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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 <avr/pgmspace.h> |
9 | #include <avr/pgmspace.h> |
| 10 | #include "main.h" |
10 | #include "main.h" |
| 11 | #include "uart.h" |
11 | #include "uart.h" |
| 12 | #include "libfc.h" |
12 | #include "libfc.h" |
| 13 | #include "eeprom.h" |
13 | #include "eeprom.h" |
| 14 | 14 | ||
| 15 | 15 | ||
| 16 | 16 | ||
| 17 | #define FC_ADDRESS 1 |
17 | #define FC_ADDRESS 1 |
| 18 | #define NC_ADDRESS 2 |
18 | #define NC_ADDRESS 2 |
| 19 | #define MK3MAG_ADDRESS 3 |
19 | #define MK3MAG_ADDRESS 3 |
| 20 | #define BL_CTRL_ADDRESS 5 |
20 | #define BL_CTRL_ADDRESS 5 |
| 21 | 21 | ||
| 22 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
22 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 23 | #define MAX_SENDE_BUFF 160 |
23 | #define MAX_SENDE_BUFF 160 |
| 24 | #define MAX_EMPFANGS_BUFF 160 |
24 | #define MAX_EMPFANGS_BUFF 160 |
| 25 | 25 | ||
| 26 | 26 | ||
| 27 | #define BLPARAM_REVISION 1 |
27 | #define BLPARAM_REVISION 1 |
| 28 | #define MASK_SET_PWM_SCALING 0x01 |
28 | #define MASK_SET_PWM_SCALING 0x01 |
| 29 | #define MASK_SET_CURRENT_LIMIT 0x02 |
29 | #define MASK_SET_CURRENT_LIMIT 0x02 |
| 30 | #define MASK_SET_TEMP_LIMIT 0x04 |
30 | #define MASK_SET_TEMP_LIMIT 0x04 |
| 31 | #define MASK_SET_CURRENT_SCALING 0x08 |
31 | #define MASK_SET_CURRENT_SCALING 0x08 |
| 32 | #define MASK_SET_BITCONFIG 0x10 |
32 | #define MASK_SET_BITCONFIG 0x10 |
| 33 | #define MASK_RESET_CAPCOUNTER 0x20 |
33 | #define MASK_RESET_CAPCOUNTER 0x20 |
| 34 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
34 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
| 35 | #define MASK_SET_SAVE_EEPROM 0x80 |
35 | #define MASK_SET_SAVE_EEPROM 0x80 |
| 36 | 36 | ||
| 37 | typedef struct |
37 | typedef struct |
| 38 | { |
38 | { |
| 39 | unsigned char Revision; // revision of parameter structure |
39 | unsigned char Revision; // revision of parameter structure |
| 40 | unsigned char Address; // target address |
40 | unsigned char Address; // target address |
| 41 | unsigned char PwmScaling; // maximum value of pwm setpoint |
41 | unsigned char PwmScaling; // maximum value of pwm setpoint |
| 42 | unsigned char CurrentLimit; // current limit in 1A steps |
42 | unsigned char CurrentLimit; // current limit in 1A steps |
| 43 | unsigned char TemperatureLimit; // in °C |
43 | unsigned char TemperatureLimit; // in °C |
| 44 | unsigned char CurrentScaling; // scaling factor for current measurement |
44 | unsigned char CurrentScaling; // scaling factor for current measurement |
| 45 | unsigned char BitConfig; // see defines above |
45 | unsigned char BitConfig; // see defines above |
| 46 | unsigned char SetMask; // filter for active paramters |
46 | unsigned char SetMask; // filter for active paramters |
| 47 | unsigned char Checksum; // checksum for parameter sturcture |
47 | unsigned char Checksum; // checksum for parameter sturcture |
| 48 | } __attribute__((packed)) BLParameter_t; |
48 | } __attribute__((packed)) BLParameter_t; |
| 49 | 49 | ||
| 50 | 50 | ||
| 51 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
51 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 52 | unsigned char DisplayLine = 0; |
52 | unsigned char DisplayLine = 0; |
| 53 | unsigned volatile char SioTmp = 0; |
53 | unsigned volatile char SioTmp = 0; |
| 54 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
54 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 55 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
55 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 56 | unsigned volatile char UebertragungAbgeschlossen = 1; |
56 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 57 | unsigned volatile char CntCrcError = 0; |
57 | unsigned volatile char CntCrcError = 0; |
| 58 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
58 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 59 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
59 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 60 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
60 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 61 | 61 | ||
| 62 | unsigned char *pRxData = 0; |
62 | unsigned char *pRxData = 0; |
| 63 | unsigned char RxDataLen = 0; |
63 | unsigned char RxDataLen = 0; |
| 64 | unsigned volatile char PC_DebugTimeout = 0; |
64 | unsigned volatile char PC_DebugTimeout = 0; |
| 65 | unsigned volatile char PC_MotortestActive = 0; |
65 | unsigned volatile char PC_MotortestActive = 0; |
| 66 | unsigned char DebugTextAnforderung = 255; |
66 | unsigned char DebugTextAnforderung = 255; |
| 67 | 67 | ||
| 68 | unsigned char PcZugriff = 100; |
68 | unsigned char PcZugriff = 100; |
| 69 | unsigned char MotorTest[16]; |
69 | unsigned char MotorTest[16]; |
| 70 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
70 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 71 | unsigned char ConfirmFrame; |
71 | unsigned char ConfirmFrame; |
| 72 | struct str_DebugOut DebugOut; |
72 | struct str_DebugOut DebugOut; |
| 73 | struct str_ExternControl ExternControl; |
73 | struct str_ExternControl ExternControl; |
| 74 | struct str_VersionInfo VersionInfo; |
74 | struct str_VersionInfo VersionInfo; |
| 75 | struct str_WinkelOut WinkelOut; |
75 | struct str_WinkelOut WinkelOut; |
| 76 | struct str_Data3D Data3D; |
76 | struct str_Data3D Data3D; |
| 77 | 77 | ||
| 78 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
78 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 79 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
79 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 80 | unsigned int AboTimeOut = 0; |
