Subversion Repositories MK3Mag

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12 hbuss 1
/*#######################################################################################
2
MK3Mag 3D-Magnet sensor
19 killagreg 3
!!! THIS IS NOT FREE SOFTWARE !!!
12 hbuss 4
#######################################################################################*/
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Copyright (c) 05.2008 Holger Buss
7
// + Thanks to Ilja Fähnrich (P_Latzhalter)
1 ingob 8
// + Nur für den privaten Gebrauch
12 hbuss 9
// + www.MikroKopter.com
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 11
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
12 hbuss 12
// + mit unserer Zustimmung zulässig
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 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.
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
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24
// + eindeutig als Ursprung verlinkt werden
25
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27
// + Benutzung auf eigene Gefahr
28
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
12 hbuss 33
// + this list of conditions and the following disclaimer.
34
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36
// +     from this software without specific prior written permission.
19 killagreg 37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
12 hbuss 38
// +     for non-commercial use (directly or indirectly)
19 killagreg 39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
12 hbuss 40
// +     with our written permission
41
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
42
// +     In case of doubt please contact: info@MikroKopter.de
19 killagreg 43
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
44
// +     clearly linked as origin
12 hbuss 45
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
19 killagreg 55
// +  POSSIBILITY OF SUCH DAMAGE.
12 hbuss 56
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 57
#include <avr/io.h>
58
#include <avr/interrupt.h>
59
#include <avr/wdt.h>
1 ingob 60
#include "main.h"
61
#include "uart.h"
19 killagreg 62
#include "timer0.h"
63
#include "twislave.h"
1 ingob 64
 
65
 
19 killagreg 66
#define FALSE   0
67
#define TRUE    1
1 ingob 68
 
29 killagreg 69
// keep buffers as small as possible
23 killagreg 70
#define TXD_BUFFER_LEN  100
29 killagreg 71
#define RXD_BUFFER_LEN  30
1 ingob 72
 
19 killagreg 73
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
74
volatile uint8_t rxd_buffer_locked = FALSE;
75
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
76
volatile uint8_t txd_complete = TRUE;
77
volatile uint8_t ReceivedBytes = 0;
1 ingob 78
 
23 killagreg 79
#define VERSION_INFO    0x01
80
#define DEBUG_DATA              0x02
81
#define DEBUG_LABEL             0x04
82
#define COMPASS_HEADING 0x08
21 killagreg 83
 
23 killagreg 84
uint8_t RequestFlags = 0x00;
85
uint8_t RequestDebugLabel = 0;
21 killagreg 86
 
29 killagreg 87
uint8_t PC_Connected = 0;
88
uint8_t FC_Connected = 0;
3 ingob 89
 
19 killagreg 90
uint8_t MySlaveAddr = 0;
1 ingob 91
 
19 killagreg 92
 
23 killagreg 93
struct DebugOut_t               DebugOut;
94
struct ExternData_t             ExternData;
95
struct ExternControl_t  ExternControl;
96
struct VersionInfo_t    VersionInfo;
19 killagreg 97
 
98
uint16_t  Debug_Timer;
99
 
100
const uint8_t ANALOG_LABEL[32][16] =
1 ingob 101
{
7 hbuss 102
   //1234567890123456
19 killagreg 103
    "Magnet X        ", //0
104
    "Magnet Y        ",
7 hbuss 105
    "Magnet Z        ",
28 killagreg 106
    "RawMagnet X     ",
107
    "RawMagnet Y     ",
108
    "RawMagnet Z     ", //5
19 killagreg 109
    "Attitude Nick   ",
110
    "Attitude Roll   ",
28 killagreg 111
    "Magnet X Offset ",
112
    "Magnet X Range  ",
113
    "Magnet Y Offset ", //10
114
    "Magnet Y Range  ",
115
    "Magnet Z Offset ",
116
    "Magnet Z Range  ",
7 hbuss 117
    "Calstate        ",
21 killagreg 118
    "Heading         ", //15
5 hbuss 119
    "User0           ",
120
    "User1           ",
28 killagreg 121
    "Acc X           ",
122
    "Acc Y           ",
123
    "Acc Z           ", //20
124
    "RawAcc X        ",
125
    "RawAcc Y        ",
126
    "RawAcc Z        ",
127
    "Acc X Offset    ",
128
    "Acc Y Offset    ", //25
129
    "Acc Z Offset    ",
7 hbuss 130
    "Analog27        ",
131
    "Analog28        ",
132
    "Analog29        ",
26 killagreg 133
    "I2C Error       ", //30
134
    "I2C Okay        "
1 ingob 135
};
136
 
