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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
| 8 | #include <string.h> |
8 | #include <string.h> |
| 9 | #include <avr/pgmspace.h> |
9 | #include <avr/pgmspace.h> |
| 10 | #include "main.h" |
10 | #include "main.h" |
| 11 | #include "uart.h" |
11 | #include "uart.h" |
| 12 | #include "libfc.h" |
12 | #include "libfc.h" |
| 13 | #include "eeprom.h" |
13 | #include "eeprom.h" |
| 14 | 14 | ||
| - | 15 | ||
| 15 | 16 | ||
| 16 | #define FC_ADDRESS 1 |
17 | #define FC_ADDRESS 1 |
| 17 | #define NC_ADDRESS 2 |
18 | #define NC_ADDRESS 2 |
| 18 | #define MK3MAG_ADDRESS 3 |
19 | #define MK3MAG_ADDRESS 3 |
| 19 | #define BL_CTRL_ADDRESS 5 |
20 | #define BL_CTRL_ADDRESS 5 |
| 20 | 21 | ||
| 21 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
22 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 22 | #define MAX_SENDE_BUFF 160 |
23 | #define MAX_SENDE_BUFF 160 |
| 23 | #define MAX_EMPFANGS_BUFF 160 |
24 | #define MAX_EMPFANGS_BUFF 160 |
| 24 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
25 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 25 | unsigned char DisplayLine = 0; |
26 | unsigned char DisplayLine = 0; |
| 26 | unsigned volatile char SioTmp = 0; |
27 | unsigned volatile char SioTmp = 0; |
| 27 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
28 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 28 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
29 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 29 | unsigned volatile char UebertragungAbgeschlossen = 1; |
30 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 30 | unsigned volatile char CntCrcError = 0; |
31 | unsigned volatile char CntCrcError = 0; |
| 31 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
32 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 32 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
33 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 33 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
34 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 34 | 35 | ||
| 35 | unsigned char *pRxData = 0; |
36 | unsigned char *pRxData = 0; |
| 36 | unsigned char RxDataLen = 0; |
37 | unsigned char RxDataLen = 0; |
| 37 | unsigned volatile char PC_DebugTimeout = 0; |
38 | unsigned volatile char PC_DebugTimeout = 0; |
| 38 | unsigned volatile char PC_MotortestActive = 0; |
39 | unsigned volatile char PC_MotortestActive = 0; |
| 39 | - | ||
| 40 | unsigned char DebugTextAnforderung = 255; |
40 | unsigned char DebugTextAnforderung = 255; |
| - | 41 | ||
| - | 42 | ||
| - | 43 | ||
| 41 | unsigned char PcZugriff = 100; |
44 | unsigned char PcZugriff = 100; |
| 42 | unsigned char MotorTest[16]; |
45 | unsigned char MotorTest[16]; |
| 43 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
46 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 44 | unsigned char ConfirmFrame; |
47 | unsigned char ConfirmFrame; |
| 45 | struct str_DebugOut DebugOut; |
48 | struct str_DebugOut DebugOut; |
| 46 | struct str_ExternControl ExternControl; |
49 | struct str_ExternControl ExternControl; |
| 47 | struct str_VersionInfo VersionInfo; |
50 | struct str_VersionInfo VersionInfo; |
| 48 | struct str_WinkelOut WinkelOut; |
51 | struct str_WinkelOut WinkelOut; |
| 49 | struct str_Data3D Data3D; |
52 | struct str_Data3D Data3D; |
| 50 | 53 | ||
| 51 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
54 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 52 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
55 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 53 | unsigned int AboTimeOut = 0; |
56 | unsigned int AboTimeOut = 0; |
| 54 | 57 | ||
| 55 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
58 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 56 | { |
59 | { |
| 57 | //1234567890123456 |
60 | //1234567890123456 |
| 58 | "AngleNick ", //0 |
61 | "AngleNick ", //0 |
| 59 | "AngleRoll ", |
62 | "AngleRoll ", |
| 60 | "AccNick ", |
63 | "AccNick ", |
| 61 | "AccRoll ", |
64 | "AccRoll ", |
| 62 | "YawGyro ", |
65 | "YawGyro ", |
| 63 | "Height Value ", //5 |
66 | "Height Value ", //5 |
| 64 | "AccZ ", |
67 | "AccZ ", |
| 65 | "Gas ", |
68 | "Gas ", |
| 66 | "Compass Value ", |
69 | "Compass Value ", |
| 67 | "Voltage [0.1V] ", |
70 | "Voltage [0.1V] ", |
| 68 | "Receiver Level ", //10 |
71 | "Receiver Level ", //10 |
| 69 | "Gyro Compass ", |
72 | "Gyro Compass ", |
| 70 | "Motor 1 ", |
73 | "Motor 1 ", |
| 71 | "Motor 2 ", |
74 | "Motor 2 ", |
| 72 | "Motor 3 ", |
75 | "Motor 3 ", |
| 73 | "Motor 4 ", //15 |
76 | "Motor 4 ", //15 |
| 74 | " ", |
77 | " ", |
| 75 | " ", |
78 | " ", |
| 76 | "VarioMeter ", |
79 | "VarioMeter ", |
| 77 | "MK3Mag CalState ", |
80 | "MK3Mag CalState ", |
| 78 | "Servo ", //20 |
81 | "Servo ", //20 |
| 79 | "Hovergas ", |
82 | "Hovergas ", |
| 80 | "Current [0.1A] ", |
83 | "Current [0.1A] ", |
| 81 | "Capacity [mAh] ", |
84 | "Capacity [mAh] ", |
| 82 | " ", |
