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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | #include <stdarg.h> |
53 | #include <stdarg.h> |
54 | #include <string.h> |
54 | #include <string.h> |
55 | #include <avr/pgmspace.h> |
55 | #include <avr/pgmspace.h> |
56 | #include "main.h" |
56 | #include "main.h" |
57 | #include "uart.h" |
57 | #include "uart.h" |
58 | #include "libfc.h" |
58 | #include "libfc.h" |
59 | #include "eeprom.h" |
59 | #include "eeprom.h" |
60 | 60 | ||
61 | #define FC_ADDRESS 1 |
61 | #define FC_ADDRESS 1 |
62 | #define NC_ADDRESS 2 |
62 | #define NC_ADDRESS 2 |
63 | #define MK3MAG_ADDRESS 3 |
63 | #define MK3MAG_ADDRESS 3 |
64 | #define BL_CTRL_ADDRESS 5 |
64 | #define BL_CTRL_ADDRESS 5 |
65 | 65 | ||
66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
66 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
67 | #define MAX_SENDE_BUFF 175 |
67 | #define MAX_SENDE_BUFF 175 |
68 | #define MAX_EMPFANGS_BUFF 175 |
68 | #define MAX_EMPFANGS_BUFF 175 |
69 | 69 | ||
70 | #define BLPARAM_REVISION 1 |
70 | #define BLPARAM_REVISION 1 |
71 | #define MASK_SET_PWM_SCALING 0x01 |
71 | #define MASK_SET_PWM_SCALING 0x01 |
72 | #define MASK_SET_CURRENT_LIMIT 0x02 |
72 | #define MASK_SET_CURRENT_LIMIT 0x02 |
73 | #define MASK_SET_TEMP_LIMIT 0x04 |
73 | #define MASK_SET_TEMP_LIMIT 0x04 |
74 | #define MASK_SET_CURRENT_SCALING 0x08 |
74 | #define MASK_SET_CURRENT_SCALING 0x08 |
75 | #define MASK_SET_BITCONFIG 0x10 |
75 | #define MASK_SET_BITCONFIG 0x10 |
76 | #define MASK_RESET_CAPCOUNTER 0x20 |
76 | #define MASK_RESET_CAPCOUNTER 0x20 |
77 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
77 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
78 | #define MASK_SET_SAVE_EEPROM 0x80 |
78 | #define MASK_SET_SAVE_EEPROM 0x80 |
79 | 79 | ||
80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
80 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
81 | unsigned char DisplayLine = 0; |
81 | unsigned char DisplayLine = 0; |
82 | unsigned volatile char SioTmp = 0; |
82 | unsigned volatile char SioTmp = 0; |
83 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
83 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
84 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
84 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
85 | unsigned volatile char UebertragungAbgeschlossen = 1; |
85 | unsigned volatile char UebertragungAbgeschlossen = 1; |
86 | unsigned volatile char CntCrcError = 0; |
86 | unsigned volatile char CntCrcError = 0; |
87 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
87 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
88 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
89 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
90 | 90 | ||
91 | unsigned char *pRxData = 0; |
91 | unsigned char *pRxData = 0; |
92 | unsigned char RxDataLen = 0; |
92 | unsigned char RxDataLen = 0; |
93 | unsigned volatile char PC_DebugTimeout = 0; |
93 | unsigned volatile char PC_DebugTimeout = 0; |
94 | unsigned volatile char PC_MotortestActive = 0; |
94 | unsigned volatile char PC_MotortestActive = 0; |
95 | unsigned char DebugTextAnforderung = 255; |
95 | unsigned char DebugTextAnforderung = 255; |
96 | 96 | ||
97 | unsigned char PcZugriff = 100; |
97 | unsigned char PcZugriff = 100; |
98 | unsigned char MotorTest[16]; |
98 | unsigned char MotorTest[16]; |
99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
99 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
100 | unsigned char ConfirmFrame; |
100 | unsigned char ConfirmFrame; |
101 | struct str_DebugOut DebugOut; |
101 | struct str_DebugOut DebugOut; |
102 | struct str_ExternControl ExternControl; |
102 | struct str_ExternControl ExternControl; |
