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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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62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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62 | ingob | 11 | // + Die Portierung oder Nutzung 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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62 | ingob | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
31 | // + mit unserer Zustimmung zulässig |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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12 | hbuss | 33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 36 | // + this list of conditions and the following disclaimer. |
62 | ingob | 37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
12 | hbuss | 38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
39 | // + from this software without specific prior written permission. |
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32 | holgerb | 40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 41 | // + for non-commercial use (directly or indirectly) |
32 | holgerb | 42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 43 | // + with our written permission |
44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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45 | // + In case of doubt please contact: info@MikroKopter.de |
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32 | holgerb | 46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
47 | // + clearly linked as origin |
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12 | hbuss | 48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | holgerb | 58 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 60 | #include <avr/io.h> |
61 | #include <avr/interrupt.h> |
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62 | #include <avr/wdt.h> |
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58 | killagreg | 63 | #include <avr/pgmspace.h> |
41 | killagreg | 64 | #include <stdarg.h> |
65 | #include <string.h> |
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1 | ingob | 66 | #include "main.h" |
58 | killagreg | 67 | #include "menu.h" |
1 | ingob | 68 | #include "uart.h" |
32 | holgerb | 69 | #include "timer0.h" |
70 | #include "twislave.h" |
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1 | ingob | 71 | |
37 | killagreg | 72 | // slave addresses |
73 | #define FC_ADDRESS 1 |
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74 | #define NC_ADDRESS 2 |
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75 | #define MK3MAG_ADDRESS 3 |
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1 | ingob | 76 | |
32 | holgerb | 77 | #define FALSE 0 |
78 | #define TRUE 1 |
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1 | ingob | 79 | |
32 | holgerb | 80 | // keep buffers as small as possible |
81 | #define TXD_BUFFER_LEN 100 |
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82 | #define RXD_BUFFER_LEN 30 |
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1 | ingob | 83 | |
32 | holgerb | 84 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
85 | volatile uint8_t rxd_buffer_locked = FALSE; |
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86 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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87 | volatile uint8_t txd_complete = TRUE; |
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88 | volatile uint8_t ReceivedBytes = 0; |
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41 | killagreg | 89 | volatile uint8_t *pRxData = 0; |
90 | volatile uint8_t RxDataLen = 0; |
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1 | ingob | 91 | |
37 | killagreg | 92 | // send flags |
93 | #define RQST_VERSION_INFO 0x01 |
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94 | #define RQST_DEBUG_DATA 0x02 |
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95 | #define RQST_DEBUG_LABEL 0x04 |
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96 | #define RQST_COMPASS_HEADING 0x08 |
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97 | #define RQST_EXTERN_CTRL 0x10 |
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52 | killagreg | 98 | #define RQST_DISPLAY_DATA 0x20 |
3 | ingob | 99 | |
37 | killagreg | 100 | |
32 | holgerb | 101 | uint8_t RequestFlags = 0x00; |
102 | uint8_t RequestDebugLabel = 0; |
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41 | killagreg | 103 | uint8_t ConfirmFrame = 0; |
58 | killagreg | 104 | |
52 | killagreg | 105 | uint8_t DisplayLine = 0; |
58 | killagreg | 106 | |
52 | killagreg | 107 | uint16_t PC_Connected = 0; |
108 | uint16_t FC_Connected = 0; |
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32 | holgerb | 109 | |
110 | |||
111 | DebugOut_t DebugOut; |
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112 | ExternData_t ExternData; |
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113 | ExternControl_t ExternControl; |
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41 | killagreg | 114 | UART_VersionInfo_t UART_VersionInfo; |
32 | holgerb | 115 | |
41 | killagreg | 116 | uint16_t DebugData_Timer; |
117 | uint16_t DebugData_Interval = 500; |
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32 | holgerb | 118 | |
58 | killagreg | 119 | const prog_uint8_t ANALOG_LABEL[32][16] = |
1 | ingob | 120 | { |
37 | killagreg | 121 | //1234567890123456 |
122 | "Magnet X ", //0 |
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123 | "Magnet Y ", |
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124 | "Magnet Z ", |
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125 | "RawMagnet X ", |
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126 | "RawMagnet Y ", |
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127 | "RawMagnet Z ", //5 |
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128 | "Attitude Nick ", |
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129 | "Attitude Roll ", |
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130 | "Magnet X Offset ", |
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131 | "Magnet X Range ", |