80 | unsigned int AboTimeOut = 0; |
| - | 81 | ||
| 81 | 82 | ||
| 82 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
83 | const unsigned char ANALOG_TEXT[32][13] PROGMEM = |
| 83 | { |
84 | { |
| 84 | //1234567890123456 |
85 | //1234567890123456 |
| 85 | "AngleNick ", //0 |
86 | "AngleNick ", //0 |
| 86 | "AngleRoll ", |
87 | "AngleRoll ", |
| 87 | "AccNick ", |
88 | "AccNick ", |
| 88 | "AccRoll ", |
89 | "AccRoll ", |
| 89 | "YawGyro ", |
90 | "YawGyro ", |
| 90 | "Height Value ", //5 |
91 | "Height Value ", //5 |
| 91 | "AccZ ", |
92 | "AccZ ", |
| 92 | "Gas ", |
93 | "Gas ", |
| 93 | "Compass Value ", |
94 | "Compass Value", |
| 94 | "Voltage [0.1V] ", |
95 | "Voltage[0.1V]", |
| 95 | "Receiver Level ", //10 |
96 | "ReceiverLevel", //10 |
| 96 | "Gyro Compass ", |
97 | "Gyro Compass ", |
| 97 | "Motor 1 ", |
98 | "Motor 1 ", |
| 98 | "Motor 2 ", |
99 | "Motor 2 ", |
| 99 | "Motor 3 ", |
100 | "Motor 3 ", |
| 100 | "Motor 4 ", //15 |
101 | "Motor 4 ", //15 |
| 101 | "Motor 5 ", |
102 | "Motor 5 ", |
| 102 | "Motor 6 ", |
103 | "Motor 6 ", |
| 103 | "18 ", |
104 | "18 ", |
| 104 | "WoutCalcState ", |
105 | "WoutCalcState", |
| 105 | "Servo ", //20 |
106 | "Servo ", //20 |
| 106 | "Hovergas ", |
107 | "Hovergas ", |
| 107 | "Current [0.1A] ", |
108 | "Current[0.1A]", |
| 108 | "Capacity [mAh] ", |
109 | "Capacity[mAh]", |
| 109 | "Motor 7 ", |
110 | "Motor 7 ", |
| 110 | "Motor 8 ", //25 |
111 | "Motor 8 ", //25 |
| 111 | "Motor 9 ", |
112 | "Motor 9 ", |
| 112 | "Motor 10 ", |
113 | "Motor 10 ", |
| 113 | "I2C-Error ", |
114 | "I2C-Error ", |
| 114 | "BL Limit ", |
115 | "BL Limit ", |
| 115 | "GPS_Nick ", //30 |
116 | "GPS_Nick ", //30 |
| 116 | "GPS_Roll " |
117 | "GPS_Roll " |
| 117 | }; |
118 | }; |
| 118 | 119 | ||
| - | 120 | ||
| 119 | 121 | ||
| 120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
122 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 121 | //++ Sende-Part der Datenübertragung |
123 | //++ Sende-Part der Datenübertragung |
| 122 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
124 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 123 | ISR(USART0_TX_vect) |
125 | ISR(USART0_TX_vect) |
| 124 | { |
126 | { |
| 125 | static unsigned int ptr = 0; |
127 | static unsigned int ptr = 0; |
| 126 | unsigned char tmp_tx; |
128 | unsigned char tmp_tx; |
| 127 | if(!UebertragungAbgeschlossen) |
129 | if(!UebertragungAbgeschlossen) |
| 128 | { |
130 | { |
| 129 | ptr++; // die [0] wurde schon gesendet |
131 | ptr++; // die [0] wurde schon gesendet |
| 130 | tmp_tx = TxdBuffer[ptr]; |
132 | tmp_tx = TxdBuffer[ptr]; |
| 131 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
133 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 132 | { |
134 | { |
| 133 | ptr = 0; |
135 | ptr = 0; |
| 134 | UebertragungAbgeschlossen = 1; |
136 | UebertragungAbgeschlossen = 1; |
| 135 | } |
137 | } |
| 136 | UDR0 = tmp_tx; |
138 | UDR0 = tmp_tx; |
| 137 | } |
139 | } |
| 138 | else ptr = 0; |
140 | else ptr = 0; |
| 139 | } |
141 | } |
| 140 | 142 | ||
| 141 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 142 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
144 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 143 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 144 | ISR(USART0_RX_vect) |
146 | ISR(USART0_RX_vect) |
| 145 | { |
147 | { |
| 146 | static unsigned int crc; |
148 | static unsigned int crc; |
| 147 | static unsigned char crc1,crc2,buf_ptr; |
149 | static unsigned char crc1,crc2,buf_ptr; |
| 148 | static unsigned char UartState = 0; |
150 | static unsigned char UartState = 0; |
| 149 | unsigned char CrcOkay = 0; |
151 | unsigned char CrcOkay = 0; |
| 150 | 152 | ||
| 151 | SioTmp = UDR0; |
153 | SioTmp = UDR0; |
| 152 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
154 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 153 | if(SioTmp == '\r' && UartState == 2) |
155 | if(SioTmp == '\r' && UartState == 2) |
| 154 | { |
156 | { |
| 155 | UartState = 0; |
157 | UartState = 0; |
| 156 | crc -= RxdBuffer[buf_ptr-2]; |
158 | crc -= RxdBuffer[buf_ptr-2]; |
| 157 | crc -= RxdBuffer[buf_ptr-1]; |
159 | crc -= RxdBuffer[buf_ptr-1]; |
| 158 | crc %= 4096; |
160 | crc %= 4096; |
| 159 | crc1 = '=' + crc / 64; |
161 | crc1 = '=' + crc / 64; |
| 160 | crc2 = '=' + crc % 64; |
162 | crc2 = '=' + crc % 64; |
| 161 | CrcOkay = 0; |
163 | CrcOkay = 0; |
| 162 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
164 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 163 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
165 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 164 | { |
166 | { |
| 165 | NeuerDatensatzEmpfangen = 1; |
167 | NeuerDatensatzEmpfangen = 1; |
| 166 | AnzahlEmpfangsBytes = buf_ptr + 1; |
168 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 167 | RxdBuffer[buf_ptr] = '\r'; |
169 | RxdBuffer[buf_ptr] = '\r'; |
| 168 | if(RxdBuffer[2] == 'R') |
170 | if(RxdBuffer[2] == 'R') |
| 169 | { |
171 | { |
| - | 172 | #ifdef NODISPLAY // main.h |
|
| - | 173 | ||
| - | 174 | #warning : "### no MKTool Display ###" |
|
| 170 | LcdClear(); |
175 | LcdClear(); |
| - | 176 | #endif |
|
| 171 | wdt_enable(WDTO_250MS); // Reset-Commando |
177 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 172 | ServoActive = 0; |
178 | ServoActive = 0; |
| 173 | 179 | ||
| 174 | } |
180 | } |
| 175 | } |
181 | } |
| 176 | } |
182 | } |
| 177 | else |
183 | else |
| 178 | switch(UartState) |
184 | switch(UartState) |
| 179 | { |
185 | { |
| 180 | case 0: |
186 | case 0: |
| 181 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
187 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 182 | buf_ptr = 0; |
