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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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2230 | holgerb | 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
2050 | holgerb | 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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2230 | holgerb | 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
2050 | holgerb | 19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Software LICENSING TERMS |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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2230 | holgerb | 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
2050 | holgerb | 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 53 | #include <stdarg.h> |
54 | #include <string.h> |
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1490 | killagreg | 55 | #include <avr/pgmspace.h> |
1 | ingob | 56 | #include "main.h" |
57 | #include "uart.h" |
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1438 | ingob | 58 | #include "libfc.h" |
1622 | killagreg | 59 | #include "eeprom.h" |
1 | ingob | 60 | |
1054 | killagreg | 61 | #define FC_ADDRESS 1 |
62 | #define NC_ADDRESS 2 |
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63 | #define MK3MAG_ADDRESS 3 |
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1622 | killagreg | 64 | #define BL_CTRL_ADDRESS 5 |
1054 | killagreg | 65 | |
1415 | killagreg | 66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
2340 | holgerb | 67 | #define MAX_SENDE_BUFF 220 |
68 | #define MAX_EMPFANGS_BUFF 220 |
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1657 | killagreg | 69 | |
70 | #define BLPARAM_REVISION 1 |
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71 | #define MASK_SET_PWM_SCALING 0x01 |
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72 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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73 | #define MASK_SET_TEMP_LIMIT 0x04 |
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74 | #define MASK_SET_CURRENT_SCALING 0x08 |
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75 | #define MASK_SET_BITCONFIG 0x10 |
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76 | #define MASK_RESET_CAPCOUNTER 0x20 |
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77 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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78 | #define MASK_SET_SAVE_EEPROM 0x80 |
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79 | |||
1053 | killagreg | 80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
81 | unsigned char DisplayLine = 0; |
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1 | ingob | 82 | unsigned volatile char SioTmp = 0; |
83 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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84 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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85 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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86 | unsigned volatile char CntCrcError = 0; |
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2516 | holgerb | 87 | unsigned volatile char AnzahlEmpfangsBytes = 0; // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge |
1441 | ingob | 88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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90 | |||
1051 | killagreg | 91 | unsigned char *pRxData = 0; |
92 | unsigned char RxDataLen = 0; |
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1 | ingob | 93 | unsigned volatile char PC_DebugTimeout = 0; |
1212 | hbuss | 94 | unsigned volatile char PC_MotortestActive = 0; |
1636 | ingob | 95 | unsigned char DebugTextAnforderung = 255; |
1051 | killagreg | 96 | |
1 | ingob | 97 | unsigned char PcZugriff = 100; |
1212 | hbuss | 98 | unsigned char MotorTest[16]; |
1036 | hbuss | 99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
595 | hbuss | 100 | unsigned char ConfirmFrame; |
2516 | holgerb | 101 | unsigned char ExternalControlTimeout = 0; |
1 | ingob | 102 | struct str_DebugOut DebugOut; |
2516 | holgerb | 103 | struct str_ExternControl ExternalControl; |
1 | ingob | 104 | struct str_VersionInfo VersionInfo; |
693 | hbuss | 105 | struct str_WinkelOut WinkelOut; |
1171 | hbuss | 106 | struct str_Data3D Data3D; |
1 | ingob | 107 | |
1399 | killagreg | 108 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
1415 | killagreg | 109 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
110 | unsigned int AboTimeOut = 0; |
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1942 | holgerb | 111 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
693 | hbuss | 112 | |
1490 | killagreg | 113 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
499 | hbuss | 114 | { |
1051 | killagreg | 115 | //1234567890123456 |
1175 | hbuss | 116 | "AngleNick ", //0 |
117 | "AngleRoll ", |
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1051 | killagreg | 118 | "AccNick ", |
499 | hbuss | 119 | "AccRoll ", |
1523 | holgerb | 120 | "YawGyro ", |
2316 | holgerb | 121 | "Altitude [0.1m] ", //5 |
499 | hbuss | 122 | "AccZ ", |
123 | "Gas ", |
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1175 | hbuss | 124 | "Compass Value ", |
1528 | holgerb | 125 | "Voltage [0.1V] ", |
1521 | killagreg | 126 | "Receiver Level ", //10 |
127 | "Gyro Compass ", |
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128 | "Motor 1 ", |
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129 | "Motor 2 ", |