137
 
19 killagreg 138
/****************************************************************/
139
/*              Initialization of the USART0                    */
140
/****************************************************************/
141
void USART0_Init (void)
142
{
29 killagreg 143
        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1);
19 killagreg 144
 
145
        // disable all interrupts before configuration
146
        cli();
147
 
148
        // disable RX-Interrupt
149
        UCSR0B &= ~(1 << RXCIE0);
150
        // disable TX-Interrupt
151
        UCSR0B &= ~(1 << TXCIE0);
152
 
153
        // set direction of RXD0 and TXD0 pins
154
 
22 killagreg 155
        // set RXD0 (PD0) as an input pin tristate
19 killagreg 156
        DDRD  &= ~(1 << DDD0);
22 killagreg 157
        PORTD &= ~(1 << PORTD0);
19 killagreg 158
        // set TXD0 (PD1) as an output pin
159
        DDRD  |= (1 << DDD1);
22 killagreg 160
        PORTD &= ~(1 << PORTD1);
19 killagreg 161
 
22 killagreg 162
 
19 killagreg 163
        // USART0 Baud Rate Register
164
        // set clock divider
165
        UBRR0H = (uint8_t)(ubrr >> 8);
166
        UBRR0L = (uint8_t)ubrr;
167
 
168
        // USART0 Control and Status Register A, B, C
169
 
21 killagreg 170
        // enable double speed operation
19 killagreg 171
        UCSR0A |= (1 << U2X0);
22 killagreg 172
 
19 killagreg 173
        // set asynchronous mode
174
        UCSR0C &= ~(1 << UMSEL01);
175
        UCSR0C &= ~(1 << UMSEL00);
176
        // no parity
177
        UCSR0C &= ~(1 << UPM01);
178
        UCSR0C &= ~(1 << UPM00);
179
        // 1 stop bit
180
        UCSR0C &= ~(1 << USBS0);
181
        // 8-bit
182
        UCSR0B &= ~(1 << UCSZ02);
183
        UCSR0C |=  (1 << UCSZ01);
184
        UCSR0C |=  (1 << UCSZ00);
185
 
22 killagreg 186
        // enable receiver and transmitter
187
        UCSR0B |= (1 << RXEN0);
188
        UCSR0B |= (1 << TXEN0);
189
 
19 killagreg 190
        // flush receive buffer
191
        while ( UCSR0A & (1<<RXC0) ) UDR0;
192
 
193
        // enable RX-Interrupt
194
        UCSR0B |= (1 << RXCIE0);
195
        // enable TX-Interrupt
196
        UCSR0B |= (1 << TXCIE0);
197
 
198
        rxd_buffer_locked = FALSE;
199
        txd_complete = TRUE;
200
 
201
 
202
        VersionInfo.Major = VERSION_MAJOR;
203
        VersionInfo.Minor = VERSION_MINOR;
204
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
205
 
22 killagreg 206
 
207
    // Version beim Start ausgeben (nicht schön, aber geht... )
29 killagreg 208
        USART0_putchar ('\n');
209
        USART0_putchar ('C');
210
        USART0_putchar ('P');
211
        USART0_putchar (':');
212
        USART0_putchar ('V');
213
        USART0_putchar (0x30 + VERSION_MAJOR);
214
        USART0_putchar ('.');
215
        USART0_putchar (0x30 + VERSION_MINOR/10);
216
        USART0_putchar (0x30 + VERSION_MINOR%10);
217
    USART0_putchar ('\n');
19 killagreg 218
}
219
 
