0,0 → 1,639 |
/*####################################################################################### |
MK3Mag 3D-Magnet sensor |
!!! THIS IS NOT FREE SOFTWARE !!! |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 05.2008 Holger Buss |
// + Thanks to Ilja Fähnrich (P_Latzhalter) |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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. |
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 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. |
// + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
// + * 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 |
// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
// + In case of doubt please contact: info@MikroKopter.de |
// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + 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 "main.h" |
#include "uart.h" |
#include "timer0.h" |
#include "twislave.h" |
|
// slave addresses |
#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
|
#define FALSE 0 |
#define TRUE 1 |
|
// keep buffers as small as possible |
#define TXD_BUFFER_LEN 100 |
#define RXD_BUFFER_LEN 30 |
|
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; |
|
// send flags |
#define RQST_VERSION_INFO 0x01 |
#define RQST_DEBUG_DATA 0x02 |
#define RQST_DEBUG_LABEL 0x04 |
#define RQST_COMPASS_HEADING 0x08 |
#define RQST_EXTERN_CTRL 0x10 |
|
|
uint8_t RequestFlags = 0x00; |
uint8_t RequestDebugLabel = 0; |
uint8_t ConfirmFrame = 0; |
|
uint8_t PC_Connected = 0; |
uint8_t FC_Connected = 0; |
|
|
DebugOut_t DebugOut; |
ExternData_t ExternData; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
|
uint16_t DebugData_Timer; |
uint16_t DebugData_Interval = 500; |
|
const uint8_t ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"Magnet X ", //0 |
"Magnet Y ", |
"Magnet Z ", |
"RawMagnet X ", |
"RawMagnet Y ", |
"RawMagnet Z ", //5 |
"Attitude Nick ", |
"Attitude Roll ", |
"Magnet X Offset ", |
"Magnet X Range ", |
"Magnet Y Offset ", //10 |
"Magnet Y Range ", |
"Magnet Z Offset ", |
"Magnet Z Range ", |
"Calstate ", |
"Heading ", //15 |
"User0 ", |
"User1 ", |
"Acc X ", |
"Acc Y ", |
"Acc Z ", //20 |
"RawAcc X ", |
"RawAcc Y ", |
"RawAcc Z ", |
"Acc X Offset ", |
"Acc Y Offset ", //25 |
"Acc Z Offset ", |
"Analog27 ", |
"Analog28 ", |
"Analog29 ", |
"I2C Error ", //30 |
"I2C Okay " |
}; |
|
|
/****************************************************************/ |
/* Initialization of the USART0 */ |
/****************************************************************/ |
void USART0_Init (void) |
{ |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 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 tristate |
DDRD &= ~(1 << DDD0); |
PORTD &= ~(1 << PORTD0); |
// set TXD0 (PD1) as an output pin |
DDRD |= (1 << DDD1); |
PORTD &= ~(1 << PORTD1); |
|
|
// 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 |
UCSR0A |= (1 << U2X0); |
|
// 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); |
|
// enable receiver and transmitter |
UCSR0B |= (1 << RXEN0); |
UCSR0B |= (1 << TXEN0); |
|
// flush receive buffer |
while ( UCSR0A & (1<<RXC0) ) UDR0; |
|
// 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; |
|
|
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; |
|
// Version beim Start ausgeben (nicht schön, aber geht... ) |
USART0_putchar ('\n'); |
USART0_putchar ('C'); |
USART0_putchar ('P'); |
USART0_putchar (':'); |
USART0_putchar ('V'); |
USART0_putchar (0x30 + VERSION_MAJOR); |
USART0_putchar ('.'); |
USART0_putchar (0x30 + VERSION_MINOR/10); |
USART0_putchar (0x30 + VERSION_MINOR%10); |
USART0_putchar ('a' + VERSION_PATCH); |
USART0_putchar ('\n'); |
|
// restore global interrupt flags |
SREG = sreg; |
} |
|
// --------------------------------------------------------------------------------- |
void USART0_EnableTXD(void) |
{ |
DDRD |= (1<<DDD1); // set TXD pin as output |
PORTD &= ~(1 << PORTD1); |
UCSR0B |= (1 << TXEN0); // enable TX in USART |
UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
} |
|
// --------------------------------------------------------------------------------- |
void USART0_DisableTXD(void) |
{ |
while(!txd_complete){ }; |
|
UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
DDRD &= ~(1<<DDD1); // set TXD pin as input |
PORTD &= ~(1 << PORTD1); |
} |
|
/****************************************************************/ |
/* 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 = TRUE; // stop transmission |
} |
