| 66,8 → 66,9 |
|---|
| #define FALSE 0 |
| #define TRUE 1 |
| |
| // keep buffers as small as possible |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 30 |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| 83,6 → 84,8 |
|---|
| uint8_t RequestFlags = 0x00; |
| uint8_t RequestDebugLabel = 0; |
| |
| uint8_t PC_Connected = 0; |
| uint8_t FC_Connected = 0; |
| |
| uint8_t MySlaveAddr = 0; |
| |
| 137,7 → 140,7 |
|---|
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
| |
| // disable all interrupts before configuration |
| cli(); |
| 202,15 → 205,16 |
|---|
| |
| |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| uart_putchar ('\n'); |
| uart_putchar ('C'); |
| uart_putchar ('P'); |
| uart_putchar (':'); |
| uart_putchar ('V'); |
| uart_putchar (0x30 + VERSION_MAJOR); |
| uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); |
| uart_putchar (0x30 + VERSION_MINOR%10); |
| uart_putchar ('\n'); |
| 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 ('\n'); |
| } |
| |
| // --------------------------------------------------------------------------------- |
| 393,11 → 397,11 |
|---|
| |
| |
| // -------------------------------------------------------------------------- |
| int uart_putchar (int8_t c) |
| int16_t USART0_putchar (int8_t c) |
| { |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| if (c == '\n') uart_putchar('\r'); |
| if (c == '\n') USART0_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| 418,10 → 422,10 |
|---|
| { |
| case 'w':// Attitude |
| Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| I2C_WriteAttitude.Nick = ExternData.Attitude[NICK]; |
| I2C_WriteAttitude.Nick = ExternData.Attitude[ROLL]; |
| RequestFlags |= COMPASS_HEADING; |
| AttitudeSource = ATTITUDE_SOURCE_UART; |
| RequestFlags |= COMPASS_HEADING; |
| Orientation = ExternData.Orientation; |
| FC_Connected = 255; |
| break; |
| |
| case 'b': // extern control |
| 510,3 → 514,13 |
|---|
| RequestFlags &= ~COMPASS_HEADING; |
| } |
| } |
| |
| |
| void USART0_Print(int8_t *msg) |
| { |
| uint8_t i = 0; |
| while(msg[i] != 0) |
| { |
| USART0_putchar(msg[i++]); |
| } |
| } |