0,0 → 1,686 |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/wdt.h> |
#include <avr/pgmspace.h> |
#include <stdarg.h> |
#include <string.h> |
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#include "eeprom.h" |
#include "timer0.h" |
#include "uart0.h" |
#include "rc.h" |
#include "externalControl.h" |
#include "output.h" |
#include "attitude.h" |
#include "commands.h" |
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#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
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#define FALSE 0 |
#define TRUE 1 |
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int8_t displayBuff[DISPLAYBUFFSIZE]; |
uint8_t dispPtr = 0; |
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uint8_t requestedDebugLabel = 255; |
uint8_t request_verInfo = FALSE; |
uint8_t request_externalControl = FALSE; |
uint8_t request_debugData = FALSE; |
uint8_t request_data3D = FALSE; |
uint8_t request_PPMChannels = FALSE; |
uint8_t request_servoTest = FALSE; |
uint8_t request_variables = FALSE; |
uint8_t request_OSD = FALSE; |
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/* |
#define request_verInfo (1<<0) |
#define request_externalControl (1<<1) |
#define request_display (1<<3) |
#define request_display1 (1<<4) |
#define request_debugData (1<<5) |
#define request_data3D (1<<6) |
#define request_PPMChannels (1<<7) |
#define request_motorTest (1<<8) |
#define request_variables (1<<9) |
#define request_OSD (1<<10) |
*/ |
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//uint16_t request = 0; |
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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; |
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uint8_t servoTestActive = 0; |
uint8_t servoTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
uint8_t confirmFrame; |
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typedef struct { |
int16_t heading; |
}__attribute__((packed)) Heading_t; |
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Data3D_t data3D; |
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uint16_t debugData_timer; |
uint16_t data3D_timer; |
uint16_t OSD_timer; |
uint16_t debugData_interval = 0; // in 1ms |
uint16_t data3D_interval = 0; // in 1ms |
uint16_t OSD_interval = 0; |
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#ifdef USE_DIRECT_GPS |
int16_t toMk3MagTimer; |
#endif |
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// keep lables in flash to save 512 bytes of sram space |
const prog_uint8_t ANALOG_LABEL[32][16] = { |
//1234567890123456 |
"Gyro P ", //0 |
"Gyro R ", |
"Gyro Y ", |
"Attitude P ", |
"Attitude R ", |
"Attitude Y ", //5 |
"Target P ", |
"Target R ", |
"Target Y ", |
"Error P ", |
"Error R ", //10 |
"Error Y ", |
"Term P ", |
"Term R ", |
"Throttle ", |
"Term Y ", //15 |
"Flight mode ", |
" ", |
" ", |
" ", |
"RC P ", //20 |
"RC R ", |
"RC T ", |
"RC Y ", |
"Servo P ", |
"Servo R ", //25 |
"Servo T ", |
"Servo Y ", |
" ", |
" . ", |
" ", //30 |
" " |
}; |
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/****************************************************************/ |
/* Initialization of the USART0 */ |
/****************************************************************/ |
void usart0_init(void) { |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
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// disable all interrupts before configuration |
cli(); |
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// disable RX-Interrupt |
UCSR0B &= ~(1 << RXCIE0); |
// disable TX-Interrupt |
UCSR0B &= ~(1 << TXCIE0); |
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// 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); |
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// USART0 Baud Rate Register |
// set clock divider |
UBRR0H = (uint8_t) (ubrr >> 8); |
UBRR0L = (uint8_t) ubrr; |
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// USART0 Control and Status Register A, B, C |
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// 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); |
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// flush receive buffer |
while (UCSR0A & (1 << RXC0)) |
UDR0; |
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// enable interrupts at the end |
// enable RX-Interrupt |
UCSR0B |= (1 << RXCIE0); |
// enable TX-Interrupt |
UCSR0B |= (1 << TXCIE0); |
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// initialize the debug timer |
debugData_timer = setDelay(debugData_interval); |
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// unlock rxd_buffer |
rxd_buffer_locked = FALSE; |
pRxData = 0; |
rxDataLen = 0; |
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// no bytes to send |
txd_complete = TRUE; |
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#ifdef USE_DIRECT_GPS |
toMk3MagTimer = setDelay(220); |
#endif |
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versionInfo.SWMajor = VERSION_MAJOR; |
versionInfo.SWMinor = VERSION_MINOR; |
versionInfo.SWPatch = VERSION_PATCH; |
versionInfo.protoMajor = VERSION_SERIAL_MAJOR; |
versionInfo.protoMinor = VERSION_SERIAL_MINOR; |
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// restore global interrupt flags |
SREG = sreg; |
} |
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/****************************************************************/ |
/* USART0 transmitter ISR */ |
/****************************************************************/ |
