &= ~(1 << UPM00); |
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186 | // 1 stop bit |
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187 | UCSR0C &= ~(1 << USBS0); |
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188 | // 8-bit |
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189 | UCSR0B &= ~(1 << UCSZ02); |
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190 | UCSR0C |= (1 << UCSZ01); |
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191 | UCSR0C |= (1 << UCSZ00); |
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192 | |||
193 | // enable receiver and transmitter |
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194 | UCSR0B |= (1 << RXEN0); |
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195 | UCSR0B |= (1 << TXEN0); |
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196 | |||
197 | // flush receive buffer |
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198 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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199 | |||
200 | // enable RX-Interrupt |
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201 | UCSR0B |= (1 << RXCIE0); |
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202 | // enable TX-Interrupt |
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203 | UCSR0B |= (1 << TXCIE0); |
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204 | |||
205 | rxd_buffer_locked = FALSE; |
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206 | txd_complete = TRUE; |
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207 | |||
208 | |||
209 | VersionInfo.Major = VERSION_MAJOR; |
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210 | VersionInfo.Minor = VERSION_MINOR; |
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37 | killagreg | 211 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
32 | holgerb | 212 | |
37 | killagreg | 213 | MySlaveAddr = MK3MAG_ADDRESS; |
32 | holgerb | 214 | |
37 | killagreg | 215 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
32 | holgerb | 216 | USART0_putchar ('\n'); |
217 | USART0_putchar ('C'); |
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218 | USART0_putchar ('P'); |
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219 | USART0_putchar (':'); |
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220 | USART0_putchar ('V'); |
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221 | USART0_putchar (0x30 + VERSION_MAJOR); |
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222 | USART0_putchar ('.'); |
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223 | USART0_putchar (0x30 + VERSION_MINOR/10); |
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224 | USART0_putchar (0x30 + VERSION_MINOR%10); |
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225 | USART0_putchar ('\n'); |
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1 | ingob | 226 | } |
227 | |||
32 | holgerb | 228 | // --------------------------------------------------------------------------------- |
229 | void USART0_EnableTXD(void) |
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1 | ingob | 230 | { |
32 | holgerb | 231 | DDRD |= (1<<DDD1); // set TXD pin as output |
232 | PORTD &= ~(1 << PORTD1); |
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233 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
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234 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
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1 | ingob | 235 | } |
236 | |||
32 | holgerb | 237 | // --------------------------------------------------------------------------------- |
238 | void USART0_DisableTXD(void) |
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1 | ingob | 239 | { |
32 | holgerb | 240 | while(!txd_complete){ }; |
1 | ingob | 241 | |
32 | holgerb | 242 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
243 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
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244 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
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245 | PORTD &= ~(1 << PORTD1); |
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246 | } |
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1 | ingob | 247 | |
32 | holgerb | 248 | /****************************************************************/ |
249 | /* USART0 transmitter ISR */ |
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250 | /****************************************************************/ |
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251 | ISR(USART_TX_vect) |
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252 | { |
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253 | static uint16_t ptr_txd_buffer = 0; |
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254 | uint8_t tmp_tx; |
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255 | if(!txd_complete) // transmission not completed |
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256 | { |
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257 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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258 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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259 | // if terminating character or end of txd buffer was reached |
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260 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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261 | { |
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262 | ptr_txd_buffer = 0; // reset txd pointer |
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263 | txd_complete = TRUE; // stop transmission |
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264 | } |
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265 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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266 | } |
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267 | // transmission completed |
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268 | else ptr_txd_buffer = 0; |
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1 | ingob | 269 | } |
270 | |||
32 | holgerb | 271 | /****************************************************************/ |
272 | /* USART0 receiver ISR */ |
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273 | /****************************************************************/ |
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274 | ISR(USART_RX_vect) |
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1 | ingob | 275 | { |
32 | holgerb | 276 | static uint16_t crc; |
277 | uint8_t crc1, crc2; |
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278 | uint8_t c; |
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279 | static uint8_t ptr_rxd_buffer = 0; |
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1 | ingob | 280 | |
32 | holgerb | 281 | c = UDR0; // catch the received byte |
1 | ingob | 282 | |
32 | holgerb | 283 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
1 | ingob | 284 | |
32 | holgerb | 285 | // the rxd buffer is unlocked |
286 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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287 | { |
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288 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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289 | crc = c; // init crc |
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290 | } |
