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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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 | #include "libfc.h" |
|
11 | 12 | ||
12 | 13 | ||
13 | #define FC_ADDRESS 1 |
14 | #define FC_ADDRESS 1 |
14 | #define NC_ADDRESS 2 |
15 | #define NC_ADDRESS 2 |
15 | #define MK3MAG_ADDRESS 3 |
16 | #define MK3MAG_ADDRESS 3 |
16 | 17 | ||
17 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
18 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
18 | 19 | ||
19 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
20 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
20 | unsigned char DisplayLine = 0; |
21 | unsigned char DisplayLine = 0; |
21 | unsigned volatile char SioTmp = 0; |
22 | unsigned volatile char SioTmp = 0; |
22 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
- | |
23 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
- | |
24 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
25 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
26 | unsigned volatile char UebertragungAbgeschlossen = 1; |
25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
27 | unsigned volatile char CntCrcError = 0; |
26 | unsigned volatile char CntCrcError = 0; |
28 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
29 | unsigned char *pRxData = 0; |
28 | unsigned char *pRxData = 0; |
30 | unsigned char RxDataLen = 0; |
29 | unsigned char RxDataLen = 0; |
31 | unsigned volatile char PC_DebugTimeout = 0; |
30 | unsigned volatile char PC_DebugTimeout = 0; |
32 | unsigned volatile char PC_MotortestActive = 0; |
31 | unsigned volatile char PC_MotortestActive = 0; |
33 | 32 | ||
34 | unsigned char DebugTextAnforderung = 255; |
33 | unsigned char DebugTextAnforderung = 255; |
35 | unsigned char PcZugriff = 100; |
34 | unsigned char PcZugriff = 100; |
36 | unsigned char MotorTest[16]; |
35 | unsigned char MotorTest[16]; |
37 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
36 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
38 | unsigned char ConfirmFrame; |
37 | unsigned char ConfirmFrame; |
39 | struct str_DebugOut DebugOut; |
38 | struct str_DebugOut DebugOut; |
40 | struct str_ExternControl ExternControl; |
39 | struct str_ExternControl ExternControl; |
41 | struct str_VersionInfo VersionInfo; |
40 | struct str_VersionInfo VersionInfo; |
42 | struct str_WinkelOut WinkelOut; |
41 | struct str_WinkelOut WinkelOut; |
43 | struct str_Data3D Data3D; |
42 | struct str_Data3D Data3D; |
44 | 43 | ||
45 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
44 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
46 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
45 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
47 | unsigned int AboTimeOut = 0; |
46 | unsigned int AboTimeOut = 0; |
48 | 47 | ||
49 | const unsigned char ANALOG_TEXT[32][16] = |
48 | const unsigned char ANALOG_TEXT[32][16] = |
50 | { |
49 | { |
51 | //1234567890123456 |
50 | //1234567890123456 |
52 | "AngleNick ", //0 |
51 | "AngleNick ", //0 |
53 | "AngleRoll ", |
52 | "AngleRoll ", |
54 | "AccNick ", |
53 | "AccNick ", |
55 | "AccRoll ", |
54 | "AccRoll ", |
56 | "GyroGier ", |
55 | "GyroGier ", |
57 | "Hight Value ", //5 |
56 | "Hight Value ", //5 |
58 | "AccZ ", |
57 | "AccZ ", |
59 | "Gas ", |
58 | "Gas ", |
60 | "Compass Value ", |
59 | "Compass Value ", |
61 | "Voltage ", |
60 | "Voltage ", |
62 | "Empfang ", //10 |
61 | "Empfang ", //10 |
63 | "Gyro Kompass ", |
62 | "Gyro Kompass ", |
64 | "Motor Front ", |
63 | "Motor Front ", |
65 | "Motor Rear ", |
64 | "Motor Rear ", |
66 | "Motor Left ", |
65 | "Motor Left ", |
67 | "Motor Right ", //15 |
66 | "Motor Right ", //15 |
68 | " ", |
67 | " ", |
69 | " ", |
68 | " ", |
70 | "VarioMeter ", |
69 | "VarioMeter ", |
71 | "MK3Mag CalState ", |
70 | "MK3Mag CalState ", |
72 | "Servo ", //20 |
71 | "Servo ", //20 |
73 | "Hoovergas ", |
72 | "Hoovergas ", |
74 | " ", |
73 | " ", |
75 | " ", |
74 | " ", |
76 | " ", |
75 | " ", |
77 | " ", //25 |
76 | " ", //25 |
78 | " ", |
77 | " ", |
79 | " ", |
78 | " ", |
80 | "I2C-Error ", |
79 | "I2C-Error ", |
81 | " ",// "Navi Serial Data", |
80 | " ",// "Navi Serial Data", |
82 | "GPS_Nick ", //30 |
81 | "GPS_Nick ", //30 |
83 | "GPS_Roll " |
82 | "GPS_Roll " |
84 | }; |
83 | }; |
85 | 84 | ||
86 | 85 | ||
87 | 86 | ||
88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
87 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
89 | //++ Sende-Part der Datenübertragung |
88 | //++ Sende-Part der Datenübertragung |
90 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
89 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
91 | SIGNAL(INT_VEC_TX) |
90 | SIGNAL(INT_VEC_TX) |