188 | buf_ptr = 0; |
| 183 | RxdBuffer[buf_ptr++] = SioTmp; |
189 | RxdBuffer[buf_ptr++] = SioTmp; |
| 184 | crc = SioTmp; |
190 | crc = SioTmp; |
| 185 | break; |
191 | break; |
| 186 | case 1: // Adresse auswerten |
192 | case 1: // Adresse auswerten |
| 187 | UartState++; |
193 | UartState++; |
| 188 | RxdBuffer[buf_ptr++] = SioTmp; |
194 | RxdBuffer[buf_ptr++] = SioTmp; |
| 189 | crc += SioTmp; |
195 | crc += SioTmp; |
| 190 | break; |
196 | break; |
| 191 | case 2: // Eingangsdaten sammeln |
197 | case 2: // Eingangsdaten sammeln |
| 192 | RxdBuffer[buf_ptr] = SioTmp; |
198 | RxdBuffer[buf_ptr] = SioTmp; |
| 193 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
199 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 194 | else UartState = 0; |
200 | else UartState = 0; |
| 195 | crc += SioTmp; |
201 | crc += SioTmp; |
| 196 | break; |
202 | break; |
| 197 | default: |
203 | default: |
| 198 | UartState = 0; |
204 | UartState = 0; |
| 199 | break; |
205 | break; |
| 200 | } |
206 | } |
| 201 | } |
207 | } |
| 202 | 208 | ||
| 203 | 209 | ||
| 204 | // -------------------------------------------------------------------------- |
210 | // -------------------------------------------------------------------------- |
| 205 | void AddCRC(unsigned int wieviele) |
211 | void AddCRC(unsigned int wieviele) |
| 206 | { |
212 | { |
| 207 | unsigned int tmpCRC = 0,i; |
213 | unsigned int tmpCRC = 0,i; |
| 208 | for(i = 0; i < wieviele;i++) |
214 | for(i = 0; i < wieviele;i++) |
| 209 | { |
215 | { |
| 210 | tmpCRC += TxdBuffer[i]; |
216 | tmpCRC += TxdBuffer[i]; |
| 211 | } |
217 | } |
| 212 | tmpCRC %= 4096; |
218 | tmpCRC %= 4096; |
| 213 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
219 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 214 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
220 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 215 | TxdBuffer[i++] = '\r'; |
221 | TxdBuffer[i++] = '\r'; |
| 216 | UebertragungAbgeschlossen = 0; |
222 | UebertragungAbgeschlossen = 0; |
| 217 | UDR0 = TxdBuffer[0]; |
223 | UDR0 = TxdBuffer[0]; |
| 218 | } |
224 | } |
| 219 | 225 | ||
| 220 | 226 | ||
| 221 | 227 | ||
| 222 | // -------------------------------------------------------------------------- |
228 | // -------------------------------------------------------------------------- |
| 223 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
229 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 224 | { |
230 | { |
| 225 | va_list ap; |
231 | va_list ap; |
| 226 | unsigned int pt = 0; |
232 | unsigned int pt = 0; |
| 227 | unsigned char a,b,c; |
233 | unsigned char a,b,c; |
| 228 | unsigned char ptr = 0; |
234 | unsigned char ptr = 0; |
| 229 | 235 | ||
| 230 | unsigned char *snd = 0; |
236 | unsigned char *snd = 0; |
| 231 | int len = 0; |
237 | int len = 0; |
| 232 | 238 | ||
| 233 | TxdBuffer[pt++] = '#'; // Startzeichen |
239 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 234 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
240 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 235 | TxdBuffer[pt++] = cmd; // Commando |
241 | TxdBuffer[pt++] = cmd; // Commando |
| 236 | 242 | ||
| 237 | va_start(ap, BufferAnzahl); |
243 | va_start(ap, BufferAnzahl); |
| 238 | if(BufferAnzahl) |
244 | if(BufferAnzahl) |
| 239 | { |
245 | { |
| 240 | snd = va_arg(ap, unsigned char*); |
246 | snd = va_arg(ap, unsigned char*); |
| 241 | len = va_arg(ap, int); |
247 | len = va_arg(ap, int); |
| 242 | ptr = 0; |
248 | ptr = 0; |
| 243 | BufferAnzahl--; |
249 | BufferAnzahl--; |
| 244 | } |
250 | } |
| 245 | while(len) |
251 | while(len) |
| 246 | { |
252 | { |
| 247 | if(len) |
253 | if(len) |
| 248 | { |
254 | { |
| 249 | a = snd[ptr++]; |
255 | a = snd[ptr++]; |
| 250 | len--; |
256 | len--; |
| 251 | if((!len) && BufferAnzahl) |
257 | if((!len) && BufferAnzahl) |
| 252 | { |
258 | { |
| 253 | snd = va_arg(ap, unsigned char*); |
259 | snd = va_arg(ap, unsigned char*); |
| 254 | len = va_arg(ap, int); |
260 | len = va_arg(ap, int); |
| 255 | ptr = 0; |
261 | ptr = 0; |
| 256 | BufferAnzahl--; |
262 | BufferAnzahl--; |
| 257 | } |
263 | } |
| 258 | } |
264 | } |
| 259 | else a = 0; |
265 | else a = 0; |
| 260 | if(len) |
266 | if(len) |
| 261 | { |
267 | { |
| 262 | b = snd[ptr++]; |
268 | b = snd[ptr++]; |
| 263 | len--; |
269 | len--; |
| 264 | if((!len) && BufferAnzahl) |
270 | if((!len) && BufferAnzahl) |
| 265 | { |
271 | { |
| 266 | snd = va_arg(ap, unsigned char*); |
272 | snd = va_arg(ap, unsigned char*); |
| 267 | len = va_arg(ap, int); |
273 | len = va_arg(ap, int); |
| 268 | ptr = 0; |
274 | ptr = 0; |
| 269 | BufferAnzahl--; |
275 | BufferAnzahl--; |
| 270 | } |
276 | } |
| 271 | } |
277 | } |
| 272 | else b = 0; |
278 | else b = 0; |
| 273 | if(len) |
279 | if(len) |
| 274 | { |
280 | { |
| 275 | c = snd[ptr++]; |
281 | c = snd[ptr++]; |
| 276 | len--; |
282 | len--; |
| 277 | if((!len) && BufferAnzahl) |
283 | if((!len) && BufferAnzahl) |
| 278 | { |
284 | { |
| 279 | snd = va_arg(ap, unsigned char*); |
285 | snd = va_arg(ap, unsigned char*); |
| 280 | len = va_arg(ap, int); |
286 | len = va_arg(ap, int); |
| 281 | ptr = 0; |
287 | ptr = 0; |
| 282 | BufferAnzahl--; |
288 | BufferAnzahl--; |
| 283 | } |
289 | } |
| 284 | } |
290 | } |
| 285 | else c = 0; |
291 | else c = 0; |
| 286 | TxdBuffer[pt++] = '=' + (a >> 2); |
292 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 287 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
293 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 288 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