85 | " ", |
| 83 | " ", //25 |
86 | " ", //25 |
| 84 | " ", |
87 | " ", |
| 85 | " ", |
88 | " ", |
| 86 | "I2C-Error ", |
89 | "I2C-Error ", |
| 87 | " ", // "Navi Serial Data", |
90 | " ", // "Navi Serial Data", |
| 88 | "GPS_Nick ", //30 |
91 | "GPS_Nick ", //30 |
| 89 | "GPS_Roll " |
92 | "GPS_Roll " |
| 90 | }; |
93 | }; |
| 91 | 94 | ||
| 92 | 95 | ||
| 93 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
96 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 94 | //++ Sende-Part der Datenübertragung |
97 | //++ Sende-Part der Datenübertragung |
| 95 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
98 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 96 | ISR(USART0_TX_vect) |
99 | ISR(USART0_TX_vect) |
| 97 | { |
100 | { |
| 98 | static unsigned int ptr = 0; |
101 | static unsigned int ptr = 0; |
| 99 | unsigned char tmp_tx; |
102 | unsigned char tmp_tx; |
| 100 | if(!UebertragungAbgeschlossen) |
103 | if(!UebertragungAbgeschlossen) |
| 101 | { |
104 | { |
| 102 | ptr++; // die [0] wurde schon gesendet |
105 | ptr++; // die [0] wurde schon gesendet |
| 103 | tmp_tx = TxdBuffer[ptr]; |
106 | tmp_tx = TxdBuffer[ptr]; |
| 104 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
107 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 105 | { |
108 | { |
| 106 | ptr = 0; |
109 | ptr = 0; |
| 107 | UebertragungAbgeschlossen = 1; |
110 | UebertragungAbgeschlossen = 1; |
| 108 | } |
111 | } |
| 109 | UDR0 = tmp_tx; |
112 | UDR0 = tmp_tx; |
| 110 | } |
113 | } |
| 111 | else ptr = 0; |
114 | else ptr = 0; |
| 112 | } |
115 | } |
| 113 | 116 | ||
| 114 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
117 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 115 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
118 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 116 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
119 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 117 | ISR(USART0_RX_vect) |
120 | ISR(USART0_RX_vect) |
| 118 | { |
121 | { |
| 119 | static unsigned int crc; |
122 | static unsigned int crc; |
| 120 | static unsigned char crc1,crc2,buf_ptr; |
123 | static unsigned char crc1,crc2,buf_ptr; |
| 121 | static unsigned char UartState = 0; |
124 | static unsigned char UartState = 0; |
| 122 | unsigned char CrcOkay = 0; |
125 | unsigned char CrcOkay = 0; |
| 123 | 126 | ||
| 124 | SioTmp = UDR0; |
127 | SioTmp = UDR0; |
| 125 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
128 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 126 | if(SioTmp == '\r' && UartState == 2) |
129 | if(SioTmp == '\r' && UartState == 2) |
| 127 | { |
130 | { |
| 128 | UartState = 0; |
131 | UartState = 0; |
| 129 | crc -= RxdBuffer[buf_ptr-2]; |
132 | crc -= RxdBuffer[buf_ptr-2]; |
| 130 | crc -= RxdBuffer[buf_ptr-1]; |
133 | crc -= RxdBuffer[buf_ptr-1]; |
| 131 | crc %= 4096; |
134 | crc %= 4096; |
| 132 | crc1 = '=' + crc / 64; |
135 | crc1 = '=' + crc / 64; |
| 133 | crc2 = '=' + crc % 64; |
136 | crc2 = '=' + crc % 64; |
| 134 | CrcOkay = 0; |
137 | CrcOkay = 0; |
| 135 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
138 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 136 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
139 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 137 | { |
140 | { |
| 138 | NeuerDatensatzEmpfangen = 1; |
141 | NeuerDatensatzEmpfangen = 1; |
| 139 | AnzahlEmpfangsBytes = buf_ptr + 1; |
142 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 140 | RxdBuffer[buf_ptr] = '\r'; |
143 | RxdBuffer[buf_ptr] = '\r'; |
| 141 | if(RxdBuffer[2] == 'R') |
144 | if(RxdBuffer[2] == 'R') |
| 142 | { |
145 | { |
| 143 | LcdClear(); |
146 | LcdClear(); |
| 144 | wdt_enable(WDTO_250MS); // Reset-Commando |
147 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 145 | ServoActive = 0; |
148 | ServoActive = 0; |
| 146 | 149 | ||
| 147 | } |
150 | } |
| 148 | } |
151 | } |
| 149 | } |
152 | } |
| 150 | else |
153 | else |
| 151 | switch(UartState) |
154 | switch(UartState) |
| 152 | { |
155 | { |
| 153 | case 0: |
156 | case 0: |
| 154 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
157 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 155 | buf_ptr = 0; |
158 | buf_ptr = 0; |
| 156 | RxdBuffer[buf_ptr++] = SioTmp; |
159 | RxdBuffer[buf_ptr++] = SioTmp; |
| 157 | crc = SioTmp; |
160 | crc = SioTmp; |
| 158 | break; |
161 | break; |
| 159 | case 1: // Adresse auswerten |
162 | case 1: // Adresse auswerten |
| 160 | UartState++; |
163 | UartState++; |
| 161 | RxdBuffer[buf_ptr++] = SioTmp; |
164 | RxdBuffer[buf_ptr++] = SioTmp; |
| 162 | crc += SioTmp; |
165 | crc += SioTmp; |
| 163 | break; |
166 | break; |
| 164 | case 2: // Eingangsdaten sammeln |
167 | case 2: // Eingangsdaten sammeln |
| 165 | RxdBuffer[buf_ptr] = SioTmp; |
168 | RxdBuffer[buf_ptr] = SioTmp; |
| 166 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
169 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 167 | else UartState = 0; |