103 | struct str_VersionInfo VersionInfo; |
103 | struct str_VersionInfo VersionInfo; |
104 | struct str_WinkelOut WinkelOut; |
104 | struct str_WinkelOut WinkelOut; |
105 | struct str_Data3D Data3D; |
105 | struct str_Data3D Data3D; |
106 | 106 | ||
107 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
107 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
108 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
108 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
109 | unsigned int AboTimeOut = 0; |
109 | unsigned int AboTimeOut = 0; |
110 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
110 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
111 | 111 | ||
112 | 112 | ||
113 | 113 | ||
114 | 114 | ||
115 | 115 | ||
116 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
116 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
117 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
117 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
118 | 118 | ||
119 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
119 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
120 | { |
120 | { |
121 | //1234567890123456 |
121 | //1234567890123456 |
122 | "AngleNick ", //0 |
122 | "AngleNick ", //0 |
123 | "AngleRoll ", |
123 | "AngleRoll ", |
124 | "AccNick ", |
124 | "AccNick ", |
125 | "AccRoll ", |
125 | "AccRoll ", |
126 | "YawGyro ", |
126 | "YawGyro ", |
127 | "Height Value ", //5 |
127 | "Height Value ", //5 |
128 | "AccZ ", |
128 | "AccZ ", |
129 | "Gas ", |
129 | "Gas ", |
130 | "Compass Value ", |
130 | "Compass Value ", |
131 | "Voltage [0.1V] ", |
131 | "Voltage [0.1V] ", |
132 | "Receiver Level ", //10 |
132 | "Receiver Level ", //10 |
133 | "Gyro Compass ", |
133 | "Gyro Compass ", |
134 | "Motor 1 ", |
134 | "Motor 1 ", |
135 | "Motor 2 ", |
135 | "Motor 2 ", |
136 | "Motor 3 ", |
136 | "Motor 3 ", |
137 | "Motor 4 ", //15 |
137 | "Motor 4 ", //15 |
138 | "Motor 5 ",/// |
138 | "PAN-Cos ",//MartinR |
139 | "Motor 6 ",/// |
139 | "PAN-Sin ",//MartinR |
140 | "nc alt speed ", |
140 | "PAN-Servo ",//MartinR |
141 | "19 ", |
141 | "Servo-Roll ",//MartinR |
142 | "Servo ", //20 |
142 | "Servo-Nick ", //20 |
143 | "Hovergas ", |
143 | "Hovergas ", |
144 | "Current [0.1A] ", |
144 | "Current [0.1A] ", |
145 | "Capacity [mAh] ", |
145 | "Capacity [mAh] ", |
146 | "Hight Setpoint ", |
146 | "Hight Setpoint ", |
147 | "Motor 7 ", //25 /// |
147 | "Motor 7 ", //25 /// |
148 | "Motor 8 ",/// |
148 | "Motor 8 ",/// |
149 | "Compass Setpoint", |
149 | "Compass Setpoint", |
150 | "I2C-Error ", |
150 | "I2C-Error ", |
151 | "BL Limit ", |
151 | "BL Limit ", |
152 | "GPS_Nick ", //30 |
152 | "GPS_Nick ", //30 |
153 | "GPS_Roll " |
153 | "GPS_Roll " |
154 | }; |
154 | }; |
155 | 155 | ||
156 | #else |
156 | #else |
157 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
157 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
158 | const unsigned char ANALOG_TEXT[32][13] PROGMEM = |
158 | const unsigned char ANALOG_TEXT[32][13] PROGMEM = |
159 | { |
159 | { |
160 | //1234567890123456 |
160 | //1234567890123456 |
161 | "AngleNick ", //0 |
161 | "AngleNick ", //0 |
162 | "AngleRoll ", |
162 | "AngleRoll ", |
163 | "AccNick ", |
163 | "AccNick ", |
164 | "AccRoll ", |
164 | "AccRoll ", |
165 | "YawGyro ", |
165 | "YawGyro ", |
166 | "Height Value ", //5 |
166 | "Height Value ", //5 |
167 | "AccZ ", |
167 | "AccZ ", |
168 | "Gas ", |
168 | "Gas ", |
169 | "Compass Value", |
169 | "Compass Value", |
170 | "Voltage[0.1V]", |
170 | "Voltage[0.1V]", |
171 | "ReceiverLevel", //10 |
171 | "ReceiverLevel", //10 |
172 | "Gyro Compass ", |
172 | "Gyro Compass ", |
173 | "Motor 1 ", |
173 | "Motor 1 ", |
174 | "Motor 2 ", |
174 | "Motor 2 ", |
175 | "Motor 3 ", |
