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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 | #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 | #define BL_CTRL_ADDRESS 5 |
18 | #define BL_CTRL_ADDRESS 5 |
| 19 | 19 | ||
| 20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
20 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 21 | #define MAX_SENDE_BUFF 170 |
21 | #define MAX_SENDE_BUFF 170 |
| 22 | #define MAX_EMPFANGS_BUFF 170 |
22 | #define MAX_EMPFANGS_BUFF 170 |
| 23 | 23 | ||
| 24 | #define BLPARAM_REVISION 1 |
24 | #define BLPARAM_REVISION 1 |
| 25 | #define MASK_SET_PWM_SCALING 0x01 |
25 | #define MASK_SET_PWM_SCALING 0x01 |
| 26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
26 | #define MASK_SET_CURRENT_LIMIT 0x02 |
| 27 | #define MASK_SET_TEMP_LIMIT 0x04 |
27 | #define MASK_SET_TEMP_LIMIT 0x04 |
| 28 | #define MASK_SET_CURRENT_SCALING 0x08 |
28 | #define MASK_SET_CURRENT_SCALING 0x08 |
| 29 | #define MASK_SET_BITCONFIG 0x10 |
29 | #define MASK_SET_BITCONFIG 0x10 |
| 30 | #define MASK_RESET_CAPCOUNTER 0x20 |
30 | #define MASK_RESET_CAPCOUNTER 0x20 |
| 31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
31 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
| 32 | #define MASK_SET_SAVE_EEPROM 0x80 |
32 | #define MASK_SET_SAVE_EEPROM 0x80 |
| 33 | 33 | ||
| 34 | typedef struct |
34 | typedef struct |
| 35 | { |
35 | { |
| 36 | unsigned char Revision; // revision of parameter structure |
36 | unsigned char Revision; // revision of parameter structure |
| 37 | unsigned char Address; // target address |
37 | unsigned char Address; // target address |
| 38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
| 39 | unsigned char CurrentLimit; // current limit in 1A steps |
39 | unsigned char CurrentLimit; // current limit in 1A steps |
| 40 | unsigned char TemperatureLimit; // in °C |
40 | unsigned char TemperatureLimit; // in °C |
| 41 | unsigned char CurrentScaling; // scaling factor for current measurement |
41 | unsigned char CurrentScaling; // scaling factor for current measurement |
| 42 | unsigned char BitConfig; // see defines above |
42 | unsigned char BitConfig; // see defines above |
| 43 | unsigned char SetMask; // filter for active paramters |
43 | unsigned char SetMask; // filter for active paramters |
| 44 | unsigned char Checksum; // checksum for parameter sturcture |
44 | unsigned char Checksum; // checksum for parameter sturcture |
| 45 | } __attribute__((packed)) BLParameter_t; |
45 | } __attribute__((packed)) BLParameter_t; |
| 46 | 46 | ||
| 47 | 47 | ||
| 48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 49 | unsigned char DisplayLine = 0; |
49 | unsigned char DisplayLine = 0; |
| 50 | unsigned volatile char SioTmp = 0; |
50 | unsigned volatile char SioTmp = 0; |
| 51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 54 | unsigned volatile char CntCrcError = 0; |
54 | unsigned volatile char CntCrcError = 0; |
| 55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 58 | 58 | ||
| 59 | unsigned char *pRxData = 0; |
59 | unsigned char *pRxData = 0; |
| 60 | unsigned char RxDataLen = 0; |
60 | unsigned char RxDataLen = 0; |
| 61 | unsigned volatile char PC_DebugTimeout = 0; |
61 | unsigned volatile char PC_DebugTimeout = 0; |
| 62 | unsigned volatile char PC_MotortestActive = 0; |
62 | unsigned volatile char PC_MotortestActive = 0; |
| 63 | unsigned char DebugTextAnforderung = 255; |
63 | unsigned char DebugTextAnforderung = 255; |
| 64 | 64 | ||
| 65 | unsigned char PcZugriff = 100; |
65 | unsigned char PcZugriff = 100; |
| 66 | unsigned char MotorTest[16]; |
66 | unsigned char MotorTest[16]; |
| 67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 68 | unsigned char ConfirmFrame; |
68 | unsigned char ConfirmFrame; |
| 69 | struct str_DebugOut DebugOut; |
69 | struct str_DebugOut DebugOut; |
| 70 | struct str_ExternControl ExternControl; |
70 | struct str_ExternControl ExternControl; |
| 71 | struct str_VersionInfo VersionInfo; |
71 | struct str_VersionInfo VersionInfo; |
| 72 | struct str_WinkelOut WinkelOut; |
72 | struct str_WinkelOut WinkelOut; |
| 73 | struct str_Data3D Data3D; |
73 | struct str_Data3D Data3D; |
| 74 | 74 | ||
| 75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 77 | unsigned int AboTimeOut = 0; |
77 | unsigned int AboTimeOut = 0; |
| 78 | unsigned volatile char JetiUpdateModeActive = 0; |
78 | unsigned volatile char JetiUpdateModeActive = 0; |
| - | 79 | ||
| - | 80 | ||
| - | 81 | ||
| - | 82 | ||
| - | 83 | ||
| - | 84 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
|
| - | 85 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
|
| 79 | 86 | ||
| 80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
87 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 81 | { |
88 | { |
| 82 | //1234567890123456 |
89 | //1234567890123456 |
| 83 | "AngleNick ", //0 |
90 | "AngleNick ", //0 |
| 84 | "AngleRoll ", |
91 | "AngleRoll ", |
| 85 | "AccNick ", |
92 | "AccNick ", |
| 86 | "AccRoll ", |
93 | "AccRoll ", |
| 87 | "YawGyro ", |
94 | "YawGyro ", |
| 88 | "Height Value ", //5 |
95 | "Height Value ", //5 |
| 89 | "AccZ ", |
96 | "AccZ ", |
| 90 | "Gas ", |
97 | "Gas ", |
| 91 | "Compass Value ", |
98 | "Compass Value ", |
| 92 | "Voltage [0.1V] ", |
99 | "Voltage [0.1V] ", |
| 93 | "Receiver Level ", //10 |
100 | "Receiver Level ", //10 |
| 94 | "Gyro Compass ", |
101 | "Gyro Compass ", |
| 95 | "Motor 1 ", |
102 | "Motor 1 ", |
| 96 | "Motor 2 ", |
103 | "Motor 2 ", |
| 97 | "Motor 3 ", |
104 | "Motor 3 ", |
| 98 | "Motor 4 ", //15 |
105 | "Motor 4 ", //15 |
| 99 | "16 ", |
106 | "Motor 5 ",/// |
| 100 | "17 ", |
107 | "Motor 6 ",/// |
| 101 | "18 ", |
108 | "nc alt speed ", |
| 102 | "19 ", |
109 | "19 ", |
| 103 | "Servo ", //20 |
110 | "Servo ", //20 |
| 104 | "Hovergas ", |
111 | "Hovergas ", |
| 105 | "Current [0.1A] ", |
112 | "Current [0.1A] ", |
| 106 | "Capacity [mAh] ", |
113 | "Capacity [mAh] ", |
| 107 | "Hight Setpoint ", |
114 | "Hight Setpoint ", |
| 108 | "25 ", //25 |
115 | "Motor 7 ", //25 /// |
| 109 | "26 ", |
116 | "Motor 8 ",/// |
| 110 | "Compass Setpoint", |
117 | "Compass Setpoint", |
| 111 | "I2C-Error ", |
118 | "I2C-Error ", |
| 112 | "BL Limit ", |
119 | "BL Limit ", |
| 113 | "GPS_Nick ", //30 |
120 | "GPS_Nick ", //30 |
| 114 | "GPS_Roll " |
121 | "GPS_Roll " |
