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