WebSVN - FlightCtrl - Diff - Rev 908 and 911 - /branches/V0.69k Code Redesign killagreg/uart.c


 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
 
#include "eeprom.h"
#include "main.h"
#include "menu.h"
#include "timer0.h"
#include "uart.h"
#include "fc.h"
#include "_Settings.h"
#include "rc.h"
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
#include "ubx.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
 
 
 
#define FALSE   0
#define TRUE    1
 
//int8_t test __attribute__ ((section (".noinit")));
uint8_t RequestVerInfo                  = FALSE;
uint8_t RequestExternalControl  = FALSE;
uint8_t RequestDisplay                  = FALSE;
uint8_t RequestDebugData                = FALSE;
uint8_t RequestDebugLabel               = 255;
uint8_t RequestChannelOnly              = FALSE;
uint8_t RemotePollDisplayLine   = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t ReceivedBytes = 0;
 
 
uint8_t PcAccess = 100;
uint8_t MotorTest[4] = {0,0,0,0};
uint8_t DubWiseKeys[4] = {0,0,0,0};
uint8_t MySlaveAddr = 0;
uint8_t ConfirmFrame;
 
DebugOut_t              DebugOut;
ExternControl_t ExternControl;
VersionInfo_t   VersionInfo;
 
int16_t  Debug_Timer;
 
#ifdef USE_MK3MAG
int16_t Compass_Timer;
#endif
 
 
const uint8_t ANALOG_LABEL[32][16] =
{
   //1234567890123456
    "IntegralNick    ", //0
    "IntegralRoll    ",
    "AccNick         ",
    "AccRoll         ",
    "GyroYaw         ",
    "ReadingHeight   ", //5
    "AccZ            ",
    "Gas             ",
    "CompassHeading  ",
    "Voltage         ",
    "Receiver Level  ", //10
    "YawGyroHeading  ",
    "Motor_Front     ",
    "Motor_Rear      ",
    "Motor_Right     ",
    "Motor_Left      ", //15
    "Acc_Z           ",
    "SPI Error       ",
    "SPI Ok          ",
    "                ",
    "Servo           ", //20
    "Nick            ",
    "Roll            ",
    "                ",
    "                ",
    "                ", //25
    "                ",
    "                ",
    "                ",
    "                ",
    "GPS_Nick        ", //30
    "GPS_Roll        "
};
 
 
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void USART0_Init (void)
{
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |=  (1 << DDD1);
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |=  (1 << UCSZ01);
        UCSR0C |=  (1 << UCSZ00);
 
                // flush receive buffer
        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        rxd_buffer_locked = FALSE;
        txd_complete = TRUE;
 
        Debug_Timer = SetDelay(200);
 
        #ifdef USE_MK3MAG
        Compass_Timer = SetDelay(220);
        #endif
 
        // restore global interrupt flags
    SREG = sreg;
}
 
/****************************************************************/
/*               USART0 transmitter ISR                         */
/****************************************************************/
ISR(USART0_TX_vect)
{
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if(!txd_complete) // transmission not completed
        {
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
                {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else ptr_txd_buffer = 0;
}
 
/****************************************************************/
/*               USART0 receiver ISR                            */
/****************************************************************/
ISR(USART0_RX_vect)
{
        static uint16_t crc;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t crc1, crc2;
        uint8_t c;
 
        c = UDR0;  // catch the received byte
 
        #if defined (USE_KILLAGREG) || defined (USE_MK3MAG)
        // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart.
        // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected.
        #if defined (__AVR_ATmega644P__)
        if(BoardRelease == 10) ubx_parser(c);
        #else
        ubx_parser(c);
        #endif
        #endif
 
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                crc = c; // init crc
        }
        #if 0
        else if (ptr_rxd_buffer == 1) // handle address
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                crc += c; // update crc
        }
        #endif
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
        {
                if(c != '\r') // no termination character
                {
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        crc += c; // update crc
                }
                else // termination character was received
                {
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
                        // calculate checksum from transmitted data
                        crc %= 4096;
                        crc1 = '=' + crc / 64;
                        crc2 = '=' + crc % 64;
                        // compare checksum to transmitted checksum bytes
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
                        {   // checksum valid
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
                        }
                        else
                        {       // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        }
        else // rxd buffer overrun
        {
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
 
}
 
 
// --------------------------------------------------------------------------
void AddCRC(uint16_t datalen)
{
        uint16_t tmpCRC = 0, i;
        for(i = 0; i < datalen; i++)
        {
                tmpCRC += txd_buffer[i];
        }
        tmpCRC %= 4096;
        txd_buffer[i++] = '=' + tmpCRC / 64;
        txd_buffer[i++] = '=' + tmpCRC % 64;
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
{
        uint16_t pt = 0;
        uint8_t a,b,c;
        uint8_t ptr = 0;
 
        txd_buffer[pt++] = '#';         // Start character
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd;         // Command
 
        while(len)
        {
                if(len) { a = snd[ptr++]; len--;} else a = 0;
                if(len) { b = snd[ptr++]; len--;} else b = 0;
                if(len) { c = snd[ptr++]; len--;} else c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + ( c & 0x3f);
        }
        AddCRC(pt); // add checksum after data block and initates the transmission
}
 
