Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) Holger Buss, Ingo Busker

// + only for non-profit use

// + www.MikroKopter.com

// + see the File "License.txt" for further Informations

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdarg.h>

#include <string.h>

#include "main.h"

#include "uart.h"

#define FC_ADDRESS 1

#define NC_ADDRESS 2

#define MK3MAG_ADDRESS 3

unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;

unsigned char DisplayLine = 0;

unsigned volatile char SioTmp = 0;

unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];

unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];

unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];

unsigned volatile char NeuerDatensatzEmpfangen = 0;

unsigned volatile char NeueKoordinateEmpfangen = 0;

unsigned volatile char UebertragungAbgeschlossen = 1;

unsigned volatile char CntCrcError = 0;

unsigned volatile char AnzahlEmpfangsBytes = 0;

unsigned char *pRxData = 0;

unsigned char RxDataLen = 0;

unsigned volatile char PC_DebugTimeout = 0;

unsigned volatile char PC_MotortestActive = 0;

unsigned char DebugTextAnforderung = 255;

unsigned char PcZugriff = 100;

unsigned char MotorTest[16];

unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl

unsigned char ConfirmFrame;

struct str_DebugOut    DebugOut;

struct str_ExternControl  ExternControl;

struct str_VersionInfo VersionInfo;

struct str_WinkelOut WinkelOut;

struct str_Data3D Data3D;

int Debug_Timer,Kompass_Timer,Timer3D;

unsigned int DebugDataIntervall = 200, Intervall3D = 0;

const unsigned char ANALOG_TEXT[32][16] =

{

   //1234567890123456

    "AngleNick       ", //0

    "AngleRoll       ",

    "AccNick         ",

    "AccRoll         ",

    "GyroGier        ",

    "Hight Value     ", //5

    "AccZ            ",

    "Gas             ",

    "Compass Value   ",

    "Voltage         ",

    "Empfang         ", //10

    "Gyro Kompass    ",

    "Motor Front     ",

    "Motor Rear      ",

    "Motor Left      ",

    "Motor Right     ", //15

    "                ",

    "                ",

    "VarioMeter      ",

    "MK3Mag CalState ",

    "Servo           ", //20

    "Hoovergas       ",

    "                ",

    "                ",

    "                ",

    "                ", //25

    "                ",

    "                ",

    "I2C-Error       ",

    "                ",//    "Navi Serial Data",

    "GPS_Nick        ", //30

    "GPS_Roll        "

};

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++ Sende-Part der Datenübertragung

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SIGNAL(INT_VEC_TX)

{

 static unsigned int ptr = 0;

 unsigned char tmp_tx;

 if(!UebertragungAbgeschlossen)

  {

   ptr++;                    // die [0] wurde schon gesendet

   tmp_tx = SendeBuffer[ptr];

   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))

    {

     ptr = 0;

     UebertragungAbgeschlossen = 1;

    }

   UDR = tmp_tx;

  }

  else ptr = 0;

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SIGNAL(INT_VEC_RX)

{

 static unsigned int crc;

 static unsigned char crc1,crc2,buf_ptr;

 static unsigned char UartState = 0;

 unsigned char CrcOkay = 0;

 SioTmp = UDR;

 if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;

 if(SioTmp == '\r' && UartState == 2)

  {

   UartState = 0;

   crc -= RxdBuffer[buf_ptr-2];

   crc -= RxdBuffer[buf_ptr-1];

   crc %= 4096;

   crc1 = '=' + crc / 64;

   crc2 = '=' + crc % 64;

   CrcOkay = 0;

   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};

   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet

    {

     NeuerDatensatzEmpfangen = 1;

	 AnzahlEmpfangsBytes = buf_ptr + 1;

     RxdBuffer[buf_ptr] = '\r';

	 if(RxdBuffer[2] == 'R')

	  {

	   wdt_enable(WDTO_250MS); // Reset-Commando

	   ServoActive = 0;