| 115 | }; |
122 | }; |
| 116 | - | ||
| - | 123 | ||
| - | 124 | #else |
|
| - | 125 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
|
| - | 126 | const unsigned char ANALOG_TEXT[32][13] PROGMEM = |
|
| - | 127 | { |
|
| - | 128 | //1234567890123456 |
|
| - | 129 | "AngleNick ", //0 |
|
| - | 130 | "AngleRoll ", |
|
| - | 131 | "AccNick ", |
|
| - | 132 | "AccRoll ", |
|
| - | 133 | "YawGyro ", |
|
| - | 134 | "Height Value ", //5 |
|
| - | 135 | "AccZ ", |
|
| - | 136 | "Gas ", |
|
| - | 137 | "Compass Value", |
|
| - | 138 | "Voltage[0.1V]", |
|
| - | 139 | "ReceiverLevel", //10 |
|
| - | 140 | "Gyro Compass ", |
|
| - | 141 | "Motor 1 ", |
|
| - | 142 | "Motor 2 ", |
|
| - | 143 | "Motor 3 ", |
|
| - | 144 | "Motor 4 ", //15 |
|
| - | 145 | "Motor 5 ",/// |
|
| - | 146 | "Motor 6 ",/// |
|
| - | 147 | "nc alt speed ", |
|
| - | 148 | "19 ", |
|
| - | 149 | "Servo ", //20 |
|
| - | 150 | "Hovergas ", |
|
| - | 151 | "Current[0.1A]", |
|
| - | 152 | "Capacity[mAh]", |
|
| - | 153 | "Hight Setp ", |
|
| - | 154 | "Motor 8 ", //25 /// |
|
| - | 155 | "Motor 9 ",/// |
|
| - | 156 | "Compass Setp ", |
|
| - | 157 | "I2C-Error ", |
|
| - | 158 | "BL Limit ", |
|
| - | 159 | "GPS_Nick ", //30 |
|
| - | 160 | "GPS_Roll " |
|
| - | 161 | }; |
|
| - | 162 | ||
| - | 163 | ||
| - | 164 | #endif |
|
| 117 | 165 | ||
| 118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
166 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 119 | //++ Sende-Part der Datenübertragung |
167 | //++ Sende-Part der Datenübertragung |
| 120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
168 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 121 | ISR(USART0_TX_vect) |
169 | ISR(USART0_TX_vect) |
| 122 | { |
170 | { |
| 123 | static unsigned int ptr = 0; |
171 | static unsigned int ptr = 0; |
| 124 | unsigned char tmp_tx; |
172 | unsigned char tmp_tx; |
| 125 | 173 | ||
| 126 | if(!UebertragungAbgeschlossen) |
174 | if(!UebertragungAbgeschlossen) |
| 127 | { |
175 | { |
| 128 | ptr++; // die [0] wurde schon gesendet |
176 | ptr++; // die [0] wurde schon gesendet |
| 129 | tmp_tx = TxdBuffer[ptr]; |
177 | tmp_tx = TxdBuffer[ptr]; |
| 130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
178 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 131 | { |
179 | { |
| 132 | ptr = 0; |
180 | ptr = 0; |
| 133 | UebertragungAbgeschlossen = 1; |
181 | UebertragungAbgeschlossen = 1; |
| 134 | } |
182 | } |
| 135 | UDR0 = tmp_tx; |
183 | UDR0 = tmp_tx; |
| 136 | } |
184 | } |
| 137 | else ptr = 0; |
185 | else ptr = 0; |
| 138 | } |
186 | } |
| 139 | 187 | ||
| 140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
188 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
189 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
190 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 143 | ISR(USART0_RX_vect) |
191 | ISR(USART0_RX_vect) |
| 144 | { |
192 | { |
| 145 | static unsigned int crc; |
193 | static unsigned int crc; |
| 146 | static unsigned char crc1,crc2,buf_ptr; |
194 | static unsigned char crc1,crc2,buf_ptr; |
| 147 | static unsigned char UartState = 0; |
195 | static unsigned char UartState = 0; |
| 148 | unsigned char CrcOkay = 0; |
196 | unsigned char CrcOkay = 0; |
| 149 | 197 | ||
| 150 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
198 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
| 151 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
199 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
| 152 | 200 | ||
| 153 | SioTmp = UDR0; |
201 | SioTmp = UDR0; |
| 154 | 202 | ||
| 155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
203 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 156 | if(SioTmp == '\r' && UartState == 2) |
204 | if(SioTmp == '\r' && UartState == 2) |
| 157 | { |
205 | { |
| 158 | UartState = 0; |
206 | UartState = 0; |
| 159 | crc -= RxdBuffer[buf_ptr-2]; |
207 | crc -= RxdBuffer[buf_ptr-2]; |
| 160 | crc -= RxdBuffer[buf_ptr-1]; |
208 | crc -= RxdBuffer[buf_ptr-1]; |
| 161 | crc %= 4096; |
209 | crc %= 4096; |
| 162 | crc1 = '=' + crc / 64; |
210 | crc1 = '=' + crc / 64; |
| 163 | crc2 = '=' + crc % 64; |
211 | crc2 = '=' + crc % 64; |
| 164 | CrcOkay = 0; |
212 | CrcOkay = 0; |
| 165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
213 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
214 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 167 | { |
215 | { |
| 168 | NeuerDatensatzEmpfangen = 1; |
216 | NeuerDatensatzEmpfangen = 1; |
| 169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
217 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 170 | RxdBuffer[buf_ptr] = '\r'; |
218 | RxdBuffer[buf_ptr] = '\r'; |
| 171 | if(RxdBuffer[2] == 'R') |
219 | if(RxdBuffer[2] == 'R') |
| 172 | { |
220 | { |
| - | 221 | ||
| - | 222 | #ifdef WITH_MKTOOL_Display /// MartinW main.h |
|
| - | 223 | #warning : "### with MKTool Display ###" |
|
| 173 | LcdClear(); |
224 | LcdClear(); |
| - | 225 | #endif |
|
| - | 226 | ||
| 174 | wdt_enable(WDTO_250MS); // Reset-Commando |
227 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 175 | ServoActive = 0; |
228 | ServoActive = 0; |
| 176 | } |
229 | } |
| 177 | 230 | ||
| 178 | } |
231 | } |
| 179 | } |
232 | } |
| 180 | else |
233 | else |
| 181 | switch(UartState) |
234 | switch(UartState) |
| 182 | { |
235 | { |
| 183 | case 0: |
236 | case 0: |
| 184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
237 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 185 | buf_ptr = 0; |
238 | buf_ptr = 0; |
| 186 | RxdBuffer[buf_ptr++] = SioTmp; |
239 | RxdBuffer[buf_ptr++] = SioTmp; |
| 187 | crc = SioTmp; |
240 | crc = SioTmp; |
| 188 | break; |
241 | break; |
| 189 | case 1: // Adresse auswerten |
242 | case 1: // Adresse auswerten |
| 190 | UartState++; |
243 | UartState++; |
| 191 | RxdBuffer[buf_ptr++] = SioTmp; |
244 | RxdBuffer[buf_ptr++] = SioTmp; |
| 192 | crc += SioTmp; |
245 | crc += SioTmp; |
| 193 | break; |
246 | break; |
| 194 | case 2: // Eingangsdaten sammeln |
247 | case 2: // Eingangsdaten sammeln |
| 195 | RxdBuffer[buf_ptr] = SioTmp; |
248 | RxdBuffer[buf_ptr] = SioTmp; |
| 196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
249 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 197 | else UartState = 0; |
250 | else UartState = 0; |
| 198 | crc += SioTmp; |
251 | crc += SioTmp; |
