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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
42 | // + In case of doubt please contact: info@MikroKopter.de |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
44 | // + clearly linked as origin |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <avr/io.h> |
57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
58 | #include <avr/interrupt.h> |
59 | #include <avr/wdt.h> |
59 | #include <avr/wdt.h> |
60 | #include "main.h" |
60 | #include "main.h" |
61 | #include "uart.h" |
61 | #include "uart.h" |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | #include "twislave.h" |
63 | #include "twislave.h" |
64 | 64 | ||
65 | 65 | ||
66 | #define FALSE 0 |
66 | #define FALSE 0 |
67 | #define TRUE 1 |
67 | #define TRUE 1 |
68 | 68 | ||
69 | // keep buffers as small as possible |
69 | // keep buffers as small as possible |
70 | #define TXD_BUFFER_LEN 100 |
70 | #define TXD_BUFFER_LEN 100 |
71 | #define RXD_BUFFER_LEN 30 |
71 | #define RXD_BUFFER_LEN 30 |
72 | 72 | ||
73 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
73 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
74 | volatile uint8_t rxd_buffer_locked = FALSE; |
74 | volatile uint8_t rxd_buffer_locked = FALSE; |
75 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
75 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
76 | volatile uint8_t txd_complete = TRUE; |
76 | volatile uint8_t txd_complete = TRUE; |
77 | volatile uint8_t ReceivedBytes = 0; |
77 | volatile uint8_t ReceivedBytes = 0; |
78 | 78 | ||
79 | #define VERSION_INFO 0x01 |
79 | #define VERSION_INFO 0x01 |
80 | #define DEBUG_DATA 0x02 |
80 | #define DEBUG_DATA 0x02 |
81 | #define DEBUG_LABEL 0x04 |
81 | #define DEBUG_LABEL 0x04 |
82 | #define COMPASS_HEADING 0x08 |
82 | #define COMPASS_HEADING 0x08 |
83 | 83 | ||
84 | uint8_t RequestFlags = 0x00; |
84 | uint8_t RequestFlags = 0x00; |
85 | uint8_t RequestDebugLabel = 0; |
85 | uint8_t RequestDebugLabel = 0; |
86 | 86 | ||
87 | uint8_t PC_Connected = 0; |
87 | uint8_t PC_Connected = 0; |
88 | uint8_t FC_Connected = 0; |
88 | uint8_t FC_Connected = 0; |
89 | 89 | ||
90 | uint8_t MySlaveAddr = 0; |
90 | uint8_t MySlaveAddr = 0; |
91 | 91 | ||
92 | 92 | ||
93 | struct DebugOut_t DebugOut; |
93 | DebugOut_t DebugOut; |
94 | struct ExternData_t ExternData; |
94 | ExternData_t ExternData; |
95 | struct ExternControl_t ExternControl; |
95 | ExternControl_t ExternControl; |
96 | struct VersionInfo_t VersionInfo; |
96 | VersionInfo_t VersionInfo; |
97 | 97 | ||
98 | uint16_t Debug_Timer; |
98 | uint16_t Debug_Timer; |
99 | 99 | ||
100 | const uint8_t ANALOG_LABEL[32][16] = |
100 | const uint8_t ANALOG_LABEL[32][16] = |
101 | { |
101 | { |
102 | //1234567890123456 |
102 | //1234567890123456 |
103 | "Magnet X ", //0 |
103 | "Magnet X ", //0 |
104 | "Magnet Y ", |
104 | "Magnet Y ", |
105 | "Magnet Z ", |
105 | "Magnet Z ", |
106 | "RawMagnet X ", |
106 | "RawMagnet X ", |
107 | "RawMagnet Y ", |
107 | "RawMagnet Y ", |
108 | "RawMagnet Z ", //5 |
108 | "RawMagnet Z ", //5 |
109 | "Attitude Nick ", |
109 | "Attitude Nick ", |
110 | "Attitude Roll ", |
110 | "Attitude Roll ", |
111 | "Magnet X Offset ", |
111 | "Magnet X Offset ", |
112 | "Magnet X Range ", |
112 | "Magnet X Range ", |
113 | "Magnet Y Offset ", //10 |
113 | "Magnet Y Offset ", //10 |
114 | "Magnet Y Range ", |
114 | "Magnet Y Range ", |
115 | "Magnet Z Offset ", |
115 | "Magnet Z Offset ", |
116 | "Magnet Z Range ", |
116 | "Magnet Z Range ", |
117 | "Calstate ", |
117 | "Calstate ", |
118 | "Heading ", //15 |
118 | "Heading ", //15 |
119 | "User0 ", |
119 | "User0 ", |
120 | "User1 ", |