ISR(USART_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; |
} |
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/****************************************************************/ |
/* USART0 receiver ISR */ |
/****************************************************************/ |
ISR(USART_RX_vect) { |
static uint16_t checksum; |
static uint8_t ptr_rxd_buffer = 0; |
uint8_t checksum1, checksum2; |
uint8_t c; |
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c = UDR0; // catch the received byte |
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if (rxd_buffer_locked) |
return; // if rxd buffer is locked immediately return |
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// 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 |
checksum = c; // init checksum |
} |
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 |
checksum += c; // update checksum |
} else { // termination character was received |
// the last 2 bytes are no subject for checksum calculation |
// they are the checksum itself |
checksum -= rxd_buffer[ptr_rxd_buffer - 2]; |
checksum -= rxd_buffer[ptr_rxd_buffer - 1]; |
// calculate checksum from transmitted data |
checksum %= 4096; |
checksum1 = '=' + checksum / 64; |
checksum2 = '=' + checksum % 64; |
// compare checksum to transmitted checksum bytes |
if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2 |
== 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 |
} |
} |
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// -------------------------------------------------------------------------- |
void addChecksum(uint16_t datalen) { |
uint16_t tmpchecksum = 0, i; |
for (i = 0; i < datalen; i++) { |
tmpchecksum += txd_buffer[i]; |
} |
tmpchecksum %= 4096; |
txd_buffer[i++] = '=' + (tmpchecksum >> 6); |
txd_buffer[i++] = '=' + (tmpchecksum & 0x3F); |
txd_buffer[i++] = '\r'; |
txd_complete = FALSE; |
UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
} |
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// -------------------------------------------------------------------------- |
// application example: |
// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
/* |
void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
va_list ap; |
uint16_t txd_bufferIndex = 0; |
uint8_t *currentBuffer; |
uint8_t currentBufferIndex; |
uint16_t lengthOfCurrentBuffer; |
uint8_t shift = 0; |
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txd_buffer[txd_bufferIndex++] = '#'; // Start character |
txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[txd_bufferIndex++] = cmd; // Command |
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va_start(ap, numofbuffers); |
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while(numofbuffers) { |
currentBuffer = va_arg(ap, uint8_t*); |
lengthOfCurrentBuffer = va_arg(ap, int); |
currentBufferIndex = 0; |
// Encode data: 3 bytes of data are encoded into 4 bytes, |
// where the 2 most significant bits are both 0. |
while(currentBufferIndex != lengthOfCurrentBuffer) { |
if (!shift) txd_buffer[txd_bufferIndex] = 0; |
txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
shift += 2; |
if (shift == 6) { shift=0; txd_bufferIndex++; } |
currentBufferIndex++; |
} |
} |
// If the number of data bytes was not divisible by 3, stuff |
// with 0 pseudodata until length is again divisible by 3. |
if (shift == 2) { |
// We need to stuff with zero bytes at the end. |
txd_buffer[txd_bufferIndex] &= 0b00110000; |
txd_buffer[++txd_bufferIndex] = 0; |
shift = 4; |
} |
if (shift == 4) { |
// We need to stuff with zero bytes at the end. |
txd_buffer[txd_bufferIndex++] &= 0b00111100; |
txd_buffer[txd_bufferIndex] = 0; |
} |
va_end(ap); |
Addchecksum(pt); // add checksum after data block and initates the transmission |
} |
*/ |
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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; |
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uint8_t *pdata = 0; |
int len = 0; |
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txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
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va_start(ap, numofbuffers); |
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if (numofbuffers) { |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
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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); |
addChecksum(pt); // add checksum after data block and initates the transmission |
} |
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// -------------------------------------------------------------------------- |
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; |
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while (len) { |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
//if(ptrIn > ReceivedBytes - 3) break; |
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x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
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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; |
} |
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// -------------------------------------------------------------------------- |
void usart0_processRxData(void) { |
// We control the servoTestActive var from here: Count it down. |
if (servoTestActive) |
servoTestActive--; |
// if data in the rxd buffer are not locked immediately return |
if (!rxd_buffer_locked) |
return; |
uint8_t tempchar[3]; |