294 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 289 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
295 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 290 | } |
296 | } |
| 291 | va_end(ap); |
297 | va_end(ap); |
| 292 | AddCRC(pt); |
298 | AddCRC(pt); |
| 293 | } |
299 | } |
| 294 | 300 | ||
| 295 | // -------------------------------------------------------------------------- |
301 | // -------------------------------------------------------------------------- |
| 296 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
302 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 297 | { |
303 | { |
| 298 | unsigned char a,b,c,d; |
304 | unsigned char a,b,c,d; |
| 299 | unsigned char x,y,z; |
305 | unsigned char x,y,z; |
| 300 | unsigned char ptrIn = 3; // start at begin of data block |
306 | unsigned char ptrIn = 3; // start at begin of data block |
| 301 | unsigned char ptrOut = 3; |
307 | unsigned char ptrOut = 3; |
| 302 | 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. |
308 | 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. |
| 303 | 309 | ||
| 304 | while(len) |
310 | while(len) |
| 305 | { |
311 | { |
| 306 | a = RxdBuffer[ptrIn++] - '='; |
312 | a = RxdBuffer[ptrIn++] - '='; |
| 307 | b = RxdBuffer[ptrIn++] - '='; |
313 | b = RxdBuffer[ptrIn++] - '='; |
| 308 | c = RxdBuffer[ptrIn++] - '='; |
314 | c = RxdBuffer[ptrIn++] - '='; |
| 309 | d = RxdBuffer[ptrIn++] - '='; |
315 | d = RxdBuffer[ptrIn++] - '='; |
| 310 | 316 | ||
| 311 | x = (a << 2) | (b >> 4); |
317 | x = (a << 2) | (b >> 4); |
| 312 | y = ((b & 0x0f) << 4) | (c >> 2); |
318 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 313 | z = ((c & 0x03) << 6) | d; |
319 | z = ((c & 0x03) << 6) | d; |
| 314 | 320 | ||
| 315 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
321 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 316 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
322 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 317 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
323 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 318 | } |
324 | } |
| 319 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
325 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 320 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
326 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 321 | 327 | ||
| 322 | } |
328 | } |
| 323 | 329 | ||
| 324 | // -------------------------------------------------------------------------- |
330 | // -------------------------------------------------------------------------- |
| 325 | void BearbeiteRxDaten(void) |
331 | void BearbeiteRxDaten(void) |
| 326 | { |
332 | { |
| 327 | if(!NeuerDatensatzEmpfangen) return; |
333 | if(!NeuerDatensatzEmpfangen) return; |
| 328 | 334 | ||
| 329 | unsigned char tempchar1, tempchar2; |
335 | unsigned char tempchar1, tempchar2; |
| 330 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
336 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 331 | switch(RxdBuffer[1]-'a') // check for Slave Address |
337 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 332 | { |
338 | { |
| 333 | case FC_ADDRESS: // FC special commands |
339 | case FC_ADDRESS: // FC special commands |
| 334 | switch(RxdBuffer[2]) |
340 | switch(RxdBuffer[2]) |
| 335 | { |
341 | { |
| 336 | case 'K':// Kompasswert |
342 | case 'K':// Kompasswert |
| 337 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
343 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 338 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
344 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 339 | break; |
345 | break; |
| 340 | case 't':// Motortest |
346 | case 't':// Motortest |
| 341 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
347 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 342 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
348 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 343 | PC_MotortestActive = 240; |
349 | PC_MotortestActive = 240; |
| 344 | //while(!UebertragungAbgeschlossen); |
350 | //while(!UebertragungAbgeschlossen); |
| 345 | //SendOutData('T', MeineSlaveAdresse, 0); |
351 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 346 | PcZugriff = 255; |
352 | PcZugriff = 255; |
| 347 | break; |
353 | break; |
| 348 | 354 | ||
| 349 | case 'n':// "Get Mixer |
355 | case 'n':// "Get Mixer |
| 350 | while(!UebertragungAbgeschlossen); |
356 | while(!UebertragungAbgeschlossen); |
| 351 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
357 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 352 | Debug("Mixer lesen"); |
358 | Debug("Mixer lesen"); |
| 353 | break; |
359 | break; |
| 354 | 360 | ||
| 355 | case 'm':// "Write Mixer |
361 | case 'm':// "Write Mixer |
| 356 | if(pRxData[0] == EEMIXER_REVISION) |
362 | if(pRxData[0] == EEMIXER_REVISION) |
| 357 | { |
363 | { |
| 358 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
364 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 359 | MixerTable_WriteToEEProm(); |
365 | MixerTable_WriteToEEProm(); |
| 360 | tempchar1 = 1; |
366 | tempchar1 = 1; |
| 361 | VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
367 | VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
| 362 | } |
368 | } |
| 363 | else |
369 | else |
| 364 | { |
370 | { |
| 365 | tempchar1 = 0; |
371 | tempchar1 = 0; |
| 366 | } |
372 | } |
| 367 | while(!UebertragungAbgeschlossen); |
373 | while(!UebertragungAbgeschlossen); |
| 368 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
374 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 369 | break; |
375 | break; |
| 370 | 376 | ||
| 371 | case 'p': // get PPM Channels |