120 | "User1 ", |
121 | "Acc X ", |
121 | "Acc X ", |
122 | "Acc Y ", |
122 | "Acc Y ", |
123 | "Acc Z ", //20 |
123 | "Acc Z ", //20 |
124 | "RawAcc X ", |
124 | "RawAcc X ", |
125 | "RawAcc Y ", |
125 | "RawAcc Y ", |
126 | "RawAcc Z ", |
126 | "RawAcc Z ", |
127 | "Acc X Offset ", |
127 | "Acc X Offset ", |
128 | "Acc Y Offset ", //25 |
128 | "Acc Y Offset ", //25 |
129 | "Acc Z Offset ", |
129 | "Acc Z Offset ", |
130 | "Analog27 ", |
130 | "Analog27 ", |
131 | "Analog28 ", |
131 | "Analog28 ", |
132 | "Analog29 ", |
132 | "Analog29 ", |
133 | "I2C Error ", //30 |
133 | "I2C Error ", //30 |
134 | "I2C Okay " |
134 | "I2C Okay " |
135 | }; |
135 | }; |
136 | 136 | ||
137 | 137 | ||
138 | /****************************************************************/ |
138 | /****************************************************************/ |
139 | /* Initialization of the USART0 */ |
139 | /* Initialization of the USART0 */ |
140 | /****************************************************************/ |
140 | /****************************************************************/ |
141 | void USART0_Init (void) |
141 | void USART0_Init (void) |
142 | { |
142 | { |
143 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
143 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
144 | 144 | ||
145 | // disable all interrupts before configuration |
145 | // disable all interrupts before configuration |
146 | cli(); |
146 | cli(); |
147 | 147 | ||
148 | // disable RX-Interrupt |
148 | // disable RX-Interrupt |
149 | UCSR0B &= ~(1 << RXCIE0); |
149 | UCSR0B &= ~(1 << RXCIE0); |
150 | // disable TX-Interrupt |
150 | // disable TX-Interrupt |
151 | UCSR0B &= ~(1 << TXCIE0); |
151 | UCSR0B &= ~(1 << TXCIE0); |
152 | 152 | ||
153 | // set direction of RXD0 and TXD0 pins |
153 | // set direction of RXD0 and TXD0 pins |
154 | 154 | ||
155 | // set RXD0 (PD0) as an input pin tristate |
155 | // set RXD0 (PD0) as an input pin tristate |
156 | DDRD &= ~(1 << DDD0); |
156 | DDRD &= ~(1 << DDD0); |
157 | PORTD &= ~(1 << PORTD0); |
157 | PORTD &= ~(1 << PORTD0); |
158 | // set TXD0 (PD1) as an output pin |
158 | // set TXD0 (PD1) as an output pin |
159 | DDRD |= (1 << DDD1); |
159 | DDRD |= (1 << DDD1); |
160 | PORTD &= ~(1 << PORTD1); |
160 | PORTD &= ~(1 << PORTD1); |
161 | 161 | ||
162 | 162 | ||
163 | // USART0 Baud Rate Register |
163 | // USART0 Baud Rate Register |
164 | // set clock divider |
164 | // set clock divider |
165 | UBRR0H = (uint8_t)(ubrr >> 8); |
165 | UBRR0H = (uint8_t)(ubrr >> 8); |
166 | UBRR0L = (uint8_t)ubrr; |
166 | UBRR0L = (uint8_t)ubrr; |
167 | 167 | ||
168 | // USART0 Control and Status Register A, B, C |
168 | // USART0 Control and Status Register A, B, C |
169 | 169 | ||
170 | // enable double speed operation |
170 | // enable double speed operation |
171 | UCSR0A |= (1 << U2X0); |
171 | UCSR0A |= (1 << U2X0); |
172 | 172 | ||
173 | // set asynchronous mode |
173 | // set asynchronous mode |
174 | UCSR0C &= ~(1 << UMSEL01); |
174 | UCSR0C &= ~(1 << UMSEL01); |
175 | UCSR0C &= ~(1 << UMSEL00); |
175 | UCSR0C &= ~(1 << UMSEL00); |
176 | // no parity |
176 | // no parity |
177 | UCSR0C &= ~(1 << UPM01); |
177 | UCSR0C &= ~(1 << UPM01); |
178 | UCSR0C &= ~(1 << UPM00); |
178 | UCSR0C &= ~(1 << UPM00); |
179 | // 1 stop bit |
179 | // 1 stop bit |
180 | UCSR0C &= ~(1 << USBS0); |
180 | UCSR0C &= ~(1 << USBS0); |
181 | // 8-bit |
181 | // 8-bit |
182 | UCSR0B &= ~(1 << UCSZ02); |
182 | UCSR0B &= ~(1 << UCSZ02); |
183 | UCSR0C |= (1 << UCSZ01); |
183 | UCSR0C |= (1 << UCSZ01); |
184 | UCSR0C |= (1 << UCSZ00); |
184 | UCSR0C |= (1 << UCSZ00); |
185 | 185 | ||
186 | // enable receiver and transmitter |
