| 0,0 → 1,517 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| |
| #include "eeprom.h" |
| #include "main.h" |
| #include "menu.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "fc.h" |
| #include "_Settings.h" |
| #include "rc.h" |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| #include "ubx.h" |
| #endif |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| |
| |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t RequestVerInfo = FALSE; |
| uint8_t RequestExternalControl = FALSE; |
| uint8_t RequestDisplay = FALSE; |
| uint8_t RequestDebugData = FALSE; |
| uint8_t RequestDebugLabel = 255; |
| uint8_t RequestChannelOnly = FALSE; |
| uint8_t RemotePollDisplayLine = 0; |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| |
| |
| uint8_t PcAccess = 100; |
| uint8_t MotorTest[4] = {0,0,0,0}; |
| uint8_t DubWiseKeys[4] = {0,0,0,0}; |
| uint8_t MySlaveAddr = 0; |
| uint8_t ConfirmFrame; |
| |
| DebugOut_t DebugOut; |
| ExternControl_t ExternControl; |
| VersionInfo_t VersionInfo; |
| |
| int16_t Debug_Timer; |
| |
| #ifdef USE_MK3MAG |
| int16_t Compass_Timer; |
| #endif |
| |
| |
| const uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroYaw ", |
| "ReadingHeight ", //5 |
| "AccZ ", |
| "Gas ", |
| "CompassHeading ", |
| "Voltage ", |
| "Receiver Level ", //10 |
| "YawGyroHeading ", |
| "Motor_Front ", |
| "Motor_Rear ", |
| "Motor_Right ", |
| "Motor_Left ", //15 |
| "Acc_Z ", |
| "SPI Error ", |
| "SPI Ok ", |
| " ", |
| "Servo ", //20 |
| "Nick ", |
| "Roll ", |
| " ", |
| " ", |
| " ", //25 |
| " ", |
| " ", |
| " ", |
| " ", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| |
| |
| |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| |
| // disable all interrupts before configuration |
| cli(); |
| |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| |
| // USART0 Control and Status Register A, B, C |
| |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| |
| rxd_buffer_locked = FALSE; |
| txd_complete = TRUE; |
| |
| Debug_Timer = SetDelay(200); |
| |
| #ifdef USE_MK3MAG |
| Compass_Timer = SetDelay(220); |
| #endif |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| |
| c = UDR0; // catch the received byte |
| |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) ubx_parser(c); |
| #else |
| ubx_parser(c); |
| #endif |
| #endif |
| |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| } |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| { |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| { |
| uint8_t a,b,c,d; |
| uint8_t ptr = 0; |
| uint8_t x,y,z; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void USART0_ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| uint16_t tmp_int_arr1[1]; // local int buffer |
| #endif |
| uint8_t tmp_char_arr2[2]; // local char buffer |
| |
| |
| switch(rxd_buffer[2]) |
| { |
| #ifdef USE_MK3MAG |
| case 'K':// Compass value |
| Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| CompassHeading = tmp_int_arr1[0]; |
| CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| break; |
| #endif |
| 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]; |
| PcAccess = 255; |
| break; |
| case 'b': // extern control |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| RequestDebugData = TRUE; |
| PcAccess = 255; |
| break; |
| case 'h':// x-1 display columns |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| RemoteButtons |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE; |
| else RequestChannelOnly = FALSE; // keine Displaydaten |
| RequestDisplay = TRUE; |
| break; |
| case 't':// motor test |
| Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
| PcAccess = 255; |
| break; |
| case 'k':// keys from DubWise |
| Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
| ConfirmFrame = DubWiseKeys[3]; |
| PcAccess = 255; |
| break; |
| case 'v': // get version and board release |
| RequestVerInfo = TRUE; |
| break; |
| case 'g':// get external control data |
| RequestExternalControl = TRUE; |
| break; |
| case 'q':// get settings |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| while(!txd_complete); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
| SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| } |
| else // send active parameter set |
| SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| |
| break; |
| |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // save parameterset |
| Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
| ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
| TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| Beep(GetActiveParamSet()); |
| break; |
| |
| |
| } |
| // unlock the rxd buffer after processing |
| rxd_buffer_locked = FALSE; |
| } |
| |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int16_t uart_putchar (int8_t c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| return (0); |
| } |
| |
| |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!txd_complete) return; |
| |
| if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestExternalControl = FALSE; |
| } |
| |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108); // approx. 0,1 Deg |
| ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
| ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| ToMk3Mag.CalState = CompassCalState; |
| SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(CompassCalState > 4) CompassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| } |
| #endif |
| |
| if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete) |
| { |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| RequestDebugData = FALSE; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| |
| if(RequestDebugLabel != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| RequestDebugLabel = 255; |
| } |
| if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
| { |
| txd_buffer[0] = '#'; |
| txd_buffer[1] = ConfirmFrame; |
| txd_buffer[2] = '\r'; |
| txd_complete = 0; |
| ConfirmFrame = 0; |
| UDR0 = txd_buffer[0]; |
| } |
| if(RequestDisplay && txd_complete) |
| { |
| LCD_PrintMenu(); |
| RequestDisplay = FALSE; |
| if(++RemotePollDisplayLine == 4 || RequestChannelOnly) |
| { |
| SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(RequestVerInfo && txd_complete) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
| RequestVerInfo = FALSE; |
| } |
| |
| } |
| |