UDR0 = tmp_tx; // send current byte will trigger this ISR again |
} |
// transmission completed |
else ptr_txd_buffer = 0; |
} |
|
/****************************************************************/ |
/* USART0 receiver ISR */ |
/****************************************************************/ |
ISR(USART_RX_vect) |
{ |
static uint16_t crc; |
uint8_t crc1, crc2; |
uint8_t c; |
static uint8_t ptr_rxd_buffer = 0; |
|
c = UDR0; // catch the received byte |
|
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 transmission (continued in the TXD ISR) |
} |
|
|
|
// -------------------------------------------------------------------------- |
void SendOutData(uint8_t cmd, uint8_t address, 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' + address; // 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; |
} |
|
|
|
// -------------------------------------------------------------------------- |
int16_t USART0_putchar (int8_t c) |
{ |
// if tx is not enabled return immediatly |
if(!(UCSR0B & (1 << TXEN0))) return (0); |
if (c == '\n') USART0_putchar('\r'); |
// wait until previous character was send |
loop_until_bit_is_set(UCSR0A, UDRE0); |
// send character |
UDR0 = c; |
return (0); |
} |
|
|
// -------------------------------------------------------------------------- |
void USART0_ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if(!rxd_buffer_locked) return; |
|
Decode64(); // decode data block in rxd_buffer |
|
switch(rxd_buffer[1]-'a') // check Slave Address |
{ |
case MK3MAG_ADDRESS: |
|
switch(rxd_buffer[2]) // check for CmdID |
{ |
case 'w': // old style |
case 'k': // Attitude info from FC |
memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
RequestFlags |= RQST_COMPASS_HEADING; |
AttitudeSource = ATTITUDE_SOURCE_UART; |
Orientation = ExternData.Orientation; |
FC_Connected = 255; |
break; |
|
default: |
// unsupported command |
break; |
} // case MK3MAG_ADDRESS: |
|
default: // any Slave Adress |
|
switch(rxd_buffer[2]) // check for CmdID |
{ |
case 'b': // extern control |
memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
// use right arrow at display for switching the calstate |
if(ExternControl.RemoteButtons & KEY2) |
{ |
ExternData.CalState++; |
if(ExternData.CalState == 6) ExternData.CalState = 0; |
} |
ConfirmFrame = ExternControl.Frame; |
PC_Connected = 255; |
break; |
|
case 'd': // request for the debug data |
DebugData_Interval = (uint16_t) pRxData[0] * 10; |
if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
PC_Connected = 255; |
break; |
|
case 'v': // request version and board release |
RequestFlags |= RQST_VERSION_INFO; |
PC_Connected = 255; |
break; |
|
case 'h': // request lcd data |
PC_Connected = 255; |
break; |
|
case 'a':// Labels of the Analog Debug outputs |
RequestDebugLabel = pRxData[0]; |
RequestFlags |= RQST_DEBUG_LABEL; |
PC_Connected = 255; |
break; |
|
case 'g':// get extern control data |
RequestFlags |= RQST_EXTERN_CTRL; |
PC_Connected = 255; |
break; |
|
default: |
// unsupported command |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = 0; |
RxDataLen = 0; |
rxd_buffer_locked = FALSE; |
} |
|
|
|
//--------------------------------------------------------------------------------------------- |
void USART0_TransmitTxData(void) |
{ |
if(!(UCSR0B & (1 << TXEN0))) return; |
|
if(!txd_complete) return; |
|
if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
{ |
SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16); |
RequestDebugLabel = 0xFF; |
RequestFlags &= ~RQST_DEBUG_LABEL; |
} |
|
if(ConfirmFrame && txd_complete) |
{ |
SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
ConfirmFrame = 0; |
} |
|
if(( (DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
{ |
SetDebugValues(); |
SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
DebugData_Timer = SetDelay(DebugData_Interval); |
RequestFlags &= ~RQST_DEBUG_DATA; |
} |
|
|
if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
{ |
SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
RequestFlags &= ~RQST_EXTERN_CTRL; |
} |
|
if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
{ |
SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC |
RequestFlags &= ~RQST_COMPASS_HEADING; |
} |
|
if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
{ |
SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
RequestFlags &= ~RQST_VERSION_INFO; |
} |
} |
|
|
void USART0_Print(int8_t *msg) |
{ |
uint8_t i = 0; |
while(msg[i] != 0) |
{ |
USART0_putchar(msg[i++]); |
} |
} |