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132 | "Magnet Y Offset ", //10 |
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133 | "Magnet Y Range ", |
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134 | "Magnet Z Offset ", |
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135 | "Magnet Z Range ", |
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136 | "Calstate ", |
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137 | "Heading ", //15 |
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138 | "User0 ", |
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139 | "User1 ", |
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140 | "Acc X ", |
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141 | "Acc Y ", |
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142 | "Acc Z ", //20 |
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143 | "RawAcc X ", |
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144 | "RawAcc Y ", |
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145 | "RawAcc Z ", |
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146 | "Acc X Offset ", |
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147 | "Acc Y Offset ", //25 |
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148 | "Acc Z Offset ", |
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55 | killagreg | 149 | "Heading X ", |
150 | "Heading Y ", |
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151 | "Attitude Source ", |
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37 | killagreg | 152 | "I2C Error ", //30 |
153 | "I2C Okay " |
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1 | ingob | 154 | }; |
155 | |||
156 | |||
32 | holgerb | 157 | /****************************************************************/ |
158 | /* Initialization of the USART0 */ |
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159 | /****************************************************************/ |
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160 | void USART0_Init (void) |
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161 | { |
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41 | killagreg | 162 | uint8_t sreg = SREG; |
32 | holgerb | 163 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
7 | hbuss | 164 | |
32 | holgerb | 165 | // disable all interrupts before configuration |
166 | cli(); |
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167 | |||
168 | // disable RX-Interrupt |
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169 | UCSR0B &= ~(1 << RXCIE0); |
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170 | // disable TX-Interrupt |
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171 | UCSR0B &= ~(1 << TXCIE0); |
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172 | |||
173 | // set direction of RXD0 and TXD0 pins |
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174 | |||
175 | // set RXD0 (PD0) as an input pin tristate |
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176 | DDRD &= ~(1 << DDD0); |
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177 | PORTD &= ~(1 << PORTD0); |
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178 | // set TXD0 (PD1) as an output pin |
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179 | DDRD |= (1 << DDD1); |
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180 | PORTD &= ~(1 << PORTD1); |
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181 | |||
182 | |||
183 | // USART0 Baud Rate Register |
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184 | // set clock divider |
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185 | UBRR0H = (uint8_t)(ubrr >> 8); |
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186 | UBRR0L = (uint8_t)ubrr; |
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187 | |||
37 | killagreg | 188 | // USART0 Control and Status Register A, B, C |
32 | holgerb | 189 | |
190 | // enable double speed operation |
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191 | UCSR0A |= (1 << U2X0); |
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192 | |||
193 | // set asynchronous mode |
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194 | UCSR0C &= ~(1 << UMSEL01); |
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195 | UCSR0C &= ~(1 << UMSEL00); |
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196 | // no parity |
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197 | UCSR0C &= ~(1 << UPM01); |
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198 | UCSR0C &= ~(1 << UPM00); |
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199 | // 1 stop bit |
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200 | UCSR0C &= ~(1 << USBS0); |
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201 | // 8-bit |
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202 | UCSR0B &= ~(1 << UCSZ02); |
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203 | UCSR0C |= (1 << UCSZ01); |
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204 | UCSR0C |= (1 << UCSZ00); |
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205 | |||
206 | // enable receiver and transmitter |
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207 | UCSR0B |= (1 << RXEN0); |
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208 | UCSR0B |= (1 << TXEN0); |
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209 | |||
210 | // flush receive buffer |
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211 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
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212 | |||
213 | // enable RX-Interrupt |
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214 | UCSR0B |= (1 << RXCIE0); |
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215 | // enable TX-Interrupt |
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216 | UCSR0B |= (1 << TXCIE0); |
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217 | |||
41 | killagreg | 218 | // initialize the debug timer |
219 | DebugData_Timer = SetDelay(DebugData_Interval); |
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220 | |||
221 | // unlock rxd_buffer |
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32 | holgerb | 222 | rxd_buffer_locked = FALSE; |
