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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
| 8 | #include <string.h> |
8 | #include <string.h> |
| 9 | #include "main.h" |
9 | #include "main.h" |
| 10 | #include "uart.h" |
10 | #include "uart.h" |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | #define FC_ADDRESS 1 |
13 | #define FC_ADDRESS 1 |
| 14 | #define NC_ADDRESS 2 |
14 | #define NC_ADDRESS 2 |
| 15 | #define MK3MAG_ADDRESS 3 |
15 | #define MK3MAG_ADDRESS 3 |
| 16 | 16 | ||
| 17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 18 | unsigned char DisplayLine = 0; |
18 | unsigned char DisplayLine = 0; |
| 19 | unsigned volatile char SioTmp = 0; |
19 | unsigned volatile char SioTmp = 0; |
| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| 23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 26 | unsigned volatile char CntCrcError = 0; |
26 | unsigned volatile char CntCrcError = 0; |
| 27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 28 | unsigned char *pRxData = 0; |
28 | unsigned char *pRxData = 0; |
| 29 | unsigned char RxDataLen = 0; |
29 | unsigned char RxDataLen = 0; |
| 30 | unsigned volatile char PC_DebugTimeout = 0; |
30 | unsigned volatile char PC_DebugTimeout = 0; |
| 31 | unsigned volatile char PC_MotortestActive = 0; |
31 | unsigned volatile char PC_MotortestActive = 0; |
| 32 | 32 | ||
| 33 | unsigned char DebugTextAnforderung = 255; |
33 | unsigned char DebugTextAnforderung = 255; |
| 34 | unsigned char PcZugriff = 100; |
34 | unsigned char PcZugriff = 100; |
| 35 | unsigned char MotorTest[16]; |
35 | unsigned char MotorTest[16]; |
| 36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 37 | unsigned char ConfirmFrame; |
37 | unsigned char ConfirmFrame; |
| 38 | struct str_DebugOut DebugOut; |
38 | struct str_DebugOut DebugOut; |
| 39 | struct str_ExternControl ExternControl; |
39 | struct str_ExternControl ExternControl; |
| 40 | struct str_VersionInfo VersionInfo; |
40 | struct str_VersionInfo VersionInfo; |
| 41 | struct str_WinkelOut WinkelOut; |
41 | struct str_WinkelOut WinkelOut; |
| 42 | struct str_Data3D Data3D; |
42 | struct str_Data3D Data3D; |
| 43 | 43 | ||
| 44 | int Debug_Timer,Kompass_Timer,Timer3D; |
44 | int Debug_Timer,Kompass_Timer,Timer3D; |
| 45 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
45 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
| 46 | 46 | ||
| 47 | const unsigned char ANALOG_TEXT[32][16] = |
47 | const unsigned char ANALOG_TEXT[32][16] = |
| 48 | { |
48 | { |
| 49 | //1234567890123456 |
49 | //1234567890123456 |
| 50 | "AngleNick ", //0 |
50 | "AngleNick ", //0 |
| 51 | "AngleRoll ", |
51 | "AngleRoll ", |
| 52 | "AccNick ", |
52 | "AccNick ", |
| 53 | "AccRoll ", |
53 | "AccRoll ", |
| 54 | "GyroGier ", |
54 | "GyroGier ", |
| 55 | "Hight Value ", //5 |
55 | "Hight Value ", //5 |
| 56 | "AccZ ", |
56 | "AccZ ", |
| 57 | "Gas ", |
57 | "Gas ", |
| 58 | "Compass Value ", |
58 | "Compass Value ", |
| 59 | "Voltage ", |
59 | "Voltage ", |
| 60 | "Empfang ", //10 |
60 | "Empfang ", //10 |
| 61 | "Gyro Kompass ", |
61 | "Gyro Kompass ", |
| 62 | "Motor Front ", |
62 | "Motor Front ", |
| 63 | "Motor Rear ", |
63 | "Motor Rear ", |
| 64 | "Motor Left ", |
64 | "Motor Left ", |
| 65 | "Motor Right ", //15 |
65 | "Motor Right ", //15 |
| 66 | " ", |
66 | " ", |
| 67 | " ", |
67 | " ", |
| 68 | " ", |
68 | " ", |
| 69 | "MK3Mag CalState ", |
69 | "MK3Mag CalState ", |
| 70 | "Servo ", //20 |
70 | "Servo ", //20 |
| 71 | " ", |
71 | " ", |
| 72 | " ", |
72 | " ", |
| 73 | " ", |
73 | " ", |
| 74 | " ", |
74 | " ", |
| 75 | " ", //25 |
75 | " ", //25 |
| 76 | " ", |
76 | " ", |
| 77 | "Kalman_MaxDrift ", |
77 | "Kalman_MaxDrift ", |
| 78 | " ", |
78 | " ", |
| 79 | "Navi Serial Data", |
79 | "Navi Serial Data", |
| 80 | "GPS_Nick ", //30 |
80 | "GPS_Nick ", //30 |
| 81 | "GPS_Roll " |
81 | "GPS_Roll " |
| 82 | }; |
82 | }; |
| 83 | 83 | ||
| 84 | 84 | ||
| 85 | 85 | ||
| 86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 87 | //++ Sende-Part der Datenübertragung |
87 | //++ Sende-Part der Datenübertragung |
| 88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 89 | SIGNAL(INT_VEC_TX) |
89 | SIGNAL(INT_VEC_TX) |
| 90 | { |
90 | { |
| 91 | static unsigned int ptr = 0; |
91 | static unsigned int ptr = 0; |
| 92 | unsigned char tmp_tx; |
92 | unsigned char tmp_tx; |
| 93 | if(!UebertragungAbgeschlossen) |