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130 | "Motor 3 ", |
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131 | "Motor 4 ", //15 |
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2316 | holgerb | 132 | "16 ", |
133 | "17 ", |
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134 | "18 ", |
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135 | "19 ", |
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2230 | holgerb | 136 | "Servo ", //20 |
1521 | killagreg | 137 | "Hovergas ", |
2230 | holgerb | 138 | "Current [0.1A] ", |
1501 | holgerb | 139 | "Capacity [mAh] ", |
1913 | holgerb | 140 | "Height Setpoint ", |
2316 | holgerb | 141 | "25 ", //25 |
142 | "26 ", //"26 CPU OverLoad ", |
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2437 | holgerb | 143 | "27 ", |
1322 | hbuss | 144 | "I2C-Error ", |
2230 | holgerb | 145 | "BL Limit ", |
720 | ingob | 146 | "GPS_Nick ", //30 |
147 | "GPS_Roll " |
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499 | hbuss | 148 | }; |
2230 | holgerb | 149 | |
2518 | holgerb | 150 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
151 | //++ Calculate checksum |
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152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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153 | unsigned char CalculateDebugLableCrc(void) |
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154 | { |
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155 | unsigned int i; |
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156 | unsigned char crc = 0; |
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157 | for(i=0;i<sizeof(ANALOG_TEXT);i++) crc += pgm_read_word(&ANALOG_TEXT[0][i]); |
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158 | return(crc); |
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159 | } |
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2230 | holgerb | 160 | |
1 | ingob | 161 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
162 | //++ Sende-Part der Datenübertragung |
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163 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1561 | killagreg | 164 | ISR(USART0_TX_vect) |
1 | ingob | 165 | { |
166 | static unsigned int ptr = 0; |
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167 | unsigned char tmp_tx; |
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1783 | killagreg | 168 | |
169 | if(!UebertragungAbgeschlossen) |
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1 | ingob | 170 | { |
171 | ptr++; // die [0] wurde schon gesendet |
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1438 | ingob | 172 | tmp_tx = TxdBuffer[ptr]; |
1 | ingob | 173 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
174 | { |
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2541 | holgerb | 175 | //if(DebugOut.Analog[] < ptr) DebugOut.Analog[] = ptr; |
1 | ingob | 176 | ptr = 0; |
177 | UebertragungAbgeschlossen = 1; |
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178 | } |
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1561 | killagreg | 179 | UDR0 = tmp_tx; |
1051 | killagreg | 180 | } |
2518 | holgerb | 181 | else ptr = 0; |
1 | ingob | 182 | } |
183 | |||
184 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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185 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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186 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1561 | killagreg | 187 | ISR(USART0_RX_vect) |
1 | ingob | 188 | { |
189 | static unsigned int crc; |
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190 | static unsigned char crc1,crc2,buf_ptr; |
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191 | static unsigned char UartState = 0; |
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192 | unsigned char CrcOkay = 0; |
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193 | |||
2230 | holgerb | 194 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
195 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
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1783 | killagreg | 196 | |
1561 | killagreg | 197 | SioTmp = UDR0; |
1783 | killagreg | 198 | |
1438 | ingob | 199 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
1051 | killagreg | 200 | if(SioTmp == '\r' && UartState == 2) |
1 | ingob | 201 | { |
2541 | holgerb | 202 | //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
1 | ingob | 203 | UartState = 0; |
204 | crc -= RxdBuffer[buf_ptr-2]; |
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205 | crc -= RxdBuffer[buf_ptr-1]; |
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206 | crc %= 4096; |
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207 | crc1 = '=' + crc / 64; |
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208 | crc2 = '=' + crc % 64; |
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209 | CrcOkay = 0; |
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210 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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211 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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212 | { |
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1051 | killagreg | 213 | NeuerDatensatzEmpfangen = 1; |
214 | AnzahlEmpfangsBytes = buf_ptr + 1; |
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1 | ingob | 215 | RxdBuffer[buf_ptr] = '\r'; |
2380 | holgerb | 216 | if(RxdBuffer[2] == 'R' && !MotorenEin) |
1232 | hbuss | 217 | { |
