| 0,0 → 1,625 |
|---|
| /************************************************************************************************************************************** |
| * File: uart.c |
| * |
| * Purpose: This program treats the RS232 USRAT interface |
| * |
| * Functions: void UART_Init(void) |
| * ISR(USART0_TX_vect) |
| * ISR(USART0_RX_vect) |
| * void AddCRC(unsigned int wieviele) |
| * void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
| * void Decode64(void) |
| * void BearbeiteRxDaten(void) |
| * int uart_putchar(char c) |
| * void DatenUebertragung(void) |
| * |
| ******************************************************************************************************************************************/ |
| #include "main.h" |
| #include "uart.h" |
| |
| #include <stdarg.h> |
| #include <string.h> |
| |
| //------------------------ Definitionen --------- |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| |
| //---------------------------------------------Variables------- |
| unsigned char GetExternalControl = 0; |
| unsigned char DebugDisplayAnforderung1 = 0; |
| unsigned char DebugDisplayAnforderung = 0; |
| unsigned char DebugDataAnforderung = 0; |
| unsigned char GetVersionAnforderung = 0; |
| unsigned char GetPPMChannelAnforderung = 0; |
| |
| unsigned char DisplayLine = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| |
| int Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
| |
| //---------------------------------------structs---------- |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| |
| |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 // -------------------------------------------------------------// siehe "Debugwerte zuordnen" in fc.c Zeile 1270 |
| "3D Nick-Winkel ", // 0 = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); // = Winkel * 10 |
| "AccNick ", // 1 = Mittelwert_AccNick / 4; // = so um die Null |
| "maxcontrollerDD ", // 2 = // = so um die Null |
| "mincontrollerDD ", // 3 = // = so um die Null |
| "MesswertNick ", // 4 = MesswertGier; // = -450 |
| "HiResNick ", // 5 = auf Null bezogener Gyro Nickwert // = so um die Null |
| "AdWertAccNick ", // 6 = // = 713 |
| "Gas = thrust ", // 7 = Gas // = min 72 max 840 entspricht der Gashebelstellung |
| " ", // 8 = // = 0 bis 360 Grad jenachdem wie der MK steht |
| "Spannung V ", // 9 = UBat; // = 120 bei 12V |
| "Empfang ", // 10 = SenderOkay; // = 0 wenn Sender aus und ca 200 wenn Sender an |
| "controllerP ", // 11 = controllerP // = dreht sich im Kreis - Umlauf 40 sec |
| "Motor vorne ", // 12 = Motor[0] // = 0 // wird in SendMotorData(void) hier in fc.c zugewiesen |
| "Motor hinten ", // 13 = Motor[1] // = 0 |
| "controllerD ", // 14 = // = 0 |
| "controllerDD ", // 15 = // = 0 |
| "PPM_in[3] Nick ", // 16 = // = -120...+120 // ab hier beginjnt der zweite Teil der Anzeige ------------ |
| "ipk[0] ", // 17 = // = |
| "ipk[1] ", // 18 = // = |
| "ipk[2] ", // 19 = // = |
| "ucflg1 ", // 20 = // = |
| "Stick Kanal 5 ", // 21 = PPM_in[5] // = ca -120 oder +120 |
| "MesswertNick ", // 22 = MesswertNick; // = 0 |
| "maxcontrollerD ", // 23 = // = 0 |
| "mincontrollerD ", // 24 = // = -560 |
| "AdWertNick ", // 25 = AdWertNick; // = 1130 |
| "maxcontrollerP ", // 26 = // |
| "mincontrollerP ", // 27 = // |
| "PPM_in[4] Gier ", // 28 = PPM_in[4]; // = ca -120 bis +120 |
| "PPM_in[3] Nick ", // 29 = PPM_in[3]; // = ca -120 bis +120 |
| "PPM_in[2] Roll ", // 30 = PPM_in[2]; // = ca -120 bis +120 |
| "PPM_in[1] Gas " // 31 = PPM_in[1]; // = ca -120 bis +120 |
| }; |
| //----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| |
| |
| |
| //------------------------------------------------------------------------------------------------------------------ |
| // Installation of the USART COM Port |
| //------------------------------------------------------------------------------------------------------------------ |
| void UART_Init(void) |
| { |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0B USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
| // |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); // Writing this bit to one enables the USART Transmitter |
| |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0A USART Control and Status Register A containing RXC0 TXC0 UDRE0 FE0 DORn UPEn U2X0 MPCM0 |
| // |
| UCSR0A |= (1<<U2X0); // Double the USART Transmission Speed |
| |
| //------------------------------------------------------------------------------------------------------------ |
| // UCSR0B USART Control and Status Register 0 B containing RXCIE0 TXCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80 |
| // |
| UCSR0B |= (1<<RXCIE); // RX Complete Interrupt Enable |
| UCSR0B |= (1<<TXCIE); // TX Complete Interrupt Enable |
| |
| //------------------------------------------------------------------------------------------------------------ |
| // UBRRnL and UBRRnH USART Baud Rate Registers |
| // |
| UBRR0L = (SYSCLK / (BAUD_RATE * 8L) - 1); // set Baudrate to 57600 |
| |
| |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //------------------------------------------------------------------------------------------------------------------ |