175 | "Motor 3 ", |
176 | "Motor 4 ", //15 |
176 | "Motor 4 ", //15 |
177 | "Motor 5 ",/// |
177 | "PAN-cos ",//MartinR |
178 | "Motor 6 ",/// |
178 | "PAN-sin ",//MartinR |
179 | "nc alt speed ", |
179 | "PAN-Servo ",//MartinR |
180 | "19 ", |
180 | "Servo-Roll ",//MartinR |
181 | "Servo ", //20 |
181 | "Servo-Nick ", //20 |
182 | "Hovergas ", |
182 | "Hovergas ", |
183 | "Current[0.1A]", |
183 | "Current[0.1A]", |
184 | "Capacity[mAh]", |
184 | "Capacity[mAh]", |
185 | "Hight Setp ", |
185 | "Hight Setp ", |
186 | "Motor 8 ", //25 /// |
186 | "Motor 8 ", //25 /// |
187 | "Motor 9 ",/// |
187 | "Motor 9 ",/// |
188 | "Compass Setp ", |
188 | "Compass Setp ", |
189 | "I2C-Error ", |
189 | "I2C-Error ", |
190 | "BL Limit ", |
190 | "BL Limit ", |
191 | "GPS_Nick ", //30 |
191 | "GPS_Nick ", //30 |
192 | "GPS_Roll " |
192 | "GPS_Roll " |
193 | }; |
193 | }; |
194 | 194 | ||
195 | 195 | ||
196 | #endif |
196 | #endif |
197 | 197 | ||
198 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
198 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
199 | //++ Sende-Part der Datenübertragung |
199 | //++ Sende-Part der Datenübertragung |
200 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
200 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
201 | ISR(USART0_TX_vect) |
201 | ISR(USART0_TX_vect) |
202 | { |
202 | { |
203 | static unsigned int ptr = 0; |
203 | static unsigned int ptr = 0; |
204 | unsigned char tmp_tx; |
204 | unsigned char tmp_tx; |
205 | 205 | ||
206 | if(!UebertragungAbgeschlossen) |
206 | if(!UebertragungAbgeschlossen) |
207 | { |
207 | { |
208 | ptr++; // die [0] wurde schon gesendet |
208 | ptr++; // die [0] wurde schon gesendet |
209 | tmp_tx = TxdBuffer[ptr]; |
209 | tmp_tx = TxdBuffer[ptr]; |
210 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
210 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
211 | { |
211 | { |
212 | ptr = 0; |
212 | ptr = 0; |
213 | UebertragungAbgeschlossen = 1; |
213 | UebertragungAbgeschlossen = 1; |
214 | } |
214 | } |
215 | UDR0 = tmp_tx; |
215 | UDR0 = tmp_tx; |
216 | } |
216 | } |
217 | else ptr = 0; |
217 | else ptr = 0; |
218 | } |
218 | } |
219 | 219 | ||
220 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
220 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
221 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
221 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
222 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
222 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
223 | ISR(USART0_RX_vect) |
223 | ISR(USART0_RX_vect) |
224 | { |
224 | { |
225 | static unsigned int crc; |
225 | static unsigned int crc; |
226 | static unsigned char crc1,crc2,buf_ptr; |
226 | static unsigned char crc1,crc2,buf_ptr; |
227 | static unsigned char UartState = 0; |
227 | static unsigned char UartState = 0; |
228 | unsigned char CrcOkay = 0; |
228 | unsigned char CrcOkay = 0; |
229 | 229 | ||
230 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
230 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
231 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
231 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
232 | 232 | ||
233 | SioTmp = UDR0; |
233 | SioTmp = UDR0; |
234 | 234 | ||
235 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
235 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
236 | if(SioTmp == '\r' && UartState == 2) |
236 | if(SioTmp == '\r' && UartState == 2) |
237 | { |
237 | { |
238 | UartState = 0; |
238 | UartState = 0; |
239 | crc -= RxdBuffer[buf_ptr-2]; |
239 | crc -= RxdBuffer[buf_ptr-2]; |
240 | crc -= RxdBuffer[buf_ptr-1]; |
240 | crc -= RxdBuffer[buf_ptr-1]; |
241 | crc %= 4096; |
241 | crc %= 4096; |
242 | crc1 = '=' + crc / 64; |