| 199 | break; |
252 | break; |
| 200 | default: |
253 | default: |
| 201 | UartState = 0; |
254 | UartState = 0; |
| 202 | break; |
255 | break; |
| 203 | } |
256 | } |
| 204 | } |
257 | } |
| 205 | 258 | ||
| 206 | 259 | ||
| 207 | // -------------------------------------------------------------------------- |
260 | // -------------------------------------------------------------------------- |
| 208 | void AddCRC(unsigned int wieviele) |
261 | void AddCRC(unsigned int wieviele) |
| 209 | { |
262 | { |
| 210 | unsigned int tmpCRC = 0,i; |
263 | unsigned int tmpCRC = 0,i; |
| 211 | for(i = 0; i < wieviele;i++) |
264 | for(i = 0; i < wieviele;i++) |
| 212 | { |
265 | { |
| 213 | tmpCRC += TxdBuffer[i]; |
266 | tmpCRC += TxdBuffer[i]; |
| 214 | } |
267 | } |
| 215 | tmpCRC %= 4096; |
268 | tmpCRC %= 4096; |
| 216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
269 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
270 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 218 | TxdBuffer[i++] = '\r'; |
271 | TxdBuffer[i++] = '\r'; |
| 219 | UebertragungAbgeschlossen = 0; |
272 | UebertragungAbgeschlossen = 0; |
| 220 | UDR0 = TxdBuffer[0]; |
273 | UDR0 = TxdBuffer[0]; |
| 221 | } |
274 | } |
| 222 | 275 | ||
| 223 | 276 | ||
| 224 | 277 | ||
| 225 | // -------------------------------------------------------------------------- |
278 | // -------------------------------------------------------------------------- |
| 226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
279 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 227 | { |
280 | { |
| 228 | va_list ap; |
281 | va_list ap; |
| 229 | unsigned int pt = 0; |
282 | unsigned int pt = 0; |
| 230 | unsigned char a,b,c; |
283 | unsigned char a,b,c; |
| 231 | unsigned char ptr = 0; |
284 | unsigned char ptr = 0; |
| 232 | 285 | ||
| 233 | unsigned char *snd = 0; |
286 | unsigned char *snd = 0; |
| 234 | int len = 0; |
287 | int len = 0; |
| 235 | 288 | ||
| 236 | TxdBuffer[pt++] = '#'; // Startzeichen |
289 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
290 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 238 | TxdBuffer[pt++] = cmd; // Commando |
291 | TxdBuffer[pt++] = cmd; // Commando |
| 239 | 292 | ||
| 240 | va_start(ap, BufferAnzahl); |
293 | va_start(ap, BufferAnzahl); |
| 241 | if(BufferAnzahl) |
294 | if(BufferAnzahl) |
| 242 | { |
295 | { |
| 243 | snd = va_arg(ap, unsigned char*); |
296 | snd = va_arg(ap, unsigned char*); |
| 244 | len = va_arg(ap, int); |
297 | len = va_arg(ap, int); |
| 245 | ptr = 0; |
298 | ptr = 0; |
| 246 | BufferAnzahl--; |
299 | BufferAnzahl--; |
| 247 | } |
300 | } |
| 248 | while(len) |
301 | while(len) |
| 249 | { |
302 | { |
| 250 | if(len) |
303 | if(len) |
| 251 | { |
304 | { |
| 252 | a = snd[ptr++]; |
305 | a = snd[ptr++]; |
| 253 | len--; |
306 | len--; |
| 254 | if((!len) && BufferAnzahl) |
307 | if((!len) && BufferAnzahl) |
| 255 | { |
308 | { |
| 256 | snd = va_arg(ap, unsigned char*); |
309 | snd = va_arg(ap, unsigned char*); |
| 257 | len = va_arg(ap, int); |
310 | len = va_arg(ap, int); |
| 258 | ptr = 0; |
311 | ptr = 0; |
| 259 | BufferAnzahl--; |
312 | BufferAnzahl--; |
| 260 | } |
313 | } |
| 261 | } |
314 | } |
| 262 | else a = 0; |
315 | else a = 0; |
| 263 | if(len) |
316 | if(len) |
| 264 | { |
317 | { |
| 265 | b = snd[ptr++]; |
318 | b = snd[ptr++]; |
| 266 | len--; |
319 | len--; |
| 267 | if((!len) && BufferAnzahl) |
320 | if((!len) && BufferAnzahl) |
| 268 | { |
321 | { |
| 269 | snd = va_arg(ap, unsigned char*); |
322 | snd = va_arg(ap, unsigned char*); |
| 270 | len = va_arg(ap, int); |
323 | len = va_arg(ap, int); |
| 271 | ptr = 0; |
324 | ptr = 0; |
| 272 | BufferAnzahl--; |
325 | BufferAnzahl--; |
| 273 | } |
326 | } |
| 274 | } |
327 | } |
| 275 | else b = 0; |
328 | else b = 0; |
| 276 | if(len) |
329 | if(len) |
| 277 | { |
330 | { |
| 278 | c = snd[ptr++]; |
331 | c = snd[ptr++]; |
| 279 | len--; |
332 | len--; |
| 280 | if((!len) && BufferAnzahl) |
333 | if((!len) && BufferAnzahl) |
| 281 | { |
334 | { |
| 282 | snd = va_arg(ap, unsigned char*); |
335 | snd = va_arg(ap, unsigned char*); |
| 283 | len = va_arg(ap, int); |
336 | len = va_arg(ap, int); |
| 284 | ptr = 0; |
337 | ptr = 0; |
| 285 | BufferAnzahl--; |
338 | BufferAnzahl--; |
| 286 | } |
339 | } |
| 287 | } |
340 | } |
| 288 | else c = 0; |
341 | else c = 0; |
| 289 | TxdBuffer[pt++] = '=' + (a >> 2); |
342 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
343 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
344 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
345 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 293 | } |
346 | } |
| 294 | va_end(ap); |
347 | va_end(ap); |
| 295 | AddCRC(pt); |
348 | AddCRC(pt); |
| 296 | } |
349 | } |
| 297 | 350 | ||
| 298 | // -------------------------------------------------------------------------- |
351 | // -------------------------------------------------------------------------- |
| 299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
352 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 300 | { |
353 | { |
| 301 | unsigned char a,b,c,d; |
354 | unsigned char a,b,c,d; |
| 302 | unsigned char x,y,z; |
355 | unsigned char x,y,z; |
| 303 | unsigned char ptrIn = 3; // start at begin of data block |
356 | unsigned char ptrIn = 3; // start at begin of data block |
| 304 | unsigned char ptrOut = 3; |
357 | unsigned char ptrOut = 3; |
| 305 | 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. |
358 | 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. |
| 306 | 359 | ||
| 307 | while(len) |
360 | while(len) |
| 308 | { |
361 | { |
| 309 | a = RxdBuffer[ptrIn++] - '='; |
362 | a = RxdBuffer[ptrIn++] - '='; |
| 310 | b = RxdBuffer[ptrIn++] - '='; |
363 | b = RxdBuffer[ptrIn++] - '='; |
| 311 | c = RxdBuffer[ptrIn++] - '='; |
364 | c = RxdBuffer[ptrIn++] - '='; |
| 312 | d = RxdBuffer[ptrIn++] - '='; |
365 | d = RxdBuffer[ptrIn++] - '='; |
| 313 | 366 | ||
| 314 | x = (a << 2) | (b >> 4); |
367 | x = (a << 2) | (b >> 4); |
| 315 | y = ((b & 0x0f) << 4) | (c >> 2); |
368 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 316 | z = ((c & 0x03) << 6) | d; |
369 | z = ((c & 0x03) << 6) | d; |
| 317 | 370 | ||
| 318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
371 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