1435 | killagreg | 218 | LcdClear(); |
1232 | hbuss | 219 | wdt_enable(WDTO_250MS); // Reset-Commando |
220 | ServoActive = 0; |
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1253 | killagreg | 221 | } |
1051 | killagreg | 222 | } |
1 | ingob | 223 | } |
224 | else |
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225 | switch(UartState) |
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226 | { |
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227 | case 0: |
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228 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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229 | buf_ptr = 0; |
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230 | RxdBuffer[buf_ptr++] = SioTmp; |
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231 | crc = SioTmp; |
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232 | break; |
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233 | case 1: // Adresse auswerten |
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234 | UartState++; |
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235 | RxdBuffer[buf_ptr++] = SioTmp; |
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236 | crc += SioTmp; |
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237 | break; |
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238 | case 2: // Eingangsdaten sammeln |
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239 | RxdBuffer[buf_ptr] = SioTmp; |
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1490 | killagreg | 240 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
1 | ingob | 241 | else UartState = 0; |
2443 | holgerb | 242 | //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
1 | ingob | 243 | crc += SioTmp; |
244 | break; |
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1051 | killagreg | 245 | default: |
246 | UartState = 0; |
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1 | ingob | 247 | break; |
248 | } |
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249 | } |
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250 | |||
251 | |||
252 | // -------------------------------------------------------------------------- |
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253 | void AddCRC(unsigned int wieviele) |
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254 | { |
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1051 | killagreg | 255 | unsigned int tmpCRC = 0,i; |
1 | ingob | 256 | for(i = 0; i < wieviele;i++) |
257 | { |
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1438 | ingob | 258 | tmpCRC += TxdBuffer[i]; |
1 | ingob | 259 | } |
2340 | holgerb | 260 | // if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; |
1 | ingob | 261 | tmpCRC %= 4096; |
1438 | ingob | 262 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
263 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
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264 | TxdBuffer[i++] = '\r'; |
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1 | ingob | 265 | UebertragungAbgeschlossen = 0; |
1561 | killagreg | 266 | UDR0 = TxdBuffer[0]; |
2340 | holgerb | 267 | //if(DebugOut.Analog[] < i) DebugOut.Analog[] = i; |
1 | ingob | 268 | } |
269 | |||
270 | |||
271 | // -------------------------------------------------------------------------- |
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1056 | killagreg | 272 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
1 | ingob | 273 | { |
1051 | killagreg | 274 | va_list ap; |
1 | ingob | 275 | unsigned int pt = 0; |
276 | unsigned char a,b,c; |
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277 | unsigned char ptr = 0; |
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278 | |||
1051 | killagreg | 279 | unsigned char *snd = 0; |
280 | int len = 0; |
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281 | |||
1438 | ingob | 282 | TxdBuffer[pt++] = '#'; // Startzeichen |
283 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
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284 | TxdBuffer[pt++] = cmd; // Commando |
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1 | ingob | 285 | |
1051 | killagreg | 286 | va_start(ap, BufferAnzahl); |
287 | if(BufferAnzahl) |
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288 | { |
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289 | snd = va_arg(ap, unsigned char*); |
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290 | len = va_arg(ap, int); |
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291 | ptr = 0; |
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292 | BufferAnzahl--; |
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293 | } |
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1 | ingob | 294 | while(len) |
295 | { |
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1051 | killagreg | 296 | if(len) |
297 | { |
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298 | a = snd[ptr++]; |
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299 | len--; |
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300 | if((!len) && BufferAnzahl) |
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301 | { |
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302 | snd = va_arg(ap, unsigned char*); |
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303 | len = va_arg(ap, int); |
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304 | ptr = 0; |
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305 | BufferAnzahl--; |
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306 | } |
