77,16 → 77,16 |
#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 request_variables = FALSE; |
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 request_variables = FALSE; |
|
uint8_t DisplayLine = 0; |
|
98,17 → 98,17 |
volatile uint8_t *pRxData = 0; |
volatile uint8_t RxDataLen = 0; |
|
uint8_t motorTestActive = 0; |
uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
uint8_t motorTestActive = 0; |
uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
uint8_t ConfirmFrame; |
|
typedef struct { |
int16_t Heading; |
} __attribute__((packed)) Heading_t; |
int16_t Heading; |
}__attribute__((packed)) Heading_t; |
|
DebugOut_t DebugOut; |
Data3D_t Data3D; |
UART_VersionInfo_t UART_VersionInfo; |
DebugOut_t DebugOut; |
Data3D_t Data3D; |
UART_VersionInfo_t UART_VersionInfo; |
|
uint16_t DebugData_Timer; |
uint16_t Data3D_Timer; |
121,210 → 121,211 |
|
// keep lables in flash to save 512 bytes of sram space |
const prog_uint8_t ANALOG_LABEL[32][16] = { |
//1234567890123456 |
"AnglePitch ", //0 |
"AngleRoll ", |
"AngleYaw ", |
"GyroPitch(PID) ", |
"GyroRoll(PID) ", |
"GyroYaw ", //5 |
"GyroPitch(AC) ", |
"GyroRoll(AC) ", |
"GyroYaw(AC) ", |
"AccPitch (angle)", |
"AccRoll (angle) ", //10 |
"UBat ", |
"Pitch Term ", |
"Roll Term ", |
"Yaw Term ", |
"Throttle Term ", //15 |
"0th O Corr pitch", |
"0th O Corr roll ", |
"DriftCompDelta P", |
"DriftCompDelta R", |
"ADPitchGyroOffs ", //20 |
"ADRollGyroOffs ", |
"M1 ", |
"M2 ", |
"M3 ", |
"M4 ", //25 |
"ControlYaw ", |
"Airpress. Range ", |
"DriftCompPitch ", |
"DriftCompRoll ", |
"AirpressFiltered", //30 |
"AirpressADC " |
}; |
//1234567890123456 |
"AnglePitch ", //0 |
"AngleRoll ", |
"AngleYaw ", |
"GyroPitch(PID) ", |
"GyroRoll(PID) ", |
"GyroYaw ", //5 |
"GyroPitch(AC) ", |
"GyroRoll(AC) ", |
"GyroYaw(AC) ", |
"AccPitch (angle)", |
"AccRoll (angle) ", //10 |
"UBat ", |
"Pitch Term ", |
"Roll Term ", |
"Yaw Term ", |
"Throttle Term ", //15 |
"0th O Corr pitch", "0th O Corr roll ", |
"DriftCompDelta P", |
"DriftCompDelta R", |
"ADPitchGyroOffs ", //20 |
"ADRollGyroOffs ", "M1 ", "M2 ", |
"M3 ", |
"M4 ", //25 |
"ControlYaw ", "Airpress. Range ", "DriftCompPitch ", |
"DriftCompRoll ", "AirpressFiltered", //30 |
"AirpressADC " }; |
|
/****************************************************************/ |
/* 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; |
|
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); |
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; |
|
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; |
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; |
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 |
c = UDR0; // catch the received byte |
|
if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
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 |
} |
// 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 |
} |
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 |
} |
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) |
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) |
} |
|
// -------------------------------------------------------------------------- |
331,393 → 332,428 |
// 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; |
|
txd_buffer[txd_bufferIndex++] = '#'; // Start character |
txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[txd_bufferIndex++] = cmd; // Command |
|
va_start(ap, numofbuffers); |
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; |
|
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); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
*/ |
txd_buffer[txd_bufferIndex++] = '#'; // Start character |
txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[txd_bufferIndex++] = cmd; // Command |
|
va_start(ap, numofbuffers); |
|
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); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
*/ |
|
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); |
va_list ap; |
uint16_t pt = 0; |
uint8_t a, b, c; |
uint8_t ptr = 0; |
|
if(numofbuffers) { |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
uint8_t *pdata = 0; |
int len = 0; |
|
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 |
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; |
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) { |
// We control the motorTestActive var from here: Count it down. |
if (motorTestActive) motorTestActive--; |
// 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 |
// We control the motorTestActive var from here: Count it down. |
if (motorTestActive) |
motorTestActive--; |
// 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') { |
switch (rxd_buffer[1] - 'a') { |
|
case FC_ADDRESS: |
switch(rxd_buffer[2]) { |
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; |
case 'K':// compass value |
compassHeading = ((Heading_t *)pRxData)->Heading; |
// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
break; |
#endif |
case 't': // motor test |
if(RxDataLen > 20) { |
memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
} else { |
memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
} |
motorTestActive = 255; |
externalControlActive = 255; |
break; |
|
case 'n':// "Get Mixer Table |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
break; |
case 't': // motor test |
if (RxDataLen > 20) { |
memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
} else { |
memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
} |
motorTestActive = 255; |
externalControlActive = 255; |
break; |
|
case 'm':// "Set Mixer Table |
if(pRxData[0] == EEMIXER_REVISION) { |
memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
MixerTable_WriteToEEProm(); |
while(!txd_complete); // wait for previous frame to be sent |
tempchar1 = 1; |
} else { |
tempchar1 = 0; |
} |
SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
break; |
case 'n':// "Get Mixer Table |
while (!txd_complete) |
; // wait for previous frame to be sent |
SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
break; |