41 | killagreg | 223 | pRxData = 0; |
224 | RxDataLen = 0; |
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225 | |||
226 | // no bytes to send |
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32 | holgerb | 227 | txd_complete = TRUE; |
228 | |||
229 | |||
47 | killagreg | 230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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32 | holgerb | 235 | |
52 | killagreg | 236 | // send version info at startup |
32 | holgerb | 237 | USART0_putchar ('\n'); |
238 | USART0_putchar ('C'); |
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239 | USART0_putchar ('P'); |
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240 | USART0_putchar (':'); |
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241 | USART0_putchar ('V'); |
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53 | killagreg | 242 | USART0_putchar ('0' + VERSION_MAJOR); |
32 | holgerb | 243 | USART0_putchar ('.'); |
53 | killagreg | 244 | USART0_putchar ('0' + VERSION_MINOR/10); |
245 | USART0_putchar ('0' + VERSION_MINOR%10); |
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41 | killagreg | 246 | USART0_putchar ('a' + VERSION_PATCH); |
32 | holgerb | 247 | USART0_putchar ('\n'); |
41 | killagreg | 248 | |
249 | // restore global interrupt flags |
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250 | SREG = sreg; |
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1 | ingob | 251 | } |
252 | |||
32 | holgerb | 253 | // --------------------------------------------------------------------------------- |
254 | void USART0_EnableTXD(void) |
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1 | ingob | 255 | { |
32 | holgerb | 256 | DDRD |= (1<<DDD1); // set TXD pin as output |
257 | PORTD &= ~(1 << PORTD1); |
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258 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
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55 | killagreg | 259 | //changing the interrupt flag yields to strange effects |
260 | //UCSR0B |= (1 << TXCIE0); // enable TX-Interrupt |
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1 | ingob | 261 | } |
262 | |||
32 | holgerb | 263 | // --------------------------------------------------------------------------------- |
264 | void USART0_DisableTXD(void) |
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1 | ingob | 265 | { |
32 | holgerb | 266 | while(!txd_complete){ }; |
55 | killagreg | 267 | //changing the interrupt flag yields to strange effects |
268 | //UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
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269 | UCSR0B &= ~(1 << TXEN0); // disable TX in USART |
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32 | holgerb | 270 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
271 | PORTD &= ~(1 << PORTD1); |
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272 | } |
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1 | ingob | 273 | |
32 | holgerb | 274 | /****************************************************************/ |
275 | /* USART0 transmitter ISR */ |
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276 | /****************************************************************/ |
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277 | ISR(USART_TX_vect) |
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278 | { |
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279 | static uint16_t ptr_txd_buffer = 0; |
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280 | uint8_t tmp_tx; |
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281 | if(!txd_complete) // transmission not completed |
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282 | { |
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283 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
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284 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
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285 | // if terminating character or end of txd buffer was reached |
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286 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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287 | { |
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288 | ptr_txd_buffer = 0; // reset txd pointer |
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289 | txd_complete = TRUE; // stop transmission |
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290 | } |
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291 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
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292 | } |
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293 | // transmission completed |
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294 | else ptr_txd_buffer = 0; |
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1 | ingob | 295 | } |
296 | |||
32 | holgerb | 297 | /****************************************************************/ |
298 | /* USART0 receiver ISR */ |
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299 | /****************************************************************/ |
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300 | ISR(USART_RX_vect) |
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1 | ingob | 301 | { |
32 | holgerb | 302 | static uint16_t crc; |
303 | uint8_t crc1, crc2; |
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304 | uint8_t c; |
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305 | static uint8_t ptr_rxd_buffer = 0; |
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1 | ingob | 306 | |
32 | holgerb | 307 | c = UDR0; // catch the received byte |
1 | ingob | 308 | |
32 | holgerb | 309 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
1 | ingob | 310 | |
32 | holgerb | 311 | // the rxd buffer is unlocked |
312 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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313 | { |
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314 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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315 | crc = c; // init crc |
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316 | } |