92 | { |
91 | { |
93 | static unsigned int ptr = 0; |
92 | static unsigned int ptr = 0; |
94 | unsigned char tmp_tx; |
93 | unsigned char tmp_tx; |
95 | if(!UebertragungAbgeschlossen) |
94 | if(!UebertragungAbgeschlossen) |
96 | { |
95 | { |
97 | ptr++; // die [0] wurde schon gesendet |
96 | ptr++; // die [0] wurde schon gesendet |
98 | tmp_tx = SendeBuffer[ptr]; |
97 | tmp_tx = TxdBuffer[ptr]; |
99 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
98 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
100 | { |
99 | { |
101 | ptr = 0; |
100 | ptr = 0; |
102 | UebertragungAbgeschlossen = 1; |
101 | UebertragungAbgeschlossen = 1; |
103 | } |
102 | } |
104 | UDR = tmp_tx; |
103 | UDR = tmp_tx; |
105 | } |
104 | } |
106 | else ptr = 0; |
105 | else ptr = 0; |
107 | } |
106 | } |
108 | 107 | ||
109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
108 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
110 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
109 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
111 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
110 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
112 | SIGNAL(INT_VEC_RX) |
111 | SIGNAL(INT_VEC_RX) |
113 | { |
112 | { |
114 | static unsigned int crc; |
113 | static unsigned int crc; |
115 | static unsigned char crc1,crc2,buf_ptr; |
114 | static unsigned char crc1,crc2,buf_ptr; |
116 | static unsigned char UartState = 0; |
115 | static unsigned char UartState = 0; |
117 | unsigned char CrcOkay = 0; |
116 | unsigned char CrcOkay = 0; |
118 | 117 | ||
119 | SioTmp = UDR; |
118 | SioTmp = UDR; |
120 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
119 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
121 | if(SioTmp == '\r' && UartState == 2) |
120 | if(SioTmp == '\r' && UartState == 2) |
122 | { |
121 | { |
123 | UartState = 0; |
122 | UartState = 0; |
124 | crc -= RxdBuffer[buf_ptr-2]; |
123 | crc -= RxdBuffer[buf_ptr-2]; |
125 | crc -= RxdBuffer[buf_ptr-1]; |
124 | crc -= RxdBuffer[buf_ptr-1]; |
126 | crc %= 4096; |
125 | crc %= 4096; |
127 | crc1 = '=' + crc / 64; |
126 | crc1 = '=' + crc / 64; |
128 | crc2 = '=' + crc % 64; |
127 | crc2 = '=' + crc % 64; |
129 | CrcOkay = 0; |
128 | CrcOkay = 0; |
130 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
129 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
131 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
130 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
132 | { |
131 | { |
133 | NeuerDatensatzEmpfangen = 1; |
132 | NeuerDatensatzEmpfangen = 1; |
134 | AnzahlEmpfangsBytes = buf_ptr + 1; |
133 | AnzahlEmpfangsBytes = buf_ptr + 1; |
135 | RxdBuffer[buf_ptr] = '\r'; |
134 | RxdBuffer[buf_ptr] = '\r'; |
136 | if(RxdBuffer[2] == 'R') |
135 | if(RxdBuffer[2] == 'R') |
137 | { |
136 | { |
138 | LcdClear(); |
137 | LcdClear(); |
139 | wdt_enable(WDTO_250MS); // Reset-Commando |
138 | wdt_enable(WDTO_250MS); // Reset-Commando |
140 | ServoActive = 0; |
139 | ServoActive = 0; |
141 | 140 | ||
142 | } |
141 | } |
143 | } |
142 | } |
144 | } |
143 | } |
145 | else |
144 | else |
146 | switch(UartState) |
145 | switch(UartState) |
147 | { |
146 | { |
148 | case 0: |
147 | case 0: |
149 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
148 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
150 | buf_ptr = 0; |
149 | buf_ptr = 0; |
151 | RxdBuffer[buf_ptr++] = SioTmp; |
150 | RxdBuffer[buf_ptr++] = SioTmp; |
152 | crc = SioTmp; |
151 | crc = SioTmp; |
153 | break; |
152 | break; |
154 | case 1: // Adresse auswerten |
153 | case 1: // Adresse auswerten |
155 | UartState++; |
154 | UartState++; |
156 | RxdBuffer[buf_ptr++] = SioTmp; |
155 | RxdBuffer[buf_ptr++] = SioTmp; |
157 | crc += SioTmp; |
156 | crc += SioTmp; |
158 | break; |
157 | break; |
159 | case 2: // Eingangsdaten sammeln |
158 | case 2: // Eingangsdaten sammeln |
160 | RxdBuffer[buf_ptr] = SioTmp; |
159 | RxdBuffer[buf_ptr] = SioTmp; |
161 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
160 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
162 | else UartState = 0; |
161 | else UartState = 0; |
163 | crc += SioTmp; |
162 | crc += SioTmp; |
164 | break; |
163 | break; |
165 | default: |
164 | default: |
166 | UartState = 0; |
165 | UartState = 0; |
167 | break; |
166 | break; |
168 | } |
167 | } |
169 | } |
168 | } |
170 | 169 | ||
171 | 170 | ||
172 | // -------------------------------------------------------------------------- |
171 | // -------------------------------------------------------------------------- |
173 | void AddCRC(unsigned int wieviele) |
172 | void AddCRC(unsigned int wieviele) |
174 | { |
173 | { |
175 | unsigned int tmpCRC = 0,i; |
174 | unsigned int tmpCRC = 0,i; |