	  }

	}

  }

  else

  switch(UartState)

  {

   case 0:

          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet

		  buf_ptr = 0;

		  RxdBuffer[buf_ptr++] = SioTmp;

		  crc = SioTmp;

          break;

   case 1: // Adresse auswerten

		  UartState++;

		  RxdBuffer[buf_ptr++] = SioTmp;

		  crc += SioTmp;

		  break;

   case 2: //  Eingangsdaten sammeln

		  RxdBuffer[buf_ptr] = SioTmp;

		  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;

		  else UartState = 0;

		  crc += SioTmp;

		  break;

   default:

          UartState = 0;

          break;

  }

}

// --------------------------------------------------------------------------

void AddCRC(unsigned int wieviele)

{

 unsigned int tmpCRC = 0,i;

 for(i = 0; i < wieviele;i++)

  {

   tmpCRC += SendeBuffer[i];

  }

   tmpCRC %= 4096;

   SendeBuffer[i++] = '=' + tmpCRC / 64;

   SendeBuffer[i++] = '=' + tmpCRC % 64;

   SendeBuffer[i++] = '\r';

  UebertragungAbgeschlossen = 0;

  UDR = SendeBuffer[0];

}

// --------------------------------------------------------------------------

void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)

{

 va_list ap;

 unsigned int pt = 0;

 unsigned char a,b,c;

 unsigned char ptr = 0;

 unsigned char *snd = 0;

 int len = 0;

 SendeBuffer[pt++] = '#';				// Startzeichen

 SendeBuffer[pt++] = 'a' + address;		// Adresse (a=0; b=1,...)

 SendeBuffer[pt++] = cmd;				// Commando

 va_start(ap, BufferAnzahl);

 if(BufferAnzahl)

 {

 		snd = va_arg(ap, unsigned char*);

 		len = va_arg(ap, int);

 		ptr = 0;

 		BufferAnzahl--;

 }

 while(len)

  {

	if(len)

	{

	   a = snd[ptr++];

	   len--;

	   if((!len) && BufferAnzahl)

	   	{

			snd = va_arg(ap, unsigned char*);

			len = va_arg(ap, int);

			ptr = 0;

			BufferAnzahl--;

		}

	}

	else a = 0;

	if(len)

	{

		b = snd[ptr++];

		len--;

		if((!len) && BufferAnzahl)

		{

			snd = va_arg(ap, unsigned char*);

			len = va_arg(ap, int);

			ptr = 0;

			BufferAnzahl--;

		}

	}

	else b = 0;

	if(len)

	{

		c = snd[ptr++];

		len--;

		if((!len) && BufferAnzahl)

		{

			snd = va_arg(ap, unsigned char*);

			len = va_arg(ap, int);

			ptr = 0;

			BufferAnzahl--;

		}

	}

	else c = 0;

   SendeBuffer[pt++] = '=' + (a >> 2);

   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

   SendeBuffer[pt++] = '=' + ( c & 0x3f);

  }

 va_end(ap);

 AddCRC(pt);

}

// --------------------------------------------------------------------------

void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.

{

 unsigned char a,b,c,d;

 unsigned char x,y,z;

 unsigned char ptrIn = 3; // start at begin of data block

 unsigned char ptrOut = 3;

 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.

 while(len)

  {

   a = RxdBuffer[ptrIn++] - '=';

   b = RxdBuffer[ptrIn++] - '=';

   c = RxdBuffer[ptrIn++] - '=';

   d = RxdBuffer[ptrIn++] - '=';

   x = (a << 2) | (b >> 4);

   y = ((b & 0x0f) << 4) | (c >> 2);

   z = ((c & 0x03) << 6) | d;

   if(len--) RxdBuffer[ptrOut++] = x; else break;

   if(len--) RxdBuffer[ptrOut++] = y; else break;

   if(len--) RxdBuffer[ptrOut++] = z;	else break;

  }

  	pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte

	RxDataLen = ptrOut - 3;  // wie viele Bytes wurden dekodiert?