377 | case 'p': // get PPM Channels |
| 372 | GetPPMChannelAnforderung = 1; |
378 | GetPPMChannelAnforderung = 1; |
| 373 | PcZugriff = 255; |
379 | PcZugriff = 255; |
| 374 | break; |
380 | break; |
| 375 | 381 | ||
| 376 | case 'q':// "Get"-Anforderung für Settings |
382 | case 'q':// "Get"-Anforderung für Settings |
| 377 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
383 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 378 | if(pRxData[0] == 0xFF) |
384 | if(pRxData[0] == 0xFF) |
| 379 | { |
385 | { |
| 380 | pRxData[0] = GetActiveParamSet(); |
386 | pRxData[0] = GetActiveParamSet(); |
| 381 | } |
387 | } |
| 382 | // limit settings range |
388 | // limit settings range |
| 383 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
389 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| 384 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
390 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| 385 | // load requested parameter set |
391 | // load requested parameter set |
| 386 | ParamSet_ReadFromEEProm(pRxData[0]); |
392 | ParamSet_ReadFromEEProm(pRxData[0]); |
| 387 | tempchar1 = pRxData[0]; |
393 | tempchar1 = pRxData[0]; |
| 388 | while(!UebertragungAbgeschlossen); |
394 | while(!UebertragungAbgeschlossen); |
| 389 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
395 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 390 | Debug("Lese Setting %d", tempchar1); |
396 | Debug("Lese Setting %d", tempchar1); |
| 391 | 397 | ||
| 392 | break; |
398 | break; |
| 393 | 399 | ||
| 394 | case 's': // Parametersatz speichern |
400 | case 's': // Parametersatz speichern |
| 395 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
401 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| 396 | { |
402 | { |
| 397 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
403 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 398 | ParamSet_WriteToEEProm(pRxData[0]); |
404 | ParamSet_WriteToEEProm(pRxData[0]); |
| 399 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
405 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 400 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
406 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 401 | tempchar1 = GetActiveParamSet(); |
407 | tempchar1 = GetActiveParamSet(); |
| 402 | } |
408 | } |
| 403 | else |
409 | else |
| 404 | { |
410 | { |
| 405 | tempchar1 = 0; // mark in response an invlid setting |
411 | tempchar1 = 0; // mark in response an invlid setting |
| 406 | } |
412 | } |
| 407 | while(!UebertragungAbgeschlossen); |
413 | while(!UebertragungAbgeschlossen); |
| 408 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
414 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 409 | if(!MotorenEin) Piep(tempchar1,110); |
415 | if(!MotorenEin) Piep(tempchar1,110); |
| 410 | LipoDetection(0); |
416 | LipoDetection(0); |
| 411 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
417 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 412 | break; |
418 | break; |
| 413 | case 'f': // auf anderen Parametersatz umschalten |
419 | case 'f': // auf anderen Parametersatz umschalten |
| 414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
420 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 415 | tempchar1 = GetActiveParamSet(); |
421 | tempchar1 = GetActiveParamSet(); |
| 416 | while(!UebertragungAbgeschlossen); |
422 | while(!UebertragungAbgeschlossen); |
| 417 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
423 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 418 | if(!MotorenEin) Piep(tempchar1,110); |
424 | if(!MotorenEin) Piep(tempchar1,110); |
| 419 | LipoDetection(0); |
425 | LipoDetection(0); |
| 420 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
426 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 421 | break; |
427 | break; |
| 422 | case 'y':// serial Potis |
428 | case 'y':// serial Potis |
| 423 | 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]; |
429 | 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]; |
| 424 | 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]; |
430 | 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]; |
| 425 | 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]; |
431 | 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]; |
| 426 | break; |
432 | break; |
| 427 | 433 | ||
| 428 | case 'u': // request BL parameter |
434 | case 'u': // request BL parameter |
| 429 | Debug("Reading BL %d", pRxData[0]); |
435 | Debug("Reading BL %d", pRxData[0]); |
| 430 | // try to read BL configuration |
436 | // try to read BL configuration |
| 431 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
437 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 432 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
438 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 433 | else tempchar1 = 0; |
439 | else tempchar1 = 0; |
| 434 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
440 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 435 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
441 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 436 | break; |
442 | break; |
| 437 | 443 | ||
| 438 | case 'w': // write BL parameter |
444 | case 'w': // write BL parameter |
| 439 | Debug("Writing BL %d", pRxData[0]); |
445 | Debug("Writing BL %d", pRxData[0]); |
| 440 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
446 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| 441 | { |
447 | { |
| 442 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
448 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| 443 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
