0,0 → 1,694 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/wdt.h> |
#include <stdarg.h> |
#include <string.h> |
|
#include "eeprom.h" |
#include "main.h" |
#include "menu.h" |
#include "timer0.h" |
#include "uart0.h" |
#include "fc.h" |
#include "rc.h" |
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
#include "ubx.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
|
|
#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
|
#define FALSE 0 |
#define TRUE 1 |
|
//int8_t test __attribute__ ((section (".noinit"))); |
uint8_t Request_VerInfo = FALSE; |
uint8_t Request_ExternalControl = FALSE; |
uint8_t Request_Display = FALSE; |
uint8_t Request_Display1 = FALSE; |
uint8_t Request_DebugData = FALSE; |
uint8_t Request_Data3D = FALSE; |
uint8_t Request_DebugLabel = 255; |
uint8_t Request_PPMChannels = FALSE; |
uint8_t Request_MotorTest = FALSE; |
uint8_t DisplayLine = 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; |
volatile uint8_t *pRxData = 0; |
volatile uint8_t RxDataLen = 0; |
|
uint8_t PcAccess = 100; |
uint8_t MotorTest[4] = {0,0,0,0}; |
uint8_t ConfirmFrame; |
|
typedef struct |
{ |
int16_t Heading; |
} __attribute__((packed)) Heading_t; |
|
DebugOut_t DebugOut; |
Data3D_t Data3D; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
|
uint16_t DebugData_Timer; |
uint16_t Data3D_Timer; |
uint16_t DebugData_Interval = 500; // in 1ms |
uint16_t Data3D_Interval = 0; // in 1ms |
|
#ifdef USE_MK3MAG |
int16_t Compass_Timer; |
#endif |
|
|
const uint8_t ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
"YawGyro ", |
"Height Value ", //5 |
"AccZ ", |
"Gas ", |
"Compass Heading ", |
"Voltage ", |
"Receiver Level ", //10 |
"YawGyro Heading ", |
"Motor Front ", |
"Motor Rear ", |
"Motor Left ", |
"Motor Right ", //15 |
" ", |
" ", |
" ", |
"CompassCalState ", |
"NickServo ", //20 |
" ", |
" ", |
" ", |
" ", |
" ", //25 |
" ", |
"Kalman Max Drift", |
" ", |
" ", |
"GPS Nick ", //30 |
"GPSS 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); |
|
// initialize the debug timer |
DebugData_Timer = SetDelay(DebugData_Interval); |
|
// unlock rxd_buffer |
rxd_buffer_locked = FALSE; |
pRxData = 0; |
RxDataLen = 0; |
|
// no bytes to send |
txd_complete = TRUE; |
|
#ifdef USE_MK3MAG |
Compass_Timer = SetDelay(220); |
#endif |
|
UART_VersionInfo.SWMajor = VERSION_MAJOR; |
UART_VersionInfo.SWMinor = VERSION_MINOR; |
UART_VersionInfo.SWPatch = VERSION_PATCH; |
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
|
// 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 cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
if(CPUType != ATMEGA644P) ubx_parser(c); |
#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[ptr_rxd_buffer] = '\r'; // set termination character |
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
rxd_buffer_locked = TRUE; // lock the rxd buffer |
// 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 addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
{ |
va_list ap; |
uint16_t pt = 0; |
uint8_t a,b,c; |
uint8_t ptr = 0; |
|
uint8_t *pdata = 0; |
int len = 0; |
|
txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
|
va_start(ap, numofbuffers); |
if(numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
|
while(len) |
{ |
if(len) |
{ |
a = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
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); |
} |
va_end(ap); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
|
|
// -------------------------------------------------------------------------- |
void Decode64(void) |
{ |
uint8_t a,b,c,d; |
uint8_t x,y,z; |
uint8_t ptrIn = 3; |
uint8_t ptrOut = 3; |
uint8_t len = ReceivedBytes - 6; |
|
while(len) |
{ |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
//if(ptrIn > ReceivedBytes - 3) break; |
|
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
|
if(len--) rxd_buffer[ptrOut++] = x; else break; |
if(len--) rxd_buffer[ptrOut++] = y; else break; |
if(len--) rxd_buffer[ptrOut++] = z; else break; |
} |
pRxData = &rxd_buffer[3]; |
RxDataLen = ptrOut - 3; |
} |
|
|
// -------------------------------------------------------------------------- |
void USART0_ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if(!rxd_buffer_locked) return; |
|
uint8_t tempchar1, tempchar2; |
|
Decode64(); // decode data block in rxd_buffer |
|
switch(rxd_buffer[1] - 'a') |
{ |
case FC_ADDRESS: |
|
switch(rxd_buffer[2]) |
{ |
#ifdef USE_MK3MAG |
case 'K':// compass value |
CompassHeading = ((Heading_t *)pRxData)->Heading; |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
break; |
#endif |
|
case 't':// motor test |
memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest)); |
//Request_MotorTest = TRUE; |
PcAccess = 255; |