372 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
373 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 321 | } |
374 | } |
| 322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
375 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
376 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 324 | 377 | ||
| 325 | } |
378 | } |
| 326 | 379 | ||
| 327 | // -------------------------------------------------------------------------- |
380 | // -------------------------------------------------------------------------- |
| 328 | void BearbeiteRxDaten(void) |
381 | void BearbeiteRxDaten(void) |
| 329 | { |
382 | { |
| 330 | if(!NeuerDatensatzEmpfangen) return; |
383 | if(!NeuerDatensatzEmpfangen) return; |
| 331 | 384 | ||
| 332 | unsigned char tempchar1, tempchar2; |
385 | unsigned char tempchar1, tempchar2; |
| 333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
386 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
387 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 335 | { |
388 | { |
| 336 | case FC_ADDRESS: // FC special commands |
389 | case FC_ADDRESS: // FC special commands |
| 337 | switch(RxdBuffer[2]) |
390 | switch(RxdBuffer[2]) |
| 338 | { |
391 | { |
| 339 | case 'K':// Kompasswert |
392 | case 'K':// Kompasswert |
| 340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
393 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 341 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
394 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 342 | break; |
395 | break; |
| 343 | case 't':// Motortest |
396 | case 't':// Motortest |
| 344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
397 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
398 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 346 | PC_MotortestActive = 240; |
399 | PC_MotortestActive = 240; |
| 347 | //while(!UebertragungAbgeschlossen); |
400 | //while(!UebertragungAbgeschlossen); |
| 348 | //SendOutData('T', MeineSlaveAdresse, 0); |
401 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 349 | PcZugriff = 255; |
402 | PcZugriff = 255; |
| 350 | break; |
403 | break; |
| 351 | 404 | ||
| 352 | case 'n':// "Get Mixer |
405 | case 'n':// "Get Mixer |
| 353 | while(!UebertragungAbgeschlossen); |
406 | while(!UebertragungAbgeschlossen); |
| 354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
407 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 355 | Debug("Mixer lesen"); |
408 | Debug("Mixer lesen"); |
| 356 | break; |
409 | break; |
| 357 | 410 | ||
| 358 | case 'm':// "Write Mixer |
411 | case 'm':// "Write Mixer |
| 359 | if(pRxData[0] == EEMIXER_REVISION) |
412 | if(pRxData[0] == EEMIXER_REVISION) |
| 360 | { |
413 | { |
| 361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
414 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 362 | MixerTable_WriteToEEProm(); |
415 | MixerTable_WriteToEEProm(); |
| 363 | tempchar1 = 1; |
416 | tempchar1 = 1; |
| 364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
417 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| 365 | } |
418 | } |
| 366 | else |
419 | else |
| 367 | { |
420 | { |
| 368 | tempchar1 = 0; |
421 | tempchar1 = 0; |
| 369 | } |
422 | } |
| 370 | while(!UebertragungAbgeschlossen); |
423 | while(!UebertragungAbgeschlossen); |
| 371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
424 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 372 | break; |
425 | break; |
| 373 | 426 | ||
| 374 | case 'p': // get PPM Channels |
427 | case 'p': // get PPM Channels |
| 375 | GetPPMChannelAnforderung = 1; |
428 | GetPPMChannelAnforderung = 1; |
| 376 | PcZugriff = 255; |
429 | PcZugriff = 255; |
| 377 | break; |
430 | break; |
| 378 | 431 | ||
| 379 | case 'q':// "Get"-Anforderung für Settings |
432 | case 'q':// "Get"-Anforderung für Settings |
| 380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
433 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
434 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| 382 | { |
435 | { |
| 383 | tempchar1 = pRxData[0] - 10; |
436 | tempchar1 = pRxData[0] - 10; |
| 384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
437 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
438 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 386 | SetDefaultParameter(tempchar1, 1); |
439 | SetDefaultParameter(tempchar1, 1); |
| 387 | } |
440 | } |
| 388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
441 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| 389 | { |
442 | { |
| 390 | tempchar1 = pRxData[0] - 20; |
443 | tempchar1 = pRxData[0] - 20; |
| 391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
444 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
445 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 393 | SetDefaultParameter(tempchar1, 0); |
446 | SetDefaultParameter(tempchar1, 0); |
| 394 | } |
447 | } |
| 395 | else |
448 | else |
| 396 | { |
449 | { |
| 397 | tempchar1 = pRxData[0]; |
450 | tempchar1 = pRxData[0]; |
| 398 | if(tempchar1 == 0xFF) |
451 | if(tempchar1 == 0xFF) |
| 399 | { |
452 | { |
| 400 | tempchar1 = GetActiveParamSet(); |
453 | tempchar1 = GetActiveParamSet(); |
| 401 | } |
454 | } |
| 402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
455 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
456 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 404 | // load requested parameter set |
457 | // load requested parameter set |
| 405 | ParamSet_ReadFromEEProm(tempchar1); |
458 | ParamSet_ReadFromEEProm(tempchar1); |
| 406 | } |
459 | } |
| 407 | while(!UebertragungAbgeschlossen); |
460 | while(!UebertragungAbgeschlossen); |
| 408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
461 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 409 | Debug("Lese Setting %d", tempchar1); |
462 | Debug("Lese Setting %d", tempchar1); |
| 410 | 463 | ||
| 411 | break; |
464 | break; |
| 412 | 465 | ||
| 413 | case 's': // Parametersatz speichern |
466 | case 's': // Parametersatz speichern |
| 414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
467 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| 415 | { |
468 | { |
| 416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
469 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 417 | ParamSet_WriteToEEProm(pRxData[0]); |
470 | ParamSet_WriteToEEProm(pRxData[0]); |