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291 | #if 0 |
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292 | else if (ptr_rxd_buffer == 1) // handle address |
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293 | { |
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294 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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295 | crc += c; // update crc |
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296 | } |
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297 | #endif |
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298 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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299 | { |
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300 | if(c != '\r') // no termination character |
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301 | { |
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302 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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303 | crc += c; // update crc |
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304 | } |
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305 | else // termination character was received |
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306 | { |
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307 | // the last 2 bytes are no subject for checksum calculation |
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308 | // they are the checksum itself |
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309 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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310 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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311 | // calculate checksum from transmitted data |
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312 | crc %= 4096; |
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313 | crc1 = '=' + crc / 64; |
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314 | crc2 = '=' + crc % 64; |
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315 | // compare checksum to transmitted checksum bytes |
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316 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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317 | { // checksum valid |
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318 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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319 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
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320 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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321 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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322 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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323 | } |
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324 | else |
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325 | { // checksum invalid |
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326 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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327 | } |
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328 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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329 | } |
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330 | } |
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331 | else // rxd buffer overrun |
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332 | { |
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333 | ptr_rxd_buffer = 0; // reset rxd buffer |
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334 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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335 | } |
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1 | ingob | 336 | } |
337 | |||
338 | |||
339 | // -------------------------------------------------------------------------- |
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32 | holgerb | 340 | void AddCRC(uint16_t datalen) |
1 | ingob | 341 | { |
32 | holgerb | 342 | uint16_t tmpCRC = 0, i; |
343 | for(i = 0; i < datalen; i++) |
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344 | { |
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345 | tmpCRC += txd_buffer[i]; |
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346 | } |
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347 | tmpCRC %= 4096; |
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348 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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349 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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350 | txd_buffer[i++] = '\r'; |
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351 | txd_complete = FALSE; |
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352 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
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1 | ingob | 353 | } |
354 | |||
355 | |||
356 | |||
32 | holgerb | 357 | // -------------------------------------------------------------------------- |
358 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
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1 | ingob | 359 | { |
32 | holgerb | 360 | uint16_t pt = 0; |
361 | uint8_t a,b,c; |
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362 | uint8_t ptr = 0; |
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363 | |||
364 | txd_buffer[pt++] = '#'; // Start character |
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365 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
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366 | txd_buffer[pt++] = cmd; // Command |
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367 | |||
368 | while(len) |
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369 | { |
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370 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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371 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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372 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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373 | txd_buffer[pt++] = '=' + (a >> 2); |
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374 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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375 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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376 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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377 | } |
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378 | AddCRC(pt); // add checksum after data block and initates the transmission |
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1 | ingob | 379 | } |
380 | |||
32 | holgerb | 381 | |
1 | ingob | 382 | // -------------------------------------------------------------------------- |
32 | holgerb | 383 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
1 | ingob | 384 | { |
32 | holgerb | 385 | uint8_t a,b,c,d; |
386 | uint8_t ptr = 0; |
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387 | uint8_t x,y,z; |
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388 | while(len) |
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389 | { |