449 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 444 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
450 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 445 | else tempchar1 = 0; // indicate error |
451 | else tempchar1 = 0; // indicate error |
| 446 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
452 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 447 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
453 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 448 | } |
454 | } |
| 449 | break; |
455 | break; |
| 450 | 456 | ||
| 451 | } // case FC_ADDRESS: |
457 | } // case FC_ADDRESS: |
| 452 | 458 | ||
| 453 | default: // any Slave Address |
459 | default: // any Slave Address |
| 454 | 460 | ||
| 455 | switch(RxdBuffer[2]) |
461 | switch(RxdBuffer[2]) |
| 456 | { |
462 | { |
| 457 | // 't' comand placed here only for compatibility to BL |
463 | // 't' comand placed here only for compatibility to BL |
| 458 | case 't':// Motortest |
464 | case 't':// Motortest |
| 459 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
465 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 460 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
466 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 461 | while(!UebertragungAbgeschlossen); |
467 | while(!UebertragungAbgeschlossen); |
| 462 | SendOutData('T', MeineSlaveAdresse, 0); |
468 | SendOutData('T', MeineSlaveAdresse, 0); |
| 463 | PC_MotortestActive = 250; |
469 | PC_MotortestActive = 250; |
| 464 | PcZugriff = 255; |
470 | PcZugriff = 255; |
| 465 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
471 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 466 | break; |
472 | break; |
| 467 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
473 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 468 | case 'K':// Kompasswert |
474 | case 'K':// Kompasswert |
| 469 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
475 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 470 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
476 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 471 | break; |
477 | break; |
| 472 | case 'a':// Texte der Analogwerte |
478 | case 'a':// Texte der Analogwerte |
| 473 | DebugTextAnforderung = pRxData[0]; |
479 | DebugTextAnforderung = pRxData[0]; |
| 474 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
480 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 475 | PcZugriff = 255; |
481 | PcZugriff = 255; |
| 476 | break; |
482 | break; |
| 477 | case 'b': |
483 | case 'b': |
| 478 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
484 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 479 | ConfirmFrame = ExternControl.Frame; |
485 | ConfirmFrame = ExternControl.Frame; |
| 480 | PcZugriff = 255; |
486 | PcZugriff = 255; |
| 481 | break; |
487 | break; |
| 482 | case 'c': // Poll the 3D-Data |
488 | case 'c': // Poll the 3D-Data |
| 483 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
489 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 484 | Intervall3D = pRxData[0] * 10; |
490 | Intervall3D = pRxData[0] * 10; |
| 485 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
491 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 486 | break; |
492 | break; |
| 487 | case 'd': // Poll the debug data |
493 | case 'd': // Poll the debug data |
| 488 | PcZugriff = 255; |
494 | PcZugriff = 255; |
| 489 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
495 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 490 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
496 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 491 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
497 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 492 | break; |
498 | break; |
| 493 | 499 | ||
| 494 | case 'h':// x-1 Displayzeilen |
500 | case 'h':// x-1 Displayzeilen |
| - | 501 | ||
| - | 502 | #ifdef NODISPLAY // only include functions if DEBUG is defined in main.h |
|
| - | 503 | #warning : "### no MKTool Display ###" |
|
| - | 504 | ||
| 495 | PcZugriff = 255; |
505 | PcZugriff = 255; |
| 496 | if((pRxData[0] & 0x80) == 0x00) // old format |
506 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 497 | { |
507 | { |
| 498 | DisplayLine = 2; |
508 | DisplayLine = 2; |
| 499 | Display_Interval = 0; |
509 | Display_Interval = 0; |
| 500 | } |
510 | } |
| 501 | else // new format |
511 | else // new format |
| 502 | { |
512 | { |
| 503 | RemoteKeys |= ~pRxData[0]; |
513 | RemoteKeys |= ~pRxData[0]; |
| 504 | Display_Interval = (unsigned int)pRxData[1] * 10; |
514 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 505 | DisplayLine = 4; |
515 | DisplayLine = 4; |
| 506 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
516 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 507 | } |
517 | } |
| 508 | DebugDisplayAnforderung = 1; |
518 | DebugDisplayAnforderung = 1; |
| 509 | break; |
519 | break; |
| 510 | 520 | ||
| 511 | case 'l':// x-1 Displayzeilen |
521 | case 'l':// x-1 Displayzeilen |
| 512 | PcZugriff = 255; |
522 | PcZugriff = 255; |
| 513 | MenuePunkt = pRxData[0]; |
523 | MenuePunkt = pRxData[0]; |
| 514 | DebugDisplayAnforderung1 = 1; |
524 | DebugDisplayAnforderung1 = 1; |
| 515 | break; |
525 | break; |
| - | 526 | #endif |
|
| 516 | case 'v': // Version-Anforderung und Ausbaustufe |
527 | case 'v': // Version-Anforderung und Ausbaustufe |
| 517 | GetVersionAnforderung = 1; |
528 | GetVersionAnforderung = 1; |
| 518 | break; |
529 | break; |
| 519 | 530 | ||
| 520 | case 'g':// |
531 | case 'g':// |
| 521 | GetExternalControl = 1; |
532 | GetExternalControl = 1; |
| 522 | break; |
533 | break; |