93 | if(!UebertragungAbgeschlossen) |
| 94 | { |
94 | { |
| 95 | ptr++; // die [0] wurde schon gesendet |
95 | ptr++; // die [0] wurde schon gesendet |
| 96 | tmp_tx = SendeBuffer[ptr]; |
96 | tmp_tx = SendeBuffer[ptr]; |
| 97 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
97 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 98 | { |
98 | { |
| 99 | ptr = 0; |
99 | ptr = 0; |
| 100 | UebertragungAbgeschlossen = 1; |
100 | UebertragungAbgeschlossen = 1; |
| 101 | } |
101 | } |
| 102 | UDR = tmp_tx; |
102 | UDR = tmp_tx; |
| 103 | } |
103 | } |
| 104 | else ptr = 0; |
104 | else ptr = 0; |
| 105 | } |
105 | } |
| 106 | 106 | ||
| 107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 108 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
108 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 110 | SIGNAL(INT_VEC_RX) |
110 | SIGNAL(INT_VEC_RX) |
| 111 | { |
111 | { |
| 112 | static unsigned int crc; |
112 | static unsigned int crc; |
| 113 | static unsigned char crc1,crc2,buf_ptr; |
113 | static unsigned char crc1,crc2,buf_ptr; |
| 114 | static unsigned char UartState = 0; |
114 | static unsigned char UartState = 0; |
| 115 | unsigned char CrcOkay = 0; |
115 | unsigned char CrcOkay = 0; |
| 116 | 116 | ||
| 117 | SioTmp = UDR; |
117 | SioTmp = UDR; |
| 118 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
118 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| 119 | if(SioTmp == '\r' && UartState == 2) |
119 | if(SioTmp == '\r' && UartState == 2) |
| 120 | { |
120 | { |
| 121 | UartState = 0; |
121 | UartState = 0; |
| 122 | crc -= RxdBuffer[buf_ptr-2]; |
122 | crc -= RxdBuffer[buf_ptr-2]; |
| 123 | crc -= RxdBuffer[buf_ptr-1]; |
123 | crc -= RxdBuffer[buf_ptr-1]; |
| 124 | crc %= 4096; |
124 | crc %= 4096; |
| 125 | crc1 = '=' + crc / 64; |
125 | crc1 = '=' + crc / 64; |
| 126 | crc2 = '=' + crc % 64; |
126 | crc2 = '=' + crc % 64; |
| 127 | CrcOkay = 0; |
127 | CrcOkay = 0; |
| 128 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
128 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 129 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
129 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 130 | { |
130 | { |
| 131 | NeuerDatensatzEmpfangen = 1; |
131 | NeuerDatensatzEmpfangen = 1; |
| 132 | AnzahlEmpfangsBytes = buf_ptr + 1; |
132 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 133 | RxdBuffer[buf_ptr] = '\r'; |
133 | RxdBuffer[buf_ptr] = '\r'; |
| - | 134 | if(RxdBuffer[2] == 'R') |
|
| - | 135 | { |
|
| 134 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
136 | wdt_enable(WDTO_250MS); // Reset-Commando |
| - | 137 | ServoActive = 0; |
|
| - | 138 | } |
|
| 135 | } |
139 | } |
| 136 | } |
140 | } |
| 137 | else |
141 | else |
| 138 | switch(UartState) |
142 | switch(UartState) |
| 139 | { |
143 | { |
| 140 | case 0: |
144 | case 0: |
| 141 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
145 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 142 | buf_ptr = 0; |
146 | buf_ptr = 0; |
| 143 | RxdBuffer[buf_ptr++] = SioTmp; |
147 | RxdBuffer[buf_ptr++] = SioTmp; |
| 144 | crc = SioTmp; |
148 | crc = SioTmp; |
| 145 | break; |
149 | break; |
| 146 | case 1: // Adresse auswerten |
150 | case 1: // Adresse auswerten |
| 147 | UartState++; |
151 | UartState++; |
| 148 | RxdBuffer[buf_ptr++] = SioTmp; |
152 | RxdBuffer[buf_ptr++] = SioTmp; |
| 149 | crc += SioTmp; |
153 | crc += SioTmp; |
| 150 | break; |
154 | break; |
| 151 | case 2: // Eingangsdaten sammeln |
155 | case 2: // Eingangsdaten sammeln |
| 152 | RxdBuffer[buf_ptr] = SioTmp; |
156 | RxdBuffer[buf_ptr] = SioTmp; |
| 153 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
157 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 154 | else UartState = 0; |
158 | else UartState = 0; |
| 155 | crc += SioTmp; |
159 | crc += SioTmp; |
| 156 | break; |
160 | break; |
| 157 | default: |
161 | default: |
| 158 | UartState = 0; |
162 | UartState = 0; |
| 159 | break; |
163 | break; |
| 160 | } |
164 | } |
| 161 | } |
165 | } |
| 162 | 166 | ||
| 163 | 167 | ||
| 164 | // -------------------------------------------------------------------------- |
168 | // -------------------------------------------------------------------------- |
| 165 | void AddCRC(unsigned int wieviele) |
169 | void AddCRC(unsigned int wieviele) |
| 166 | { |
170 | { |
| 167 | unsigned int tmpCRC = 0,i; |