242 | crc1 = '=' + crc / 64; |
243 | crc2 = '=' + crc % 64; |
243 | crc2 = '=' + crc % 64; |
244 | CrcOkay = 0; |
244 | CrcOkay = 0; |
245 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
245 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
246 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
246 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
247 | { |
247 | { |
248 | NeuerDatensatzEmpfangen = 1; |
248 | NeuerDatensatzEmpfangen = 1; |
249 | AnzahlEmpfangsBytes = buf_ptr + 1; |
249 | AnzahlEmpfangsBytes = buf_ptr + 1; |
250 | RxdBuffer[buf_ptr] = '\r'; |
250 | RxdBuffer[buf_ptr] = '\r'; |
251 | if(RxdBuffer[2] == 'R') |
251 | if(RxdBuffer[2] == 'R') |
252 | { |
252 | { |
253 | 253 | ||
254 | #ifdef WITH_MKTOOL_Display /// MartinW main.h |
254 | #ifdef WITH_MKTOOL_Display /// MartinW main.h |
255 | #warning : "### with MKTool Display ###" |
255 | #warning : "### with MKTool Display ###" |
256 | LcdClear(); |
256 | LcdClear(); |
257 | #endif |
257 | #endif |
258 | 258 | ||
259 | wdt_enable(WDTO_250MS); // Reset-Commando |
259 | wdt_enable(WDTO_250MS); // Reset-Commando |
260 | ServoActive = 0; |
260 | ServoActive = 0; |
261 | } |
261 | } |
262 | 262 | ||
263 | } |
263 | } |
264 | } |
264 | } |
265 | else |
265 | else |
266 | switch(UartState) |
266 | switch(UartState) |
267 | { |
267 | { |
268 | case 0: |
268 | case 0: |
269 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
269 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
270 | buf_ptr = 0; |
270 | buf_ptr = 0; |
271 | RxdBuffer[buf_ptr++] = SioTmp; |
271 | RxdBuffer[buf_ptr++] = SioTmp; |
272 | crc = SioTmp; |
272 | crc = SioTmp; |
273 | break; |
273 | break; |
274 | case 1: // Adresse auswerten |
274 | case 1: // Adresse auswerten |
275 | UartState++; |
275 | UartState++; |
276 | RxdBuffer[buf_ptr++] = SioTmp; |
276 | RxdBuffer[buf_ptr++] = SioTmp; |
277 | crc += SioTmp; |
277 | crc += SioTmp; |
278 | break; |
278 | break; |
279 | case 2: // Eingangsdaten sammeln |
279 | case 2: // Eingangsdaten sammeln |
280 | RxdBuffer[buf_ptr] = SioTmp; |
280 | RxdBuffer[buf_ptr] = SioTmp; |
281 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
281 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
282 | else UartState = 0; |
282 | else UartState = 0; |
283 | crc += SioTmp; |
283 | crc += SioTmp; |
284 | break; |
284 | break; |
285 | default: |
285 | default: |
286 | UartState = 0; |
286 | UartState = 0; |
287 | break; |
287 | break; |
288 | } |
288 | } |
289 | } |
289 | } |
290 | 290 | ||
291 | 291 | ||
292 | // -------------------------------------------------------------------------- |
292 | // -------------------------------------------------------------------------- |
293 | void AddCRC(unsigned int wieviele) |
293 | void AddCRC(unsigned int wieviele) |
294 | { |
294 | { |
295 | unsigned int tmpCRC = 0,i; |
295 | unsigned int tmpCRC = 0,i; |
296 | for(i = 0; i < wieviele;i++) |
296 | for(i = 0; i < wieviele;i++) |
297 | { |
297 | { |
298 | tmpCRC += TxdBuffer[i]; |
298 | tmpCRC += TxdBuffer[i]; |
299 | } |
299 | } |
300 | tmpCRC %= 4096; |
300 | tmpCRC %= 4096; |
301 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
301 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
302 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
302 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
303 | TxdBuffer[i++] = '\r'; |
303 | TxdBuffer[i++] = '\r'; |
304 | UebertragungAbgeschlossen = 0; |
304 | UebertragungAbgeschlossen = 0; |
305 | UDR0 = TxdBuffer[0]; |
305 | UDR0 = TxdBuffer[0]; |
306 | } |
306 | } |
307 | 307 | ||
308 | 308 | ||
309 | 309 | ||
310 | // -------------------------------------------------------------------------- |
310 | // -------------------------------------------------------------------------- |