| 523 | 534 | ||
| 524 | default: |
535 | default: |
| 525 | //unsupported command received |
536 | //unsupported command received |
| 526 | break; |
537 | break; |
| 527 | } |
538 | } |
| 528 | break; // default: |
539 | break; // default: |
| 529 | } |
540 | } |
| 530 | NeuerDatensatzEmpfangen = 0; |
541 | NeuerDatensatzEmpfangen = 0; |
| 531 | pRxData = 0; |
542 | pRxData = 0; |
| 532 | RxDataLen = 0; |
543 | RxDataLen = 0; |
| 533 | } |
544 | } |
| 534 | 545 | ||
| 535 | //############################################################################ |
546 | //############################################################################ |
| 536 | //Routine für die Serielle Ausgabe |
547 | //Routine für die Serielle Ausgabe |
| 537 | void uart_putchar (char c) |
548 | void uart_putchar (char c) |
| 538 | //############################################################################ |
549 | //############################################################################ |
| 539 | { |
550 | { |
| 540 | //Warten solange bis Zeichen gesendet wurde |
551 | //Warten solange bis Zeichen gesendet wurde |
| 541 | loop_until_bit_is_set(UCSR0A, UDRE0); |
552 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 542 | //Ausgabe des Zeichens |
553 | //Ausgabe des Zeichens |
| 543 | UDR0 = c; |
554 | UDR0 = c; |
| 544 | } |
555 | } |
| 545 | 556 | ||
| 546 | 557 | ||
| 547 | //############################################################################ |
558 | //############################################################################ |
| 548 | //INstallation der Seriellen Schnittstelle |
559 | //INstallation der Seriellen Schnittstelle |
| 549 | void UART_Init (void) |
560 | void UART_Init (void) |
| 550 | //############################################################################ |
561 | //############################################################################ |
| 551 | { |
562 | { |
| 552 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
563 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 553 | 564 | ||
| 554 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
565 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 555 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
566 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 556 | // UART Double Speed (U2X) |
567 | // UART Double Speed (U2X) |
| 557 | UCSR0A |= (1 << U2X0); |
568 | UCSR0A |= (1 << U2X0); |
| 558 | // RX-Interrupt Freigabe |
569 | // RX-Interrupt Freigabe |
| 559 | UCSR0B |= (1 << RXCIE0); |
570 | UCSR0B |= (1 << RXCIE0); |
| 560 | // TX-Interrupt Freigabe |
571 | // TX-Interrupt Freigabe |
| 561 | UCSR0B |= (1 << TXCIE0); |
572 | UCSR0B |= (1 << TXCIE0); |
| 562 | // USART0 Baud Rate Register |
573 | // USART0 Baud Rate Register |
| 563 | // set clock divider |
574 | // set clock divider |
| 564 | UBRR0H = (uint8_t)(ubrr >> 8); |
575 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 565 | UBRR0L = (uint8_t)ubrr; |
576 | UBRR0L = (uint8_t)ubrr; |
| 566 | 577 | ||
| 567 | Debug_Timer = SetDelay(DebugDataIntervall); |
578 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 568 | Kompass_Timer = SetDelay(220); |
579 | Kompass_Timer = SetDelay(220); |
| 569 | 580 | ||
| 570 | VersionInfo.SWMajor = VERSION_MAJOR; |
581 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 571 | VersionInfo.SWMinor = VERSION_MINOR; |
582 | VersionInfo.SWMinor = VERSION_MINOR; |
| 572 | VersionInfo.SWPatch = VERSION_PATCH; |
583 | VersionInfo.SWPatch = VERSION_PATCH; |
| 573 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
584 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 574 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
585 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 575 | 586 | ||
| 576 | pRxData = 0; |
587 | pRxData = 0; |
| 577 | RxDataLen = 0; |
588 | RxDataLen = 0; |
| 578 | } |
589 | } |
| 579 | 590 | ||
| 580 | //--------------------------------------------------------------------------------------------- |
591 | //--------------------------------------------------------------------------------------------- |
| 581 | void DatenUebertragung(void) |
592 | void DatenUebertragung(void) |
| 582 | { |
593 | { |
| 583 | if(!UebertragungAbgeschlossen) return; |
594 | if(!UebertragungAbgeschlossen) return; |
| 584 | 595 | ||
| 585 | if(CheckDelay(AboTimeOut)) |
596 | if(CheckDelay(AboTimeOut)) |
| 586 | { |
597 | { |
| 587 | Display_Interval = 0; |
598 | Display_Interval = 0; |
| 588 | DebugDataIntervall = 0; |
599 | DebugDataIntervall = 0; |
| 589 | Intervall3D = 0; |
600 | Intervall3D = 0; |
| 590 | } |
601 | } |
| - | 602 | #ifdef NODISPLAY //main.h |
|
| - | 603 | #warning : "### no MKTool Display ###" |
|
| 591 | 604 | ||
| 592 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
605 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 593 | { |
606 | { |
| 594 | if(DisplayLine > 3)// new format |
607 | if(DisplayLine > 3)// new format |
| 595 | { |
608 | { |
| 596 | Menu(); |
609 | Menu(); |
| 597 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
610 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 598 | } |
611 | } |
| 599 | else // old format |
612 | else // old format |
| 600 | { |
613 | { |
| 601 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
614 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 602 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
615 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 603 | if(DisplayLine++ > 3) DisplayLine = 0; |
616 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 604 | } |
617 | } |
| 605 | Display_Timer = SetDelay(Display_Interval); |
618 | Display_Timer = SetDelay(Display_Interval); |