170 | else UartState = 0; |
| 168 | crc += SioTmp; |
171 | crc += SioTmp; |
| 169 | break; |
172 | break; |
| 170 | default: |
173 | default: |
| 171 | UartState = 0; |
174 | UartState = 0; |
| 172 | break; |
175 | break; |
| 173 | } |
176 | } |
| 174 | } |
177 | } |
| 175 | 178 | ||
| 176 | 179 | ||
| 177 | // -------------------------------------------------------------------------- |
180 | // -------------------------------------------------------------------------- |
| 178 | void AddCRC(unsigned int wieviele) |
181 | void AddCRC(unsigned int wieviele) |
| 179 | { |
182 | { |
| 180 | unsigned int tmpCRC = 0,i; |
183 | unsigned int tmpCRC = 0,i; |
| 181 | for(i = 0; i < wieviele;i++) |
184 | for(i = 0; i < wieviele;i++) |
| 182 | { |
185 | { |
| 183 | tmpCRC += TxdBuffer[i]; |
186 | tmpCRC += TxdBuffer[i]; |
| 184 | } |
187 | } |
| 185 | tmpCRC %= 4096; |
188 | tmpCRC %= 4096; |
| 186 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
189 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 187 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
190 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 188 | TxdBuffer[i++] = '\r'; |
191 | TxdBuffer[i++] = '\r'; |
| 189 | UebertragungAbgeschlossen = 0; |
192 | UebertragungAbgeschlossen = 0; |
| 190 | UDR0 = TxdBuffer[0]; |
193 | UDR0 = TxdBuffer[0]; |
| 191 | } |
194 | } |
| 192 | 195 | ||
| 193 | 196 | ||
| 194 | 197 | ||
| 195 | // -------------------------------------------------------------------------- |
198 | // -------------------------------------------------------------------------- |
| 196 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
199 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 197 | { |
200 | { |
| 198 | va_list ap; |
201 | va_list ap; |
| 199 | unsigned int pt = 0; |
202 | unsigned int pt = 0; |
| 200 | unsigned char a,b,c; |
203 | unsigned char a,b,c; |
| 201 | unsigned char ptr = 0; |
204 | unsigned char ptr = 0; |
| 202 | 205 | ||
| 203 | unsigned char *snd = 0; |
206 | unsigned char *snd = 0; |
| 204 | int len = 0; |
207 | int len = 0; |
| 205 | 208 | ||
| 206 | TxdBuffer[pt++] = '#'; // Startzeichen |
209 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 207 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
210 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 208 | TxdBuffer[pt++] = cmd; // Commando |
211 | TxdBuffer[pt++] = cmd; // Commando |
| 209 | 212 | ||
| 210 | va_start(ap, BufferAnzahl); |
213 | va_start(ap, BufferAnzahl); |
| 211 | if(BufferAnzahl) |
214 | if(BufferAnzahl) |
| 212 | { |
215 | { |
| 213 | snd = va_arg(ap, unsigned char*); |
216 | snd = va_arg(ap, unsigned char*); |
| 214 | len = va_arg(ap, int); |
217 | len = va_arg(ap, int); |
| 215 | ptr = 0; |
218 | ptr = 0; |
| 216 | BufferAnzahl--; |
219 | BufferAnzahl--; |
| 217 | } |
220 | } |
| 218 | while(len) |
221 | while(len) |
| 219 | { |
222 | { |
| 220 | if(len) |
223 | if(len) |
| 221 | { |
224 | { |
| 222 | a = snd[ptr++]; |
225 | a = snd[ptr++]; |
| 223 | len--; |
226 | len--; |
| 224 | if((!len) && BufferAnzahl) |
227 | if((!len) && BufferAnzahl) |
| 225 | { |
228 | { |
| 226 | snd = va_arg(ap, unsigned char*); |
229 | snd = va_arg(ap, unsigned char*); |
| 227 | len = va_arg(ap, int); |
230 | len = va_arg(ap, int); |
| 228 | ptr = 0; |
231 | ptr = 0; |
| 229 | BufferAnzahl--; |
232 | BufferAnzahl--; |
| 230 | } |
233 | } |
| 231 | } |
234 | } |
| 232 | else a = 0; |
235 | else a = 0; |
| 233 | if(len) |
236 | if(len) |
| 234 | { |
237 | { |
| 235 | b = snd[ptr++]; |
238 | b = snd[ptr++]; |
| 236 | len--; |
239 | len--; |
| 237 | if((!len) && BufferAnzahl) |
240 | if((!len) && BufferAnzahl) |
| 238 | { |
241 | { |
| 239 | snd = va_arg(ap, unsigned char*); |
242 | snd = va_arg(ap, unsigned char*); |
| 240 | len = va_arg(ap, int); |
243 | len = va_arg(ap, int); |
| 241 | ptr = 0; |
244 | ptr = 0; |
| 242 | BufferAnzahl--; |
245 | BufferAnzahl--; |
| 243 | } |
246 | } |
| 244 | } |
247 | } |
| 245 | else b = 0; |
248 | else b = 0; |
| 246 | if(len) |
249 | if(len) |
| 247 | { |
250 | { |
| 248 | c = snd[ptr++]; |
251 | c = snd[ptr++]; |
| 249 | len--; |
252 | len--; |
| 250 | if((!len) && BufferAnzahl) |
253 | if((!len) && BufferAnzahl) |
| 251 | { |
254 | { |
| 252 | snd = va_arg(ap, unsigned char*); |
255 | snd = va_arg(ap, unsigned char*); |
| 253 | len = va_arg(ap, int); |
256 | len = va_arg(ap, int); |
| 254 | ptr = 0; |
257 | ptr = 0; |
| 255 | BufferAnzahl--; |
258 | BufferAnzahl--; |
| 256 | } |
259 | } |
| 257 | } |
260 | } |
| 258 | else c = 0; |
261 | else c = 0; |
| 259 | TxdBuffer[pt++] = '=' + (a >> 2); |
262 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 260 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
263 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 261 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
264 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 262 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