311 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
311 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
312 | { |
312 | { |
313 | va_list ap; |
313 | va_list ap; |
314 | unsigned int pt = 0; |
314 | unsigned int pt = 0; |
315 | unsigned char a,b,c; |
315 | unsigned char a,b,c; |
316 | unsigned char ptr = 0; |
316 | unsigned char ptr = 0; |
317 | 317 | ||
318 | unsigned char *snd = 0; |
318 | unsigned char *snd = 0; |
319 | int len = 0; |
319 | int len = 0; |
320 | 320 | ||
321 | TxdBuffer[pt++] = '#'; // Startzeichen |
321 | TxdBuffer[pt++] = '#'; // Startzeichen |
322 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
322 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
323 | TxdBuffer[pt++] = cmd; // Commando |
323 | TxdBuffer[pt++] = cmd; // Commando |
324 | 324 | ||
325 | va_start(ap, BufferAnzahl); |
325 | va_start(ap, BufferAnzahl); |
326 | if(BufferAnzahl) |
326 | if(BufferAnzahl) |
327 | { |
327 | { |
328 | snd = va_arg(ap, unsigned char*); |
328 | snd = va_arg(ap, unsigned char*); |
329 | len = va_arg(ap, int); |
329 | len = va_arg(ap, int); |
330 | ptr = 0; |
330 | ptr = 0; |
331 | BufferAnzahl--; |
331 | BufferAnzahl--; |
332 | } |
332 | } |
333 | while(len) |
333 | while(len) |
334 | { |
334 | { |
335 | if(len) |
335 | if(len) |
336 | { |
336 | { |
337 | a = snd[ptr++]; |
337 | a = snd[ptr++]; |
338 | len--; |
338 | len--; |
339 | if((!len) && BufferAnzahl) |
339 | if((!len) && BufferAnzahl) |
340 | { |
340 | { |
341 | snd = va_arg(ap, unsigned char*); |
341 | snd = va_arg(ap, unsigned char*); |
342 | len = va_arg(ap, int); |
342 | len = va_arg(ap, int); |
343 | ptr = 0; |
343 | ptr = 0; |
344 | BufferAnzahl--; |
344 | BufferAnzahl--; |
345 | } |
345 | } |
346 | } |
346 | } |
347 | else a = 0; |
347 | else a = 0; |
348 | if(len) |
348 | if(len) |
349 | { |
349 | { |
350 | b = snd[ptr++]; |
350 | b = snd[ptr++]; |
351 | len--; |
351 | len--; |
352 | if((!len) && BufferAnzahl) |
352 | if((!len) && BufferAnzahl) |
353 | { |
353 | { |
354 | snd = va_arg(ap, unsigned char*); |
354 | snd = va_arg(ap, unsigned char*); |
355 | len = va_arg(ap, int); |
355 | len = va_arg(ap, int); |
356 | ptr = 0; |
356 | ptr = 0; |
357 | BufferAnzahl--; |
357 | BufferAnzahl--; |
358 | } |
358 | } |
359 | } |
359 | } |
360 | else b = 0; |
360 | else b = 0; |
361 | if(len) |
361 | if(len) |
362 | { |
362 | { |
363 | c = snd[ptr++]; |
363 | c = snd[ptr++]; |
364 | len--; |
364 | len--; |
365 | if((!len) && BufferAnzahl) |
365 | if((!len) && BufferAnzahl) |
366 | { |
366 | { |
367 | snd = va_arg(ap, unsigned char*); |
367 | snd = va_arg(ap, unsigned char*); |
368 | len = va_arg(ap, int); |
368 | len = va_arg(ap, int); |
369 | ptr = 0; |
369 | ptr = 0; |
370 | BufferAnzahl--; |
370 | BufferAnzahl--; |
371 | } |
371 | } |
372 | } |
372 | } |
373 | else c = 0; |
373 | else c = 0; |
374 | TxdBuffer[pt++] = '=' + (a >> 2); |
374 | TxdBuffer[pt++] = '=' + (a >> 2); |
375 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
375 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
376 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
376 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
377 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
377 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
378 | } |
378 | } |
379 | va_end(ap); |
379 | va_end(ap); |
380 | AddCRC(pt); |
380 | AddCRC(pt); |
381 | } |
381 | } |
382 | 382 | ||
383 | // -------------------------------------------------------------------------- |
383 | // -------------------------------------------------------------------------- |
384 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
384 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