171 | unsigned int tmpCRC = 0,i; |
| 168 | for(i = 0; i < wieviele;i++) |
172 | for(i = 0; i < wieviele;i++) |
| 169 | { |
173 | { |
| 170 | tmpCRC += SendeBuffer[i]; |
174 | tmpCRC += SendeBuffer[i]; |
| 171 | } |
175 | } |
| 172 | tmpCRC %= 4096; |
176 | tmpCRC %= 4096; |
| 173 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
177 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
| 174 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
178 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
| 175 | SendeBuffer[i++] = '\r'; |
179 | SendeBuffer[i++] = '\r'; |
| 176 | UebertragungAbgeschlossen = 0; |
180 | UebertragungAbgeschlossen = 0; |
| 177 | UDR = SendeBuffer[0]; |
181 | UDR = SendeBuffer[0]; |
| 178 | } |
182 | } |
| 179 | 183 | ||
| 180 | 184 | ||
| 181 | 185 | ||
| 182 | // -------------------------------------------------------------------------- |
186 | // -------------------------------------------------------------------------- |
| 183 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
187 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 184 | { |
188 | { |
| 185 | va_list ap; |
189 | va_list ap; |
| 186 | unsigned int pt = 0; |
190 | unsigned int pt = 0; |
| 187 | unsigned char a,b,c; |
191 | unsigned char a,b,c; |
| 188 | unsigned char ptr = 0; |
192 | unsigned char ptr = 0; |
| 189 | 193 | ||
| 190 | unsigned char *snd = 0; |
194 | unsigned char *snd = 0; |
| 191 | int len = 0; |
195 | int len = 0; |
| 192 | 196 | ||
| 193 | SendeBuffer[pt++] = '#'; // Startzeichen |
197 | SendeBuffer[pt++] = '#'; // Startzeichen |
| 194 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
198 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 195 | SendeBuffer[pt++] = cmd; // Commando |
199 | SendeBuffer[pt++] = cmd; // Commando |
| 196 | 200 | ||
| 197 | va_start(ap, BufferAnzahl); |
201 | va_start(ap, BufferAnzahl); |
| 198 | if(BufferAnzahl) |
202 | if(BufferAnzahl) |
| 199 | { |
203 | { |
| 200 | snd = va_arg(ap, unsigned char*); |
204 | snd = va_arg(ap, unsigned char*); |
| 201 | len = va_arg(ap, int); |
205 | len = va_arg(ap, int); |
| 202 | ptr = 0; |
206 | ptr = 0; |
| 203 | BufferAnzahl--; |
207 | BufferAnzahl--; |
| 204 | } |
208 | } |
| 205 | while(len) |
209 | while(len) |
| 206 | { |
210 | { |
| 207 | if(len) |
211 | if(len) |
| 208 | { |
212 | { |
| 209 | a = snd[ptr++]; |
213 | a = snd[ptr++]; |
| 210 | len--; |
214 | len--; |
| 211 | if((!len) && BufferAnzahl) |
215 | if((!len) && BufferAnzahl) |
| 212 | { |
216 | { |
| 213 | snd = va_arg(ap, unsigned char*); |
217 | snd = va_arg(ap, unsigned char*); |
| 214 | len = va_arg(ap, int); |
218 | len = va_arg(ap, int); |
| 215 | ptr = 0; |
219 | ptr = 0; |
| 216 | BufferAnzahl--; |
220 | BufferAnzahl--; |
| 217 | } |
221 | } |
| 218 | } |
222 | } |
| 219 | else a = 0; |
223 | else a = 0; |
| 220 | if(len) |
224 | if(len) |
| 221 | { |
225 | { |
| 222 | b = snd[ptr++]; |
226 | b = snd[ptr++]; |
| 223 | len--; |
227 | len--; |
| 224 | if((!len) && BufferAnzahl) |
228 | if((!len) && BufferAnzahl) |
| 225 | { |
229 | { |
| 226 | snd = va_arg(ap, unsigned char*); |
230 | snd = va_arg(ap, unsigned char*); |
| 227 | len = va_arg(ap, int); |
231 | len = va_arg(ap, int); |
| 228 | ptr = 0; |
232 | ptr = 0; |
| 229 | BufferAnzahl--; |
233 | BufferAnzahl--; |
| 230 | } |
234 | } |
| 231 | } |
235 | } |
| 232 | else b = 0; |
236 | else b = 0; |
| 233 | if(len) |
237 | if(len) |
| 234 | { |
238 | { |
| 235 | c = snd[ptr++]; |
239 | c = snd[ptr++]; |
| 236 | len--; |
240 | len--; |
| 237 | if((!len) && BufferAnzahl) |
241 | if((!len) && BufferAnzahl) |
| 238 | { |
242 | { |
| 239 | snd = va_arg(ap, unsigned char*); |
243 | snd = va_arg(ap, unsigned char*); |
| 240 | len = va_arg(ap, int); |
244 | len = va_arg(ap, int); |
| 241 | ptr = 0; |
245 | ptr = 0; |
| 242 | BufferAnzahl--; |
246 | BufferAnzahl--; |
| 243 | } |
247 | } |
| 244 | } |
248 | } |
| 245 | else c = 0; |
249 | else c = 0; |
| 246 | SendeBuffer[pt++] = '=' + (a >> 2); |
250 | SendeBuffer[pt++] = '=' + (a >> 2); |
| 247 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
251 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 248 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
252 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 249 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
253 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| 250 | } |