176 | for(i = 0; i < wieviele;i++) |
175 | for(i = 0; i < wieviele;i++) |
177 | { |
176 | { |
178 | tmpCRC += SendeBuffer[i]; |
177 | tmpCRC += TxdBuffer[i]; |
179 | } |
178 | } |
180 | tmpCRC %= 4096; |
179 | tmpCRC %= 4096; |
181 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
180 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
182 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
181 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
183 | SendeBuffer[i++] = '\r'; |
182 | TxdBuffer[i++] = '\r'; |
184 | UebertragungAbgeschlossen = 0; |
183 | UebertragungAbgeschlossen = 0; |
185 | UDR = SendeBuffer[0]; |
184 | UDR = TxdBuffer[0]; |
186 | } |
185 | } |
187 | 186 | ||
188 | 187 | ||
189 | 188 | ||
190 | // -------------------------------------------------------------------------- |
189 | // -------------------------------------------------------------------------- |
191 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
190 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
192 | { |
191 | { |
193 | va_list ap; |
192 | va_list ap; |
194 | unsigned int pt = 0; |
193 | unsigned int pt = 0; |
195 | unsigned char a,b,c; |
194 | unsigned char a,b,c; |
196 | unsigned char ptr = 0; |
195 | unsigned char ptr = 0; |
197 | 196 | ||
198 | unsigned char *snd = 0; |
197 | unsigned char *snd = 0; |
199 | int len = 0; |
198 | int len = 0; |
200 | 199 | ||
201 | SendeBuffer[pt++] = '#'; // Startzeichen |
200 | TxdBuffer[pt++] = '#'; // Startzeichen |
202 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
201 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
203 | SendeBuffer[pt++] = cmd; // Commando |
202 | TxdBuffer[pt++] = cmd; // Commando |
204 | 203 | ||
205 | va_start(ap, BufferAnzahl); |
204 | va_start(ap, BufferAnzahl); |
206 | if(BufferAnzahl) |
205 | if(BufferAnzahl) |
207 | { |
206 | { |
208 | snd = va_arg(ap, unsigned char*); |
207 | snd = va_arg(ap, unsigned char*); |
209 | len = va_arg(ap, int); |
208 | len = va_arg(ap, int); |
210 | ptr = 0; |
209 | ptr = 0; |
211 | BufferAnzahl--; |
210 | BufferAnzahl--; |
212 | } |
211 | } |
213 | while(len) |
212 | while(len) |
214 | { |
213 | { |
215 | if(len) |
214 | if(len) |
216 | { |
215 | { |
217 | a = snd[ptr++]; |
216 | a = snd[ptr++]; |
218 | len--; |
217 | len--; |
219 | if((!len) && BufferAnzahl) |
218 | if((!len) && BufferAnzahl) |
220 | { |
219 | { |
221 | snd = va_arg(ap, unsigned char*); |
220 | snd = va_arg(ap, unsigned char*); |
222 | len = va_arg(ap, int); |
221 | len = va_arg(ap, int); |
223 | ptr = 0; |
222 | ptr = 0; |
224 | BufferAnzahl--; |
223 | BufferAnzahl--; |
225 | } |
224 | } |
226 | } |
225 | } |
227 | else a = 0; |
226 | else a = 0; |
228 | if(len) |
227 | if(len) |
229 | { |
228 | { |
230 | b = snd[ptr++]; |
229 | b = snd[ptr++]; |
231 | len--; |
230 | len--; |
232 | if((!len) && BufferAnzahl) |
231 | if((!len) && BufferAnzahl) |
233 | { |
232 | { |
234 | snd = va_arg(ap, unsigned char*); |
233 | snd = va_arg(ap, unsigned char*); |
235 | len = va_arg(ap, int); |
234 | len = va_arg(ap, int); |
236 | ptr = 0; |
235 | ptr = 0; |
237 | BufferAnzahl--; |
236 | BufferAnzahl--; |
238 | } |
237 | } |
239 | } |
238 | } |
240 | else b = 0; |
239 | else b = 0; |
241 | if(len) |
240 | if(len) |
242 | { |
241 | { |
243 | c = snd[ptr++]; |
242 | c = snd[ptr++]; |
244 | len--; |
243 | len--; |
245 | if((!len) && BufferAnzahl) |
244 | if((!len) && BufferAnzahl) |
246 | { |
245 | { |
247 | snd = va_arg(ap, unsigned char*); |
246 | snd = va_arg(ap, unsigned char*); |
248 | len = va_arg(ap, int); |
247 | len = va_arg(ap, int); |
249 | ptr = 0; |
248 | ptr = 0; |
250 | BufferAnzahl--; |
249 | BufferAnzahl--; |
251 | } |
250 | } |
252 | } |
251 | } |
253 | else c = 0; |
252 | else c = 0; |
254 | SendeBuffer[pt++] = '=' + (a >> 2); |
253 | TxdBuffer[pt++] = '=' + (a >> 2); |
255 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
254 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
256 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
255 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
257 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
256 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
258 | } |
257 | } |
259 | va_end(ap); |
258 | va_end(ap); |
260 | AddCRC(pt); |
259 | AddCRC(pt); |
261 | } |
260 | } |
262 | - | ||
263 | 261 | ||
264 | // -------------------------------------------------------------------------- |
262 | // -------------------------------------------------------------------------- |
265 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
263 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
266 | { |
264 | { |
267 | unsigned char a,b,c,d; |
265 | unsigned char a,b,c,d; |
268 | unsigned char x,y,z; |