385 | { |
385 | { |
386 | unsigned char a,b,c,d; |
386 | unsigned char a,b,c,d; |
387 | unsigned char x,y,z; |
387 | unsigned char x,y,z; |
388 | unsigned char ptrIn = 3; // start at begin of data block |
388 | unsigned char ptrIn = 3; // start at begin of data block |
389 | unsigned char ptrOut = 3; |
389 | unsigned char ptrOut = 3; |
390 | 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. |
390 | 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. |
391 | 391 | ||
392 | while(len) |
392 | while(len) |
393 | { |
393 | { |
394 | a = RxdBuffer[ptrIn++] - '='; |
394 | a = RxdBuffer[ptrIn++] - '='; |
395 | b = RxdBuffer[ptrIn++] - '='; |
395 | b = RxdBuffer[ptrIn++] - '='; |
396 | c = RxdBuffer[ptrIn++] - '='; |
396 | c = RxdBuffer[ptrIn++] - '='; |
397 | d = RxdBuffer[ptrIn++] - '='; |
397 | d = RxdBuffer[ptrIn++] - '='; |
398 | 398 | ||
399 | x = (a << 2) | (b >> 4); |
399 | x = (a << 2) | (b >> 4); |
400 | y = ((b & 0x0f) << 4) | (c >> 2); |
400 | y = ((b & 0x0f) << 4) | (c >> 2); |
401 | z = ((c & 0x03) << 6) | d; |
401 | z = ((c & 0x03) << 6) | d; |
402 | 402 | ||
403 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
403 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
404 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
404 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
405 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
405 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
406 | } |
406 | } |
407 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
407 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
408 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
408 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
409 | 409 | ||
410 | } |
410 | } |
411 | 411 | ||
412 | // -------------------------------------------------------------------------- |
412 | // -------------------------------------------------------------------------- |
413 | void BearbeiteRxDaten(void) |
413 | void BearbeiteRxDaten(void) |
414 | { |
414 | { |
415 | if(!NeuerDatensatzEmpfangen) return; |
415 | if(!NeuerDatensatzEmpfangen) return; |
416 | 416 | ||
417 | unsigned char tempchar1, tempchar2; |
417 | unsigned char tempchar1, tempchar2; |
418 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
418 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
419 | switch(RxdBuffer[1]-'a') // check for Slave Address |
419 | switch(RxdBuffer[1]-'a') // check for Slave Address |
420 | { |
420 | { |
421 | case FC_ADDRESS: // FC special commands |
421 | case FC_ADDRESS: // FC special commands |
422 | switch(RxdBuffer[2]) |
422 | switch(RxdBuffer[2]) |
423 | { |
423 | { |
424 | case 'K':// Kompasswert |
424 | case 'K':// Kompasswert |
425 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
425 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
426 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
426 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
427 | break; |
427 | break; |
428 | case 't':// Motortest |
428 | case 't':// Motortest |
429 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
429 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
430 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
430 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
431 | PC_MotortestActive = 240; |
431 | PC_MotortestActive = 240; |
432 | //while(!UebertragungAbgeschlossen); |
432 | //while(!UebertragungAbgeschlossen); |
433 | //SendOutData('T', MeineSlaveAdresse, 0); |
433 | //SendOutData('T', MeineSlaveAdresse, 0); |
434 | PcZugriff = 255; |
434 | PcZugriff = 255; |
435 | break; |
435 | break; |
436 | 436 | ||
437 | case 'n':// "Get Mixer |
437 | case 'n':// "Get Mixer |
438 | while(!UebertragungAbgeschlossen); |
438 | while(!UebertragungAbgeschlossen); |