254 | } |
| 251 | va_end(ap); |
255 | va_end(ap); |
| 252 | AddCRC(pt); |
256 | AddCRC(pt); |
| 253 | } |
257 | } |
| 254 | 258 | ||
| 255 | 259 | ||
| 256 | // -------------------------------------------------------------------------- |
260 | // -------------------------------------------------------------------------- |
| 257 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
261 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 258 | { |
262 | { |
| 259 | unsigned char a,b,c,d; |
263 | unsigned char a,b,c,d; |
| 260 | unsigned char x,y,z; |
264 | unsigned char x,y,z; |
| 261 | unsigned char ptrIn = 3; // start at begin of data block |
265 | unsigned char ptrIn = 3; // start at begin of data block |
| 262 | unsigned char ptrOut = 3; |
266 | unsigned char ptrOut = 3; |
| 263 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
267 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| 264 | 268 | ||
| 265 | while(len) |
269 | while(len) |
| 266 | { |
270 | { |
| 267 | a = RxdBuffer[ptrIn++] - '='; |
271 | a = RxdBuffer[ptrIn++] - '='; |
| 268 | b = RxdBuffer[ptrIn++] - '='; |
272 | b = RxdBuffer[ptrIn++] - '='; |
| 269 | c = RxdBuffer[ptrIn++] - '='; |
273 | c = RxdBuffer[ptrIn++] - '='; |
| 270 | d = RxdBuffer[ptrIn++] - '='; |
274 | d = RxdBuffer[ptrIn++] - '='; |
| 271 | 275 | ||
| 272 | x = (a << 2) | (b >> 4); |
276 | x = (a << 2) | (b >> 4); |
| 273 | y = ((b & 0x0f) << 4) | (c >> 2); |
277 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 274 | z = ((c & 0x03) << 6) | d; |
278 | z = ((c & 0x03) << 6) | d; |
| 275 | 279 | ||
| 276 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
280 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 277 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
281 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 278 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
282 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 279 | } |
283 | } |
| 280 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
284 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 281 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
285 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 282 | 286 | ||
| 283 | } |
287 | } |
| 284 | 288 | ||
| 285 | // -------------------------------------------------------------------------- |
289 | // -------------------------------------------------------------------------- |
| 286 | void BearbeiteRxDaten(void) |
290 | void BearbeiteRxDaten(void) |
| 287 | { |
291 | { |
| 288 | if(!NeuerDatensatzEmpfangen) return; |
292 | if(!NeuerDatensatzEmpfangen) return; |
| 289 | 293 | ||
| 290 | unsigned char tempchar1, tempchar2; |
294 | unsigned char tempchar1, tempchar2; |
| 291 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
295 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 292 | switch(RxdBuffer[1]-'a') // check for Slave Address |
296 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 293 | { |
297 | { |
| 294 | case FC_ADDRESS: // FC special commands |
298 | case FC_ADDRESS: // FC special commands |
| 295 | 299 | ||
| 296 | switch(RxdBuffer[2]) |
300 | switch(RxdBuffer[2]) |
| 297 | { |
301 | { |
| 298 | case 'K':// Kompasswert |
302 | case 'K':// Kompasswert |
| 299 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
303 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 300 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
304 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 301 | break; |
305 | break; |
| 302 | case 't':// Motortest |
306 | case 't':// Motortest |
| 303 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
307 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 304 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
308 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 305 | PC_MotortestActive = 240; |
309 | PC_MotortestActive = 240; |
| 306 | //while(!UebertragungAbgeschlossen); |
310 | //while(!UebertragungAbgeschlossen); |
| 307 | //SendOutData('T', MeineSlaveAdresse, 0); |
311 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 308 | PcZugriff = 255; |
312 | PcZugriff = 255; |
| 309 | break; |
313 | break; |
| 310 | 314 | ||
| 311 | case 'n':// "Get Mixer |
315 | case 'n':// "Get Mixer |
| 312 | while(!UebertragungAbgeschlossen); |
316 | while(!UebertragungAbgeschlossen); |
| 313 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