265 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 263 | } |
266 | } |
| 264 | va_end(ap); |
267 | va_end(ap); |
| 265 | AddCRC(pt); |
268 | AddCRC(pt); |
| 266 | } |
269 | } |
| 267 | 270 | ||
| 268 | // -------------------------------------------------------------------------- |
271 | // -------------------------------------------------------------------------- |
| 269 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
272 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 270 | { |
273 | { |
| 271 | unsigned char a,b,c,d; |
274 | unsigned char a,b,c,d; |
| 272 | unsigned char x,y,z; |
275 | unsigned char x,y,z; |
| 273 | unsigned char ptrIn = 3; // start at begin of data block |
276 | unsigned char ptrIn = 3; // start at begin of data block |
| 274 | unsigned char ptrOut = 3; |
277 | unsigned char ptrOut = 3; |
| 275 | 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. |
278 | 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. |
| 276 | 279 | ||
| 277 | while(len) |
280 | while(len) |
| 278 | { |
281 | { |
| 279 | a = RxdBuffer[ptrIn++] - '='; |
282 | a = RxdBuffer[ptrIn++] - '='; |
| 280 | b = RxdBuffer[ptrIn++] - '='; |
283 | b = RxdBuffer[ptrIn++] - '='; |
| 281 | c = RxdBuffer[ptrIn++] - '='; |
284 | c = RxdBuffer[ptrIn++] - '='; |
| 282 | d = RxdBuffer[ptrIn++] - '='; |
285 | d = RxdBuffer[ptrIn++] - '='; |
| 283 | 286 | ||
| 284 | x = (a << 2) | (b >> 4); |
287 | x = (a << 2) | (b >> 4); |
| 285 | y = ((b & 0x0f) << 4) | (c >> 2); |
288 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 286 | z = ((c & 0x03) << 6) | d; |
289 | z = ((c & 0x03) << 6) | d; |
| 287 | 290 | ||
| 288 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
291 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 289 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
292 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 290 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
293 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 291 | } |
294 | } |
| 292 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
295 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 293 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
296 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 294 | 297 | ||
| 295 | } |
298 | } |
| 296 | 299 | ||
| 297 | // -------------------------------------------------------------------------- |
300 | // -------------------------------------------------------------------------- |
| 298 | void BearbeiteRxDaten(void) |
301 | void BearbeiteRxDaten(void) |
| 299 | { |
302 | { |
| 300 | if(!NeuerDatensatzEmpfangen) return; |
303 | if(!NeuerDatensatzEmpfangen) return; |
| 301 | 304 | ||
| 302 | unsigned char tempchar1; |
305 | unsigned char tempchar1; |
| 303 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
306 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 304 | switch(RxdBuffer[1]-'a') // check for Slave Address |
307 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 305 | { |
308 | { |
| 306 | case FC_ADDRESS: // FC special commands |
309 | case FC_ADDRESS: // FC special commands |
| 307 | switch(RxdBuffer[2]) |
310 | switch(RxdBuffer[2]) |
| 308 | { |
311 | { |
| 309 | case 'K':// Kompasswert |
312 | case 'K':// Kompasswert |
| 310 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
313 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 311 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
314 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 312 | break; |
315 | break; |
| 313 | case 't':// Motortest |
316 | case 't':// Motortest |
| 314 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
317 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 315 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
318 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 316 | PC_MotortestActive = 240; |
319 | PC_MotortestActive = 240; |
| 317 | //while(!UebertragungAbgeschlossen); |
320 | //while(!UebertragungAbgeschlossen); |
| 318 | //SendOutData('T', MeineSlaveAdresse, 0); |
321 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 319 | PcZugriff = 255; |
322 | PcZugriff = 255; |
| 320 | break; |
323 | break; |
| 321 | 324 | ||
| 322 | case 'n':// "Get Mixer |
325 | case 'n':// "Get Mixer |
| 323 | while(!UebertragungAbgeschlossen); |
326 | while(!UebertragungAbgeschlossen); |
| 324 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
327 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| - | 328 | Debug("Mixer lesen"); |
|
| 325 | break; |
329 | break; |
| 326 | 330 | ||
| 327 | case 'm':// "Write Mixer |
331 | case 'm':// "Write Mixer |
| 328 | if(pRxData[0] == EEMIXER_REVISION) |
332 | if(pRxData[0] == EEMIXER_REVISION) |
| 329 | { |
333 | { |
| 330 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
334 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 331 | MixerTable_WriteToEEProm(); |
335 | MixerTable_WriteToEEProm(); |
| 332 | tempchar1 = 1; |
336 | tempchar1 = 1; |
| 333 | } |
337 | } |