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317 | #if 0 |
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318 | else if (ptr_rxd_buffer == 1) // handle address |
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319 | { |
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320 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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321 | crc += c; // update crc |
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322 | } |
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323 | #endif |
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324 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
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325 | { |
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326 | if(c != '\r') // no termination character |
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327 | { |
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328 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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329 | crc += c; // update crc |
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330 | } |
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331 | else // termination character was received |
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332 | { |
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333 | // the last 2 bytes are no subject for checksum calculation |
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334 | // they are the checksum itself |
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335 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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336 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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337 | // calculate checksum from transmitted data |
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338 | crc %= 4096; |
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339 | crc1 = '=' + crc / 64; |
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340 | crc2 = '=' + crc % 64; |
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341 | // compare checksum to transmitted checksum bytes |
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342 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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343 | { // checksum valid |
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41 | killagreg | 344 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
345 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
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32 | holgerb | 346 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
347 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
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348 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
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349 | } |
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350 | else |
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351 | { // checksum invalid |
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352 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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353 | } |
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354 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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355 | } |
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356 | } |
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357 | else // rxd buffer overrun |
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358 | { |
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359 | ptr_rxd_buffer = 0; // reset rxd buffer |
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360 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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361 | } |
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1 | ingob | 362 | } |
363 | |||
364 | |||
365 | // -------------------------------------------------------------------------- |
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32 | holgerb | 366 | void AddCRC(uint16_t datalen) |
1 | ingob | 367 | { |
32 | holgerb | 368 | uint16_t tmpCRC = 0, i; |
369 | for(i = 0; i < datalen; i++) |
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370 | { |
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371 | tmpCRC += txd_buffer[i]; |
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372 | } |
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373 | tmpCRC %= 4096; |
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374 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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375 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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376 | txd_buffer[i++] = '\r'; |
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377 | txd_complete = FALSE; |
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378 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
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1 | ingob | 379 | } |
380 | |||
381 | |||
382 | |||
32 | holgerb | 383 | // -------------------------------------------------------------------------- |
46 | killagreg | 384 | void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
1 | ingob | 385 | { |
41 | killagreg | 386 | va_list ap; |
32 | holgerb | 387 | uint16_t pt = 0; |
388 | uint8_t a,b,c; |
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389 | uint8_t ptr = 0; |
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390 | |||
41 | killagreg | 391 | uint8_t *pdata = 0; |
392 | int len = 0; |
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393 | |||
46 | killagreg | 394 | txd_buffer[pt++] = '#'; // Start character |
395 | txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
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396 | txd_buffer[pt++] = cmd; // Command |
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32 | holgerb | 397 | |
41 | killagreg | 398 | va_start(ap, numofbuffers); |
42 | killagreg | 399 | if(numofbuffers) |
41 | killagreg | 400 | { |