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307 | } |
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308 | else a = 0; |
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309 | if(len) |
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310 | { |
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311 | b = snd[ptr++]; |
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312 | len--; |
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313 | if((!len) && BufferAnzahl) |
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314 | { |
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315 | snd = va_arg(ap, unsigned char*); |
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316 | len = va_arg(ap, int); |
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317 | ptr = 0; |
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318 | BufferAnzahl--; |
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319 | } |
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320 | } |
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321 | else b = 0; |
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322 | if(len) |
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323 | { |
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324 | c = snd[ptr++]; |
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325 | len--; |
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326 | if((!len) && BufferAnzahl) |
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327 | { |
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328 | snd = va_arg(ap, unsigned char*); |
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329 | len = va_arg(ap, int); |
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330 | ptr = 0; |
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331 | BufferAnzahl--; |
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332 | } |
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333 | } |
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334 | else c = 0; |
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1438 | ingob | 335 | TxdBuffer[pt++] = '=' + (a >> 2); |
336 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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337 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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338 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
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1 | ingob | 339 | } |
1051 | killagreg | 340 | va_end(ap); |
1 | ingob | 341 | AddCRC(pt); |
342 | } |
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343 | |||
344 | // -------------------------------------------------------------------------- |
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1051 | killagreg | 345 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
1 | ingob | 346 | { |
347 | unsigned char a,b,c,d; |
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2230 | holgerb | 348 | unsigned char x,y,z; |
1051 | killagreg | 349 | unsigned char ptrIn = 3; // start at begin of data block |
350 | unsigned char ptrOut = 3; |
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351 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
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352 | |||
2230 | holgerb | 353 | while(len) |
1 | ingob | 354 | { |
355 | a = RxdBuffer[ptrIn++] - '='; |
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356 | b = RxdBuffer[ptrIn++] - '='; |
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357 | c = RxdBuffer[ptrIn++] - '='; |
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358 | d = RxdBuffer[ptrIn++] - '='; |
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359 | |||
2230 | holgerb | 360 | x = (a << 2) | (b >> 4); |
361 | y = ((b & 0x0f) << 4) | (c >> 2); |
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362 | z = ((c & 0x03) << 6) | d; |
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363 | |||
364 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
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365 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
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366 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
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1 | ingob | 367 | } |
1051 | killagreg | 368 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
369 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
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1 | ingob | 370 | |
371 | } |
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372 | |||
373 | // -------------------------------------------------------------------------- |
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374 | void BearbeiteRxDaten(void) |
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375 | { |
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376 | if(!NeuerDatensatzEmpfangen) return; |
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377 | |||
1665 | killagreg | 378 | unsigned char tempchar1, tempchar2; |
1056 | killagreg | 379 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
1055 | ingob | 380 | switch(RxdBuffer[1]-'a') // check for Slave Address |
1054 | killagreg | 381 | { |
382 | case FC_ADDRESS: // FC special commands |
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383 | switch(RxdBuffer[2]) |
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384 | { |
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385 | case 'K':// Kompasswert |
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386 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