| 418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
471 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
472 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 420 | tempchar1 = GetActiveParamSet(); |
473 | tempchar1 = GetActiveParamSet(); |
| 421 | } |
474 | } |
| 422 | else |
475 | else |
| 423 | { |
476 | { |
| 424 | tempchar1 = 0; // mark in response an invlid setting |
477 | tempchar1 = 0; // mark in response an invlid setting |
| 425 | } |
478 | } |
| 426 | while(!UebertragungAbgeschlossen); |
479 | while(!UebertragungAbgeschlossen); |
| 427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
480 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 428 | if(!MotorenEin) Piep(tempchar1,110); |
481 | if(!MotorenEin) Piep(tempchar1,110); |
| 429 | LipoDetection(0); |
482 | LipoDetection(0); |
| 430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
483 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 431 | break; |
484 | break; |
| 432 | case 'f': // auf anderen Parametersatz umschalten |
485 | case 'f': // auf anderen Parametersatz umschalten |
| 433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
486 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 434 | tempchar1 = GetActiveParamSet(); |
487 | tempchar1 = GetActiveParamSet(); |
| 435 | while(!UebertragungAbgeschlossen); |
488 | while(!UebertragungAbgeschlossen); |
| 436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
489 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 437 | if(!MotorenEin) Piep(tempchar1,110); |
490 | if(!MotorenEin) Piep(tempchar1,110); |
| 438 | LipoDetection(0); |
491 | LipoDetection(0); |
| 439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
492 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 440 | break; |
493 | break; |
| 441 | case 'y':// serial Potis |
494 | case 'y':// serial Potis |
| 442 | 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]; |
495 | 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]; |
| 443 | 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]; |
496 | 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]; |
| 444 | 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]; |
497 | 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]; |
| 445 | break; |
498 | break; |
| 446 | 499 | ||
| 447 | case 'u': // request BL parameter |
500 | case 'u': // request BL parameter |
| 448 | Debug("Reading BL %d", pRxData[0]); |
501 | Debug("Reading BL %d", pRxData[0]); |
| 449 | // try to read BL configuration |
502 | // try to read BL configuration |
| 450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
503 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
504 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 452 | else tempchar1 = 0; |
505 | else tempchar1 = 0; |
| 453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
506 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
507 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 455 | break; |
508 | break; |
| 456 | 509 | ||
| 457 | case 'w': // write BL parameter |
510 | case 'w': // write BL parameter |
| 458 | Debug("Writing BL %d", pRxData[0]); |
511 | Debug("Writing BL %d", pRxData[0]); |
| 459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
512 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| 460 | { |
513 | { |
| 461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
514 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| 462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
515 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
516 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 464 | else tempchar1 = 0; // indicate error |
517 | else tempchar1 = 0; // indicate error |
| 465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
518 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
519 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 467 | } |
520 | } |
| 468 | break; |
521 | break; |
| 469 | case 'j': |
522 | case 'j': |
| - | 523 | ||
| - | 524 | ||
| - | 525 | #ifdef WITH_JETI_SIMULATION /// MartinW main.h means no memsave |
|
| - | 526 | #warning : "### with jeti update command ###" |
|
| - | 527 | ||
| - | 528 | ||
| - | 529 | ||
| 470 | tempchar1 = LIBFC_GetCPUType(); |
530 | tempchar1 = LIBFC_GetCPUType(); |
| 471 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
531 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| 472 | { |
532 | { |
| 473 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
533 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| 474 | 534 | ||
| 475 | cli(); |
535 | cli(); |
| 476 | 536 | ||
| 477 | // UART0 & UART1 disable RX and TX-Interrupt |
537 | // UART0 & UART1 disable RX and TX-Interrupt |
| 478 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
538 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| 479 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
539 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| 480 | 540 | ||
| 481 | // UART0 & UART1 disable receiver and transmitter |
541 | // UART0 & UART1 disable receiver and transmitter |
| 482 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
542 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| 483 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
543 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| 484 | 544 | ||
| 485 | // UART0 & UART1 flush receive buffer explicit |
545 | // UART0 & UART1 flush receive buffer explicit |
| 486 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
546 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
| 487 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
547 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
| 488 | 548 | ||
| 489 | 549 | ||
| 490 | if (pRxData[0] == 0) |
550 | if (pRxData[0] == 0) |
| 491 | { |
551 | { |
| 492 | JetiUpdateModeActive = 1; |
552 | JetiUpdateModeActive = 1; |
| 493 | 553 | ||
| 494 | // UART0 & UART1 set baudrate |
554 | // UART0 & UART1 set baudrate |
| 495 | UBRR1H = (uint8_t)(ubrr>>8); |
555 | UBRR1H = (uint8_t)(ubrr>>8); |
| 496 | UBRR1L = (uint8_t)ubrr; |
556 | UBRR1L = (uint8_t)ubrr; |
| 497 | UBRR0H = UBRR1H; |
557 | UBRR0H = UBRR1H; |
| 498 | UBRR0L = UBRR1L; |
558 | UBRR0L = UBRR1L; |
| 499 | // UART1 no parity |
559 | // UART1 no parity |
| 500 | UCSR1C &= ~(1 << UPM11); |
560 | UCSR1C &= ~(1 << UPM11); |