439 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
439 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
440 | Debug("Mixer lesen"); |
440 | Debug("Mixer lesen"); |
441 | break; |
441 | break; |
442 | 442 | ||
443 | case 'm':// "Write Mixer |
443 | case 'm':// "Write Mixer |
444 | if(pRxData[0] == EEMIXER_REVISION) |
444 | if(pRxData[0] == EEMIXER_REVISION) |
445 | { |
445 | { |
446 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
446 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
447 | MixerTable_WriteToEEProm(); |
447 | MixerTable_WriteToEEProm(); |
448 | tempchar1 = 1; |
448 | tempchar1 = 1; |
449 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
449 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
450 | } |
450 | } |
451 | else |
451 | else |
452 | { |
452 | { |
453 | tempchar1 = 0; |
453 | tempchar1 = 0; |
454 | } |
454 | } |
455 | while(!UebertragungAbgeschlossen); |
455 | while(!UebertragungAbgeschlossen); |
456 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
456 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
457 | break; |
457 | break; |
458 | 458 | ||
459 | case 'p': // get PPM Channels |
459 | case 'p': // get PPM Channels |
460 | GetPPMChannelAnforderung = 1; |
460 | GetPPMChannelAnforderung = 1; |
461 | PcZugriff = 255; |
461 | PcZugriff = 255; |
462 | break; |
462 | break; |
463 | 463 | ||
464 | case 'q':// "Get"-Anforderung für Settings |
464 | case 'q':// "Get"-Anforderung für Settings |
465 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
465 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
466 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
466 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
467 | { |
467 | { |
468 | tempchar1 = pRxData[0] - 10; |
468 | tempchar1 = pRxData[0] - 10; |
469 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
469 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
470 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
470 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
471 | SetDefaultParameter(tempchar1, 1); |
471 | SetDefaultParameter(tempchar1, 1); |
472 | } |
472 | } |
473 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
473 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
474 | { |
474 | { |
475 | tempchar1 = pRxData[0] - 20; |
475 | tempchar1 = pRxData[0] - 20; |
476 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
476 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
477 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
477 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
478 | SetDefaultParameter(tempchar1, 0); |
478 | SetDefaultParameter(tempchar1, 0); |
479 | } |
479 | } |
480 | else |
480 | else |
481 | { |
481 | { |
482 | tempchar1 = pRxData[0]; |
482 | tempchar1 = pRxData[0]; |
483 | if(tempchar1 == 0xFF) |
483 | if(tempchar1 == 0xFF) |
484 | { |
484 | { |
485 | tempchar1 = GetActiveParamSet(); |
485 | tempchar1 = GetActiveParamSet(); |
486 | } |
486 | } |
487 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
487 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
488 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
488 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
489 | // load requested parameter set |
489 | // load requested parameter set |
490 | ParamSet_ReadFromEEProm(tempchar1); |
490 | ParamSet_ReadFromEEProm(tempchar1); |
491 | } |
491 | } |
492 | while(!UebertragungAbgeschlossen); |
492 | while(!UebertragungAbgeschlossen); |
493 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
493 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
494 | Debug("Lese Setting %d", tempchar1); |
494 | Debug("Lese Setting %d", tempchar1); |
495 | 495 | ||