186 | // enable receiver and transmitter |
187 | UCSR0B |= (1 << RXEN0); |
187 | UCSR0B |= (1 << RXEN0); |
188 | UCSR0B |= (1 << TXEN0); |
188 | UCSR0B |= (1 << TXEN0); |
189 | 189 | ||
190 | // flush receive buffer |
190 | // flush receive buffer |
191 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
191 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
192 | 192 | ||
193 | // enable RX-Interrupt |
193 | // enable RX-Interrupt |
194 | UCSR0B |= (1 << RXCIE0); |
194 | UCSR0B |= (1 << RXCIE0); |
195 | // enable TX-Interrupt |
195 | // enable TX-Interrupt |
196 | UCSR0B |= (1 << TXCIE0); |
196 | UCSR0B |= (1 << TXCIE0); |
197 | 197 | ||
198 | rxd_buffer_locked = FALSE; |
198 | rxd_buffer_locked = FALSE; |
199 | txd_complete = TRUE; |
199 | txd_complete = TRUE; |
200 | 200 | ||
201 | 201 | ||
202 | VersionInfo.Major = VERSION_MAJOR; |
202 | VersionInfo.Major = VERSION_MAJOR; |
203 | VersionInfo.Minor = VERSION_MINOR; |
203 | VersionInfo.Minor = VERSION_MINOR; |
204 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
204 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
205 | 205 | ||
206 | 206 | ||
207 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
207 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
208 | USART0_putchar ('\n'); |
208 | USART0_putchar ('\n'); |
209 | USART0_putchar ('C'); |
209 | USART0_putchar ('C'); |
210 | USART0_putchar ('P'); |
210 | USART0_putchar ('P'); |
211 | USART0_putchar (':'); |
211 | USART0_putchar (':'); |
212 | USART0_putchar ('V'); |
212 | USART0_putchar ('V'); |
213 | USART0_putchar (0x30 + VERSION_MAJOR); |
213 | USART0_putchar (0x30 + VERSION_MAJOR); |
214 | USART0_putchar ('.'); |
214 | USART0_putchar ('.'); |
215 | USART0_putchar (0x30 + VERSION_MINOR/10); |
215 | USART0_putchar (0x30 + VERSION_MINOR/10); |
216 | USART0_putchar (0x30 + VERSION_MINOR%10); |
216 | USART0_putchar (0x30 + VERSION_MINOR%10); |
217 | USART0_putchar ('\n'); |
217 | USART0_putchar ('\n'); |
218 | } |
218 | } |
219 | 219 | ||
220 | // --------------------------------------------------------------------------------- |
220 | // --------------------------------------------------------------------------------- |
221 | void USART0_EnableTXD(void) |
221 | void USART0_EnableTXD(void) |
222 | { |
222 | { |
223 | DDRD |= (1<<DDD1); // set TXD pin as output |
223 | DDRD |= (1<<DDD1); // set TXD pin as output |
224 | PORTD &= ~(1 << PORTD1); |
224 | PORTD &= ~(1 << PORTD1); |
225 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
225 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
226 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
226 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
227 | } |
227 | } |
228 | 228 | ||
229 | // --------------------------------------------------------------------------------- |
229 | // --------------------------------------------------------------------------------- |
230 | void USART0_DisableTXD(void) |
230 | void USART0_DisableTXD(void) |
231 | { |
231 | { |
232 | while(!txd_complete){ }; |
232 | while(!txd_complete){ }; |
233 | 233 | ||
234 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
234 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
235 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
235 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
236 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
236 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
237 | PORTD &= ~(1 << PORTD1); |
237 | PORTD &= ~(1 << PORTD1); |
238 | } |
238 | } |
239 | 239 | ||
240 | /****************************************************************/ |
240 | /****************************************************************/ |