 
// --------------------------------------------------------------------------
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
{
        uint8_t a,b,c,d;
        uint8_t ptr = 0;
        uint8_t x,y,z;
        while(len)
        {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                if(ptrIn > max - 2) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if(len--) ptrOut[ptr++] = x; else break;
                if(len--) ptrOut[ptr++] = y; else break;
                if(len--) ptrOut[ptr++] = z; else break;
        }
}
 
 
// --------------------------------------------------------------------------
void USART0_ProcessRxData(void)
{
        // if data in the rxd buffer are not locked immediately return
        if(!rxd_buffer_locked) return;
 
        #if  !defined (USE_KILLAGREG)  && !defined (USE_NAVICTRL)
        uint16_t tmp_int_arr1[1]; // local int buffer
        #endif
        uint8_t tmp_char_arr2[2]; // local char buffer
 
 
        switch(rxd_buffer[2])
        {
                #ifdef USE_MK3MAG
                case 'K':// Compass value
                        Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes);
                        CompassHeading = tmp_int_arr1[0];
                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
                        break;
                #endif
                case 'a':// Labels of the Analog Debug outputs
                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
                        RequestDebugLabel = tmp_char_arr2[0];
                        PcAccess = 255;
                        break;
                case 'b': // extern control
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes);
                        RemoteButtons |= ExternControl.RemoteButtons;
                        ConfirmFrame = ExternControl.Frame;
                        break;
                case 'c': // extern control with debug request
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
                        RemoteButtons |= ExternControl.RemoteButtons;
                        ConfirmFrame = ExternControl.Frame;
                        RequestDebugData = TRUE;
                        PcAccess = 255;
                        break;
                case 'h':// x-1 display columns
                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
                        RemoteButtons |= tmp_char_arr2[0];
                        if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE;
                        else RequestChannelOnly = FALSE; // keine Displaydaten
                        RequestDisplay = TRUE;
                        break;
                case 't':// motor test
                        Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
                        PcAccess = 255;
                        break;
                case 'k':// keys from DubWise
                        Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
                        ConfirmFrame = DubWiseKeys[3];
                        PcAccess = 255;
                        break;
                case 'v': // get version and board release
                        RequestVerInfo = TRUE;
                        break;
                case 'g':// get external control data
                        RequestExternalControl = TRUE;
                        break;
                case 'q':// get settings
                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
                        while(!txd_complete);
                        if(tmp_char_arr2[0] != 0xff)
                        {
                                if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5
                                // load requested parameter set
                                ParamSet_ReadFromEEProm(tmp_char_arr2[0]);
                                SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
                        }
                        else // send active parameter set
                        SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
 
                        break;
 
                case 'l':
                case 'm':
                case 'n':
                case 'o':
                case 'p': // save parameterset
                        Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes);
                        ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1);
                        TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
                        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
                        Beep(GetActiveParamSet());
                        break;
 
 
        }
        // unlock the rxd buffer after processing
        rxd_buffer_locked = FALSE;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
int16_t uart_putchar (int8_t c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        //Ausgabe des Zeichens
        UDR0 = c;
        return (0);
}
 
 
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
        if(!txd_complete) return;
 
        if(RequestExternalControl && txd_complete)            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
        {
                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
                RequestExternalControl = FALSE;
        }
 
        #ifdef USE_MK3MAG
    if((CheckDelay(Compass_Timer)) && txd_complete)
        {
                ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108);  // approx. 0,1 Deg
                ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108);   // approx. 0,1 Deg
                ToMk3Mag.UserParam[0] = FCParam.UserParam1;
                ToMk3Mag.UserParam[1] = FCParam.UserParam2;
                ToMk3Mag.CalState = CompassCalState;
                SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));
                // the last state is 5 and should be send only once to avoid multiple flash writing
                if(CompassCalState > 4)  CompassCalState = 0;
                Compass_Timer = SetDelay(99);
        }
        #endif
 
    if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete)
    {
          SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
          RequestDebugData = FALSE;
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
    }
 
    if(RequestDebugLabel != 255) // Texte für die Analogdaten
     {
      SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
      RequestDebugLabel = 255;
         }
     if(ConfirmFrame && txd_complete)   // Datensatz ohne CRC bestätigen
         {
      txd_buffer[0] = '#';
      txd_buffer[1] = ConfirmFrame;
      txd_buffer[2] = '\r';
      txd_complete = 0;
      ConfirmFrame = 0;
      UDR0 = txd_buffer[0];
     }
     if(RequestDisplay && txd_complete)
         {
      LCD_PrintMenu();
          RequestDisplay = FALSE;
      if(++RemotePollDisplayLine == 4 || RequestChannelOnly)
      {
       SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
       RemotePollDisplayLine = -1;
      }
      else  SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
         }
    if(RequestVerInfo && txd_complete)
     {
      SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
          RequestVerInfo = FALSE;
     }
 
}
 
 

Rev 908	Rev 911
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7		7
8	#include <avr/io.h>	8	#include <avr/io.h>
9	#include <avr/interrupt.h>	9	#include <avr/interrupt.h>
10	#include <avr/wdt.h>	10	#include <avr/wdt.h>
11		11
12	#include "eeprom.h"	12	#include "eeprom.h"
13	#include "main.h"	13	#include "main.h"
14	#include "menu.h"	14	#include "menu.h"
15	#include "timer0.h"	15	#include "timer0.h"
16	#include "uart.h"	16	#include "uart.h"
17	#include "fc.h"	17	#include "fc.h"
18	#include "_Settings.h"	18	#include "_Settings.h"
19	#include "rc.h"	19	#include "rc.h"
20	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)	20	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)
21	#include "ubx.h"	21	#include "ubx.h"
22	#endif	22	#endif
23	#ifdef USE_MK3MAG	23	#ifdef USE_MK3MAG
24	#include "mk3mag.h"	24	#include "mk3mag.h"
25	#endif	25	#endif
26		26
27		27
28		28
29	#define FALSE 0	29	#define FALSE 0
30	#define TRUE 1	30	#define TRUE 1
31		31
32	//int8_t test __attribute__ ((section (".noinit")));	32	//int8_t test __attribute__ ((section (".noinit")));
33	uint8_t RequestVerInfo = FALSE;	33	uint8_t RequestVerInfo = FALSE;
34	uint8_t RequestExternalControl = FALSE;	34	uint8_t RequestExternalControl = FALSE;
35	uint8_t RequestDisplay = FALSE;	35	uint8_t RequestDisplay = FALSE;
36	uint8_t RequestDebugData = FALSE;	36	uint8_t RequestDebugData = FALSE;
37	uint8_t RequestDebugLabel = 255;	37	uint8_t RequestDebugLabel = 255;
38	uint8_t RequestChannelOnly = FALSE;	38	uint8_t RequestChannelOnly = FALSE;
39	uint8_t RemotePollDisplayLine = 0;	39	uint8_t RemotePollDisplayLine = 0;
40		40
41	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	41	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
42	volatile uint8_t rxd_buffer_locked = FALSE;	42	volatile uint8_t rxd_buffer_locked = FALSE;
43	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	43	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
44	volatile uint8_t txd_complete = TRUE;	44	volatile uint8_t txd_complete = TRUE;
45	volatile uint8_t ReceivedBytes = 0;	45	volatile uint8_t ReceivedBytes = 0;
46		46
47		47
48	uint8_t PcAccess = 100;	48	uint8_t PcAccess = 100;
49	uint8_t MotorTest[4] = {0,0,0,0};	49	uint8_t MotorTest[4] = {0,0,0,0};
50	uint8_t DubWiseKeys[4] = {0,0,0,0};	50	uint8_t DubWiseKeys[4] = {0,0,0,0};
51	uint8_t MySlaveAddr = 0;	51	uint8_t MySlaveAddr = 0;
52	uint8_t ConfirmFrame;	52	uint8_t ConfirmFrame;
53		53
54	DebugOut_t DebugOut;	54	DebugOut_t DebugOut;
55	ExternControl_t ExternControl;	55	ExternControl_t ExternControl;
56	VersionInfo_t VersionInfo;	56	VersionInfo_t VersionInfo;
57		57
58	int16_t Debug_Timer;	58	int16_t Debug_Timer;
59		59
60	#ifdef USE_MK3MAG	60	#ifdef USE_MK3MAG
61	int16_t Compass_Timer;	61	int16_t Compass_Timer;
62	#endif	62	#endif
63		63
64		64
65	const uint8_t ANALOG_LABEL[32][16] =	65	const uint8_t ANALOG_LABEL[32][16] =
66	{	66	{
67	//1234567890123456	67	//1234567890123456
68	"IntegralPitch ", //0	68	"IntegralNick ", //0
69	"IntegralRoll ",	69	"IntegralRoll ",
70	"AccPitch ",	70	"AccNick ",
71	"AccRoll ",	71	"AccRoll ",
72	"GyroYaw ",	72	"GyroYaw ",
73	"ReadingHeight ", //5	73	"ReadingHeight ", //5
74	"AccZ ",	74	"AccZ ",
75	"Thrust ",	75	"Gas ",
76	"CompassHeading ",	76	"CompassHeading ",
77	"Voltage ",	77	"Voltage ",
78	"Receiver Level ", //10	78	"Receiver Level ", //10
79	"YawGyroHeading ",	79	"YawGyroHeading ",
80	"Motor_Front ",	80	"Motor_Front ",
81	"Motor_Rear ",	81	"Motor_Rear ",
82	"Motor_Right ",	82	"Motor_Right ",
83	"Motor_Left ", //15	83	"Motor_Left ", //15
84	"Acc_Z ",	84	"Acc_Z ",
85	"SPI Error ",	85	"SPI Error ",
86	"SPI Ok ",	86	"SPI Ok ",
87	" ",	87	" ",
88	"Servo ", //20	88	"Servo ", //20
89	"Pitch ",	89	"Nick ",
90	"Roll ",	90	"Roll ",
91	" ",	91	" ",
92	" ",	92	" ",
93	" ", //25	93	" ", //25
94	" ",	94	" ",
95	" ",	95	" ",
96	" ",	96	" ",
97	" ",	97	" ",
98	"GPS_Pitch ", //30	98	"GPS_Nick ", //30
99	"GPS_Roll "	99	"GPS_Roll "
100	};	100	};
101		101
102		102
103		103
104	/****************************************************************/	104	/****************************************************************/
105	/* Initialization of the USART0 */	105	/* Initialization of the USART0 */
106	/****************************************************************/	106	/****************************************************************/
107	void USART0_Init (void)	107	void USART0_Init (void)
108	{	108	{
109	uint8_t sreg = SREG;	109	uint8_t sreg = SREG;
110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);	110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
111		111
112	// disable all interrupts before configuration	112	// disable all interrupts before configuration
113	cli();	113	cli();
114		114
115	// disable RX-Interrupt	115	// disable RX-Interrupt
116	UCSR0B &= ~(1 << RXCIE0);	116	UCSR0B &= ~(1 << RXCIE0);
117	// disable TX-Interrupt	117	// disable TX-Interrupt
118	UCSR0B &= ~(1 << TXCIE0);	118	UCSR0B &= ~(1 << TXCIE0);
119		119
120	// set direction of RXD0 and TXD0 pins	120	// set direction of RXD0 and TXD0 pins
121	// set RXD0 (PD0) as an input pin	121	// set RXD0 (PD0) as an input pin
122	PORTD \|= (1 << PORTD0);	122	PORTD \|= (1 << PORTD0);
123	DDRD &= ~(1 << DDD0);	123	DDRD &= ~(1 << DDD0);
124	// set TXD0 (PD1) as an output pin	124	// set TXD0 (PD1) as an output pin
125	PORTD \|= (1 << PORTD1);	125	PORTD \|= (1 << PORTD1);
126	DDRD \|= (1 << DDD1);	126	DDRD \|= (1 << DDD1);
127		127
128	// USART0 Baud Rate Register	128	// USART0 Baud Rate Register
129	// set clock divider	129	// set clock divider
130	UBRR0H = (uint8_t)(ubrr >> 8);	130	UBRR0H = (uint8_t)(ubrr >> 8);
131	UBRR0L = (uint8_t)ubrr;	131	UBRR0L = (uint8_t)ubrr;
132		132
133	// USART0 Control and Status Register A, B, C	133	// USART0 Control and Status Register A, B, C
134		134
135	// enable double speed operation in	135	// enable double speed operation in
136	UCSR0A \|= (1 << U2X0);	136	UCSR0A \|= (1 << U2X0);
137	// enable receiver and transmitter in	137	// enable receiver and transmitter in
138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
139	// set asynchronous mode	139	// set asynchronous mode
140	UCSR0C &= ~(1 << UMSEL01);	140	UCSR0C &= ~(1 << UMSEL01);
141	UCSR0C &= ~(1 << UMSEL00);	141	UCSR0C &= ~(1 << UMSEL00);
142	// no parity	142	// no parity
143	UCSR0C &= ~(1 << UPM01);	143	UCSR0C &= ~(1 << UPM01);
144	UCSR0C &= ~(1 << UPM00);	144	UCSR0C &= ~(1 << UPM00);
145	// 1 stop bit	145	// 1 stop bit
146	UCSR0C &= ~(1 << USBS0);	146	UCSR0C &= ~(1 << USBS0);
147	// 8-bit	147	// 8-bit
148	UCSR0B &= ~(1 << UCSZ02);	148	UCSR0B &= ~(1 << UCSZ02);
149	UCSR0C \|= (1 << UCSZ01);	149	UCSR0C \|= (1 << UCSZ01);
150	UCSR0C \|= (1 << UCSZ00);	150	UCSR0C \|= (1 << UCSZ00);
151		151
152	// flush receive buffer	152	// flush receive buffer
153	while ( UCSR0A & (1<<RXC0) ) UDR0;	153	while ( UCSR0A & (1<<RXC0) ) UDR0;
154		154
155	// enable interrupts at the end	155	// enable interrupts at the end
156	// enable RX-Interrupt	156	// enable RX-Interrupt
157	UCSR0B \|= (1 << RXCIE0);	157	UCSR0B \|= (1 << RXCIE0);
158	// enable TX-Interrupt	158	// enable TX-Interrupt
159	UCSR0B \|= (1 << TXCIE0);	159	UCSR0B \|= (1 << TXCIE0);
160		160
161	rxd_buffer_locked = FALSE;	161	rxd_buffer_locked = FALSE;
162	txd_complete = TRUE;	162	txd_complete = TRUE;
163		163
164	Debug_Timer = SetDelay(200);	164	Debug_Timer = SetDelay(200);
165		165
166	#ifdef USE_MK3MAG	166	#ifdef USE_MK3MAG
167	Compass_Timer = SetDelay(220);	167	Compass_Timer = SetDelay(220);
168	#endif	168	#endif
169		169
170	// restore global interrupt flags	170	// restore global interrupt flags
171	SREG = sreg;	171	SREG = sreg;
172	}	172	}
173		173
174	/****************************************************************/	174	/****************************************************************/
175	/* USART0 transmitter ISR */	175	/* USART0 transmitter ISR */
176	/****************************************************************/	176	/****************************************************************/
177	ISR(USART0_TX_vect)	177	ISR(USART0_TX_vect)
178	{	178	{
179	static uint16_t ptr_txd_buffer = 0;	179	static uint16_t ptr_txd_buffer = 0;
180	uint8_t tmp_tx;	180	uint8_t tmp_tx;
181	if(!txd_complete) // transmission not completed	181	if(!txd_complete) // transmission not completed
182	{	182	{
183	ptr_txd_buffer++; // die [0] wurde schon gesendet	183	ptr_txd_buffer++; // die [0] wurde schon gesendet
184	tmp_tx = txd_buffer[ptr_txd_buffer];	184	tmp_tx = txd_buffer[ptr_txd_buffer];
185	// if terminating character or end of txd buffer was reached	185	// if terminating character or end of txd buffer was reached
186	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))	186	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))
187	{	187	{
188	ptr_txd_buffer = 0; // reset txd pointer	188	ptr_txd_buffer = 0; // reset txd pointer
189	txd_complete = 1; // stop transmission	189	txd_complete = 1; // stop transmission
190	}	190	}
191	UDR0 = tmp_tx; // send current byte will trigger this ISR again	191	UDR0 = tmp_tx; // send current byte will trigger this ISR again
192	}	192	}
193	// transmission completed	193	// transmission completed
194	else ptr_txd_buffer = 0;	194	else ptr_txd_buffer = 0;
195	}	195	}
196		196
197	/****************************************************************/	197	/****************************************************************/
198	/* USART0 receiver ISR */	198	/* USART0 receiver ISR */
199	/****************************************************************/	199	/****************************************************************/
200	ISR(USART0_RX_vect)	200	ISR(USART0_RX_vect)
201	{	201	{
202	static uint16_t crc;	202	static uint16_t crc;
203	static uint8_t ptr_rxd_buffer = 0;	203	static uint8_t ptr_rxd_buffer = 0;
204	uint8_t crc1, crc2;	204	uint8_t crc1, crc2;
205	uint8_t c;	205	uint8_t c;
206		206
207	c = UDR0; // catch the received byte	207	c = UDR0; // catch the received byte
208		208
209	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)	209	#if defined (USE_KILLAGREG) \|\| defined (USE_MK3MAG)
210	// If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart.	210	// If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart.
211	// The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected.	211	// The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected.
212	#if defined (__AVR_ATmega644P__)	212	#if defined (__AVR_ATmega644P__)
213	if(BoardRelease == 10) ubx_parser(c);	213	if(BoardRelease == 10) ubx_parser(c);
214	#else	214	#else
215	ubx_parser(c);	215	ubx_parser(c);
216	#endif	216	#endif
217	#endif	217	#endif
218		218
219	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return	219	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
220		220
221	// the rxd buffer is unlocked	221	// the rxd buffer is unlocked
222	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received	222	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
223	{	223	{
224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
225	crc = c; // init crc	225	crc = c; // init crc
226	}	226	}
227	#if 0	227	#if 0
228	else if (ptr_rxd_buffer == 1) // handle address	228	else if (ptr_rxd_buffer == 1) // handle address
229	{	229	{
230	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	230	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
231	crc += c; // update crc	231	crc += c; // update crc
232	}	232	}
233	#endif	233	#endif
234	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes	234	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
235	{	235	{
236	if(c != '\r') // no termination character	236	if(c != '\r') // no termination character
237	{	237	{
238	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	238	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
239	crc += c; // update crc	239	crc += c; // update crc
240	}	240	}
241	else // termination character was received	241	else // termination character was received
242	{	242	{
243	// the last 2 bytes are no subject for checksum calculation	243	// the last 2 bytes are no subject for checksum calculation
244	// they are the checksum itself	244	// they are the checksum itself
245	crc -= rxd_buffer[ptr_rxd_buffer-2];	245	crc -= rxd_buffer[ptr_rxd_buffer-2];
246	crc -= rxd_buffer[ptr_rxd_buffer-1];	246	crc -= rxd_buffer[ptr_rxd_buffer-1];
247	// calculate checksum from transmitted data	247	// calculate checksum from transmitted data
248	crc %= 4096;	248	crc %= 4096;
249	crc1 = '=' + crc / 64;	249	crc1 = '=' + crc / 64;
250	crc2 = '=' + crc % 64;	250	crc2 = '=' + crc % 64;
251	// compare checksum to transmitted checksum bytes	251	// compare checksum to transmitted checksum bytes
252	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))	252	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
253	{ // checksum valid	253	{ // checksum valid
254	rxd_buffer_locked = TRUE; // lock the rxd buffer	254	rxd_buffer_locked = TRUE; // lock the rxd buffer
255	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes	255	ReceivedBytes = ptr_rxd_buffer; // store number of received bytes
256	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	256	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
257	// if 2nd byte is an 'R' enable watchdog that will result in an reset	257	// if 2nd byte is an 'R' enable watchdog that will result in an reset
258	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando	258	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
259	}	259	}
260	else	260	else
261	{ // checksum invalid	261	{ // checksum invalid
262	rxd_buffer_locked = FALSE; // unlock rxd buffer	262	rxd_buffer_locked = FALSE; // unlock rxd buffer
263	}	263	}
264	ptr_rxd_buffer = 0; // reset rxd buffer pointer	264	ptr_rxd_buffer = 0; // reset rxd buffer pointer
265	}	265	}
266	}	266	}
267	else // rxd buffer overrun	267	else // rxd buffer overrun
268	{	268	{
269	ptr_rxd_buffer = 0; // reset rxd buffer	269	ptr_rxd_buffer = 0; // reset rxd buffer
270	rxd_buffer_locked = FALSE; // unlock rxd buffer	270	rxd_buffer_locked = FALSE; // unlock rxd buffer
271	}	271	}
272		272
273	}	273	}
274		274
275		275
276	// --------------------------------------------------------------------------	276	// --------------------------------------------------------------------------
277	void AddCRC(uint16_t datalen)	277	void AddCRC(uint16_t datalen)
278	{	278	{
279	uint16_t tmpCRC = 0, i;	279	uint16_t tmpCRC = 0, i;
280	for(i = 0; i < datalen; i++)	280	for(i = 0; i < datalen; i++)
281	{	281	{
282	tmpCRC += txd_buffer[i];	282	tmpCRC += txd_buffer[i];
283	}	283	}
284	tmpCRC %= 4096;	284	tmpCRC %= 4096;
285	txd_buffer[i++] = '=' + tmpCRC / 64;	285	txd_buffer[i++] = '=' + tmpCRC / 64;
286	txd_buffer[i++] = '=' + tmpCRC % 64;	286	txd_buffer[i++] = '=' + tmpCRC % 64;
287	txd_buffer[i++] = '\r';	287	txd_buffer[i++] = '\r';
288	txd_complete = FALSE;	288	txd_complete = FALSE;
289	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	289	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
290	}	290	}
291		291
292		292
293		293
294	// --------------------------------------------------------------------------	294	// --------------------------------------------------------------------------
295	void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)	295	void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
296	{	296	{
297	uint16_t pt = 0;	297	uint16_t pt = 0;
298	uint8_t a,b,c;	298	uint8_t a,b,c;
299	uint8_t ptr = 0;	299	uint8_t ptr = 0;
300		300
301	txd_buffer[pt++] = '#'; // Start character	301	txd_buffer[pt++] = '#'; // Start character
302	txd_buffer[pt++] = module; // Address (a=0; b=1,...)	302	txd_buffer[pt++] = module; // Address (a=0; b=1,...)
303	txd_buffer[pt++] = cmd; // Command	303	txd_buffer[pt++] = cmd; // Command
304		304
305	while(len)	305	while(len)
306	{	306	{
307	if(len) { a = snd[ptr++]; len--;} else a = 0;	307	if(len) { a = snd[ptr++]; len--;} else a = 0;
308	if(len) { b = snd[ptr++]; len--;} else b = 0;	308	if(len) { b = snd[ptr++]; len--;} else b = 0;
309	if(len) { c = snd[ptr++]; len--;} else c = 0;	309	if(len) { c = snd[ptr++]; len--;} else c = 0;
310	txd_buffer[pt++] = '=' + (a >> 2);	310	txd_buffer[pt++] = '=' + (a >> 2);
311	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	311	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
312	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	312	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
313	txd_buffer[pt++] = '=' + ( c & 0x3f);	313	txd_buffer[pt++] = '=' + ( c & 0x3f);
314	}	314	}
315	AddCRC(pt); // add checksum after data block and initates the transmission	315	AddCRC(pt); // add checksum after data block and initates the transmission
316	}	316	}
317		317
318		318
319	// --------------------------------------------------------------------------	319	// --------------------------------------------------------------------------
320	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)	320	void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
321	{	321	{
322	uint8_t a,b,c,d;	322	uint8_t a,b,c,d;
323	uint8_t ptr = 0;	323	uint8_t ptr = 0;
324	uint8_t x,y,z;	324	uint8_t x,y,z;
325	while(len)	325	while(len)
326	{	326	{
327	a = rxd_buffer[ptrIn++] - '=';	327	a = rxd_buffer[ptrIn++] - '=';
328	b = rxd_buffer[ptrIn++] - '=';	328	b = rxd_buffer[ptrIn++] - '=';
329	c = rxd_buffer[ptrIn++] - '=';	329	c = rxd_buffer[ptrIn++] - '=';
330	d = rxd_buffer[ptrIn++] - '=';	330	d = rxd_buffer[ptrIn++] - '=';
331	if(ptrIn > max - 2) break;	331	if(ptrIn > max - 2) break;
332		332
333	x = (a << 2) \| (b >> 4);	333	x = (a << 2) \| (b >> 4);
334	y = ((b & 0x0f) << 4) \| (c >> 2);	334	y = ((b & 0x0f) << 4) \| (c >> 2);
335	z = ((c & 0x03) << 6) \| d;	335	z = ((c & 0x03) << 6) \| d;
336		336
337	if(len--) ptrOut[ptr++] = x; else break;	337	if(len--) ptrOut[ptr++] = x; else break;
338	if(len--) ptrOut[ptr++] = y; else break;	338	if(len--) ptrOut[ptr++] = y; else break;
339	if(len--) ptrOut[ptr++] = z; else break;	339	if(len--) ptrOut[ptr++] = z; else break;
340	}	340	}
341	}	341	}
342		342
343		343
344	// --------------------------------------------------------------------------	344	// --------------------------------------------------------------------------
345	void USART0_ProcessRxData(void)	345	void USART0_ProcessRxData(void)
346	{	346	{
347	// if data in the rxd buffer are not locked immediately return	347	// if data in the rxd buffer are not locked immediately return
348	if(!rxd_buffer_locked) return;	348	if(!rxd_buffer_locked) return;
349		349
350	#if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)	350	#if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL)
351	uint16_t tmp_int_arr1[1]; // local int buffer	351	uint16_t tmp_int_arr1[1]; // local int buffer
352	#endif	352	#endif
353	uint8_t tmp_char_arr2[2]; // local char buffer	353	uint8_t tmp_char_arr2[2]; // local char buffer
354		354
355		355
356	switch(rxd_buffer[2])	356	switch(rxd_buffer[2])
357	{	357	{