break; |
|
case 'p': // get PPM channels |
Request_PPMChannels = TRUE; |
break; |
|
case 'q':// request settings |
if(pRxData[0] == 0xFF) |
{ |
pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
} |
// limit settings range |
if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
// load requested parameter set |
ParamSet_ReadFromEEProm(pRxData[0]); |
|
tempchar1 = pRxData[0]; |
tempchar2 = EEPARAM_VERSION; |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &ParamSet, sizeof(ParamSet)); |
break; |
|
case 's': // save settings |
if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
{ |
if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_VERSION)) // check for setting to be in range and version of settings |
{ |
memcpy(&ParamSet, (uint8_t*)&pRxData[2], sizeof(ParamSet)); |
ParamSet_WriteToEEProm(pRxData[0]); |
TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
tempchar1 = GetActiveParamSet(); |
Beep(tempchar1); |
} |
else |
{ |
tempchar1 = 0; //indicate bad data |
} |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
} |
break; |
|
default: |
//unsupported command received |
break; |
} // case FC_ADDRESS: |
|
default: // any Slave Address |
|
switch(rxd_buffer[2]) |
{ |
case 'a':// request for labels of the analog debug outputs |
Request_DebugLabel = pRxData[0]; |
if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
PcAccess = 255; |
break; |
|
case 'b': // submit extern control |
memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
ConfirmFrame = ExternControl.Frame; |
PcAccess = 255; |
break; |
|
case 'h':// request for display columns |
PcAccess = 255; |
RemoteKeys |= pRxData[0]; |
if(RemoteKeys) DisplayLine = 0; |
Request_Display = TRUE; |
break; |
|
case 'l':// request for display columns |
PcAccess = 255; |
MenuItem = pRxData[0]; |
Request_Display1 = TRUE; |
break; |
|
case 'v': // request for version and board release |
Request_VerInfo = TRUE; |
break; |
|
case 'g':// get external control data |
Request_ExternalControl = TRUE; |
break; |
|
case 'd': // request for the debug data |
DebugData_Interval = (uint16_t) pRxData[0] * 10; |
if(DebugData_Interval > 0) Request_DebugData = TRUE; |
break; |
|
case 'c': // request for the 3D data |
Data3D_Interval = (uint16_t) pRxData[0] * 10; |
if(Data3D_Interval > 0) Request_Data3D = TRUE; |
break; |
|
default: |
//unsupported command received |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = 0; |
RxDataLen = 0; |
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); |
// send character |
UDR0 = c; |
return (0); |
} |
|
|
//--------------------------------------------------------------------------------------------- |
void USART0_TransmitTxData(void) |
{ |
if(!txd_complete) return; |
|
if(Request_VerInfo && txd_complete) |
{ |
SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
Request_VerInfo = FALSE; |
} |
if(Request_Display && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
DisplayLine++; |
if(DisplayLine >= 4) DisplayLine = 0; |
Request_Display = FALSE; |
} |
if(Request_Display1 && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
Request_Display1 = FALSE; |
} |
if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
{ |
SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), ANALOG_LABEL[Request_DebugLabel], 16); |
Request_DebugLabel = 0xFF; |
} |
if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
{ |
SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
ConfirmFrame = 0; |
} |
if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
{ |
SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
DebugData_Timer = SetDelay(DebugData_Interval); |
Request_DebugData = FALSE; |
} |
if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) |
{ |
SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
Data3D.AngleNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D.AngleRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D.Heading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D_Timer = SetDelay(Data3D_Interval); |
Request_Data3D = FALSE; |
} |
if(Request_ExternalControl && txd_complete) |
{ |
SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
Request_ExternalControl = FALSE; |
} |
|
#ifdef USE_MK3MAG |
if((CheckDelay(Compass_Timer)) && txd_complete) |
{ |
ToMk3Mag.Attitude[0] = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
ToMk3Mag.CalState = CompassCalState; |
SendOutData('w', MK3MAG_ADDRESS, 1,(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(Request_MotorTest && txd_complete) |
{ |
SendOutData('T', FC_ADDRESS, 0); |
Request_MotorTest = FALSE; |
} |
if(Request_PPMChannels && txd_complete) |
{ |
SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
Request_PPMChannels = FALSE; |
} |
} |
|