| |
| |
| |
| //----------------------------------------------------------------------------------------------------- |
| // Interrupt due to USART0 TX Complete |
| //----------------------------------------------------------------------------------------------------- |
| ISR(USART0_TX_vect) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| //----------------------------------------------------------------------------------------------------- |
| // Interrupt due to USART0 RX Complete |
| //----------------------------------------------------------------------------------------------------- |
| ISR(USART0_RX_vect) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') |
| { |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| // checksum |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // --------------------------------------------------------------------------------------------------------------------------- |
| //unsigned char *snd, unsigned char len) |
| // --------------------------------------------------------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| |
| unsigned char *snd = 0; |
| int len = 0; |
| |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // EOF : SendOutData() ---------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // ---------------------------------------------------------------------------------------------------------------------- |
| // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| // ---------------------------------------------------------------------------------------------------------------------- |
| void Decode64(void) |
| { |
| unsigned char a,b,c,d; |
| unsigned char x,y,z; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| 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. |
| |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| |
| if(len--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // ---------------------------------------------------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| |
| switch(RxdBuffer[2]) |
| { |
| case 'K': // Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 't': // Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| |
| case 'n': // "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
| break; |
| |
| case 'm': // "Write Mixer |
| while(!UebertragungAbgeschlossen); |
| if(pRxData[0] == MIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| tempchar1 = 1; |
| } |
| else tempchar1 = 0; |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| break; |
| |
| case 'q': // "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(pRxData[0] == 0xFF) |
| { |
| pRxData[0] = GetActiveParamSetNumber(); |
| } |
| // limit settings range |
| if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| |
| while(!UebertragungAbgeschlossen); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EE_DATENREVISION; // #define EE_DATENREVISION 80 // Parameter fürs Koptertool; entspricht den EEPROM-Daten von FlightCtrl Version V0.76g |
| SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| break; |
| |
| case 's': // Parametersatz speichern |
| |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| { |
| memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| SetActiveParamSetNumber(pRxData[0]); |
| tempchar1 = GetActiveParamSetNumber(); |
| LipoDetection(0); // jump tp main.c line 59 |
| Piep(tempchar1,110); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| |
| } // EOF : case FC_ADDRESS |
| |
| default: // any Slave Address |
| |
| switch(RxdBuffer[2]) |
| { |
| // 't' comand placed here only for compatibility to BL |
| case 't': // Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K': // Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 'a': // Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcZugriff = 255; |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| break; |
| case 'd': // Poll the debug data |
| DebugDataIntervall = pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| break; |
| |
| case 'h': // x-1 Displayzeilen |
| PcZugriff = 255; |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| DebugDisplayAnforderung = 1; |
| break; |
| |
| case 'l': // x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| |
| case 'g': // |
| GetExternalControl = 1; |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| // function serial output |
| // -------------------------------------------------------------------------- |
| int uart_putchar(char c) |
| { |
| if (c == '\n') uart_putchar('\r'); |
| loop_until_bit_is_set(USR, UDRE); // Warten solange bis Zeichen gesendet wurde |
| UDR = c; // Ausgabe des Zeichens |
| |
| return (0); |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| //--------------------------------------------------------------------------------------------- |
| // Datenübertragung |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| DebugDisplayAnforderung = 0; |
| } |
| |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| //if(Poti3 > 64) |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| DebugTextAnforderung = 255; |
| } |
| |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |