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