| 501 | UCSR1C &= ~(1 << UPM10); |
561 | UCSR1C &= ~(1 << UPM10); |
| 502 | // UART1 8-bit |
562 | // UART1 8-bit |
| 503 | UCSR1B &= ~(1 << UCSZ12); |
563 | UCSR1B &= ~(1 << UCSZ12); |
| 504 | UCSR1C |= (1 << UCSZ11); |
564 | UCSR1C |= (1 << UCSZ11); |
| 505 | UCSR1C |= (1 << UCSZ10); |
565 | UCSR1C |= (1 << UCSZ10); |
| 506 | } |
566 | } |
| 507 | else JetiUpdateModeActive = 2; |
567 | else JetiUpdateModeActive = 2; |
| 508 | 568 | ||
| 509 | // UART0 & UART1 1 stop bit |
569 | // UART0 & UART1 1 stop bit |
| 510 | UCSR1C &= ~(1 << USBS1); |
570 | UCSR1C &= ~(1 << USBS1); |
| 511 | UCSR0C &= ~(1 << USBS0); |
571 | UCSR0C &= ~(1 << USBS0); |
| 512 | // UART1 clear 9th bit |
572 | // UART1 clear 9th bit |
| 513 | UCSR1B &= ~(1<<TXB81); |
573 | UCSR1B &= ~(1<<TXB81); |
| 514 | // enable receiver and transmitter for UART0 and UART1 |
574 | // enable receiver and transmitter for UART0 and UART1 |
| 515 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
575 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| 516 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
576 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| 517 | // enable RX-Interrupt for UART0 and UART1 |
577 | // enable RX-Interrupt for UART0 and UART1 |
| 518 | UCSR0B |= (1 << RXCIE0); |
578 | UCSR0B |= (1 << RXCIE0); |
| 519 | UCSR1B |= (1 << RXCIE1); |
579 | UCSR1B |= (1 << RXCIE1); |
| 520 | // disable other Interrupts |
580 | // disable other Interrupts |
| 521 | TIMSK0 = 0; |
581 | TIMSK0 = 0; |
| 522 | TIMSK1 = 0; |
582 | TIMSK1 = 0; |
| 523 | TIMSK2 = 0; |
583 | TIMSK2 = 0; |
| 524 | 584 | ||
| 525 | sei(); |
585 | sei(); |
| 526 | } |
586 | } |
| - | 587 | ||
| - | 588 | #else |
|
| - | 589 | #warning : "### without jeti update command ###" |
|
| - | 590 | ||
| - | 591 | #endif |
|
| 527 | break; |
592 | break; |
| 528 | 593 | ||
| 529 | } // case FC_ADDRESS: |
594 | } // case FC_ADDRESS: |
| 530 | 595 | ||
| 531 | default: // any Slave Address |
596 | default: // any Slave Address |
| 532 | 597 | ||
| 533 | switch(RxdBuffer[2]) |
598 | switch(RxdBuffer[2]) |
| 534 | { |
599 | { |
| 535 | // 't' comand placed here only for compatibility to BL |
600 | // 't' comand placed here only for compatibility to BL |
| 536 | case 't':// Motortest |
601 | case 't':// Motortest |
| 537 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
602 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 538 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
603 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 539 | while(!UebertragungAbgeschlossen); |
604 | while(!UebertragungAbgeschlossen); |
| 540 | SendOutData('T', MeineSlaveAdresse, 0); |
605 | SendOutData('T', MeineSlaveAdresse, 0); |
| 541 | PC_MotortestActive = 250; |
606 | PC_MotortestActive = 250; |
| 542 | PcZugriff = 255; |
607 | PcZugriff = 255; |
| 543 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
608 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 544 | break; |
609 | break; |
| 545 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
610 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 546 | case 'K':// Kompasswert |
611 | case 'K':// Kompasswert |
| 547 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
612 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 548 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
613 | KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 549 | break; |
614 | break; |
| 550 | case 'a':// Texte der Analogwerte |
615 | case 'a':// Texte der Analogwerte |
| 551 | DebugTextAnforderung = pRxData[0]; |
616 | DebugTextAnforderung = pRxData[0]; |
| 552 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
617 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 553 | PcZugriff = 255; |
618 | PcZugriff = 255; |
| 554 | break; |
619 | break; |
| 555 | case 'b': |
620 | case 'b': |
| 556 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
621 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 557 | ConfirmFrame = ExternControl.Frame; |
622 | ConfirmFrame = ExternControl.Frame; |
| 558 | PcZugriff = 255; |
623 | PcZugriff = 255; |
| 559 | break; |
624 | break; |
| 560 | case 'c': // Poll the 3D-Data |
625 | case 'c': // Poll the 3D-Data |
| 561 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
626 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 562 | Intervall3D = pRxData[0] * 10; |
627 | Intervall3D = pRxData[0] * 10; |
| 563 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
628 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 564 | break; |
629 | break; |
| 565 | case 'd': // Poll the debug data |
630 | case 'd': // Poll the debug data |
| 566 | PcZugriff = 255; |
631 | PcZugriff = 255; |
| 567 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
632 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 568 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
633 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 569 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
634 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 570 | break; |
635 | break; |
| 571 | 636 | ||
| 572 | case 'h':// x-1 Displayzeilen |
637 | case 'h':// x-1 Displayzeilen |
| - | 638 | ||
| - | 639 | #ifdef WITH_MKTOOL_Dispay /// MartinW memorysave |
|
| - | 640 | #warning : "### with MKTool Display ###" |
|
| - | 641 | ||
| 573 | PcZugriff = 255; |
642 | PcZugriff = 255; |
| 574 | if((pRxData[0] & 0x80) == 0x00) // old format |
643 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 575 | { |
644 | { |
| 576 | DisplayLine = 2; |
645 | DisplayLine = 2; |
| 577 | Display_Interval = 0; |
646 | Display_Interval = 0; |
| 578 | } |
647 | } |
| 579 | else // new format |
648 | else // new format |
| 580 | { |
649 | { |
| 581 | RemoteKeys |= ~pRxData[0]; |
650 | RemoteKeys |= ~pRxData[0]; |
| 582 | Display_Interval = (unsigned int)pRxData[1] * 10; |
651 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 583 | DisplayLine = 4; |
652 | DisplayLine = 4; |
| 584 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
653 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 585 | } |
654 | } |
| 586 | DebugDisplayAnforderung = 1; |
655 | DebugDisplayAnforderung = 1; |
| 587 | break; |
656 | break; |
| 588 | 657 | ||
| 589 | case 'l':// x-1 Displayzeilen |
658 | case 'l':// x-1 Displayzeilen |
| 590 | PcZugriff = 255; |