220
// ---------------------------------------------------------------------------------
221
void USART0_EnableTXD(void)
1 ingob 222
{
22 killagreg 223
        DDRD |= (1<<DDD1);                      // set TXD pin as output
224
        PORTD &= ~(1 << PORTD1);
19 killagreg 225
        UCSR0B |= (1 << TXEN0);         // enable TX in USART
22 killagreg 226
        UCSR0B |= (1 << TXCIE0);        // disable TX-Interrupt
1 ingob 227
}
228
 
19 killagreg 229
// ---------------------------------------------------------------------------------
230
void USART0_DisableTXD(void)
1 ingob 231
{
21 killagreg 232
        while(!txd_complete){ };
233
 
22 killagreg 234
        UCSR0B &= ~(1 << TXCIE0);   // disable TX-Interrupt
19 killagreg 235
        UCSR0B &= ~(1 << TXEN0);        // disable TXD in USART
236
        DDRD &= ~(1<<DDD1);             // set TXD pin as input
22 killagreg 237
        PORTD &= ~(1 << PORTD1);
1 ingob 238
}
239
 
19 killagreg 240
/****************************************************************/
241
/*               USART0 transmitter ISR                         */
242
/****************************************************************/
243
ISR(USART_TX_vect)
1 ingob 244
{
19 killagreg 245
        static uint16_t ptr_txd_buffer = 0;
246
        uint8_t tmp_tx;
247
        if(!txd_complete) // transmission not completed
248
        {
249
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
250
                tmp_tx = txd_buffer[ptr_txd_buffer];
251
                // if terminating character or end of txd buffer was reached
252
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
253
                {
254
                        ptr_txd_buffer = 0; // reset txd pointer
21 killagreg 255
                        txd_complete = TRUE; // stop transmission
19 killagreg 256
                }
257
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
258
        }
259
        // transmission completed
260
        else ptr_txd_buffer = 0;
261
}
1 ingob 262
 
19 killagreg 263
/****************************************************************/
264
/*               USART0 receiver ISR                            */
265
/****************************************************************/
266
ISR(USART_RX_vect)
267
{
268
        static uint16_t crc;
269
        uint8_t crc1, crc2;
270
        uint8_t c;
21 killagreg 271
        static uint8_t ptr_rxd_buffer = 0;
1 ingob 272
 
19 killagreg 273
        c = UDR0;  // catch the received byte
1 ingob 274
 
19 killagreg 275
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
276
 
277
        // the rxd buffer is unlocked
278
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
279
        {
280
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
281
                crc = c; // init crc
282
        }
283
        #if 0
284
        else if (ptr_rxd_buffer == 1) // handle address
285
        {
286
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
287
                crc += c; // update crc
288
        }
289
        #endif
290
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
291
        {
292
                if(c != '\r') // no termination character
293
                {
294
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
295
                        crc += c; // update crc
296
                }
297
                else // termination character was received
298
                {
299
                        // the last 2 bytes are no subject for checksum calculation
300
                        // they are the checksum itself
301
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
302
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
303
                        // calculate checksum from transmitted data
304
                        crc %= 4096;
305
                        crc1 = '=' + crc / 64;
306
                        crc2 = '=' + crc % 64;
307
                        // compare checksum to transmitted checksum bytes
308
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
309
                        {   // checksum valid
310
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
311
                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
312
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
313
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
314
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
315
                        }
316
                        else
317
                        {       // checksum invalid
318
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
319
                        }
320
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
321
                }
322
        }
323
        else // rxd buffer overrun
324
        {
325
                ptr_rxd_buffer = 0; // reset rxd buffer
326
                rxd_buffer_locked = FALSE; // unlock rxd buffer
327
        }
1 ingob 328
}
329
 