| 334 | else |
338 | else |
| 335 | { |
339 | { |
| 336 | tempchar1 = 0; |
340 | tempchar1 = 0; |
| 337 | } |
341 | } |
| 338 | while(!UebertragungAbgeschlossen); |
342 | while(!UebertragungAbgeschlossen); |
| 339 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
343 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| - | 344 | ||
| 340 | break; |
345 | break; |
| 341 | 346 | ||
| 342 | case 'p': // get PPM Channels |
347 | case 'p': // get PPM Channels |
| 343 | GetPPMChannelAnforderung = 1; |
348 | GetPPMChannelAnforderung = 1; |
| 344 | PcZugriff = 255; |
349 | PcZugriff = 255; |
| 345 | break; |
350 | break; |
| 346 | 351 | ||
| 347 | case 'q':// "Get"-Anforderung für Settings |
352 | case 'q':// "Get"-Anforderung für Settings |
| 348 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
353 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 349 | if(pRxData[0] == 0xFF) |
354 | if(pRxData[0] == 0xFF) |
| 350 | { |
355 | { |
| 351 | pRxData[0] = GetActiveParamSet(); |
356 | pRxData[0] = GetActiveParamSet(); |
| 352 | } |
357 | } |
| 353 | // limit settings range |
358 | // limit settings range |
| 354 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
359 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| 355 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
360 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| 356 | // load requested parameter set |
361 | // load requested parameter set |
| 357 | ParamSet_ReadFromEEProm(pRxData[0]); |
362 | ParamSet_ReadFromEEProm(pRxData[0]); |
| 358 | tempchar1 = pRxData[0]; |
363 | tempchar1 = pRxData[0]; |
| 359 | while(!UebertragungAbgeschlossen); |
364 | while(!UebertragungAbgeschlossen); |
| 360 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
365 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| - | 366 | Debug("Lese Setting %d", tempchar1); |
|
| - | 367 | ||
| 361 | break; |
368 | break; |
| 362 | 369 | ||
| 363 | case 's': // Parametersatz speichern |
370 | case 's': // Parametersatz speichern |
| 364 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
371 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| 365 | { |
372 | { |
| 366 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
373 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 367 | ParamSet_WriteToEEProm(pRxData[0]); |
374 | ParamSet_WriteToEEProm(pRxData[0]); |
| 368 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
375 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 369 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
376 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 370 | tempchar1 = GetActiveParamSet(); |
377 | tempchar1 = GetActiveParamSet(); |
| 371 | } |
378 | } |
| 372 | else |
379 | else |
| 373 | { |
380 | { |
| 374 | tempchar1 = 0; // mark in response an invlid setting |
381 | tempchar1 = 0; // mark in response an invlid setting |
| 375 | } |
382 | } |
| 376 | while(!UebertragungAbgeschlossen); |
383 | while(!UebertragungAbgeschlossen); |
| 377 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
384 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 378 | if(!MotorenEin) Piep(tempchar1,110); |
385 | if(!MotorenEin) Piep(tempchar1,110); |
| 379 | LipoDetection(0); |
386 | LipoDetection(0); |
| 380 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
387 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 381 | break; |
388 | break; |
| 382 | case 'f': // auf anderen Parametersatz umschalten |
389 | case 'f': // auf anderen Parametersatz umschalten |
| 383 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
390 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 384 | tempchar1 = GetActiveParamSet(); |
391 | tempchar1 = GetActiveParamSet(); |
| 385 | while(!UebertragungAbgeschlossen); |
392 | while(!UebertragungAbgeschlossen); |
| 386 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
393 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 387 | if(!MotorenEin) Piep(tempchar1,110); |
394 | if(!MotorenEin) Piep(tempchar1,110); |
| 388 | LipoDetection(0); |
395 | LipoDetection(0); |
| 389 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
396 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 390 | break; |
397 | break; |
| 391 | case 'y':// serial Potis |
398 | case 'y':// serial Potis |
| 392 | 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]; |
399 | 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]; |
| 393 | 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]; |
400 | 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]; |
| 394 | 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]; |
401 | 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]; |
| 395 | break; |
402 | break; |
| 396 | 403 | ||
| 397 | } // case FC_ADDRESS: |
404 | } // case FC_ADDRESS: |
| 398 | 405 | ||
| 399 | default: // any Slave Address |
406 | default: // any Slave Address |
| 400 | 407 | ||
| 401 | switch(RxdBuffer[2]) |
408 | switch(RxdBuffer[2]) |