266 | unsigned char x,y,z; |
269 | unsigned char ptrIn = 3; // start at begin of data block |
267 | unsigned char ptrIn = 3; // start at begin of data block |
270 | unsigned char ptrOut = 3; |
268 | unsigned char ptrOut = 3; |
271 | 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. |
269 | 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. |
272 | 270 | ||
273 | while(len) |
271 | while(len) |
274 | { |
272 | { |
275 | a = RxdBuffer[ptrIn++] - '='; |
273 | a = RxdBuffer[ptrIn++] - '='; |
276 | b = RxdBuffer[ptrIn++] - '='; |
274 | b = RxdBuffer[ptrIn++] - '='; |
277 | c = RxdBuffer[ptrIn++] - '='; |
275 | c = RxdBuffer[ptrIn++] - '='; |
278 | d = RxdBuffer[ptrIn++] - '='; |
276 | d = RxdBuffer[ptrIn++] - '='; |
279 | 277 | ||
280 | x = (a << 2) | (b >> 4); |
278 | x = (a << 2) | (b >> 4); |
281 | y = ((b & 0x0f) << 4) | (c >> 2); |
279 | y = ((b & 0x0f) << 4) | (c >> 2); |
282 | z = ((c & 0x03) << 6) | d; |
280 | z = ((c & 0x03) << 6) | d; |
283 | 281 | ||
284 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
282 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
285 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
283 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
286 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
284 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
287 | } |
285 | } |
288 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
286 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
289 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
287 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
290 | 288 | ||
291 | } |
289 | } |
292 | 290 | ||
293 | // -------------------------------------------------------------------------- |
291 | // -------------------------------------------------------------------------- |
294 | void BearbeiteRxDaten(void) |
292 | void BearbeiteRxDaten(void) |
295 | { |
293 | { |
296 | if(!NeuerDatensatzEmpfangen) return; |
294 | if(!NeuerDatensatzEmpfangen) return; |
297 | 295 | ||
298 | unsigned char tempchar1, tempchar2; |
296 | unsigned char tempchar1, tempchar2; |
299 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
297 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
300 | switch(RxdBuffer[1]-'a') // check for Slave Address |
298 | switch(RxdBuffer[1]-'a') // check for Slave Address |
301 | { |
299 | { |
302 | case FC_ADDRESS: // FC special commands |
300 | case FC_ADDRESS: // FC special commands |
303 | switch(RxdBuffer[2]) |
301 | switch(RxdBuffer[2]) |
304 | { |
302 | { |
305 | case 'K':// Kompasswert |
303 | case 'K':// Kompasswert |
306 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
304 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
307 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
305 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
308 | break; |
306 | break; |
309 | case 't':// Motortest |
307 | case 't':// Motortest |
310 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
308 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
311 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
309 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
312 | PC_MotortestActive = 240; |
310 | PC_MotortestActive = 240; |
313 | //while(!UebertragungAbgeschlossen); |
311 | //while(!UebertragungAbgeschlossen); |
314 | //SendOutData('T', MeineSlaveAdresse, 0); |
312 | //SendOutData('T', MeineSlaveAdresse, 0); |
315 | PcZugriff = 255; |
313 | PcZugriff = 255; |
316 | break; |
314 | break; |
317 | 315 | ||
318 | case 'n':// "Get Mixer |
316 | case 'n':// "Get Mixer |
319 | while(!UebertragungAbgeschlossen); |
317 | while(!UebertragungAbgeschlossen); |
320 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
318 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
321 | break; |
319 | break; |
322 | 320 | ||
323 | case 'm':// "Write Mixer |
321 | case 'm':// "Write Mixer |
324 | while(!UebertragungAbgeschlossen); |
322 | while(!UebertragungAbgeschlossen); |
325 | if(pRxData[0] == MIXER_REVISION) |
323 | if(pRxData[0] == MIXER_REVISION) |
326 | { |
324 | { |
327 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
325 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
328 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
326 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
329 | tempchar1 = 1; |
327 | tempchar1 = 1; |
330 | } |
328 | } |
331 | else tempchar1 = 0; |
329 | else tempchar1 = 0; |
332 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
330 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
333 | break; |
331 | break; |
334 | 332 | ||
335 | case 'p': // get PPM Channels |
333 | case 'p': // get PPM Channels |
336 | GetPPMChannelAnforderung = 1; |