241 | /* USART0 transmitter ISR */ |
241 | /* USART0 transmitter ISR */ |
242 | /****************************************************************/ |
242 | /****************************************************************/ |
243 | ISR(USART_TX_vect) |
243 | ISR(USART_TX_vect) |
244 | { |
244 | { |
245 | static uint16_t ptr_txd_buffer = 0; |
245 | static uint16_t ptr_txd_buffer = 0; |
246 | uint8_t tmp_tx; |
246 | uint8_t tmp_tx; |
247 | if(!txd_complete) // transmission not completed |
247 | if(!txd_complete) // transmission not completed |
248 | { |
248 | { |
249 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
249 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
250 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
250 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
251 | // if terminating character or end of txd buffer was reached |
251 | // if terminating character or end of txd buffer was reached |
252 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
252 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
253 | { |
253 | { |
254 | ptr_txd_buffer = 0; // reset txd pointer |
254 | ptr_txd_buffer = 0; // reset txd pointer |
255 | txd_complete = TRUE; // stop transmission |
255 | txd_complete = TRUE; // stop transmission |
256 | } |
256 | } |
257 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
257 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
258 | } |
258 | } |
259 | // transmission completed |
259 | // transmission completed |
260 | else ptr_txd_buffer = 0; |
260 | else ptr_txd_buffer = 0; |
261 | } |
261 | } |
262 | 262 | ||
263 | /****************************************************************/ |
263 | /****************************************************************/ |
264 | /* USART0 receiver ISR */ |
264 | /* USART0 receiver ISR */ |
265 | /****************************************************************/ |
265 | /****************************************************************/ |
266 | ISR(USART_RX_vect) |
266 | ISR(USART_RX_vect) |
267 | { |
267 | { |
268 | static uint16_t crc; |
268 | static uint16_t crc; |
269 | uint8_t crc1, crc2; |
269 | uint8_t crc1, crc2; |
270 | uint8_t c; |
270 | uint8_t c; |
271 | static uint8_t ptr_rxd_buffer = 0; |
271 | static uint8_t ptr_rxd_buffer = 0; |
272 | 272 | ||
273 | c = UDR0; // catch the received byte |
273 | c = UDR0; // catch the received byte |
274 | 274 | ||
275 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
275 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
276 | 276 | ||
277 | // the rxd buffer is unlocked |
277 | // the rxd buffer is unlocked |
278 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
278 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
279 | { |
279 | { |
280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
281 | crc = c; // init crc |
281 | crc = c; // init crc |
282 | } |
282 | } |
283 | #if 0 |
283 | #if 0 |
284 | else if (ptr_rxd_buffer == 1) // handle address |
284 | else if (ptr_rxd_buffer == 1) // handle address |
285 | { |
285 | { |
286 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
286 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
287 | crc += c; // update crc |
287 | crc += c; // update crc |
288 | } |
288 | } |
289 | #endif |
289 | #endif |
290 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
290 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
291 | { |
291 | { |
292 | if(c != '\r') // no termination character |
292 | if(c != '\r') // no termination character |
293 | { |
293 | { |
294 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
294 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