decode64(); // decode data block in rxd_buffer |
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switch (rxd_buffer[1] - 'a') { |
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case FC_ADDRESS: |
switch (rxd_buffer[2]) { |
#ifdef USE_DIRECT_GPS |
case 'K':// compass value |
// What is the point of this - the compass will overwrite this soon? |
magneticHeading = ((Heading_t *)pRxData)->heading; |
// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
break; |
#endif |
case 't': // motor test |
if (rxDataLen > 20) { |
memcpy(&servoTest[0], (uint8_t*) pRxData, sizeof(servoTest)); |
} else { |
memcpy(&servoTest[0], (uint8_t*) pRxData, 4); |
} |
servoTestActive = 255; |
externalControlActive = 255; |
break; |
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case 'p': // get PPM channels |
request_PPMChannels = TRUE; |
break; |
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case 'i':// Read IMU configuration |
tempchar[0] = IMUCONFIG_REVISION; |
tempchar[1] = sizeof(IMUConfig); |
while (!txd_complete) |
; // wait for previous frame to be sent |
sendOutData('I', FC_ADDRESS, 2, &tempchar, 2, (uint8_t *) &IMUConfig, sizeof(IMUConfig)); |
break; |
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case 'j':// Save IMU configuration |
if (!isFlying) // save settings only if motors are off |
{ |
if ((pRxData[0] == IMUCONFIG_REVISION) && (pRxData[1] == sizeof(IMUConfig))) { |
memcpy(&IMUConfig, (uint8_t*) &pRxData[2], sizeof(IMUConfig)); |
IMUConfig_writeToEEprom(); |
tempchar[0] = 1; //indicate ok data |
} else { |
tempchar[0] = 0; //indicate bad data |
} |
while (!txd_complete) |
; // wait for previous frame to be sent |
sendOutData('J', FC_ADDRESS, 1, &tempchar, 1); |
} |
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 |
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paramSet_readFromEEProm(pRxData[0]); |
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tempchar[0] = pRxData[0]; |
tempchar[1] = EEPARAM_REVISION; |
tempchar[2] = sizeof(staticParams); |
while (!txd_complete) |
; // wait for previous frame to be sent |
sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
break; |
|
case 's': // save settings |
if (!isFlying) // save settings only if motors are off |
{ |
if ((pRxData[1] == EEPARAM_REVISION) && (pRxData[2] == sizeof(staticParams))) // check for setting to be in range and version of settings |
{ |
memcpy(&staticParams, (uint8_t*) &pRxData[3], sizeof(staticParams)); |
paramSet_writeToEEProm(1); |
configuration_paramSetDidChange(); |
tempchar[0] = 1; |
beepNumber(tempchar[0]); |
} else { |
tempchar[0] = 0; //indicate bad data |
} |
while (!txd_complete) |
; // wait for previous frame to be sent |
sendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
} |
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 |
requestedDebugLabel = pRxData[0]; |
if (requestedDebugLabel > 31) |
requestedDebugLabel = 31; |
break; |
|
case 'b': // submit extern control |
memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
confirmFrame = externalControl.frame; |
externalControlActive = 255; |
break; |
|
case 'o':// request for OSD data (FC style) |
OSD_interval = (uint16_t) pRxData[0] * 10; |
if (OSD_interval > 0) |
request_OSD = TRUE; |
break; |
|
case 'v': // request for version and board release |
request_verInfo = TRUE; |
break; |
|
case 'x': |
request_variables = 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; |
} |
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/************************************************************************/ |
/* Routine f�r 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 *) &versionInfo, sizeof(versionInfo)); |
request_verInfo = FALSE; |
} |
|
if (requestedDebugLabel != 0xFF && txd_complete) { // Texte f�r die Analogdaten |
uint8_t label[16]; // local sram buffer |
memcpy_P(label, ANALOG_LABEL[requestedDebugLabel], 16); // read lable from flash to sram buffer |
sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &requestedDebugLabel, |
sizeof(requestedDebugLabel), label, 16); |
requestedDebugLabel = 0xFF; |
} |
|
if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen |
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.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
data3D.heading = (int16_t) (attitude[YAW] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
data3D_timer = setDelay(data3D_interval); |
request_data3D = FALSE; |
} |
|
if (request_externalControl && txd_complete) { |
sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
sizeof(externalControl)); |
request_externalControl = FALSE; |
} |
|
|
if (request_servoTest && txd_complete) { |
sendOutData('T', FC_ADDRESS, 0); |
request_servoTest = FALSE; |
} |
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if (request_PPMChannels && txd_complete) { |
sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
request_PPMChannels = FALSE; |
} |
|
if (request_variables && txd_complete) { |
sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
request_variables = FALSE; |
} |
|
if (((OSD_interval && checkDelay(OSD_timer)) || request_OSD) && txd_complete) { |
int32_t height = 0; |
data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
// TODO: To 0..359 interval. |
data3D.heading = (int16_t) (attitude[YAW] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg |
sendOutData('O', FC_ADDRESS, 3, (uint8_t*)&data3D, sizeof(data3D), (uint8_t*)&height, sizeof(height), (uint8_t*)UBat, sizeof(UBat)); |
OSD_timer = setDelay(OSD_interval); |
request_OSD = FALSE; |
} |
} |