334 | GetPPMChannelAnforderung = 1; |
337 | PcZugriff = 255; |
335 | PcZugriff = 255; |
338 | break; |
336 | break; |
339 | 337 | ||
340 | case 'q':// "Get"-Anforderung für Settings |
338 | case 'q':// "Get"-Anforderung für Settings |
341 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
339 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
342 | if(pRxData[0] == 0xFF) |
340 | if(pRxData[0] == 0xFF) |
343 | { |
341 | { |
344 | pRxData[0] = GetActiveParamSetNumber(); |
342 | pRxData[0] = GetActiveParamSetNumber(); |
345 | } |
343 | } |
346 | // limit settings range |
344 | // limit settings range |
347 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
345 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
348 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
346 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
349 | // load requested parameter set |
347 | // load requested parameter set |
350 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
348 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
351 | 349 | ||
352 | while(!UebertragungAbgeschlossen); |
350 | while(!UebertragungAbgeschlossen); |
353 | tempchar1 = pRxData[0]; |
351 | tempchar1 = pRxData[0]; |
354 | tempchar2 = EE_DATENREVISION; |
352 | tempchar2 = EE_DATENREVISION; |
355 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
353 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
356 | break; |
354 | break; |
357 | 355 | ||
358 | case 's': // Parametersatz speichern |
356 | case 's': // Parametersatz speichern |
359 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
357 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
360 | { |
358 | { |
361 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
359 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
362 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
360 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
363 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
361 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
364 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
362 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
365 | SetActiveParamSetNumber(pRxData[0]); |
363 | SetActiveParamSetNumber(pRxData[0]); |
366 | tempchar1 = GetActiveParamSetNumber(); |
364 | tempchar1 = GetActiveParamSetNumber(); |
367 | } |
365 | } |
368 | else |
366 | else |
369 | { |
367 | { |
370 | tempchar1 = 0; // mark in response an invlid setting |
368 | tempchar1 = 0; // mark in response an invlid setting |
371 | } |
369 | } |
372 | while(!UebertragungAbgeschlossen); |
370 | while(!UebertragungAbgeschlossen); |
373 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
374 | if(!MotorenEin) Piep(tempchar1,110); |
372 | if(!MotorenEin) Piep(tempchar1,110); |
375 | LipoDetection(0); |
373 | LipoDetection(0); |
376 | LIBFC_ReceiverInit(); |
374 | LIBFC_ReceiverInit(); |
377 | break; |
375 | break; |
378 | case 'f': // auf anderen Parametersatz umschalten |
376 | case 'f': // auf anderen Parametersatz umschalten |
379 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
377 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
380 | tempchar1 = pRxData[0]; |
378 | tempchar1 = pRxData[0]; |
381 | while(!UebertragungAbgeschlossen); |
379 | while(!UebertragungAbgeschlossen); |
382 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
380 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
383 | if(!MotorenEin) Piep(tempchar1,110); |
381 | if(!MotorenEin) Piep(tempchar1,110); |
384 | LipoDetection(0); |
382 | LipoDetection(0); |
385 | LIBFC_ReceiverInit(); |
383 | LIBFC_ReceiverInit(); |
386 | break; |
384 | break; |
387 | case 'y':// serial Potis |
385 | case 'y':// serial Potis |
388 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
386 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
389 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
387 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
390 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
388 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
391 | break; |
389 | break; |
392 | 390 | ||
393 | } // case FC_ADDRESS: |
391 | } // case FC_ADDRESS: |
394 | 392 | ||
395 | default: // any Slave Address |
393 | default: // any Slave Address |
396 | 394 | ||
397 | switch(RxdBuffer[2]) |
395 | switch(RxdBuffer[2]) |
398 | { |
396 | { |
399 | // 't' comand placed here only for compatibility to BL |
397 | // 't' comand placed here only for compatibility to BL |
400 | case 't':// Motortest |
398 | case 't':// Motortest |
401 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
399 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
402 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
400 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