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387 | break; |
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388 | case 't':// Motortest |
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1212 | hbuss | 389 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
390 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
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391 | PC_MotortestActive = 240; |
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1065 | killagreg | 392 | //while(!UebertragungAbgeschlossen); |
393 | //SendOutData('T', MeineSlaveAdresse, 0); |
||
1054 | killagreg | 394 | PcZugriff = 255; |
395 | break; |
||
1053 | killagreg | 396 | |
1209 | hbuss | 397 | case 'n':// "Get Mixer |
398 | while(!UebertragungAbgeschlossen); |
||
1622 | killagreg | 399 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
1636 | ingob | 400 | Debug("Mixer lesen"); |
1209 | hbuss | 401 | break; |
402 | |||
403 | case 'm':// "Write Mixer |
||
1622 | killagreg | 404 | if(pRxData[0] == EEMIXER_REVISION) |
1521 | killagreg | 405 | { |
1622 | killagreg | 406 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
407 | MixerTable_WriteToEEProm(); |
||
1211 | hbuss | 408 | tempchar1 = 1; |
1765 | killagreg | 409 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
1521 | killagreg | 410 | } |
1622 | killagreg | 411 | else |
412 | { |
||
413 | tempchar1 = 0; |
||
414 | } |
||
415 | while(!UebertragungAbgeschlossen); |
||
1211 | hbuss | 416 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
1209 | hbuss | 417 | break; |
418 | |||
1054 | killagreg | 419 | case 'p': // get PPM Channels |
420 | GetPPMChannelAnforderung = 1; |
||
1377 | hbuss | 421 | PcZugriff = 255; |
1054 | killagreg | 422 | break; |
1053 | killagreg | 423 | |
1054 | killagreg | 424 | case 'q':// "Get"-Anforderung für Settings |
425 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
2416 | holgerb | 426 | if(!MotorenEin) |
427 | { |
||
1761 | killagreg | 428 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
1054 | killagreg | 429 | { |
1761 | killagreg | 430 | tempchar1 = pRxData[0] - 10; |
431 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
432 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
433 | SetDefaultParameter(tempchar1, 1); |
||
1054 | killagreg | 434 | } |
1761 | killagreg | 435 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
436 | { |
||
437 | tempchar1 = pRxData[0] - 20; |
||
438 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
439 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
440 | SetDefaultParameter(tempchar1, 0); |
||
441 | } |
||
442 | else |
||
443 | { |
||
444 | tempchar1 = pRxData[0]; |
||
445 | if(tempchar1 == 0xFF) |
||
446 | { |
||
447 | tempchar1 = GetActiveParamSet(); |
||
448 | } |
||
449 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
||
450 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
||
451 | // load requested parameter set |
||
452 | ParamSet_ReadFromEEProm(tempchar1); |
||
453 | } |
||
2416 | holgerb | 454 | LipoDetection(0); |
455 | } else tempchar1 = GetActiveParamSet(); |
||
1054 | killagreg | 456 | while(!UebertragungAbgeschlossen); |
1622 | killagreg | 457 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
1636 | ingob | 458 | Debug("Lese Setting %d", tempchar1); |
1054 | killagreg | 459 | break; |
1051 | killagreg | 460 | |
1054 | killagreg | 461 | case 's': // Parametersatz speichern |
1862 | holgerb | 462 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
1054 | killagreg | 463 | { |
1622 | killagreg | 464 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
465 | ParamSet_WriteToEEProm(pRxData[0]); |
||
1054 | killagreg | 466 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
467 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
1622 | killagreg | 468 | tempchar1 = GetActiveParamSet(); |
1054 | killagreg | 469 | } |
1058 | killagreg | 470 | else |
471 | { |
||
472 | tempchar1 = 0; // mark in response an invlid setting |
||
473 | } |
||
474 | while(!UebertragungAbgeschlossen); |
||
475 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 476 | if(!MotorenEin) |
477 | { |
||
478 | Piep(tempchar1,110); |
||
479 | LipoDetection(0); |
||
480 | } |
||
1626 | killagreg | 481 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1054 | killagreg | 482 | break; |
1405 | hbuss | 483 | case 'f': // auf anderen Parametersatz umschalten |
2340 | holgerb | 484 | if(MotorenEin) break; |
1622 | killagreg | 485 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
486 | tempchar1 = GetActiveParamSet(); |
||
1405 | hbuss | 487 | while(!UebertragungAbgeschlossen); |
488 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
||
2390 | holgerb | 489 | if(!MotorenEin) |
490 | { |
||
491 | Piep(tempchar1,110); |
||
492 | LipoDetection(0); |
||
493 | } |
||
1626 | killagreg | 494 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
1405 | hbuss | 495 | break; |
1391 | killagreg | 496 | case 'y':// serial Potis |
2340 | holgerb | 497 | for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1]; |
1391 | killagreg | 498 | break; |
1662 | killagreg | 499 | case 'u': // request BL parameter |
500 | Debug("Reading BL %d", pRxData[0]); |
||
501 | // try to read BL configuration |
||
1665 | killagreg | 502 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
1673 | killagreg | 503 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
504 | else tempchar1 = 0; |
||
505 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
||
1674 | ingob | 506 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