401 | pdata = va_arg(ap, uint8_t*); |
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402 | len = va_arg(ap, int); |
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403 | ptr = 0; |
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42 | killagreg | 404 | numofbuffers--; |
41 | killagreg | 405 | } |
406 | |||
32 | holgerb | 407 | while(len) |
408 | { |
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41 | killagreg | 409 | if(len) |
410 | { |
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411 | a = pdata[ptr++]; |
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412 | len--; |
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413 | if((!len) && numofbuffers) |
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414 | { |
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415 | pdata = va_arg(ap, uint8_t*); |
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416 | len = va_arg(ap, int); |
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417 | ptr = 0; |
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418 | numofbuffers--; |
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419 | } |
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420 | } |
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421 | else a = 0; |
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422 | if(len) |
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423 | { |
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424 | b = pdata[ptr++]; |
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425 | len--; |
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426 | if((!len) && numofbuffers) |
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427 | { |
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428 | pdata = va_arg(ap, uint8_t*); |
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429 | len = va_arg(ap, int); |
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430 | ptr = 0; |
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431 | numofbuffers--; |
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432 | } |
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433 | } |
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434 | else b = 0; |
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435 | if(len) |
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436 | { |
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437 | c = pdata[ptr++]; |
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438 | len--; |
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439 | if((!len) && numofbuffers) |
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440 | { |
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441 | pdata = va_arg(ap, uint8_t*); |
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442 | len = va_arg(ap, int); |
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443 | ptr = 0; |
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444 | numofbuffers--; |
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445 | } |
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446 | } |
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447 | else c = 0; |
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32 | holgerb | 448 | txd_buffer[pt++] = '=' + (a >> 2); |
449 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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450 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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451 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
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452 | } |
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41 | killagreg | 453 | va_end(ap); |
32 | holgerb | 454 | AddCRC(pt); // add checksum after data block and initates the transmission |
1 | ingob | 455 | } |
456 | |||
32 | holgerb | 457 | |
1 | ingob | 458 | // -------------------------------------------------------------------------- |
41 | killagreg | 459 | void Decode64(void) |
1 | ingob | 460 | { |
32 | holgerb | 461 | uint8_t a,b,c,d; |
462 | uint8_t x,y,z; |
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41 | killagreg | 463 | uint8_t ptrIn = 3; |
464 | uint8_t ptrOut = 3; |
||
465 | uint8_t len = ReceivedBytes - 6; |
||
466 | |||
32 | holgerb | 467 | while(len) |
468 | { |
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469 | a = rxd_buffer[ptrIn++] - '='; |
||
470 | b = rxd_buffer[ptrIn++] - '='; |
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471 | c = rxd_buffer[ptrIn++] - '='; |
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472 | d = rxd_buffer[ptrIn++] - '='; |
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41 | killagreg | 473 | //if(ptrIn > ReceivedBytes - 3) break; |
1 | ingob | 474 | |
32 | holgerb | 475 | x = (a << 2) | (b >> 4); |
476 | y = ((b & 0x0f) << 4) | (c >> 2); |
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477 | z = ((c & 0x03) << 6) | d; |
||
478 | |||
41 | killagreg | 479 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
480 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
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481 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
||
32 | holgerb | 482 | } |
41 | killagreg | 483 | pRxData = &rxd_buffer[3]; |
484 | RxDataLen = ptrOut - 3; |
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17 | holgerb | 485 | } |
486 | |||
32 | holgerb | 487 | |
41 | killagreg | 488 | |
32 | holgerb | 489 | // -------------------------------------------------------------------------- |
490 | int16_t USART0_putchar (int8_t c) |
||
1 | ingob | 491 | { |
32 | holgerb | 492 | // if tx is not enabled return immediatly |
493 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
||
494 | if (c == '\n') USART0_putchar('\r'); |
||
495 | // wait until previous character was send |
||
496 | loop_until_bit_is_set(UCSR0A, UDRE0); |
||
497 | // send character |
||
498 | UDR0 = c; |
||
499 | return (0); |
||
1 | ingob | 500 | } |
501 | |||
502 | |||
32 | holgerb | 503 | // -------------------------------------------------------------------------- |
504 | void USART0_ProcessRxData(void) |
||
1 | ingob | 505 | { |
32 | holgerb | 506 | // if data in the rxd buffer are not locked immediately return |