295 | crc += c; // update crc |
295 | crc += c; // update crc |
296 | } |
296 | } |
297 | else // termination character was received |
297 | else // termination character was received |
298 | { |
298 | { |
299 | // the last 2 bytes are no subject for checksum calculation |
299 | // the last 2 bytes are no subject for checksum calculation |
300 | // they are the checksum itself |
300 | // they are the checksum itself |
301 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
301 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
302 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
302 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
303 | // calculate checksum from transmitted data |
303 | // calculate checksum from transmitted data |
304 | crc %= 4096; |
304 | crc %= 4096; |
305 | crc1 = '=' + crc / 64; |
305 | crc1 = '=' + crc / 64; |
306 | crc2 = '=' + crc % 64; |
306 | crc2 = '=' + crc % 64; |
307 | // compare checksum to transmitted checksum bytes |
307 | // compare checksum to transmitted checksum bytes |
308 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
308 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
309 | { // checksum valid |
309 | { // checksum valid |
310 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
310 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
311 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
311 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
312 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
312 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
313 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
313 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
314 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
314 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
315 | } |
315 | } |
316 | else |
316 | else |
317 | { // checksum invalid |
317 | { // checksum invalid |
318 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
318 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
319 | } |
319 | } |
320 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
320 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
321 | } |
321 | } |
322 | } |
322 | } |
323 | else // rxd buffer overrun |
323 | else // rxd buffer overrun |
324 | { |
324 | { |
325 | ptr_rxd_buffer = 0; // reset rxd buffer |
325 | ptr_rxd_buffer = 0; // reset rxd buffer |
326 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
326 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
327 | } |
327 | } |
328 | } |
328 | } |
329 | 329 | ||
330 | 330 | ||
331 | // -------------------------------------------------------------------------- |
331 | // -------------------------------------------------------------------------- |
332 | void AddCRC(uint16_t datalen) |
332 | void AddCRC(uint16_t datalen) |
333 | { |
333 | { |
334 | uint16_t tmpCRC = 0, i; |
334 | uint16_t tmpCRC = 0, i; |
335 | for(i = 0; i < datalen; i++) |
335 | for(i = 0; i < datalen; i++) |
336 | { |
336 | { |
337 | tmpCRC += txd_buffer[i]; |
337 | tmpCRC += txd_buffer[i]; |
338 | } |
338 | } |
339 | tmpCRC %= 4096; |
339 | tmpCRC %= 4096; |
340 | txd_buffer[i++] = '=' + tmpCRC / 64; |
340 | txd_buffer[i++] = '=' + tmpCRC / 64; |
341 | txd_buffer[i++] = '=' + tmpCRC % 64; |
341 | txd_buffer[i++] = '=' + tmpCRC % 64; |
342 | txd_buffer[i++] = '\r'; |
342 | txd_buffer[i++] = '\r'; |
343 | txd_complete = FALSE; |
343 | txd_complete = FALSE; |
344 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
344 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
345 | } |
345 | } |
346 | 346 | ||
347 | 347 | ||
348 | 348 | ||
349 | // -------------------------------------------------------------------------- |