| 402 | { |
409 | { |
| 403 | // 't' comand placed here only for compatibility to BL |
410 | // 't' comand placed here only for compatibility to BL |
| 404 | case 't':// Motortest |
411 | case 't':// Motortest |
| 405 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
412 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 406 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
413 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 407 | while(!UebertragungAbgeschlossen); |
414 | while(!UebertragungAbgeschlossen); |
| 408 | SendOutData('T', MeineSlaveAdresse, 0); |
415 | SendOutData('T', MeineSlaveAdresse, 0); |
| 409 | PC_MotortestActive = 250; |
416 | PC_MotortestActive = 250; |
| 410 | PcZugriff = 255; |
417 | PcZugriff = 255; |
| 411 | break; |
418 | break; |
| 412 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
419 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 413 | case 'K':// Kompasswert |
420 | case 'K':// Kompasswert |
| 414 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
421 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 415 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
422 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 416 | break; |
423 | break; |
| 417 | case 'a':// Texte der Analogwerte |
424 | case 'a':// Texte der Analogwerte |
| 418 | DebugTextAnforderung = pRxData[0]; |
425 | DebugTextAnforderung = pRxData[0]; |
| 419 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
426 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 420 | PcZugriff = 255; |
427 | PcZugriff = 255; |
| 421 | break; |
428 | break; |
| 422 | case 'b': |
429 | case 'b': |
| 423 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
430 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 424 | ConfirmFrame = ExternControl.Frame; |
431 | ConfirmFrame = ExternControl.Frame; |
| 425 | PcZugriff = 255; |
432 | PcZugriff = 255; |
| 426 | break; |
433 | break; |
| 427 | case 'c': // Poll the 3D-Data |
434 | case 'c': // Poll the 3D-Data |
| 428 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
435 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 429 | Intervall3D = pRxData[0] * 10; |
436 | Intervall3D = pRxData[0] * 10; |
| 430 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
437 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 431 | break; |
438 | break; |
| 432 | case 'd': // Poll the debug data |
439 | case 'd': // Poll the debug data |
| 433 | PcZugriff = 255; |
440 | PcZugriff = 255; |
| 434 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
441 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 435 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
442 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 436 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
443 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 437 | break; |
444 | break; |
| 438 | 445 | ||
| 439 | case 'h':// x-1 Displayzeilen |
446 | case 'h':// x-1 Displayzeilen |
| 440 | PcZugriff = 255; |
447 | PcZugriff = 255; |
| 441 | if((pRxData[0] & 0x80) == 0x00) // old format |
448 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 442 | { |
449 | { |
| 443 | DisplayLine = 2; |
450 | DisplayLine = 2; |
| 444 | Display_Interval = 0; |
451 | Display_Interval = 0; |
| 445 | } |
452 | } |
| 446 | else // new format |
453 | else // new format |
| 447 | { |
454 | { |
| 448 | RemoteKeys |= ~pRxData[0]; |
455 | RemoteKeys |= ~pRxData[0]; |
| 449 | Display_Interval = (unsigned int)pRxData[1] * 10; |
456 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 450 | DisplayLine = 4; |
457 | DisplayLine = 4; |
| 451 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
458 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 452 | } |
459 | } |
| 453 | DebugDisplayAnforderung = 1; |
460 | DebugDisplayAnforderung = 1; |
| 454 | break; |
461 | break; |
| 455 | 462 | ||
| 456 | case 'l':// x-1 Displayzeilen |
463 | case 'l':// x-1 Displayzeilen |
| 457 | PcZugriff = 255; |
464 | PcZugriff = 255; |
| 458 | MenuePunkt = pRxData[0]; |
465 | MenuePunkt = pRxData[0]; |
| 459 | DebugDisplayAnforderung1 = 1; |
466 | DebugDisplayAnforderung1 = 1; |
| 460 | break; |
467 | break; |
| 461 | case 'v': // Version-Anforderung und Ausbaustufe |
468 | case 'v': // Version-Anforderung und Ausbaustufe |
| 462 | GetVersionAnforderung = 1; |
469 | GetVersionAnforderung = 1; |
| 463 | break; |
470 | break; |
| 464 | 471 | ||
| 465 | case 'g':// |
472 | case 'g':// |
| 466 | GetExternalControl = 1; |
473 | GetExternalControl = 1; |
| 467 | break; |
474 | break; |
| 468 | } |
475 | } |
| 469 | break; // default: |
476 | break; // default: |
| 470 | } |
477 | } |
| 471 | NeuerDatensatzEmpfangen = 0; |
478 | NeuerDatensatzEmpfangen = 0; |
| 472 | pRxData = 0; |
479 | pRxData = 0; |
| 473 | RxDataLen = 0; |
480 | RxDataLen = 0; |
| 474 | } |
481 | } |
| 475 | 482 | ||
| 476 | //############################################################################ |