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390 | a = rxd_buffer[ptrIn++] - '='; |
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391 | b = rxd_buffer[ptrIn++] - '='; |
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392 | c = rxd_buffer[ptrIn++] - '='; |
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393 | d = rxd_buffer[ptrIn++] - '='; |
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394 | if(ptrIn > max - 2) break; |
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1 | ingob | 395 | |
32 | holgerb | 396 | x = (a << 2) | (b >> 4); |
397 | y = ((b & 0x0f) << 4) | (c >> 2); |
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398 | z = ((c & 0x03) << 6) | d; |
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399 | |||
400 | if(len--) ptrOut[ptr++] = x; else break; |
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401 | if(len--) ptrOut[ptr++] = y; else break; |
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402 | if(len--) ptrOut[ptr++] = z; else break; |
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403 | } |
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17 | holgerb | 404 | } |
405 | |||
32 | holgerb | 406 | |
407 | // -------------------------------------------------------------------------- |
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408 | int16_t USART0_putchar (int8_t c) |
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1 | ingob | 409 | { |
32 | holgerb | 410 | // if tx is not enabled return immediatly |
411 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
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412 | if (c == '\n') USART0_putchar('\r'); |
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413 | // wait until previous character was send |
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414 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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415 | // send character |
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416 | UDR0 = c; |
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417 | return (0); |
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1 | ingob | 418 | } |
419 | |||
420 | |||
32 | holgerb | 421 | // -------------------------------------------------------------------------- |
422 | void USART0_ProcessRxData(void) |
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1 | ingob | 423 | { |
32 | holgerb | 424 | // if data in the rxd buffer are not locked immediately return |
425 | if(!rxd_buffer_locked) return; |
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1 | ingob | 426 | |
32 | holgerb | 427 | uint8_t tmp_char_arr2[2]; // local char buffer |
1 | ingob | 428 | |
32 | holgerb | 429 | switch(rxd_buffer[2]) |
430 | { |
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37 | killagreg | 431 | case 'w':// Attitude info from FC |
32 | holgerb | 432 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
37 | killagreg | 433 | RequestFlags |= RQST_COMPASS_HEADING; |
32 | holgerb | 434 | AttitudeSource = ATTITUDE_SOURCE_UART; |
435 | Orientation = ExternData.Orientation; |
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436 | FC_Connected = 255; |
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1 | ingob | 437 | break; |
32 | holgerb | 438 | |
37 | killagreg | 439 | // used only for debug proposes at serial port |
32 | holgerb | 440 | case 'b': // extern control |
441 | case 'c': // extern control with debug request |
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442 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
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443 | #define KEY1 0x01 |
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444 | #define KEY2 0x02 |
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445 | #define KEY3 0x04 |
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446 | #define KEY4 0x08 |
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447 | #define KEY5 0x10 |
||
448 | // use right arrow at display for switching the calstate |
||
449 | if(ExternControl.RemoteButtons & KEY2) |
||
450 | { |
||
451 | ExternData.CalState++; |
||
452 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
||
453 | } |
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37 | killagreg | 454 | PC_Connected = 255; |
1 | ingob | 455 | break; |
32 | holgerb | 456 | |
37 | killagreg | 457 | // get debug values |
458 | case 'f': |
||
459 | RequestFlags |= RQST_DEBUG_DATA; |
||
460 | PC_Connected = 255; |
||
461 | break; |
||
462 | |||
463 | // no reaction for display line request |
||
32 | holgerb | 464 | case 'h':// x-1 display columns |
465 | PC_Connected = 255; |
||
1 | ingob | 466 | break; |
32 | holgerb | 467 | |
468 | case 'v': // get version and board release |
||
37 | killagreg | 469 | RequestFlags |= RQST_VERSION_INFO; |
32 | holgerb | 470 | PC_Connected = 255; |
1 | ingob | 471 | break; |
32 | holgerb | 472 | |
473 | case 'a':// Labels of the Analog Debug outputs |
||
474 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
||
475 | RequestDebugLabel = tmp_char_arr2[0]; |
||
37 | killagreg | 476 | RequestFlags |= RQST_DEBUG_LABEL; |
32 | holgerb | 477 | PC_Connected = 255; |
478 | break; |
||
479 | |||
37 | killagreg | 480 | case 'g':// get extern control data |
481 | RequestFlags |= RQST_EXTERN_CTRL; |
||
32 | holgerb | 482 | PC_Connected = 255; |
483 | break; |
||
484 | } |
||
485 | // unlock the rxd buffer after processing |
||
486 | rxd_buffer_locked = FALSE; |
||
1 | ingob | 487 | } |
488 | |||
489 | |||
32 | holgerb | 490 | |
1 | ingob | 491 | //--------------------------------------------------------------------------------------------- |
32 | holgerb | 492 | void USART0_TransmitTxData(void) |
1 | ingob | 493 | { |
32 | holgerb | 494 | if(!(UCSR0B & (1 << TXEN0))) return; |
495 | |||
496 | if(!txd_complete) return; |
||
497 | |||
37 | killagreg | 498 | if(CheckDelay(Debug_Timer) || (RequestFlags & RQST_DEBUG_DATA)) |
499 | { |
||
32 | holgerb | 500 | SetDebugValues(); |
501 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
||
502 | Debug_Timer = SetDelay(250); |
||
37 | killagreg | 503 | RequestFlags &= ~RQST_DEBUG_DATA; |
504 | } |
||
32 | holgerb | 505 | |
37 | killagreg | 506 | if(RequestFlags & RQST_DEBUG_LABEL) |
507 | { |
||
32 | holgerb | 508 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
509 | RequestDebugLabel = 255; |
||
37 | killagreg | 510 | RequestFlags &= ~RQST_DEBUG_LABEL; |
36 | hbuss | 511 | Debug_Timer = SetDelay(500); |
32 | holgerb | 512 | } |
513 | |||
37 | killagreg | 514 | if(RequestFlags & RQST_VERSION_INFO) |
515 | { |
||
32 | holgerb | 516 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
37 | killagreg | 517 | RequestFlags &= ~RQST_VERSION_INFO; |
518 | } |
||
32 | holgerb | 519 | |
37 | killagreg | 520 | if(RequestFlags & RQST_EXTERN_CTRL) |
32 | holgerb | 521 | { |
522 | SetDebugValues(); |
||
523 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
||
37 | killagreg | 524 | RequestFlags &= ~RQST_EXTERN_CTRL; |
32 | holgerb | 525 | } |
526 | |||
37 | killagreg | 527 | if(RequestFlags & RQST_COMPASS_HEADING) |
32 | holgerb | 528 | { |
529 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
||
37 | killagreg | 530 | RequestFlags &= ~RQST_COMPASS_HEADING; |
531 | } |
||
1 | ingob | 532 | } |
533 | |||
32 | holgerb | 534 | |
535 | void USART0_Print(int8_t *msg) |
||
17 | holgerb | 536 | { |
32 | holgerb | 537 | uint8_t i = 0; |
37 | killagreg | 538 | while(msg[i] != 0) |
539 | { |
||
540 | USART0_putchar(msg[i++]); |
||
541 | } |
||
17 | holgerb | 542 | } |