659 | PcZugriff = 255; |
| 591 | MenuePunkt = pRxData[0]; |
660 | MenuePunkt = pRxData[0]; |
| 592 | DebugDisplayAnforderung1 = 1; |
661 | DebugDisplayAnforderung1 = 1; |
| - | 662 | ||
| - | 663 | #endif |
|
| 593 | break; |
664 | break; |
| - | 665 | ||
| - | 666 | ||
| 594 | case 'v': // Version-Anforderung und Ausbaustufe |
667 | case 'v': // Version-Anforderung und Ausbaustufe |
| 595 | GetVersionAnforderung = 1; |
668 | GetVersionAnforderung = 1; |
| 596 | break; |
669 | break; |
| 597 | 670 | ||
| 598 | case 'g':// |
671 | case 'g':// |
| 599 | GetExternalControl = 1; |
672 | GetExternalControl = 1; |
| 600 | break; |
673 | break; |
| 601 | 674 | ||
| 602 | default: |
675 | default: |
| 603 | //unsupported command received |
676 | //unsupported command received |
| 604 | break; |
677 | break; |
| 605 | } |
678 | } |
| 606 | break; // default: |
679 | break; // default: |
| 607 | } |
680 | } |
| 608 | NeuerDatensatzEmpfangen = 0; |
681 | NeuerDatensatzEmpfangen = 0; |
| 609 | pRxData = 0; |
682 | pRxData = 0; |
| 610 | RxDataLen = 0; |
683 | RxDataLen = 0; |
| 611 | } |
684 | } |
| 612 | 685 | ||
| 613 | //############################################################################ |
686 | //############################################################################ |
| 614 | //Routine für die Serielle Ausgabe |
687 | //Routine für die Serielle Ausgabe |
| 615 | void uart_putchar (char c) |
688 | void uart_putchar (char c) |
| 616 | //############################################################################ |
689 | //############################################################################ |
| 617 | { |
690 | { |
| 618 | //Warten solange bis Zeichen gesendet wurde |
691 | //Warten solange bis Zeichen gesendet wurde |
| 619 | loop_until_bit_is_set(UCSR0A, UDRE0); |
692 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 620 | //Ausgabe des Zeichens |
693 | //Ausgabe des Zeichens |
| 621 | UDR0 = c; |
694 | UDR0 = c; |
| 622 | } |
695 | } |
| 623 | 696 | ||
| 624 | 697 | ||
| 625 | //############################################################################ |
698 | //############################################################################ |
| 626 | //INstallation der Seriellen Schnittstelle |
699 | //INstallation der Seriellen Schnittstelle |
| 627 | void UART_Init (void) |
700 | void UART_Init (void) |
| 628 | //############################################################################ |
701 | //############################################################################ |
| 629 | { |
702 | { |
| 630 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
703 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 631 | 704 | ||
| 632 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
705 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 633 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
706 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 634 | // UART Double Speed (U2X) |
707 | // UART Double Speed (U2X) |
| 635 | UCSR0A |= (1 << U2X0); |
708 | UCSR0A |= (1 << U2X0); |
| 636 | // RX-Interrupt Freigabe |
709 | // RX-Interrupt Freigabe |
| 637 | UCSR0B |= (1 << RXCIE0); |
710 | UCSR0B |= (1 << RXCIE0); |
| 638 | // TX-Interrupt Freigabe |
711 | // TX-Interrupt Freigabe |
| 639 | UCSR0B |= (1 << TXCIE0); |
712 | UCSR0B |= (1 << TXCIE0); |
| 640 | // USART0 Baud Rate Register |
713 | // USART0 Baud Rate Register |
| 641 | // set clock divider |
714 | // set clock divider |
| 642 | UBRR0H = (uint8_t)(ubrr >> 8); |
715 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 643 | UBRR0L = (uint8_t)ubrr; |
716 | UBRR0L = (uint8_t)ubrr; |
| 644 | 717 | ||
| 645 | Debug_Timer = SetDelay(DebugDataIntervall); |
718 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 646 | Kompass_Timer = SetDelay(220); |
719 | Kompass_Timer = SetDelay(220); |
| 647 | 720 | ||
| 648 | VersionInfo.SWMajor = VERSION_MAJOR; |
721 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 649 | VersionInfo.SWMinor = VERSION_MINOR; |
722 | VersionInfo.SWMinor = VERSION_MINOR; |
| 650 | VersionInfo.SWPatch = VERSION_PATCH; |
723 | VersionInfo.SWPatch = VERSION_PATCH; |
| 651 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
724 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 652 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
725 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 653 | 726 | ||
| 654 | pRxData = 0; |
727 | pRxData = 0; |
| 655 | RxDataLen = 0; |
728 | RxDataLen = 0; |
| 656 | } |
729 | } |
| 657 | 730 | ||
| 658 | //--------------------------------------------------------------------------------------------- |
731 | //--------------------------------------------------------------------------------------------- |
| 659 | void DatenUebertragung(void) |
732 | void DatenUebertragung(void) |
| 660 | { |
733 | { |
| 661 | if(!UebertragungAbgeschlossen) return; |
734 | if(!UebertragungAbgeschlossen) return; |
| 662 | 735 | ||
| 663 | if(CheckDelay(AboTimeOut)) |
736 | if(CheckDelay(AboTimeOut)) |
| 664 | { |
737 | { |
| 665 | Display_Interval = 0; |
738 | Display_Interval = 0; |
| 666 | DebugDataIntervall = 0; |
739 | DebugDataIntervall = 0; |
| 667 | Intervall3D = 0; |
740 | Intervall3D = 0; |
| 668 | } |
741 | } |
| - | 742 | ||
| - | 743 | #ifdef WITH_MKTOOL_Display //main.h |
|
| - | 744 | #warning : "### with MKTool Display ###" |
|
| 669 | 745 | ||
| 670 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
746 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 671 | { |
747 | { |
| 672 | if(DisplayLine > 3)// new format |
748 | if(DisplayLine > 3)// new format |
| 673 | { |
749 | { |
| 674 | Menu(); |
750 | Menu(); |
| 675 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
751 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 676 | } |
752 | } |
| 677 | else // old format |
753 | else // old format |
| 678 | { |
754 | { |
| 679 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
755 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 680 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
756 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 681 | if(DisplayLine++ > 3) DisplayLine = 0; |
757 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 682 | } |
758 | } |
| 683 | Display_Timer = SetDelay(Display_Interval); |
759 | Display_Timer = SetDelay(Display_Interval); |