330
 
19 killagreg 331
// --------------------------------------------------------------------------
332
void AddCRC(uint16_t datalen)
1 ingob 333
{
19 killagreg 334
        uint16_t tmpCRC = 0, i;
335
        for(i = 0; i < datalen; i++)
336
        {
337
                tmpCRC += txd_buffer[i];
338
        }
339
        tmpCRC %= 4096;
340
        txd_buffer[i++] = '=' + tmpCRC / 64;
341
        txd_buffer[i++] = '=' + tmpCRC % 64;
342
        txd_buffer[i++] = '\r';
343
        txd_complete = FALSE;
344
        UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
345
}
1 ingob 346
 
347
 
348
 
349
// --------------------------------------------------------------------------
19 killagreg 350
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
1 ingob 351
{
19 killagreg 352
        uint16_t pt = 0;
353
        uint8_t a,b,c;
354
        uint8_t ptr = 0;
355
 
356
        txd_buffer[pt++] = '#';         // Start character
357
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
358
        txd_buffer[pt++] = cmd;         // Command
359
 
360
        while(len)
361
        {
362
                if(len) { a = snd[ptr++]; len--;} else a = 0;
363
                if(len) { b = snd[ptr++]; len--;} else b = 0;
364
                if(len) { c = snd[ptr++]; len--;} else c = 0;
365
                txd_buffer[pt++] = '=' + (a >> 2);
366
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
367
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
368
                txd_buffer[pt++] = '=' + ( c & 0x3f);
369
        }
370
        AddCRC(pt); // add checksum after data block and initates the transmission
1 ingob 371
}
372
 
373
 
374
// --------------------------------------------------------------------------
19 killagreg 375
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
1 ingob 376
{
19 killagreg 377
        uint8_t a,b,c,d;
378
        uint8_t ptr = 0;
379
        uint8_t x,y,z;
380
        while(len)
381
        {
382
                a = rxd_buffer[ptrIn++] - '=';
383
                b = rxd_buffer[ptrIn++] - '=';
384
                c = rxd_buffer[ptrIn++] - '=';
385
                d = rxd_buffer[ptrIn++] - '=';
386
                if(ptrIn > max - 2) break;
1 ingob 387
 
19 killagreg 388
                x = (a << 2) | (b >> 4);
389
                y = ((b & 0x0f) << 4) | (c >> 2);
390
                z = ((c & 0x03) << 6) | d;
391
 
392
                if(len--) ptrOut[ptr++] = x; else break;
393
                if(len--) ptrOut[ptr++] = y; else break;
394
                if(len--) ptrOut[ptr++] = z; else break;
395
        }
1 ingob 396
}
397
 
398
 
19 killagreg 399
// --------------------------------------------------------------------------
29 killagreg 400
int16_t USART0_putchar (int8_t c)
1 ingob 401
{
19 killagreg 402
        // if tx is not enabled return immediatly
403
        if(!(UCSR0B & (1 << TXEN0))) return (0);
29 killagreg 404
        if (c == '\n') USART0_putchar('\r');
19 killagreg 405
        // wait until previous character was send
406
        loop_until_bit_is_set(UCSR0A, UDRE0);
407
        // send character
408
        UDR0 = c;
1 ingob 409
        return (0);
410
}
411
 
19 killagreg 412
 
1 ingob 413
// --------------------------------------------------------------------------
19 killagreg 414
void USART0_ProcessRxData(void)
1 ingob 415
{
19 killagreg 416
        // if data in the rxd buffer are not locked immediately return
417
        if(!rxd_buffer_locked) return;
1 ingob 418
 
19 killagreg 419
        uint8_t tmp_char_arr2[2]; // local char buffer
1 ingob 420
 
19 killagreg 421
        switch(rxd_buffer[2])
422
        {
423
           case 'w':// Attitude
424
                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
29 killagreg 425
                        RequestFlags |= COMPASS_HEADING;
28 killagreg 426
                        AttitudeSource = ATTITUDE_SOURCE_UART;
29 killagreg 427
                        Orientation = ExternData.Orientation;
428
                        FC_Connected = 255;
19 killagreg 429
                        break;
1 ingob 430
 
