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