| 62,6 → 62,10 |
|---|
| #include "timer0.h" |
| #include "twislave.h" |
| |
| // slave addresses |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| 76,11 → 80,14 |
|---|
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| |
| #define VERSION_INFO 0x01 |
| #define DEBUG_DATA 0x02 |
| #define DEBUG_LABEL 0x04 |
| #define COMPASS_HEADING 0x08 |
| // send flags |
| #define RQST_VERSION_INFO 0x01 |
| #define RQST_DEBUG_DATA 0x02 |
| #define RQST_DEBUG_LABEL 0x04 |
| #define RQST_COMPASS_HEADING 0x08 |
| #define RQST_EXTERN_CTRL 0x10 |
| |
| |
| uint8_t RequestFlags = 0x00; |
| uint8_t RequestDebugLabel = 0; |
| |
| 87,7 → 94,7 |
|---|
| uint8_t PC_Connected = 0; |
| uint8_t FC_Connected = 0; |
| |
| uint8_t MySlaveAddr = 0; |
| uint8_t MySlaveAddr = MK3MAG_ADDRESS; |
| |
| |
| DebugOut_t DebugOut; |
| 203,6 → 210,7 |
|---|
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| |
| MySlaveAddr = MK3MAG_ADDRESS; |
| |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| USART0_putchar ('\n'); |
| 420,14 → 428,15 |
|---|
| |
| switch(rxd_buffer[2]) |
| { |
| case 'w':// Attitude |
| case 'w':// Attitude info from FC |
| Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| RequestFlags |= COMPASS_HEADING; |
| RequestFlags |= RQST_COMPASS_HEADING; |
| AttitudeSource = ATTITUDE_SOURCE_UART; |
| Orientation = ExternData.Orientation; |
| FC_Connected = 255; |
| break; |
| |
| // used only for debug proposes at serial port |
| case 'b': // extern control |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
| 442,17 → 451,22 |
|---|
| ExternData.CalState++; |
| if(ExternData.CalState == 6) ExternData.CalState = 0; |
| } |
| //ExternData.Attitude[0] = ExternControl.Par1; |
| //ExternData.Attitude[1] = ExternControl.Par2; |
| PC_Connected = 255; |
| break; |
| |
| // get debug values |
| case 'f': |
| RequestFlags |= RQST_DEBUG_DATA; |
| PC_Connected = 255; |
| break; |
| |
| // no reaction for display line request |
| case 'h':// x-1 display columns |
| PC_Connected = 255; |
| break; |
| |
| case 'v': // get version and board release |
| RequestFlags |= VERSION_INFO; |
| RequestFlags |= RQST_VERSION_INFO; |
| PC_Connected = 255; |
| break; |
| |
| 459,12 → 473,12 |
|---|
| case 'a':// Labels of the Analog Debug outputs |
| Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
| RequestDebugLabel = tmp_char_arr2[0]; |
| RequestFlags |= DEBUG_LABEL; |
| RequestFlags |= RQST_DEBUG_LABEL; |
| PC_Connected = 255; |
| break; |
| |
| case 'g':// get debug data |
| RequestFlags |= DEBUG_DATA; |
| case 'g':// get extern control data |
| RequestFlags |= RQST_EXTERN_CTRL; |
| PC_Connected = 255; |
| break; |
| } |
| 481,38 → 495,39 |
|---|
| |
| if(!txd_complete) return; |
| |
| if(CheckDelay(Debug_Timer)) |
| if(CheckDelay(Debug_Timer) || (RequestFlags & RQST_DEBUG_DATA)) |
| { |
| SetDebugValues(); |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(250); |
| RequestFlags &= ~RQST_DEBUG_DATA; |
| } |
| |
| if(RequestFlags & DEBUG_LABEL) |
| if(RequestFlags & RQST_DEBUG_LABEL) |
| { |
| SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| RequestDebugLabel = 255; |
| RequestFlags &= ~DEBUG_LABEL; |
| RequestFlags &= ~RQST_DEBUG_LABEL; |
| Debug_Timer = SetDelay(500); |
| } |
| |
| if(RequestFlags & VERSION_INFO) |
| if(RequestFlags & RQST_VERSION_INFO) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
| RequestFlags &= ~VERSION_INFO; |
| RequestFlags &= ~RQST_VERSION_INFO; |
| } |
| |
| if(RequestFlags & DEBUG_DATA) |
| if(RequestFlags & RQST_EXTERN_CTRL) |
| { |
| SetDebugValues(); |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestFlags &= ~DEBUG_DATA; |
| RequestFlags &= ~RQST_EXTERN_CTRL; |
| } |
| |
| if(RequestFlags & COMPASS_HEADING) |
| if(RequestFlags & RQST_COMPASS_HEADING) |
| { |
| SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
| RequestFlags &= ~COMPASS_HEADING; |
| RequestFlags &= ~RQST_COMPASS_HEADING; |
| } |
| } |
| |