317 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
| 314 | break; |
318 | break; |
| 315 | 319 | ||
| 316 | case 'm':// "Write Mixer |
320 | case 'm':// "Write Mixer |
| 317 | while(!UebertragungAbgeschlossen); |
321 | while(!UebertragungAbgeschlossen); |
| 318 | if(pRxData[0] == MIXER_REVISION) |
322 | if(pRxData[0] == MIXER_REVISION) |
| 319 | { |
323 | { |
| 320 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
324 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
| 321 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
325 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| 322 | tempchar1 = 1; |
326 | tempchar1 = 1; |
| 323 | } |
327 | } |
| 324 | else tempchar1 = 0; |
328 | else tempchar1 = 0; |
| 325 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
329 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 326 | break; |
330 | break; |
| 327 | 331 | ||
| 328 | case 'p': // get PPM Channels |
332 | case 'p': // get PPM Channels |
| 329 | GetPPMChannelAnforderung = 1; |
333 | GetPPMChannelAnforderung = 1; |
| 330 | break; |
334 | break; |
| 331 | 335 | ||
| 332 | case 'q':// "Get"-Anforderung für Settings |
336 | case 'q':// "Get"-Anforderung für Settings |
| 333 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
337 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 334 | if(pRxData[0] == 0xFF) |
338 | if(pRxData[0] == 0xFF) |
| 335 | { |
339 | { |
| 336 | pRxData[0] = GetActiveParamSetNumber(); |
340 | pRxData[0] = GetActiveParamSetNumber(); |
| 337 | } |
341 | } |
| 338 | // limit settings range |
342 | // limit settings range |
| 339 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
343 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| 340 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
344 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| 341 | // load requested parameter set |
345 | // load requested parameter set |
| 342 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
346 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 343 | 347 | ||
| 344 | while(!UebertragungAbgeschlossen); |
348 | while(!UebertragungAbgeschlossen); |
| 345 | tempchar1 = pRxData[0]; |
349 | tempchar1 = pRxData[0]; |
| 346 | tempchar2 = EE_DATENREVISION; |
350 | tempchar2 = EE_DATENREVISION; |
| 347 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
351 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 348 | break; |
352 | break; |
| 349 | 353 | ||
| 350 | case 's': // Parametersatz speichern |
354 | case 's': // Parametersatz speichern |
| 351 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
355 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 352 | { |
356 | { |
| 353 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
357 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 354 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
358 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 355 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
359 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 356 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
360 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 357 | SetActiveParamSetNumber(pRxData[0]); |
361 | SetActiveParamSetNumber(pRxData[0]); |
| 358 | tempchar1 = GetActiveParamSetNumber(); |
362 | tempchar1 = GetActiveParamSetNumber(); |
| 359 | Piep(tempchar1); |
363 | Piep(tempchar1,110); |
| 360 | } |
364 | } |
| 361 | else |
365 | else |
| 362 | { |
366 | { |
| 363 | tempchar1 = 0; // mark in response an invlid setting |
367 | tempchar1 = 0; // mark in response an invlid setting |
| 364 | } |
368 | } |
| 365 | while(!UebertragungAbgeschlossen); |
369 | while(!UebertragungAbgeschlossen); |
| 366 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
370 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 367 | break; |
371 | break; |
| 368 | 372 | ||
| 369 | } // case FC_ADDRESS: |
373 | } // case FC_ADDRESS: |
| 370 | 374 | ||
| 371 | default: // any Slave Address |
375 | default: // any Slave Address |
| 372 | 376 | ||
| 373 | switch(RxdBuffer[2]) |
377 | switch(RxdBuffer[2]) |
| 374 | { |
378 | { |
| 375 | // 't' comand placed here only for compatibility to BL |
379 | // 't' comand placed here only for compatibility to BL |
| 376 | case 't':// Motortest |
380 | case 't':// Motortest |
| 377 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