403 | while(!UebertragungAbgeschlossen); |
401 | while(!UebertragungAbgeschlossen); |
404 | SendOutData('T', MeineSlaveAdresse, 0); |
402 | SendOutData('T', MeineSlaveAdresse, 0); |
405 | PC_MotortestActive = 250; |
403 | PC_MotortestActive = 250; |
406 | PcZugriff = 255; |
404 | PcZugriff = 255; |
407 | break; |
405 | break; |
408 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
406 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
409 | case 'K':// Kompasswert |
407 | case 'K':// Kompasswert |
410 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
408 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
411 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
409 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
412 | break; |
410 | break; |
413 | case 'a':// Texte der Analogwerte |
411 | case 'a':// Texte der Analogwerte |
414 | DebugTextAnforderung = pRxData[0]; |
412 | DebugTextAnforderung = pRxData[0]; |
415 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
413 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
416 | PcZugriff = 255; |
414 | PcZugriff = 255; |
417 | break; |
415 | break; |
418 | case 'b': |
416 | case 'b': |
419 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
417 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
420 | ConfirmFrame = ExternControl.Frame; |
418 | ConfirmFrame = ExternControl.Frame; |
421 | PcZugriff = 255; |
419 | PcZugriff = 255; |
422 | break; |
420 | break; |
423 | case 'c': // Poll the 3D-Data |
421 | case 'c': // Poll the 3D-Data |
424 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
422 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
425 | Intervall3D = pRxData[0] * 10; |
423 | Intervall3D = pRxData[0] * 10; |
426 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
424 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
427 | break; |
425 | break; |
428 | case 'd': // Poll the debug data |
426 | case 'd': // Poll the debug data |
- | 427 | PcZugriff = 255; |
|
429 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
428 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
430 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
429 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
431 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
430 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
432 | break; |
431 | break; |
433 | 432 | ||
434 | case 'h':// x-1 Displayzeilen |
433 | case 'h':// x-1 Displayzeilen |
435 | PcZugriff = 255; |
434 | PcZugriff = 255; |
436 | if((pRxData[0] & 0x80) == 0x00) // old format |
435 | if((pRxData[0] & 0x80) == 0x00) // old format |
437 | { |
436 | { |
438 | DisplayLine = 2; |
437 | DisplayLine = 2; |
439 | Display_Interval = 0; |
438 | Display_Interval = 0; |
440 | } |
439 | } |
441 | else // new format |
440 | else // new format |
442 | { |
441 | { |
443 | RemoteKeys |= ~pRxData[0]; |
442 | RemoteKeys |= ~pRxData[0]; |
444 | Display_Interval = (unsigned int)pRxData[1] * 10; |
443 | Display_Interval = (unsigned int)pRxData[1] * 10; |
445 | DisplayLine = 4; |
444 | DisplayLine = 4; |
446 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
445 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
447 | } |
446 | } |
448 | DebugDisplayAnforderung = 1; |
447 | DebugDisplayAnforderung = 1; |
449 | break; |
448 | break; |
450 | 449 | ||
451 | case 'l':// x-1 Displayzeilen |
450 | case 'l':// x-1 Displayzeilen |
452 | PcZugriff = 255; |
451 | PcZugriff = 255; |
453 | MenuePunkt = pRxData[0]; |
452 | MenuePunkt = pRxData[0]; |
454 | DebugDisplayAnforderung1 = 1; |
453 | DebugDisplayAnforderung1 = 1; |
455 | break; |
454 | break; |
456 | case 'v': // Version-Anforderung und Ausbaustufe |
455 | case 'v': // Version-Anforderung und Ausbaustufe |
457 | GetVersionAnforderung = 1; |
456 | GetVersionAnforderung = 1; |
458 | break; |
457 | break; |
459 | 458 | ||
460 | case 'g':// |
459 | case 'g':// |
461 | GetExternalControl = 1; |
460 | GetExternalControl = 1; |
462 | break; |
461 | break; |
463 | } |
462 | } |
464 | break; // default: |
463 | break; // default: |
465 | } |
464 | } |
466 | NeuerDatensatzEmpfangen = 0; |
465 | NeuerDatensatzEmpfangen = 0; |
467 | pRxData = 0; |
466 | pRxData = 0; |
468 | RxDataLen = 0; |
467 | RxDataLen = 0; |
469 | } |
468 | } |
470 | 469 | ||
471 | //############################################################################ |
470 | //############################################################################ |
472 | //Routine für die Serielle Ausgabe |
471 | //Routine für die Serielle Ausgabe |
473 | int uart_putchar (char c) |
472 | int uart_putchar (char c) |
474 | //############################################################################ |