| 606 | DebugDisplayAnforderung = 0; |
619 | DebugDisplayAnforderung = 0; |
| 607 | } |
620 | } |
| 608 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
621 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 609 | { |
622 | { |
| 610 | Menu(); |
623 | Menu(); |
| 611 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
624 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 612 | DebugDisplayAnforderung1 = 0; |
625 | DebugDisplayAnforderung1 = 0; |
| 613 | } |
626 | } |
| - | 627 | #endif |
|
| 614 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
628 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 615 | { |
629 | { |
| 616 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
630 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 617 | GetVersionAnforderung = 0; |
631 | GetVersionAnforderung = 0; |
| 618 | Debug_OK("Version gesendet"); |
632 | Debug_OK("Version gesendet"); |
| 619 | } |
633 | } |
| 620 | 634 | ||
| 621 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
635 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 622 | { |
636 | { |
| 623 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
637 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 624 | GetExternalControl = 0; |
638 | GetExternalControl = 0; |
| 625 | } |
639 | } |
| 626 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
640 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 627 | { |
641 | { |
| 628 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
642 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 629 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
643 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 630 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
644 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 631 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
645 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 632 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
646 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 633 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
647 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 634 | Kompass_Timer = SetDelay(99); |
648 | Kompass_Timer = SetDelay(99); |
| 635 | } |
649 | } |
| 636 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
650 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 637 | { |
651 | { |
| 638 | CopyDebugValues(); |
652 | CopyDebugValues(); |
| 639 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
653 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 640 | DebugDataAnforderung = 0; |
654 | DebugDataAnforderung = 0; |
| 641 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
655 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 642 | } |
656 | } |
| 643 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
657 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 644 | { |
658 | { |
| 645 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
659 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 646 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
660 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 647 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
661 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 648 | Data3D.Centroid[0] = SummeNick >> 9; |
662 | Data3D.Centroid[0] = SummeNick >> 9; |
| 649 | Data3D.Centroid[1] = SummeRoll >> 9; |
663 | Data3D.Centroid[1] = SummeRoll >> 9; |
| 650 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
664 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| 651 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
665 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 652 | Timer3D = SetDelay(Intervall3D); |
666 | Timer3D = SetDelay(Intervall3D); |
| 653 | } |
667 | } |
| 654 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
668 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 655 | { |
669 | { |
| 656 | unsigned char label[16]; // local sram buffer |
670 | unsigned char label[16]; // local sram buffer |
| 657 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
671 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| 658 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
672 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| 659 | DebugTextAnforderung = 255; |
673 | DebugTextAnforderung = 255; |
| 660 | } |
674 | } |
| 661 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
675 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 662 | { |
676 | { |
| 663 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
677 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 664 | ConfirmFrame = 0; |
678 | ConfirmFrame = 0; |
| 665 | } |
679 | } |
| 666 | 680 | ||
| 667 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
681 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 668 | { |
682 | { |
| 669 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
683 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 670 | GetPPMChannelAnforderung = 0; |
684 | GetPPMChannelAnforderung = 0; |
| 671 | } |
685 | } |
| 672 | 686 | ||
| 673 | #ifdef DEBUG // only include functions if DEBUG is defined |
687 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 674 | if(SendDebugOutput && UebertragungAbgeschlossen) |
688 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 675 | { |
689 | { |
| 676 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
690 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 677 | SendDebugOutput = 0; |
691 | SendDebugOutput = 0; |
| 678 | } |
692 | } |
| 679 | #endif |
693 | #endif |
| 680 | 694 | ||
| 681 | } |
695 | } |
| 682 | 696 | ||
| 683 | 697 | ||
| 684 | 698 | ||