358	#ifdef USE_MK3MAG	358	#ifdef USE_MK3MAG
359	case 'K':// Compass value	359	case 'K':// Compass value
360	Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes);	360	Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes);
361	CompassHeading = tmp_int_arr1[0];	361	CompassHeading = tmp_int_arr1[0];
362	CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;	362	CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
363	break;	363	break;
364	#endif	364	#endif
365	case 'a':// Labels of the Analog Debug outputs	365	case 'a':// Labels of the Analog Debug outputs
366	Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);	366	Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
367	RequestDebugLabel = tmp_char_arr2[0];	367	RequestDebugLabel = tmp_char_arr2[0];
368	PcAccess = 255;	368	PcAccess = 255;
369	break;	369	break;
370	case 'b': // extern control	370	case 'b': // extern control
371	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes);	371	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes);
372	RemoteButtons \|= ExternControl.RemoteButtons;	372	RemoteButtons \|= ExternControl.RemoteButtons;
373	ConfirmFrame = ExternControl.Frame;	373	ConfirmFrame = ExternControl.Frame;
374	break;	374	break;
375	case 'c': // extern control with debug request	375	case 'c': // extern control with debug request
376	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);	376	Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
377	RemoteButtons \|= ExternControl.RemoteButtons;	377	RemoteButtons \|= ExternControl.RemoteButtons;
378	ConfirmFrame = ExternControl.Frame;	378	ConfirmFrame = ExternControl.Frame;
379	RequestDebugData = TRUE;	379	RequestDebugData = TRUE;
380	PcAccess = 255;	380	PcAccess = 255;
381	break;	381	break;
382	case 'h':// x-1 display columns	382	case 'h':// x-1 display columns
383	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);	383	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
384	RemoteButtons \|= tmp_char_arr2[0];	384	RemoteButtons \|= tmp_char_arr2[0];
385	if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE;	385	if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE;
386	else RequestChannelOnly = FALSE; // keine Displaydaten	386	else RequestChannelOnly = FALSE; // keine Displaydaten
387	RequestDisplay = TRUE;	387	RequestDisplay = TRUE;
388	break;	388	break;
389	case 't':// motor test	389	case 't':// motor test
390	Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);	390	Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
391	PcAccess = 255;	391	PcAccess = 255;
392	break;	392	break;
393	case 'k':// keys from DubWise	393	case 'k':// keys from DubWise
394	Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);	394	Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
395	ConfirmFrame = DubWiseKeys[3];	395	ConfirmFrame = DubWiseKeys[3];
396	PcAccess = 255;	396	PcAccess = 255;
397	break;	397	break;
398	case 'v': // get version and board release	398	case 'v': // get version and board release
399	RequestVerInfo = TRUE;	399	RequestVerInfo = TRUE;
400	break;	400	break;
401	case 'g':// get external control data	401	case 'g':// get external control data
402	RequestExternalControl = TRUE;	402	RequestExternalControl = TRUE;
403	break;	403	break;
404	case 'q':// get settings	404	case 'q':// get settings
405	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);	405	Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
406	while(!txd_complete);	406	while(!txd_complete);
407	if(tmp_char_arr2[0] != 0xff)	407	if(tmp_char_arr2[0] != 0xff)
408	{	408	{
409	if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5	409	if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5
410	// load requested parameter set	410	// load requested parameter set
411	ParamSet_ReadFromEEProm(tmp_char_arr2[0]);	411	ParamSet_ReadFromEEProm(tmp_char_arr2[0]);
412	SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);	412	SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
413	}	413	}
414	else // send active parameter set	414	else // send active parameter set
415	SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);	415	SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
416		416
417	break;	417	break;
418		418
419	case 'l':	419	case 'l':
420	case 'm':	420	case 'm':
421	case 'n':	421	case 'n':
422	case 'o':	422	case 'o':
423	case 'p': // save parameterset	423	case 'p': // save parameterset
424	Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes);	424	Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes);
425	ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1);	425	ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1);
426	TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;	426	TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