}

// --------------------------------------------------------------------------

void BearbeiteRxDaten(void)

{

 if(!NeuerDatensatzEmpfangen) return;

	unsigned char tempchar1, tempchar2;

	Decode64(); // dekodiere datenblock im Empfangsbuffer

	switch(RxdBuffer[1]-'a') // check for Slave Address

	{

		case FC_ADDRESS: // FC special commands

		switch(RxdBuffer[2])

		{

			case 'K':// Kompasswert

					memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));

					KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

					break;

			case 't':// Motortest

			        if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));

			        else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);

					PC_MotortestActive = 240;

					//while(!UebertragungAbgeschlossen);

					//SendOutData('T', MeineSlaveAdresse, 0);

					PcZugriff = 255;

					break;

			case 'n':// "Get Mixer

					while(!UebertragungAbgeschlossen);

              	    SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer));

					break;

			case 'm':// "Write Mixer

					while(!UebertragungAbgeschlossen);

                    if(pRxData[0] == MIXER_REVISION)

					 {

                       memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer));

                       eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

					   tempchar1 = 1;

					 }

                     else  tempchar1 = 0;

					SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));

					break;

			case 'p': // get PPM Channels

					GetPPMChannelAnforderung = 1;

					break;

			case 'q':// "Get"-Anforderung für Settings

					// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen

					if(pRxData[0] == 0xFF)

					{

						pRxData[0] = GetActiveParamSetNumber();

					}

					// limit settings range

					if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5

					else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5

					// load requested parameter set

					ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

					while(!UebertragungAbgeschlossen);

					tempchar1 = pRxData[0];

					tempchar2 = EE_DATENREVISION;

					SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

					break;

			case 's': // Parametersatz speichern

					if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range

					{

						memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE);

						WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

						Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;

						Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;

						SetActiveParamSetNumber(pRxData[0]);

						tempchar1 = GetActiveParamSetNumber();

						LipoDetection(0);

						Piep(tempchar1,110);

					}

					else

					{

						tempchar1 = 0; // mark in response an invlid setting

					}

					while(!UebertragungAbgeschlossen);

					SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));

					break;

		} // case FC_ADDRESS:

		default: // any Slave Address

		switch(RxdBuffer[2])

		{

			// 't' comand placed here only for compatibility to BL

			case 't':// Motortest

			        if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));

			        else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);

					while(!UebertragungAbgeschlossen);

					SendOutData('T', MeineSlaveAdresse, 0);

					PC_MotortestActive = 250;

					PcZugriff = 255;

					break;

			// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address

			case 'K':// Kompasswert

					memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));

					KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

					break;

			case 'a':// Texte der Analogwerte

					DebugTextAnforderung = pRxData[0];

					if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;

					PcZugriff = 255;

					break;

			case 'b':

					memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl));

					ConfirmFrame = ExternControl.Frame;

					PcZugriff = 255;

					break;

			case 'c': // Poll the 3D-Data

                    if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}

					Intervall3D = pRxData[0] * 10;

					break;

			case 'd': // Poll the debug data

					DebugDataIntervall = pRxData[0] * 10;

					if(DebugDataIntervall > 0) DebugDataAnforderung = 1;

					break;

			case 'h':// x-1 Displayzeilen

			        PcZugriff = 255;

					RemoteKeys |= pRxData[0];

					if(RemoteKeys) DisplayLine = 0;

					DebugDisplayAnforderung = 1;

					break;

			case 'l':// x-1 Displayzeilen

			        PcZugriff = 255;

					MenuePunkt = pRxData[0];

					DebugDisplayAnforderung1 = 1;

					break;

			case 'v': // Version-Anforderung und Ausbaustufe

					GetVersionAnforderung = 1;

					break;

			case 'g'://

					GetExternalControl = 1;

					break;