483 | //############################################################################ |
| 477 | //Routine für die Serielle Ausgabe |
484 | //Routine für die Serielle Ausgabe |
| 478 | void uart_putchar (char c) |
485 | void uart_putchar (char c) |
| 479 | //############################################################################ |
486 | //############################################################################ |
| 480 | { |
487 | { |
| 481 | //Warten solange bis Zeichen gesendet wurde |
488 | //Warten solange bis Zeichen gesendet wurde |
| 482 | loop_until_bit_is_set(UCSR0A, UDRE0); |
489 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 483 | //Ausgabe des Zeichens |
490 | //Ausgabe des Zeichens |
| 484 | UDR0 = c; |
491 | UDR0 = c; |
| 485 | } |
492 | } |
| 486 | 493 | ||
| 487 | 494 | ||
| 488 | //############################################################################ |
495 | //############################################################################ |
| 489 | //INstallation der Seriellen Schnittstelle |
496 | //INstallation der Seriellen Schnittstelle |
| 490 | void UART_Init (void) |
497 | void UART_Init (void) |
| 491 | //############################################################################ |
498 | //############################################################################ |
| 492 | { |
499 | { |
| 493 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
500 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 494 | 501 | ||
| 495 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
502 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 496 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
503 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 497 | // UART Double Speed (U2X) |
504 | // UART Double Speed (U2X) |
| 498 | UCSR0A |= (1 << U2X0); |
505 | UCSR0A |= (1 << U2X0); |
| 499 | // RX-Interrupt Freigabe |
506 | // RX-Interrupt Freigabe |
| 500 | UCSR0B |= (1 << RXCIE0); |
507 | UCSR0B |= (1 << RXCIE0); |
| 501 | // TX-Interrupt Freigabe |
508 | // TX-Interrupt Freigabe |
| 502 | UCSR0B |= (1 << TXCIE0); |
509 | UCSR0B |= (1 << TXCIE0); |
| 503 | // USART0 Baud Rate Register |
510 | // USART0 Baud Rate Register |
| 504 | // set clock divider |
511 | // set clock divider |
| 505 | UBRR0H = (uint8_t)(ubrr >> 8); |
512 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 506 | UBRR0L = (uint8_t)ubrr; |
513 | UBRR0L = (uint8_t)ubrr; |
| 507 | 514 | ||
| 508 | Debug_Timer = SetDelay(DebugDataIntervall); |
515 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 509 | Kompass_Timer = SetDelay(220); |
516 | Kompass_Timer = SetDelay(220); |
| 510 | 517 | ||
| 511 | VersionInfo.SWMajor = VERSION_MAJOR; |
518 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 512 | VersionInfo.SWMinor = VERSION_MINOR; |
519 | VersionInfo.SWMinor = VERSION_MINOR; |
| 513 | VersionInfo.SWPatch = VERSION_PATCH; |
520 | VersionInfo.SWPatch = VERSION_PATCH; |
| 514 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
521 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 515 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
522 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 516 | 523 | ||
| 517 | pRxData = 0; |
524 | pRxData = 0; |
| 518 | RxDataLen = 0; |
525 | RxDataLen = 0; |
| 519 | } |
526 | } |
| 520 | 527 | ||
| 521 | //--------------------------------------------------------------------------------------------- |
528 | //--------------------------------------------------------------------------------------------- |
| 522 | void DatenUebertragung(void) |
529 | void DatenUebertragung(void) |
| 523 | { |
530 | { |
| 524 | if(!UebertragungAbgeschlossen) return; |
531 | if(!UebertragungAbgeschlossen) return; |
| 525 | 532 | ||
| 526 | if(CheckDelay(AboTimeOut)) |
533 | if(CheckDelay(AboTimeOut)) |
| 527 | { |
534 | { |
| 528 | Display_Interval = 0; |
535 | Display_Interval = 0; |
| 529 | DebugDataIntervall = 0; |
536 | DebugDataIntervall = 0; |
| 530 | Intervall3D = 0; |
537 | Intervall3D = 0; |
| 531 | } |
538 | } |
| 532 | 539 | ||
| 533 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
540 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 534 | { |
541 | { |
| 535 | if(DisplayLine > 3)// new format |
542 | if(DisplayLine > 3)// new format |
| 536 | { |
543 | { |
| 537 | Menu(); |
544 | Menu(); |
| 538 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
545 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 539 | } |
546 | } |
| 540 | else // old format |
547 | else // old format |
| 541 | { |
548 | { |
| 542 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
549 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 543 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
550 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 544 | if(DisplayLine++ > 3) DisplayLine = 0; |
551 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 545 | } |
552 | } |
| 546 | Display_Timer = SetDelay(Display_Interval); |