| 684 | DebugDisplayAnforderung = 0; |
760 | DebugDisplayAnforderung = 0; |
| 685 | } |
761 | } |
| 686 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
762 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 687 | { |
763 | { |
| 688 | Menu(); |
764 | Menu(); |
| 689 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
765 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 690 | DebugDisplayAnforderung1 = 0; |
766 | DebugDisplayAnforderung1 = 0; |
| 691 | } |
767 | } |
| - | 768 | ||
| - | 769 | #endif |
|
| - | 770 | ||
| 692 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
771 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 693 | { |
772 | { |
| 694 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
773 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 695 | GetVersionAnforderung = 0; |
774 | GetVersionAnforderung = 0; |
| 696 | Debug_OK("Version gesendet"); |
775 | Debug_OK("Version gesendet"); |
| 697 | } |
776 | } |
| 698 | 777 | ||
| 699 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
778 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 700 | { |
779 | { |
| 701 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
780 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 702 | GetExternalControl = 0; |
781 | GetExternalControl = 0; |
| 703 | } |
782 | } |
| 704 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
783 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 705 | { |
784 | { |
| 706 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
785 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 707 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
786 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 708 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
787 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 709 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
788 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 710 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
789 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 711 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
790 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 712 | Kompass_Timer = SetDelay(99); |
791 | Kompass_Timer = SetDelay(99); |
| 713 | } |
792 | } |
| 714 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
793 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 715 | { |
794 | { |
| 716 | CopyDebugValues(); |
795 | CopyDebugValues(); |
| 717 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
796 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 718 | DebugDataAnforderung = 0; |
797 | DebugDataAnforderung = 0; |
| 719 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
798 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 720 | } |
799 | } |
| 721 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
800 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 722 | { |
801 | { |
| 723 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
802 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 724 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
803 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 725 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
804 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 726 | Data3D.Centroid[0] = SummeNick >> 9; |
805 | Data3D.Centroid[0] = SummeNick >> 9; |
| 727 | Data3D.Centroid[1] = SummeRoll >> 9; |
806 | Data3D.Centroid[1] = SummeRoll >> 9; |
| 728 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
807 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| 729 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
808 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 730 | Timer3D = SetDelay(Intervall3D); |
809 | Timer3D = SetDelay(Intervall3D); |
| 731 | } |
810 | } |
| 732 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
811 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 733 | { |
812 | { |
| - | 813 | ||
| - | 814 | ||
| - | 815 | ||
| - | 816 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
|
| - | 817 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
|
| 734 | unsigned char label[16]; // local sram buffer |
818 | unsigned char label[16]; // local sram buffer |
| 735 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
819 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| - | 820 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
|
| - | 821 | ||
| - | 822 | #else |
|
| - | 823 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
|
| - | 824 | ||
| - | 825 | unsigned char label[16]=" "; // local sram buffer ///MartinW; for MKTool, needs 32 bytes |
|
| - | 826 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 13); // read lable from flash to sra |
|
| 736 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
827 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| - | 828 | #endif |
|
| - | 829 | ||
| - | 830 | ||
| - | 831 | ||
| 737 | DebugTextAnforderung = 255; |
832 | DebugTextAnforderung = 255; |
| 738 | } |
833 | } |
| 739 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
834 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 740 | { |
835 | { |
| 741 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
836 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 742 | ConfirmFrame = 0; |
837 | ConfirmFrame = 0; |
| 743 | } |
838 | } |
| 744 | 839 | ||
| 745 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
840 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 746 | { |
841 | { |
| 747 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
842 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 748 | GetPPMChannelAnforderung = 0; |
843 | GetPPMChannelAnforderung = 0; |
| 749 | } |
844 | } |
| 750 | 845 | ||
| 751 | #ifdef DEBUG // only include functions if DEBUG is defined |
846 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 752 | if(SendDebugOutput && UebertragungAbgeschlossen) |
847 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 753 | { |
848 | { |
| 754 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
849 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 755 | SendDebugOutput = 0; |
850 | SendDebugOutput = 0; |
| 756 | } |
851 | } |
| 757 | #endif |
852 | #endif |
| 758 | 853 | ||
| 759 | } |
854 | } |
| 760 | 855 | ||
| 761 | 856 | ||
| 762 | 857 | ||