349 | // -------------------------------------------------------------------------- |
350 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
350 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
351 | { |
351 | { |
352 | uint16_t pt = 0; |
352 | uint16_t pt = 0; |
353 | uint8_t a,b,c; |
353 | uint8_t a,b,c; |
354 | uint8_t ptr = 0; |
354 | uint8_t ptr = 0; |
355 | 355 | ||
356 | txd_buffer[pt++] = '#'; // Start character |
356 | txd_buffer[pt++] = '#'; // Start character |
357 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
357 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
358 | txd_buffer[pt++] = cmd; // Command |
358 | txd_buffer[pt++] = cmd; // Command |
359 | 359 | ||
360 | while(len) |
360 | while(len) |
361 | { |
361 | { |
362 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
362 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
363 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
363 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
364 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
364 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
365 | txd_buffer[pt++] = '=' + (a >> 2); |
365 | txd_buffer[pt++] = '=' + (a >> 2); |
366 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
366 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
367 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
367 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
368 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
368 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
369 | } |
369 | } |
370 | AddCRC(pt); // add checksum after data block and initates the transmission |
370 | AddCRC(pt); // add checksum after data block and initates the transmission |
371 | } |
371 | } |
372 | 372 | ||
373 | 373 | ||
374 | // -------------------------------------------------------------------------- |
374 | // -------------------------------------------------------------------------- |
375 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
375 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
376 | { |
376 | { |
377 | uint8_t a,b,c,d; |
377 | uint8_t a,b,c,d; |
378 | uint8_t ptr = 0; |
378 | uint8_t ptr = 0; |
379 | uint8_t x,y,z; |
379 | uint8_t x,y,z; |
380 | while(len) |
380 | while(len) |
381 | { |
381 | { |
382 | a = rxd_buffer[ptrIn++] - '='; |
382 | a = rxd_buffer[ptrIn++] - '='; |
383 | b = rxd_buffer[ptrIn++] - '='; |
383 | b = rxd_buffer[ptrIn++] - '='; |
384 | c = rxd_buffer[ptrIn++] - '='; |
384 | c = rxd_buffer[ptrIn++] - '='; |
385 | d = rxd_buffer[ptrIn++] - '='; |
385 | d = rxd_buffer[ptrIn++] - '='; |
386 | if(ptrIn > max - 2) break; |
386 | if(ptrIn > max - 2) break; |
387 | 387 | ||
388 | x = (a << 2) | (b >> 4); |
388 | x = (a << 2) | (b >> 4); |
389 | y = ((b & 0x0f) << 4) | (c >> 2); |
389 | y = ((b & 0x0f) << 4) | (c >> 2); |
390 | z = ((c & 0x03) << 6) | d; |
390 | z = ((c & 0x03) << 6) | d; |
391 | 391 | ||
392 | if(len--) ptrOut[ptr++] = x; else break; |
392 | if(len--) ptrOut[ptr++] = x; else break; |
393 | if(len--) ptrOut[ptr++] = y; else break; |
393 | if(len--) ptrOut[ptr++] = y; else break; |
394 | if(len--) ptrOut[ptr++] = z; else break; |
394 | if(len--) ptrOut[ptr++] = z; else break; |
395 | } |
395 | } |
396 | } |
396 | } |
397 | 397 | ||
398 | 398 | ||
399 | // -------------------------------------------------------------------------- |
399 | // -------------------------------------------------------------------------- |
400 | int16_t USART0_putchar (int8_t c) |
400 | int16_t USART0_putchar (int8_t c) |
401 | { |
401 | { |
402 | // if tx is not enabled return immediatly |