1662 | killagreg | 507 | break; |
508 | case 'w': // write BL parameter |
||
509 | Debug("Writing BL %d", pRxData[0]); |
||
510 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
||
511 | { |
||
512 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
||
1665 | killagreg | 513 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
514 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
||
515 | else tempchar1 = 0; // indicate error |
||
1662 | killagreg | 516 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
1665 | killagreg | 517 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
1662 | killagreg | 518 | } |
519 | break; |
||
1783 | killagreg | 520 | case 'j': |
1942 | holgerb | 521 | if(MotorenEin) break; |
1783 | killagreg | 522 | tempchar1 = LIBFC_GetCPUType(); |
523 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
||
1782 | ingob | 524 | { |
1783 | killagreg | 525 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
1782 | ingob | 526 | |
1783 | killagreg | 527 | cli(); |
1782 | ingob | 528 | |
1783 | killagreg | 529 | // UART0 & UART1 disable RX and TX-Interrupt |
530 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
||
531 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
||
532 | |||
533 | // UART0 & UART1 disable receiver and transmitter |
||
534 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
||
535 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
||
536 | |||
537 | // UART0 & UART1 flush receive buffer explicit |
||
538 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
||
539 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
||
540 | |||
541 | |||
1942 | holgerb | 542 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
543 | else |
||
544 | { // Jeti or HoTT update |
||
545 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
546 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
||
547 | //#endif |
||
548 | ReceiverUpdateModeActive = 1; |
||
1783 | killagreg | 549 | // UART0 & UART1 set baudrate |
550 | UBRR1H = (uint8_t)(ubrr>>8); |
||
551 | UBRR1L = (uint8_t)ubrr; |
||
552 | UBRR0H = UBRR1H; |
||
553 | UBRR0L = UBRR1L; |
||
554 | // UART1 no parity |
||
555 | UCSR1C &= ~(1 << UPM11); |
||
556 | UCSR1C &= ~(1 << UPM10); |
||
557 | // UART1 8-bit |
||
558 | UCSR1B &= ~(1 << UCSZ12); |
||
559 | UCSR1C |= (1 << UCSZ11); |
||
560 | UCSR1C |= (1 << UCSZ10); |
||
561 | } |
||
562 | // UART0 & UART1 1 stop bit |
||
563 | UCSR1C &= ~(1 << USBS1); |
||
564 | UCSR0C &= ~(1 << USBS0); |
||
565 | // UART1 clear 9th bit |
||
566 | UCSR1B &= ~(1<<TXB81); |
||
567 | // enable receiver and transmitter for UART0 and UART1 |
||
568 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
||
569 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
||
570 | // enable RX-Interrupt for UART0 and UART1 |
||
571 | UCSR0B |= (1 << RXCIE0); |
||
572 | UCSR1B |= (1 << RXCIE1); |
||
573 | // disable other Interrupts |
||
574 | TIMSK0 = 0; |
||
575 | TIMSK1 = 0; |
||
576 | TIMSK2 = 0; |
||
577 | |||
578 | sei(); |
||
1777 | ingob | 579 | } |
580 | break; |
||
581 | |||
1056 | killagreg | 582 | } // case FC_ADDRESS: |
1054 | killagreg | 583 | |
584 | default: // any Slave Address |
||
1056 | killagreg | 585 | |
1054 | killagreg | 586 | switch(RxdBuffer[2]) |
587 | { |
||
2437 | holgerb | 588 | #ifdef REDUNDANT_FC_SLAVE |
2418 | holgerb | 589 | static unsigned int clear_I; |
590 | case '?':// Serielle Antwort eines BL-Reglers |
||
591 | tempchar1 = RxdBuffer[1] - ('a'+11); |
||
592 | if(tempchar1 >= MAX_MOTORS) break; |
||
593 | memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
||
594 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
||
2437 | holgerb | 595 | if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH; |
596 | GRN_FLASH; |
||
2418 | holgerb | 597 | if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
598 | { |
||
2437 | holgerb | 599 | ROT_ON; |
2418 | holgerb | 600 | if(clear_I == 0) |
601 | { |
||
602 | SummeNick = 0; |
||
603 | SummeRoll = 0; |
||
604 | Mess_Integral_Gier = 0; |
||
605 | } |
||
606 | clear_I = 500; |
||
607 | } |
||
2535 | holgerb | 608 | Motor[tempchar1].Current = RedundantMotor[tempchar1].Current; |
609 | Motor[tempchar1].MaxPWM = RedundantMotor[tempchar1].State; |
||
610 | Motor[tempchar1].Temperature = RedundantMotor[tempchar1].TemperatureInDeg; |
||
2418 | holgerb | 611 | //DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate; |
612 | //DebugOut.Analog[17]++; |
||
613 | //DebugOut.Analog[18] = tempchar1; |
||
614 | break; |
||
2437 | holgerb | 615 | #endif |
1054 | killagreg | 616 | // 't' comand placed here only for compatibility to BL |
617 | case 't':// Motortest |
||
1662 | killagreg | 618 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
1212 | hbuss | 619 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
1054 | killagreg | 620 | while(!UebertragungAbgeschlossen); |
621 | SendOutData('T', MeineSlaveAdresse, 0); |
||
1212 | hbuss | 622 | PC_MotortestActive = 250; |
1054 | killagreg | 623 | PcZugriff = 255; |
1638 | holgerb | 624 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 625 | break; |
626 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
||
627 | case 'K':// Kompasswert |
||
628 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
||
629 | break; |
||
630 | case 'a':// Texte der Analogwerte |
||
631 | DebugTextAnforderung = pRxData[0]; |
||
632 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
||
633 | PcZugriff = 255; |
||
634 | break; |
||
635 | case 'b': |
||
2526 | holgerb | 636 | if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is valid |