473 | //############################################################################ |
475 | { |
474 | { |
476 | if (c == '\n') |
475 | if (c == '\n') |
477 | uart_putchar('\r'); |
476 | uart_putchar('\r'); |
478 | //Warten solange bis Zeichen gesendet wurde |
477 | //Warten solange bis Zeichen gesendet wurde |
479 | loop_until_bit_is_set(USR, UDRE); |
478 | loop_until_bit_is_set(USR, UDRE); |
480 | //Ausgabe des Zeichens |
479 | //Ausgabe des Zeichens |
481 | UDR = c; |
480 | UDR = c; |
482 | 481 | ||
483 | return (0); |
482 | return (0); |
484 | } |
483 | } |
485 | - | ||
486 | // -------------------------------------------------------------------------- |
- | |
487 | void WriteProgramData(unsigned int pos, unsigned char wert) |
- | |
488 | { |
- | |
489 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
- | |
490 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
- | |
491 | // Buffer[pos] = wert; |
- | |
492 | } |
484 | |
493 | 485 | ||
494 | //############################################################################ |
486 | //############################################################################ |
495 | //INstallation der Seriellen Schnittstelle |
487 | //INstallation der Seriellen Schnittstelle |
496 | void UART_Init (void) |
488 | void UART_Init (void) |
497 | //############################################################################ |
489 | //############################################################################ |
498 | { |
490 | { |
499 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
491 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
500 | 492 | ||
501 | UCR=(1 << TXEN) | (1 << RXEN); |
493 | UCR=(1 << TXEN) | (1 << RXEN); |
502 | // UART Double Speed (U2X) |
494 | // UART Double Speed (U2X) |
503 | USR |= (1<<U2X); |
495 | USR |= (1<<U2X); |
504 | // RX-Interrupt Freigabe |
496 | // RX-Interrupt Freigabe |
505 | UCSRB |= (1<<RXCIE); |
497 | UCSRB |= (1<<RXCIE); |
506 | // TX-Interrupt Freigabe |
498 | // TX-Interrupt Freigabe |
507 | UCSRB |= (1<<TXCIE); |
499 | UCSRB |= (1<<TXCIE); |
508 | 500 | ||
509 | //Teiler wird gesetzt |
501 | //Teiler wird gesetzt |
510 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
502 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
511 | //UBRR = 33; |
503 | //UBRR = 33; |
512 | //öffnet einen Kanal für printf (STDOUT) |
504 | //öffnet einen Kanal für printf (STDOUT) |
513 | //fdevopen (uart_putchar, 0); |
505 | //fdevopen (uart_putchar, 0); |
514 | //sbi(PORTD,4); |
506 | //sbi(PORTD,4); |
515 | Debug_Timer = SetDelay(DebugDataIntervall); |
507 | Debug_Timer = SetDelay(DebugDataIntervall); |
516 | Kompass_Timer = SetDelay(220); |
508 | Kompass_Timer = SetDelay(220); |
517 | 509 | ||
518 | VersionInfo.SWMajor = VERSION_MAJOR; |
510 | VersionInfo.SWMajor = VERSION_MAJOR; |
519 | VersionInfo.SWMinor = VERSION_MINOR; |
511 | VersionInfo.SWMinor = VERSION_MINOR; |
520 | VersionInfo.SWPatch = VERSION_PATCH; |
512 | VersionInfo.SWPatch = VERSION_PATCH; |
521 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
513 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
522 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
514 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
523 | 515 | ||
524 | pRxData = 0; |
516 | pRxData = 0; |
525 | RxDataLen = 0; |
517 | RxDataLen = 0; |
526 | } |
518 | } |
527 | 519 | ||
528 | //--------------------------------------------------------------------------------------------- |
520 | //--------------------------------------------------------------------------------------------- |
529 | void DatenUebertragung(void) |
521 | void DatenUebertragung(void) |
530 | { |
522 | { |
531 | if(!UebertragungAbgeschlossen) return; |
523 | if(!UebertragungAbgeschlossen) return; |
532 | 524 | ||
533 | if(CheckDelay(AboTimeOut)) |
525 | if(CheckDelay(AboTimeOut)) |
534 | { |
526 | { |
535 | Display_Interval = 0; |
527 | Display_Interval = 0; |
536 | DebugDataIntervall = 0; |
528 | DebugDataIntervall = 0; |
537 | Intervall3D = 0; |
529 | Intervall3D = 0; |
538 | } |
530 | } |
539 | 531 | ||
540 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
532 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
541 | { |
533 | { |
542 | if(DisplayLine > 3)// new format |
534 | if(DisplayLine > 3)// new format |
543 | { |
535 | { |
544 | Menu(); |
536 | Menu(); |
545 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
537 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
546 | } |
538 | } |
547 | else // old format |
539 | else // old format |
548 | { |
540 | { |
549 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
541 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