|
case 'p': // get PPM channels |
request_PPMChannels = TRUE; |
break; |
case 'm':// "Set Mixer Table |
if (pRxData[0] == EEMIXER_REVISION) { |
memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer)); |
MixerTable_WriteToEEProm(); |
while (!txd_complete) |
; // wait for previous frame to be sent |
tempchar1 = 1; |
} else { |
tempchar1 = 0; |
} |
SendOutData('M', FC_ADDRESS, 1, &tempchar1, 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 |
ParamSet_ReadFromEEProm(pRxData[0]); |
tempchar1 = pRxData[0]; |
tempchar2 = EEPARAM_REVISION; |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
break; |
case 'p': // get PPM channels |
request_PPMChannels = TRUE; |
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_REVISION)) // check for setting to be in range and version of settings |
{ |
memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
ParamSet_WriteToEEProm(pRxData[0]); |
/* |
TODO: Remove this encapsulation breach |
turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
*/ |
tempchar1 = getActiveParamSet(); |
beepNumber(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; |
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_REVISION; |
while (!txd_complete) |
; // wait for previous frame to be sent |
SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), |
&tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, |
sizeof(staticParams)); |
break; |
|
default: |
//unsupported command received |
break; |
} // case FC_ADDRESS: |
case 's': // save settings |
if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
{ |
if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
== EEPARAM_REVISION)) // check for setting to be in range and version of settings |
{ |
memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
ParamSet_WriteToEEProm(pRxData[0]); |
/* |
TODO: Remove this encapsulation breach |
turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
*/ |
tempchar1 = getActiveParamSet(); |
beepNumber(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: // 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; |
externalControlActive = 255; |
break; |
default: |
//unsupported command received |
break; |
} // case FC_ADDRESS: |
|
case 'b': // submit extern control |
memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
ConfirmFrame = externalControl.frame; |
externalControlActive = 255; |
break; |
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; |
externalControlActive = 255; |
break; |
|
case 'h':// request for display columns |
externalControlActive = 255; |
RemoteKeys |= pRxData[0]; |
if(RemoteKeys) DisplayLine = 0; |
request_Display = TRUE; |
break; |
case 'b': // submit extern control |
memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
ConfirmFrame = externalControl.frame; |
externalControlActive = 255; |
break; |
|
case 'l':// request for display columns |
externalControlActive = 255; |
MenuItem = pRxData[0]; |
request_Display1 = TRUE; |
break; |
case 'h':// request for display columns |
externalControlActive = 255; |
RemoteKeys |= pRxData[0]; |
if (RemoteKeys) |
DisplayLine = 0; |
request_Display = TRUE; |
break; |
|
case 'v': // request for version and board release |
request_VerInfo = TRUE; |
break; |
case 'l':// request for display columns |
externalControlActive = 255; |
MenuItem = pRxData[0]; |
request_Display1 = TRUE; |
break; |
|
case 'x': |
request_variables = 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 'x': |
request_variables = 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 'g':// get external control data |
request_ExternalControl = TRUE; |
break; |
|
case 'c': // request for the 3D data |
Data3D_Interval = (uint16_t) pRxData[0] * 10; |
if(Data3D_Interval > 0) request_Data3D = TRUE; |
break; |
case 'd': // request for the debug data |
DebugData_Interval = (uint16_t) pRxData[0] * 10; |
if (DebugData_Interval > 0) |
request_DebugData = TRUE; |
break; |
|
default: |
//unsupported command received |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = 0; |
RxDataLen = 0; |
rxd_buffer_locked = FALSE; |
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); |
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 (!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 |
uint8_t label[16]; // local sram buffer |
memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 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 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
Data3D_Timer = SetDelay(Data3D_Interval); |
request_Data3D = FALSE; |
} |
if (request_VerInfo && txd_complete) { |
SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
sizeof(UART_VersionInfo)); |
request_VerInfo = FALSE; |
} |
|
if(request_ExternalControl && txd_complete) { |
SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
request_ExternalControl = 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 |
uint8_t label[16]; // local sram buffer |
memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
sizeof(request_DebugLabel), label, 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 * angle[PITCH]) |
/ GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
/ GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // 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 *) &externalControl, |
sizeof(externalControl)); |
request_ExternalControl = FALSE; |
} |
|
#ifdef USE_MK3MAG |
if((CheckDelay(Compass_Timer)) && txd_complete) { |
ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
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); |
} |
if((CheckDelay(Compass_Timer)) && txd_complete) { |
ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
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; |
} |
if (request_MotorTest && txd_complete) { |
SendOutData('T', FC_ADDRESS, 0); |
request_MotorTest = FALSE; |
} |
|
if (request_variables && txd_complete) { |
SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables)); |
request_variables = FALSE; |
} |
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; |
} |
} |