381 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 378 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
382 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 379 | while(!UebertragungAbgeschlossen); |
383 | while(!UebertragungAbgeschlossen); |
| 380 | SendOutData('T', MeineSlaveAdresse, 0); |
384 | SendOutData('T', MeineSlaveAdresse, 0); |
| 381 | PC_MotortestActive = 250; |
385 | PC_MotortestActive = 250; |
| 382 | PcZugriff = 255; |
386 | PcZugriff = 255; |
| 383 | break; |
387 | break; |
| 384 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
388 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 385 | case 'K':// Kompasswert |
389 | case 'K':// Kompasswert |
| 386 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
390 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 387 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
391 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 388 | break; |
392 | break; |
| 389 | case 'a':// Texte der Analogwerte |
393 | case 'a':// Texte der Analogwerte |
| 390 | DebugTextAnforderung = pRxData[0]; |
394 | DebugTextAnforderung = pRxData[0]; |
| 391 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
395 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 392 | PcZugriff = 255; |
396 | PcZugriff = 255; |
| 393 | break; |
397 | break; |
| 394 | case 'b': |
398 | case 'b': |
| 395 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
399 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 396 | ConfirmFrame = ExternControl.Frame; |
400 | ConfirmFrame = ExternControl.Frame; |
| 397 | PcZugriff = 255; |
401 | PcZugriff = 255; |
| 398 | break; |
402 | break; |
| 399 | case 'c': // Poll the 3D-Data |
403 | case 'c': // Poll the 3D-Data |
| 400 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
404 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 401 | Intervall3D = pRxData[0] * 10; |
405 | Intervall3D = pRxData[0] * 10; |
| 402 | break; |
406 | break; |
| 403 | case 'd': // Poll the debug data |
407 | case 'd': // Poll the debug data |
| 404 | DebugDataIntervall = pRxData[0] * 10; |
408 | DebugDataIntervall = pRxData[0] * 10; |
| 405 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
409 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 406 | break; |
410 | break; |
| 407 | 411 | ||
| 408 | case 'h':// x-1 Displayzeilen |
412 | case 'h':// x-1 Displayzeilen |
| 409 | PcZugriff = 255; |
413 | PcZugriff = 255; |
| 410 | RemoteKeys |= pRxData[0]; |
414 | RemoteKeys |= pRxData[0]; |
| 411 | if(RemoteKeys) DisplayLine = 0; |
415 | if(RemoteKeys) DisplayLine = 0; |
| 412 | DebugDisplayAnforderung = 1; |
416 | DebugDisplayAnforderung = 1; |
| 413 | break; |
417 | break; |
| 414 | 418 | ||
| 415 | case 'l':// x-1 Displayzeilen |
419 | case 'l':// x-1 Displayzeilen |
| 416 | PcZugriff = 255; |
420 | PcZugriff = 255; |
| 417 | MenuePunkt = pRxData[0]; |
421 | MenuePunkt = pRxData[0]; |
| 418 | DebugDisplayAnforderung1 = 1; |
422 | DebugDisplayAnforderung1 = 1; |
| 419 | break; |
423 | break; |
| 420 | case 'v': // Version-Anforderung und Ausbaustufe |
424 | case 'v': // Version-Anforderung und Ausbaustufe |
| 421 | GetVersionAnforderung = 1; |
425 | GetVersionAnforderung = 1; |
| 422 | break; |
426 | break; |
| 423 | 427 | ||
| 424 | case 'g':// |
428 | case 'g':// |
| 425 | GetExternalControl = 1; |
429 | GetExternalControl = 1; |
| 426 | break; |
430 | break; |
| 427 | } |
431 | } |
| 428 | break; // default: |
432 | break; // default: |
| 429 | } |
433 | } |
| 430 | NeuerDatensatzEmpfangen = 0; |
434 | NeuerDatensatzEmpfangen = 0; |
| 431 | pRxData = 0; |
435 | pRxData = 0; |
| 432 | RxDataLen = 0; |
436 | RxDataLen = 0; |
| 433 | } |
437 | } |
| 434 | 438 | ||
| 435 | //############################################################################ |
439 | //############################################################################ |
| 436 | //Routine für die Serielle Ausgabe |
440 | //Routine für die Serielle Ausgabe |
| 437 | int uart_putchar (char c) |
441 | int uart_putchar (char c) |
| 438 | //############################################################################ |
442 | //############################################################################ |
| 439 | { |
443 | { |
| 440 | if (c == '\n') |
444 | if (c == '\n') |
| 441 | uart_putchar('\r'); |
445 | uart_putchar('\r'); |
| 442 | //Warten solange bis Zeichen gesendet wurde |