402 | // if tx is not enabled return immediatly |
403 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
403 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
404 | if (c == '\n') USART0_putchar('\r'); |
404 | if (c == '\n') USART0_putchar('\r'); |
405 | // wait until previous character was send |
405 | // wait until previous character was send |
406 | loop_until_bit_is_set(UCSR0A, UDRE0); |
406 | loop_until_bit_is_set(UCSR0A, UDRE0); |
407 | // send character |
407 | // send character |
408 | UDR0 = c; |
408 | UDR0 = c; |
409 | return (0); |
409 | return (0); |
410 | } |
410 | } |
411 | 411 | ||
412 | 412 | ||
413 | // -------------------------------------------------------------------------- |
413 | // -------------------------------------------------------------------------- |
414 | void USART0_ProcessRxData(void) |
414 | void USART0_ProcessRxData(void) |
415 | { |
415 | { |
416 | // if data in the rxd buffer are not locked immediately return |
416 | // if data in the rxd buffer are not locked immediately return |
417 | if(!rxd_buffer_locked) return; |
417 | if(!rxd_buffer_locked) return; |
418 | 418 | ||
419 | uint8_t tmp_char_arr2[2]; // local char buffer |
419 | uint8_t tmp_char_arr2[2]; // local char buffer |
420 | 420 | ||
421 | switch(rxd_buffer[2]) |
421 | switch(rxd_buffer[2]) |
422 | { |
422 | { |
423 | case 'w':// Attitude |
423 | case 'w':// Attitude |
424 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
424 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
425 | RequestFlags |= COMPASS_HEADING; |
425 | RequestFlags |= COMPASS_HEADING; |
426 | AttitudeSource = ATTITUDE_SOURCE_UART; |
426 | AttitudeSource = ATTITUDE_SOURCE_UART; |
427 | Orientation = ExternData.Orientation; |
427 | Orientation = ExternData.Orientation; |
428 | FC_Connected = 255; |
428 | FC_Connected = 255; |
429 | break; |
429 | break; |
430 | 430 | ||
431 | case 'b': // extern control |
431 | case 'b': // extern control |
432 | case 'c': // extern control with debug request |
432 | case 'c': // extern control with debug request |
433 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
433 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
434 | #define KEY1 0x01 |
434 | #define KEY1 0x01 |
435 | #define KEY2 0x02 |
435 | #define KEY2 0x02 |
436 | #define KEY3 0x04 |
436 | #define KEY3 0x04 |
437 | #define KEY4 0x08 |
437 | #define KEY4 0x08 |
438 | #define KEY5 0x10 |
438 | #define KEY5 0x10 |
439 | // use right arrow at display for switching the calstate |
439 | // use right arrow at display for switching the calstate |
440 | if(ExternControl.RemoteButtons & KEY2) |
440 | if(ExternControl.RemoteButtons & KEY2) |
441 | { |
441 | { |
442 | ExternData.CalState++; |
442 | ExternData.CalState++; |
443 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
443 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
444 | } |
444 | } |
445 | //ExternData.Attitude[0] = ExternControl.Par1; |
445 | //ExternData.Attitude[0] = ExternControl.Par1; |
446 | //ExternData.Attitude[1] = ExternControl.Par2; |
446 | //ExternData.Attitude[1] = ExternControl.Par2; |
447 | PC_Connected = 255; |
447 | PC_Connected = 255; |
448 | break; |
448 | break; |
449 | 449 | ||
450 | case 'h':// x-1 display columns |
450 | case 'h':// x-1 display columns |
451 | PC_Connected = 255; |
451 | PC_Connected = 255; |
452 | break; |
452 | break; |
453 | 453 | ||
454 | case 'v': // get version and board release |
454 | case 'v': // get version and board release |
455 | RequestFlags |= VERSION_INFO; |
455 | RequestFlags |= VERSION_INFO; |
456 | PC_Connected = 255; |
456 | PC_Connected = 255; |
457 | break; |
457 | break; |
458 | 458 | ||