427	TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;	427	TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
428	Beep(GetActiveParamSet());	428	Beep(GetActiveParamSet());
429	break;	429	break;
430		430
431		431
432	}	432	}
433	// unlock the rxd buffer after processing	433	// unlock the rxd buffer after processing
434	rxd_buffer_locked = FALSE;	434	rxd_buffer_locked = FALSE;
435	}	435	}
436		436
437	//############################################################################	437	//############################################################################
438	//Routine für die Serielle Ausgabe	438	//Routine für die Serielle Ausgabe
439	int16_t uart_putchar (int8_t c)	439	int16_t uart_putchar (int8_t c)
440	//############################################################################	440	//############################################################################
441	{	441	{
442	if (c == '\n')	442	if (c == '\n')
443	uart_putchar('\r');	443	uart_putchar('\r');
444	// wait until previous character was send	444	// wait until previous character was send
445	loop_until_bit_is_set(UCSR0A, UDRE0);	445	loop_until_bit_is_set(UCSR0A, UDRE0);
446	//Ausgabe des Zeichens	446	//Ausgabe des Zeichens
447	UDR0 = c;	447	UDR0 = c;
448	return (0);	448	return (0);
449	}	449	}
450		450
451		451
452	//---------------------------------------------------------------------------------------------	452	//---------------------------------------------------------------------------------------------
453	void USART0_TransmitTxData(void)	453	void USART0_TransmitTxData(void)
454	{	454	{
455	if(!txd_complete) return;	455	if(!txd_complete) return;
456		456
457	if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen	457	if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
458	{	458	{
459	SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));	459	SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
460	RequestExternalControl = FALSE;	460	RequestExternalControl = FALSE;
461	}	461	}
462		462
463	#ifdef USE_MK3MAG	463	#ifdef USE_MK3MAG
464	if((CheckDelay(Compass_Timer)) && txd_complete)	464	if((CheckDelay(Compass_Timer)) && txd_complete)
465	{	465	{
466	ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg	466	ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / 108); // approx. 0,1 Deg
467	ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg	467	ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg
468	ToMk3Mag.UserParam[0] = FCParam.UserParam1;	468	ToMk3Mag.UserParam[0] = FCParam.UserParam1;
469	ToMk3Mag.UserParam[1] = FCParam.UserParam2;	469	ToMk3Mag.UserParam[1] = FCParam.UserParam2;
470	ToMk3Mag.CalState = CompassCalState;	470	ToMk3Mag.CalState = CompassCalState;
471	SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));	471	SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));
472	// the last state is 5 and should be send only once to avoid multiple flash writing	472	// the last state is 5 and should be send only once to avoid multiple flash writing
473	if(CompassCalState > 4) CompassCalState = 0;	473	if(CompassCalState > 4) CompassCalState = 0;
474	Compass_Timer = SetDelay(99);	474	Compass_Timer = SetDelay(99);
475	}	475	}
476	#endif	476	#endif
477		477
478	if((CheckDelay(Debug_Timer) \|\| RequestDebugData) && txd_complete)	478	if((CheckDelay(Debug_Timer) \|\| RequestDebugData) && txd_complete)
479	{	479	{
480	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));	480	SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
481	RequestDebugData = FALSE;	481	RequestDebugData = FALSE;
482	Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);	482	Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
483	}	483	}
484		484
485	if(RequestDebugLabel != 255) // Texte für die Analogdaten	485	if(RequestDebugLabel != 255) // Texte für die Analogdaten
486	{	486	{
487	SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);	487	SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
488	RequestDebugLabel = 255;	488	RequestDebugLabel = 255;
489	}	489	}
490	if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen	490	if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen
491	{	491	{
492	txd_buffer[0] = '#';	492	txd_buffer[0] = '#';
493	txd_buffer[1] = ConfirmFrame;	493	txd_buffer[1] = ConfirmFrame;
494	txd_buffer[2] = '\r';	494	txd_buffer[2] = '\r';
495	txd_complete = 0;	495	txd_complete = 0;
496	ConfirmFrame = 0;	496	ConfirmFrame = 0;
497	UDR0 = txd_buffer[0];	497	UDR0 = txd_buffer[0];
498	}	498	}
499	if(RequestDisplay && txd_complete)	499	if(RequestDisplay && txd_complete)
500	{	500	{

Subversion Repositories FlightCtrl

(root)/branches/V0.69k Code Redesign killagreg/uart.c @ 1150 - Rev 908 → 911