446 | //Warten solange bis Zeichen gesendet wurde |
| 443 | loop_until_bit_is_set(USR, UDRE); |
447 | loop_until_bit_is_set(USR, UDRE); |
| 444 | //Ausgabe des Zeichens |
448 | //Ausgabe des Zeichens |
| 445 | UDR = c; |
449 | UDR = c; |
| 446 | 450 | ||
| 447 | return (0); |
451 | return (0); |
| 448 | } |
452 | } |
| 449 | 453 | ||
| 450 | // -------------------------------------------------------------------------- |
454 | // -------------------------------------------------------------------------- |
| 451 | void WriteProgramData(unsigned int pos, unsigned char wert) |
455 | void WriteProgramData(unsigned int pos, unsigned char wert) |
| 452 | { |
456 | { |
| 453 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
457 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| 454 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
458 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| 455 | // Buffer[pos] = wert; |
459 | // Buffer[pos] = wert; |
| 456 | } |
460 | } |
| 457 | 461 | ||
| 458 | //############################################################################ |
462 | //############################################################################ |
| 459 | //INstallation der Seriellen Schnittstelle |
463 | //INstallation der Seriellen Schnittstelle |
| 460 | void UART_Init (void) |
464 | void UART_Init (void) |
| 461 | //############################################################################ |
465 | //############################################################################ |
| 462 | { |
466 | { |
| 463 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
467 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 464 | 468 | ||
| 465 | UCR=(1 << TXEN) | (1 << RXEN); |
469 | UCR=(1 << TXEN) | (1 << RXEN); |
| 466 | // UART Double Speed (U2X) |
470 | // UART Double Speed (U2X) |
| 467 | USR |= (1<<U2X); |
471 | USR |= (1<<U2X); |
| 468 | // RX-Interrupt Freigabe |
472 | // RX-Interrupt Freigabe |
| 469 | UCSRB |= (1<<RXCIE); |
473 | UCSRB |= (1<<RXCIE); |
| 470 | // TX-Interrupt Freigabe |
474 | // TX-Interrupt Freigabe |
| 471 | UCSRB |= (1<<TXCIE); |
475 | UCSRB |= (1<<TXCIE); |
| 472 | 476 | ||
| 473 | //Teiler wird gesetzt |
477 | //Teiler wird gesetzt |
| 474 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
478 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 475 | //UBRR = 33; |
479 | //UBRR = 33; |
| 476 | //öffnet einen Kanal für printf (STDOUT) |
480 | //öffnet einen Kanal für printf (STDOUT) |
| 477 | //fdevopen (uart_putchar, 0); |
481 | //fdevopen (uart_putchar, 0); |
| 478 | //sbi(PORTD,4); |
482 | //sbi(PORTD,4); |
| 479 | Debug_Timer = SetDelay(DebugDataIntervall); |
483 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 480 | Kompass_Timer = SetDelay(220); |
484 | Kompass_Timer = SetDelay(220); |
| 481 | 485 | ||
| 482 | VersionInfo.SWMajor = VERSION_MAJOR; |
486 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 483 | VersionInfo.SWMinor = VERSION_MINOR; |
487 | VersionInfo.SWMinor = VERSION_MINOR; |
| 484 | VersionInfo.SWPatch = VERSION_PATCH; |
488 | VersionInfo.SWPatch = VERSION_PATCH; |
| 485 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
489 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 486 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
490 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 487 | 491 | ||
| 488 | pRxData = 0; |
492 | pRxData = 0; |
| 489 | RxDataLen = 0; |
493 | RxDataLen = 0; |
| 490 | } |
494 | } |
| 491 | 495 | ||
| 492 | //--------------------------------------------------------------------------------------------- |
496 | //--------------------------------------------------------------------------------------------- |
| 493 | void DatenUebertragung(void) |
497 | void DatenUebertragung(void) |
| 494 | { |
498 | { |
| 495 | if(!UebertragungAbgeschlossen) return; |
499 | if(!UebertragungAbgeschlossen) return; |
| 496 | 500 | ||
| 497 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
501 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| 498 | { |
502 | { |
| 499 | Menu(); |
503 | Menu(); |
| 500 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
504 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| 501 | DisplayLine++; |
505 | DisplayLine++; |
| 502 | if(DisplayLine >= 4) DisplayLine = 0; |
506 | if(DisplayLine >= 4) DisplayLine = 0; |
| 503 | DebugDisplayAnforderung = 0; |