19 killagreg 431
                case 'b': // extern control
432
                case 'c': // extern control with debug request
433
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
21 killagreg 434
                        #define KEY1    0x01
435
                        #define KEY2    0x02
436
                        #define KEY3    0x04
437
                        #define KEY4    0x08
438
                        #define KEY5    0x10
439
                        // use right arrow at display for switching the calstate
440
                        if(ExternControl.RemoteButtons & KEY2)
441
                        {
442
                                ExternData.CalState++;
443
                                if(ExternData.CalState == 6) ExternData.CalState = 0;
444
                        }
26 killagreg 445
                        //ExternData.Attitude[0] = ExternControl.Par1;
446
            //ExternData.Attitude[1] = ExternControl.Par2;
21 killagreg 447
            PC_Connected = 255;
19 killagreg 448
                        break;
1 ingob 449
 
19 killagreg 450
                case 'h':// x-1 display columns
451
                        PC_Connected = 255;
452
                        break;
1 ingob 453
 
19 killagreg 454
                case 'v': // get version and board release
23 killagreg 455
                        RequestFlags |= VERSION_INFO;
19 killagreg 456
                        PC_Connected = 255;
457
                        break;
458
 
459
                case 'a':// Labels of the Analog Debug outputs
460
                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
461
                        RequestDebugLabel = tmp_char_arr2[0];
23 killagreg 462
                        RequestFlags |= DEBUG_LABEL;
19 killagreg 463
                        PC_Connected = 255;
464
                        break;
465
 
466
                case 'g':// get debug data
23 killagreg 467
                        RequestFlags |= DEBUG_DATA;
19 killagreg 468
                        PC_Connected = 255;
469
                        break;
470
        }
471
        // unlock the rxd buffer after processing
472
        rxd_buffer_locked = FALSE;
1 ingob 473
}
474
 
475
 
19 killagreg 476
 
477
//---------------------------------------------------------------------------------------------
478
void USART0_TransmitTxData(void)
1 ingob 479
{
19 killagreg 480
        if(!(UCSR0B & (1 << TXEN0))) return;
1 ingob 481
 
19 killagreg 482
        if(!txd_complete) return;
1 ingob 483
 
23 killagreg 484
    if(CheckDelay(Debug_Timer))
19 killagreg 485
    {
486
                SetDebugValues();
487
                SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
488
                Debug_Timer = SetDelay(250);
489
    }
1 ingob 490
 
23 killagreg 491
    if(RequestFlags & DEBUG_LABEL)
19 killagreg 492
    {
493
                SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
494
                RequestDebugLabel = 255;
23 killagreg 495
                RequestFlags &= ~DEBUG_LABEL;
19 killagreg 496
        }
1 ingob 497
 
23 killagreg 498
        if(RequestFlags & VERSION_INFO)
19 killagreg 499
    {
500
                SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo));
23 killagreg 501
                RequestFlags &= ~VERSION_INFO;
19 killagreg 502
    }
503
 
23 killagreg 504
        if(RequestFlags & DEBUG_DATA)
19 killagreg 505
        {
506
                SetDebugValues();
507
                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
23 killagreg 508
                RequestFlags &= ~DEBUG_DATA;
19 killagreg 509
        }
510
 
23 killagreg 511
    if(RequestFlags & COMPASS_HEADING)
19 killagreg 512
        {
513
                SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading));
23 killagreg 514
                RequestFlags &= ~COMPASS_HEADING;
19 killagreg 515
        }
1 ingob 516
}
29 killagreg 517
 
518
 
519
void USART0_Print(int8_t *msg)
520
{
521
        uint8_t i = 0;
522
        while(msg[i] != 0)
523
        {
524
                USART0_putchar(msg[i++]);
525
        }
526
}