507 | if(!rxd_buffer_locked) return; |
||
1 | ingob | 508 | |
46 | killagreg | 509 | Decode64(); // decode data block in rxd_buffer |
510 | |||
45 | ingob | 511 | switch(rxd_buffer[1]-'a') // check Slave Address |
32 | holgerb | 512 | { |
44 | killagreg | 513 | case MK3MAG_ADDRESS: |
46 | killagreg | 514 | |
44 | killagreg | 515 | switch(rxd_buffer[2]) // check for CmdID |
516 | { |
||
517 | case 'w': // old style |
||
518 | case 'k': // Attitude info from FC |
||
519 | memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
||
520 | RequestFlags |= RQST_COMPASS_HEADING; |
||
521 | AttitudeSource = ATTITUDE_SOURCE_UART; |
||
522 | Orientation = ExternData.Orientation; |
||
523 | FC_Connected = 255; |
||
524 | break; |
||
32 | holgerb | 525 | |
44 | killagreg | 526 | default: |
527 | // unsupported command |
||
528 | break; |
||
46 | killagreg | 529 | } // case MK3MAG_ADDRESS: |
32 | holgerb | 530 | |
52 | killagreg | 531 | default: // any Slave Address |
46 | killagreg | 532 | |
44 | killagreg | 533 | switch(rxd_buffer[2]) // check for CmdID |
534 | { |
||
535 | case 'b': // extern control |
||
536 | memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
||
537 | #define KEY1 0x01 |
||
538 | #define KEY2 0x02 |
||
539 | #define KEY3 0x04 |
||
540 | #define KEY4 0x08 |
||
541 | #define KEY5 0x10 |
||
542 | // use right arrow at display for switching the calstate |
||
543 | if(ExternControl.RemoteButtons & KEY2) |
||
544 | { |
||
545 | ExternData.CalState++; |
||
546 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
||
547 | } |
||
548 | ConfirmFrame = ExternControl.Frame; |
||
52 | killagreg | 549 | PC_Connected = 2000; |
44 | killagreg | 550 | break; |
37 | killagreg | 551 | |
44 | killagreg | 552 | case 'd': // request for the debug data |
553 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
||
45 | ingob | 554 | if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
52 | killagreg | 555 | PC_Connected = 2000; |
44 | killagreg | 556 | break; |
32 | holgerb | 557 | |
44 | killagreg | 558 | case 'v': // request version and board release |
559 | RequestFlags |= RQST_VERSION_INFO; |
||
52 | killagreg | 560 | PC_Connected = 2000; |
44 | killagreg | 561 | break; |
32 | holgerb | 562 | |
52 | killagreg | 563 | case 'h': // request display data |
58 | killagreg | 564 | RemoteKeys |= pRxData[0]; |
565 | if(RemoteKeys) DisplayLine = 0; |
||
52 | killagreg | 566 | RequestFlags |= RQST_DISPLAY_DATA; |
567 | PC_Connected = 2000; |
||
49 | ingob | 568 | break; |
569 | |||
44 | killagreg | 570 | case 'a':// Labels of the Analog Debug outputs |
571 | RequestDebugLabel = pRxData[0]; |
||
572 | RequestFlags |= RQST_DEBUG_LABEL; |
||
52 | killagreg | 573 | PC_Connected = 2000; |
44 | killagreg | 574 | break; |
575 | |||
576 | case 'g':// get extern control data |
||
577 | RequestFlags |= RQST_EXTERN_CTRL; |
||
52 | killagreg | 578 | PC_Connected = 2000; |
44 | killagreg | 579 | break; |
580 | |||
581 | default: |
||
582 | // unsupported command |
||
583 | break; |
||
584 | } |
||
585 | break; // default: |
||
32 | holgerb | 586 | } |
587 | // unlock the rxd buffer after processing |
||
41 | killagreg | 588 | pRxData = 0; |
589 | RxDataLen = 0; |
||
32 | holgerb | 590 | rxd_buffer_locked = FALSE; |
1 | ingob | 591 | } |
592 | |||
593 | |||
32 | holgerb | 594 | |
1 | ingob | 595 | //--------------------------------------------------------------------------------------------- |
32 | holgerb | 596 | void USART0_TransmitTxData(void) |
1 | ingob | 597 | { |
32 | holgerb | 598 | if(!(UCSR0B & (1 << TXEN0))) return; |
599 | |||
600 | if(!txd_complete) return; |
||
601 | |||
41 | killagreg | 602 | if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
37 | killagreg | 603 | { |
58 | killagreg | 604 | uint8_t label[16]; |
605 | memcpy_P(label, ANALOG_LABEL[RequestDebugLabel], 16); // read lable from flash to sram buffer |
||
606 | SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), label, 16); |
||
41 | killagreg | 607 | RequestDebugLabel = 0xFF; |
608 | RequestFlags &= ~RQST_DEBUG_LABEL; |
||
37 | killagreg | 609 | } |
61 | killagreg | 610 | else if(ConfirmFrame && txd_complete) |
37 | killagreg | 611 | { |
44 | killagreg | 612 | SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
41 | killagreg | 613 | ConfirmFrame = 0; |
32 | holgerb | 614 | } |
61 | killagreg | 615 | else if(( ((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
37 | killagreg | 616 | { |
41 | killagreg | 617 | SetDebugValues(); |
44 | killagreg | 618 | SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
41 | killagreg | 619 | DebugData_Timer = SetDelay(DebugData_Interval); |
620 | RequestFlags &= ~RQST_DEBUG_DATA; |
||
37 | killagreg | 621 | } |
61 | killagreg | 622 | else if((RequestFlags & RQST_DISPLAY_DATA) && txd_complete) |
52 | killagreg | 623 | { |
58 | killagreg | 624 | LCD_PrintMenu(); |
625 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
||
52 | killagreg | 626 | DisplayLine++; |
627 | if(DisplayLine >= 4) DisplayLine = 0; |
||
628 | RequestFlags &= ~RQST_DISPLAY_DATA; |
||
629 | } |
||
61 | killagreg | 630 | else if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
32 | holgerb | 631 | { |
44 | killagreg | 632 | SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
37 | killagreg | 633 | RequestFlags &= ~RQST_EXTERN_CTRL; |
32 | holgerb | 634 | } |
61 | killagreg | 635 | else if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
32 | holgerb | 636 | { |
54 | killagreg | 637 | SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &Heading, sizeof(Heading)); // send compass heading to FC |
37 | killagreg | 638 | RequestFlags &= ~RQST_COMPASS_HEADING; |
639 | } |
||
61 | killagreg | 640 | else if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
41 | killagreg | 641 | { |
44 | killagreg | 642 | SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
41 | killagreg | 643 | RequestFlags &= ~RQST_VERSION_INFO; |
644 | } |
||
1 | ingob | 645 | } |
646 | |||
32 | holgerb | 647 | |
648 | void USART0_Print(int8_t *msg) |
||
17 | holgerb | 649 | { |
32 | holgerb | 650 | uint8_t i = 0; |
37 | killagreg | 651 | while(msg[i] != 0) |
652 | { |
||
653 | USART0_putchar(msg[i++]); |
||
654 | } |
||
17 | holgerb | 655 | } |