2516 | holgerb | 637 | { |
638 | memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl)); |
||
639 | ConfirmFrame = ExternalControl.Frame; |
||
640 | ExternalControlTimeout = 100; // 2 seconds timeout |
||
641 | } |
||
1054 | killagreg | 642 | break; |
1171 | hbuss | 643 | case 'c': // Poll the 3D-Data |
644 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
||
645 | Intervall3D = pRxData[0] * 10; |
||
1417 | killagreg | 646 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1171 | hbuss | 647 | break; |
1054 | killagreg | 648 | case 'd': // Poll the debug data |
1438 | ingob | 649 | PcZugriff = 255; |
1399 | killagreg | 650 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
1171 | hbuss | 651 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
1415 | killagreg | 652 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1054 | killagreg | 653 | break; |
654 | |||
655 | case 'h':// x-1 Displayzeilen |
||
1059 | hbuss | 656 | PcZugriff = 255; |
1399 | killagreg | 657 | if((pRxData[0] & 0x80) == 0x00) // old format |
658 | { |
||
659 | DisplayLine = 2; |
||
660 | Display_Interval = 0; |
||
661 | } |
||
662 | else // new format |
||
663 | { |
||
664 | RemoteKeys |= ~pRxData[0]; |
||
665 | Display_Interval = (unsigned int)pRxData[1] * 10; |
||
666 | DisplayLine = 4; |
||
1415 | killagreg | 667 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
1399 | killagreg | 668 | } |
1054 | killagreg | 669 | DebugDisplayAnforderung = 1; |
670 | break; |
||
671 | |||
672 | case 'l':// x-1 Displayzeilen |
||
1059 | hbuss | 673 | PcZugriff = 255; |
1054 | killagreg | 674 | MenuePunkt = pRxData[0]; |
675 | DebugDisplayAnforderung1 = 1; |
||
676 | break; |
||
677 | case 'v': // Version-Anforderung und Ausbaustufe |
||
2466 | holgerb | 678 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
679 | if(RxDataLen > 0 && pRxData[0] == 2) GetVersionAnforderung = 2; |
||
680 | else |
||
681 | #endif |
||
1054 | killagreg | 682 | GetVersionAnforderung = 1; |
683 | break; |
||
684 | case 'g':// |
||
685 | GetExternalControl = 1; |
||
686 | break; |
||
1657 | killagreg | 687 | |
688 | default: |
||
689 | //unsupported command received |
||
690 | break; |
||
1054 | killagreg | 691 | } |
692 | break; // default: |
||
693 | } |
||
1051 | killagreg | 694 | NeuerDatensatzEmpfangen = 0; |
695 | pRxData = 0; |
||
696 | RxDataLen = 0; |
||
1 | ingob | 697 | } |
698 | |||
699 | //############################################################################ |
||
700 | //Routine für die Serielle Ausgabe |
||
1444 | ingob | 701 | void uart_putchar (char c) |
1 | ingob | 702 | //############################################################################ |
703 | { |
||
704 | //Warten solange bis Zeichen gesendet wurde |
||
1561 | killagreg | 705 | loop_until_bit_is_set(UCSR0A, UDRE0); |
1 | ingob | 706 | //Ausgabe des Zeichens |
1561 | killagreg | 707 | UDR0 = c; |
1 | ingob | 708 | } |
709 | |||
710 | //############################################################################ |
||
711 | //INstallation der Seriellen Schnittstelle |
||
712 | void UART_Init (void) |
||
713 | //############################################################################ |
||
714 | { |
||
1561 | killagreg | 715 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
716 | |||
1 | ingob | 717 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
1561 | killagreg | 718 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
1 | ingob | 719 | // UART Double Speed (U2X) |
1561 | killagreg | 720 | UCSR0A |= (1 << U2X0); |
1 | ingob | 721 | // RX-Interrupt Freigabe |
1561 | killagreg | 722 | UCSR0B |= (1 << RXCIE0); |
1 | ingob | 723 | // TX-Interrupt Freigabe |
1561 | killagreg | 724 | UCSR0B |= (1 << TXCIE0); |
725 | // USART0 Baud Rate Register |
||
726 | // set clock divider |
||
727 | UBRR0H = (uint8_t)(ubrr >> 8); |
||
728 | UBRR0L = (uint8_t)ubrr; |
||
1 | ingob | 729 | |
1051 | killagreg | 730 | Debug_Timer = SetDelay(DebugDataIntervall); |
731 | Kompass_Timer = SetDelay(220); |
||
732 | |||
1058 | killagreg | 733 | VersionInfo.SWMajor = VERSION_MAJOR; |
734 | VersionInfo.SWMinor = VERSION_MINOR; |
||
735 | VersionInfo.SWPatch = VERSION_PATCH; |
||
736 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
2466 | holgerb | 737 | VersionInfo.BL_Firmware = 255; |
2342 | holgerb | 738 | VersionInfo.HWMajor = PlatinenVersion; |
2518 | holgerb | 739 | VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
1051 | killagreg | 740 | pRxData = 0; |
741 | RxDataLen = 0; |
||
1 | ingob | 742 | } |
743 | |||
744 | //--------------------------------------------------------------------------------------------- |
||
1051 | killagreg | 745 | void DatenUebertragung(void) |
1 | ingob | 746 | { |
2418 | holgerb | 747 | |
1415 | killagreg | 748 | if(!UebertragungAbgeschlossen) return; |
1 | ingob | 749 | |
1415 | killagreg | 750 | if(CheckDelay(AboTimeOut)) |
751 | { |
||
752 | Display_Interval = 0; |
||
753 | DebugDataIntervall = 0; |
||
1417 | killagreg | 754 | Intervall3D = 0; |
1415 | killagreg | 755 | } |
756 | |||
1399 | killagreg | 757 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
1065 | killagreg | 758 | { |
1399 | killagreg | 759 | if(DisplayLine > 3)// new format |
760 | { |
||
1423 | hbuss | 761 | Menu(); |
1399 | killagreg | 762 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
763 | } |
||
764 | else // old format |
||
765 | { |
||
766 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
||
767 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
||
768 | if(DisplayLine++ > 3) DisplayLine = 0; |
||
769 | } |
||
770 | Display_Timer = SetDelay(Display_Interval); |