507 | DebugDisplayAnforderung = 0; |
| 504 | } |
508 | } |
| 505 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
509 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 506 | { |
510 | { |
| 507 | Menu(); |
511 | Menu(); |
| 508 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
512 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 509 | DebugDisplayAnforderung1 = 0; |
513 | DebugDisplayAnforderung1 = 0; |
| 510 | } |
514 | } |
| 511 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
515 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 512 | { |
516 | { |
| 513 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
517 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 514 | GetVersionAnforderung = 0; |
518 | GetVersionAnforderung = 0; |
| 515 | } |
519 | } |
| 516 | 520 | ||
| 517 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
521 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 518 | { |
522 | { |
| 519 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
523 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 520 | GetExternalControl = 0; |
524 | GetExternalControl = 0; |
| 521 | } |
525 | } |
| 522 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
526 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 523 | { |
527 | { |
| 524 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
528 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 525 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
529 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 526 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
530 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 527 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
531 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 528 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
532 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 529 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
533 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 530 | Kompass_Timer = SetDelay(99); |
534 | Kompass_Timer = SetDelay(99); |
| 531 | } |
535 | } |
| 532 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
536 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 533 | { |
537 | { |
| 534 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
538 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 535 | DebugDataAnforderung = 0; |
539 | DebugDataAnforderung = 0; |
| 536 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
540 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 537 | } |
541 | } |
| 538 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
542 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 539 | { |
543 | { |
| 540 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
544 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 541 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
545 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 542 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
546 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 543 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
547 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 544 | Timer3D = SetDelay(Intervall3D); |
548 | Timer3D = SetDelay(Intervall3D); |
| 545 | } |
549 | } |
| 546 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
550 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 547 | { |
551 | { |
| 548 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
552 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 549 | DebugTextAnforderung = 255; |
553 | DebugTextAnforderung = 255; |
| 550 | } |
554 | } |
| 551 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
555 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 552 | { |
556 | { |
| 553 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
557 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 554 | ConfirmFrame = 0; |
558 | ConfirmFrame = 0; |
| 555 | } |
559 | } |
| 556 | 560 | ||
| 557 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
561 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 558 | { |
562 | { |
| 559 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
563 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 560 | GetPPMChannelAnforderung = 0; |
564 | GetPPMChannelAnforderung = 0; |
| 561 | } |
565 | } |
| 562 | 566 | ||
| 563 | } |
567 | } |
| 564 | 568 | ||
| 565 | 569 | ||