459 | case 'a':// Labels of the Analog Debug outputs |
459 | case 'a':// Labels of the Analog Debug outputs |
460 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
460 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
461 | RequestDebugLabel = tmp_char_arr2[0]; |
461 | RequestDebugLabel = tmp_char_arr2[0]; |
462 | RequestFlags |= DEBUG_LABEL; |
462 | RequestFlags |= DEBUG_LABEL; |
463 | PC_Connected = 255; |
463 | PC_Connected = 255; |
464 | break; |
464 | break; |
465 | 465 | ||
466 | case 'g':// get debug data |
466 | case 'g':// get debug data |
467 | RequestFlags |= DEBUG_DATA; |
467 | RequestFlags |= DEBUG_DATA; |
468 | PC_Connected = 255; |
468 | PC_Connected = 255; |
469 | break; |
469 | break; |
470 | } |
470 | } |
471 | // unlock the rxd buffer after processing |
471 | // unlock the rxd buffer after processing |
472 | rxd_buffer_locked = FALSE; |
472 | rxd_buffer_locked = FALSE; |
473 | } |
473 | } |
474 | 474 | ||
475 | 475 | ||
476 | 476 | ||
477 | //--------------------------------------------------------------------------------------------- |
477 | //--------------------------------------------------------------------------------------------- |
478 | void USART0_TransmitTxData(void) |
478 | void USART0_TransmitTxData(void) |
479 | { |
479 | { |
480 | if(!(UCSR0B & (1 << TXEN0))) return; |
480 | if(!(UCSR0B & (1 << TXEN0))) return; |
481 | 481 | ||
482 | if(!txd_complete) return; |
482 | if(!txd_complete) return; |
483 | 483 | ||
484 | if(CheckDelay(Debug_Timer)) |
484 | if(CheckDelay(Debug_Timer)) |
485 | { |
485 | { |
486 | SetDebugValues(); |
486 | SetDebugValues(); |
487 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
487 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
488 | Debug_Timer = SetDelay(250); |
488 | Debug_Timer = SetDelay(250); |
489 | } |
489 | } |
490 | 490 | ||
491 | if(RequestFlags & DEBUG_LABEL) |
491 | if(RequestFlags & DEBUG_LABEL) |
492 | { |
492 | { |
493 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
493 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
494 | RequestDebugLabel = 255; |
494 | RequestDebugLabel = 255; |
495 | RequestFlags &= ~DEBUG_LABEL; |
495 | RequestFlags &= ~DEBUG_LABEL; |
496 | } |
496 | } |
497 | 497 | ||
498 | if(RequestFlags & VERSION_INFO) |
498 | if(RequestFlags & VERSION_INFO) |
499 | { |
499 | { |
500 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
500 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
501 | RequestFlags &= ~VERSION_INFO; |
501 | RequestFlags &= ~VERSION_INFO; |
502 | } |
502 | } |
503 | 503 | ||
504 | if(RequestFlags & DEBUG_DATA) |
504 | if(RequestFlags & DEBUG_DATA) |
505 | { |
505 | { |
506 | SetDebugValues(); |
506 | SetDebugValues(); |
507 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
507 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
508 | RequestFlags &= ~DEBUG_DATA; |
508 | RequestFlags &= ~DEBUG_DATA; |
509 | } |
509 | } |
510 | 510 | ||
511 | if(RequestFlags & COMPASS_HEADING) |
511 | if(RequestFlags & COMPASS_HEADING) |
512 | { |
512 | { |
513 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
513 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
514 | RequestFlags &= ~COMPASS_HEADING; |
514 | RequestFlags &= ~COMPASS_HEADING; |
515 | } |
515 | } |
516 | } |
516 | } |
517 | 517 | ||
518 | 518 | ||
519 | void USART0_Print(int8_t *msg) |
519 | void USART0_Print(int8_t *msg) |
520 | { |
520 | { |
521 | uint8_t i = 0; |
521 | uint8_t i = 0; |
522 | while(msg[i] != 0) |
522 | while(msg[i] != 0) |
523 | { |
523 | { |
524 | USART0_putchar(msg[i++]); |
524 | USART0_putchar(msg[i++]); |
525 | } |
525 | } |
526 | } |
526 | } |
527 | 527 |