||
1065 | killagreg | 771 | DebugDisplayAnforderung = 0; |
772 | } |
||
773 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
||
774 | { |
||
775 | Menu(); |
||
776 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
||
777 | DebugDisplayAnforderung1 = 0; |
||
778 | } |
||
779 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
780 | { |
||
2466 | holgerb | 781 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
782 | if(GetVersionAnforderung == 2) // poll version of NC |
||
783 | { |
||
784 | struct str_VersionInfo nc; |
||
785 | nc.SWMajor = NC_Version.Major; |
||
786 | nc.SWMinor = NC_Version.Minor; |
||
787 | nc.SWPatch = NC_Version.Patch; |
||
788 | nc.HWMajor = NC_Version.Hardware; |
||
789 | nc.HardwareError[0] = 0xff; |
||
790 | nc.HardwareError[1] = 0xff; |
||
791 | nc.ProtoMajor = VersionInfo.ProtoMajor; |
||
792 | nc.BL_Firmware = VersionInfo.BL_Firmware; |
||
793 | nc.Flags = VersionInfo.Flags; |
||
2518 | holgerb | 794 | //nc.reserved1 = 0; |
2466 | holgerb | 795 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &nc, sizeof(nc)); |
796 | } |
||
797 | else |
||
798 | #endif |
||
799 | { |
||
800 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
||
801 | } |
||
1065 | killagreg | 802 | GetVersionAnforderung = 0; |
1636 | ingob | 803 | Debug_OK("Version gesendet"); |
1065 | killagreg | 804 | } |
1 | ingob | 805 | |
1065 | killagreg | 806 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
807 | { |
||
2516 | holgerb | 808 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl)); |
1065 | killagreg | 809 | GetExternalControl = 0; |
810 | } |
||
1171 | hbuss | 811 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
1 | ingob | 812 | { |
1639 | holgerb | 813 | CopyDebugValues(); |
1276 | hbuss | 814 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
1 | ingob | 815 | DebugDataAnforderung = 0; |
1055 | ingob | 816 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
1051 | killagreg | 817 | } |
1171 | hbuss | 818 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
819 | { |
||
2373 | holgerb | 820 | Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
821 | Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
1171 | hbuss | 822 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
1685 | holgerb | 823 | Data3D.Centroid[0] = SummeNick >> 9; |
824 | Data3D.Centroid[1] = SummeRoll >> 9; |
||
825 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
||
2518 | holgerb | 826 | Data3D.AccZ = Aktuell_az; |
1171 | hbuss | 827 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
828 | Timer3D = SetDelay(Intervall3D); |
||
829 | } |
||
499 | hbuss | 830 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
831 | { |
||
1490 | killagreg | 832 | unsigned char label[16]; // local sram buffer |
833 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
||
834 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
||
499 | hbuss | 835 | DebugTextAnforderung = 255; |
836 | } |
||
1051 | killagreg | 837 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
595 | hbuss | 838 | { |
1054 | killagreg | 839 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
1051 | killagreg | 840 | ConfirmFrame = 0; |
595 | hbuss | 841 | } |
1051 | killagreg | 842 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
843 | { |
||
1054 | killagreg | 844 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
1051 | killagreg | 845 | GetPPMChannelAnforderung = 0; |
846 | } |
||
2427 | holgerb | 847 | #ifndef REDUNDANT_FC_SLAVE |
2346 | holgerb | 848 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
849 | { |
||
2425 | holgerb | 850 | if(!NaviDataOkay) // no external compass needed |
851 | { |
||
852 | WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
853 | WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
||
854 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
||
855 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
||
856 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
||
857 | } |
||
2346 | holgerb | 858 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
2416 | holgerb | 859 | if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
2346 | holgerb | 860 | else Kompass_Timer = SetDelay(999); |
861 | } |
||
2418 | holgerb | 862 | #endif |
863 | |||
2427 | holgerb | 864 | #ifdef REDUNDANT_FC_SLAVE |
2514 | holgerb | 865 | //if(UebertragungAbgeschlossen || MotorenEin) |
866 | if(UebertragungAbgeschlossen && (CheckDelay(Kompass_Timer) || MotorenEin)) |
||
2418 | holgerb | 867 | { |
2452 | holgerb | 868 | static unsigned char who, request; |
2418 | holgerb | 869 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
2452 | holgerb | 870 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
871 | else request = 0; |
||
2418 | holgerb | 872 | for(i=0; i<RequiredMotors; i++) |
873 | { |
||
2452 | holgerb | 874 | if(request) SendRedundantMotor[0] = who+1; |
875 | else SendRedundantMotor[0] = 0; |
||
2418 | holgerb | 876 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
877 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
||
878 | } |
||
2527 | holgerb | 879 | Kompass_Timer = SetDelay(25); |
2418 | holgerb | 880 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
881 | } |
||
882 | #endif |
||
883 | |||
1636 | ingob | 884 | #ifdef DEBUG // only include functions if DEBUG is defined |
885 | if(SendDebugOutput && UebertragungAbgeschlossen) |
||
886 | { |
||
887 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
||
888 | SendDebugOutput = 0; |
||
889 | } |
||
1654 | killagreg | 890 | #endif |
1 | ingob | 891 | } |
892 | |||
1636 | ingob | 893 |