550 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
542 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
551 | if(DisplayLine++ > 3) DisplayLine = 0; |
543 | if(DisplayLine++ > 3) DisplayLine = 0; |
552 | } |
544 | } |
553 | Display_Timer = SetDelay(Display_Interval); |
545 | Display_Timer = SetDelay(Display_Interval); |
554 | DebugDisplayAnforderung = 0; |
546 | DebugDisplayAnforderung = 0; |
555 | } |
547 | } |
556 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
548 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
557 | { |
549 | { |
558 | Menu(); |
550 | Menu(); |
559 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
551 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
560 | DebugDisplayAnforderung1 = 0; |
552 | DebugDisplayAnforderung1 = 0; |
561 | } |
553 | } |
562 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
554 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
563 | { |
555 | { |
564 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
556 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
565 | GetVersionAnforderung = 0; |
557 | GetVersionAnforderung = 0; |
566 | } |
558 | } |
567 | 559 | ||
568 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
560 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
569 | { |
561 | { |
570 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
562 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
571 | GetExternalControl = 0; |
563 | GetExternalControl = 0; |
572 | } |
564 | } |
573 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
565 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
574 | { |
566 | { |
575 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
567 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
576 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
568 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
577 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
569 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
578 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
570 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
579 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
571 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
580 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
572 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
581 | Kompass_Timer = SetDelay(99); |
573 | Kompass_Timer = SetDelay(99); |
582 | } |
574 | } |
583 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
575 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
584 | { |
576 | { |
585 | //if(Poti3 > 64) |
577 | //if(Poti3 > 64) |
586 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
578 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
587 | DebugDataAnforderung = 0; |
579 | DebugDataAnforderung = 0; |
588 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
580 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
589 | } |
581 | } |
590 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
582 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
591 | { |
583 | { |
592 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
584 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
593 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
585 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
594 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
586 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
595 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
587 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
596 | Timer3D = SetDelay(Intervall3D); |
588 | Timer3D = SetDelay(Intervall3D); |
597 | } |
589 | } |
598 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
590 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
599 | { |
591 | { |
600 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
592 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
601 | DebugTextAnforderung = 255; |
593 | DebugTextAnforderung = 255; |
602 | } |
594 | } |
603 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
595 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
604 | { |
596 | { |
605 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
597 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
606 | ConfirmFrame = 0; |
598 | ConfirmFrame = 0; |
607 | } |
599 | } |
608 | 600 | ||
609 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
601 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
610 | { |
602 | { |
611 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
603 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
612 | GetPPMChannelAnforderung = 0; |
604 | GetPPMChannelAnforderung = 0; |
613 | } |
605 | } |
614 | 606 | ||
615 | } |
607 | } |
616 | 608 | ||
617 | 609 |