		}

		break; // default:

	}

 	NeuerDatensatzEmpfangen = 0;

 	pRxData = 0;

	RxDataLen = 0;

}

//############################################################################

//Routine für die Serielle Ausgabe

int uart_putchar (char c)

//############################################################################

{

	if (c == '\n')

		uart_putchar('\r');

	//Warten solange bis Zeichen gesendet wurde

	loop_until_bit_is_set(USR, UDRE);

	//Ausgabe des Zeichens

	UDR = c;

	return (0);

}

// --------------------------------------------------------------------------

void WriteProgramData(unsigned int pos, unsigned char wert)

{

  //if (ProgramLocation == IN_RAM) Buffer[pos] = wert;

  // else eeprom_write_byte(&EE_Buffer[pos], wert);

  // Buffer[pos] = wert;

}

//############################################################################

//INstallation der Seriellen Schnittstelle

void UART_Init (void)

//############################################################################

{

	//Enable TXEN im Register UCR TX-Data Enable & RX Enable

	UCR=(1 << TXEN) | (1 << RXEN);

    // UART Double Speed (U2X)

	USR   |= (1<<U2X);

	// RX-Interrupt Freigabe

	UCSRB |= (1<<RXCIE);

	// TX-Interrupt Freigabe

	UCSRB |= (1<<TXCIE);

	//Teiler wird gesetzt

	UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);

	//UBRR = 33;

	//öffnet einen Kanal für printf (STDOUT)

	//fdevopen (uart_putchar, 0);

	//sbi(PORTD,4);

	Debug_Timer = SetDelay(DebugDataIntervall);

	Kompass_Timer = SetDelay(220);

	VersionInfo.SWMajor = VERSION_MAJOR;

	VersionInfo.SWMinor = VERSION_MINOR;

	VersionInfo.SWPatch = VERSION_PATCH;

	VersionInfo.ProtoMajor  = VERSION_SERIAL_MAJOR;

	VersionInfo.ProtoMinor  = VERSION_SERIAL_MINOR;

	pRxData = 0;

	RxDataLen = 0;

}

//---------------------------------------------------------------------------------------------

void DatenUebertragung(void)

{

 if(!UebertragungAbgeschlossen) return;

	if(DebugDisplayAnforderung && UebertragungAbgeschlossen)

	{

		Menu();

		SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20);

		DisplayLine++;

		if(DisplayLine >= 4) DisplayLine = 0;

		DebugDisplayAnforderung = 0;

	}

	if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen)

	{

		Menu();

		SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff));

		DebugDisplayAnforderung1 = 0;

	}

	if(GetVersionAnforderung && UebertragungAbgeschlossen)

	{

		SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo));

		GetVersionAnforderung = 0;

	}

	if(GetExternalControl && UebertragungAbgeschlossen) 	      // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen

	{

		SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl));

		GetExternalControl = 0;

	}

    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)

    	 {

		  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad

		  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad

		  WinkelOut.UserParameter[0] = Parameter_UserParam1;

		  WinkelOut.UserParameter[1] = Parameter_UserParam2;

    	  SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));

          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt

       	  Kompass_Timer = SetDelay(99);

    	 }

    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)

    	 {

//if(Poti3 > 64)

          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));

       	  DebugDataAnforderung = 0;

          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);

    	 }

    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)

    	 {

		  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad

		  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad

          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);

    	  SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));

          Timer3D = SetDelay(Intervall3D);

    	 }

    if(DebugTextAnforderung != 255) // Texte für die Analogdaten

     {

      SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16);

      DebugTextAnforderung = 255;

	 }

     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz bestätigen

	 {

		SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));

      	ConfirmFrame = 0;

     }

     if(GetPPMChannelAnforderung && UebertragungAbgeschlossen)

     {

		 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));

		 GetPPMChannelAnforderung = 0;

	 }

}