553 | Display_Timer = SetDelay(Display_Interval); |
| 547 | DebugDisplayAnforderung = 0; |
554 | DebugDisplayAnforderung = 0; |
| 548 | } |
555 | } |
| 549 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
556 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 550 | { |
557 | { |
| 551 | Menu(); |
558 | Menu(); |
| 552 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
559 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 553 | DebugDisplayAnforderung1 = 0; |
560 | DebugDisplayAnforderung1 = 0; |
| 554 | } |
561 | } |
| 555 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
562 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 556 | { |
563 | { |
| 557 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
564 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 558 | GetVersionAnforderung = 0; |
565 | GetVersionAnforderung = 0; |
| - | 566 | Debug_OK("Version gesendet"); |
|
| 559 | } |
567 | } |
| 560 | 568 | ||
| 561 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
569 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 562 | { |
570 | { |
| 563 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
571 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 564 | GetExternalControl = 0; |
572 | GetExternalControl = 0; |
| 565 | } |
573 | } |
| 566 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
574 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 567 | { |
575 | { |
| 568 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
576 | 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 |
577 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 570 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
578 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 571 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
579 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 572 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
580 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 573 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
581 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 574 | Kompass_Timer = SetDelay(99); |
582 | Kompass_Timer = SetDelay(99); |
| 575 | } |
583 | } |
| 576 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
584 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 577 | { |
585 | { |
| 578 | //if(Poti3 > 64) |
586 | //if(Poti3 > 64) |
| 579 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
587 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 580 | DebugDataAnforderung = 0; |
588 | DebugDataAnforderung = 0; |
| 581 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
589 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 582 | } |
590 | } |
| 583 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
591 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 584 | { |
592 | { |
| 585 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
593 | 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 |
594 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 587 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
595 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 588 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
596 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 589 | Timer3D = SetDelay(Intervall3D); |
597 | Timer3D = SetDelay(Intervall3D); |
| 590 | } |
598 | } |
| 591 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
599 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 592 | { |
600 | { |
| 593 | unsigned char label[16]; // local sram buffer |
601 | unsigned char label[16]; // local sram buffer |
| 594 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
602 | 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); |
603 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| 596 | DebugTextAnforderung = 255; |
604 | DebugTextAnforderung = 255; |
| 597 | } |
605 | } |
| 598 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
606 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 599 | { |
607 | { |
| 600 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
608 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 601 | ConfirmFrame = 0; |
609 | ConfirmFrame = 0; |
| 602 | } |
610 | } |
| 603 | 611 | ||
| 604 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
612 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 605 | { |
613 | { |
| 606 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
614 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 607 | GetPPMChannelAnforderung = 0; |
615 | GetPPMChannelAnforderung = 0; |
| 608 | } |
616 | } |
| - | 617 | ||
| - | 618 | #ifdef DEBUG // only include functions if DEBUG is defined |
|
| - | 619 | if(SendDebugOutput && UebertragungAbgeschlossen) |
|
| - | 620 | { |
|
| - | 621 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
|
| - | 622 | SendDebugOutput = 0; |
|
| - | 623 | } |
|
| - | 624 | #endif |
|
| 609 | 625 | ||
| 610 | } |
626 | } |
| - | 627 | ||
| 611 | 628 | ||
| 612 | 629 | ||