496 | break; |
496 | break; |
497 | 497 | ||
498 | case 's': // Parametersatz speichern |
498 | case 's': // Parametersatz speichern |
499 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
499 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
500 | { |
500 | { |
501 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
501 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
502 | ParamSet_WriteToEEProm(pRxData[0]); |
502 | ParamSet_WriteToEEProm(pRxData[0]); |
503 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
503 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
504 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
504 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
505 | tempchar1 = GetActiveParamSet(); |
505 | tempchar1 = GetActiveParamSet(); |
506 | } |
506 | } |
507 | else |
507 | else |
508 | { |
508 | { |
509 | tempchar1 = 0; // mark in response an invlid setting |
509 | tempchar1 = 0; // mark in response an invlid setting |
510 | } |
510 | } |
511 | while(!UebertragungAbgeschlossen); |
511 | while(!UebertragungAbgeschlossen); |
512 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
512 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
513 | if(!MotorenEin) Piep(tempchar1,110); |
513 | if(!MotorenEin) Piep(tempchar1,110); |
514 | LipoDetection(0); |
514 | LipoDetection(0); |
515 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
515 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
516 | break; |
516 | break; |
517 | case 'f': // auf anderen Parametersatz umschalten |
517 | case 'f': // auf anderen Parametersatz umschalten |
518 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
518 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
519 | tempchar1 = GetActiveParamSet(); |
519 | tempchar1 = GetActiveParamSet(); |
520 | while(!UebertragungAbgeschlossen); |
520 | while(!UebertragungAbgeschlossen); |
521 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
521 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
522 | if(!MotorenEin) Piep(tempchar1,110); |
522 | if(!MotorenEin) Piep(tempchar1,110); |
523 | LipoDetection(0); |
523 | LipoDetection(0); |
524 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
524 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
525 | break; |
525 | break; |
526 | case 'y':// serial Potis |
526 | case 'y':// serial Potis |
527 | 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]; |
527 | 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]; |
528 | 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]; |
528 | 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]; |
529 | 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]; |
529 | 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]; |
530 | break; |
530 | break; |
531 | 531 | ||
532 | case 'u': // request BL parameter |
532 | case 'u': // request BL parameter |
533 | Debug("Reading BL %d", pRxData[0]); |
533 | Debug("Reading BL %d", pRxData[0]); |
534 | // try to read BL configuration |
534 | // try to read BL configuration |
535 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
535 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
536 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
536 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
537 | else tempchar1 = 0; |
537 | else tempchar1 = 0; |
538 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
538 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
539 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
539 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
540 | break; |
540 | break; |
541 | 541 | ||
542 | case 'w': // write BL parameter |
542 | case 'w': // write BL parameter |
543 | Debug("Writing BL %d", pRxData[0]); |
543 | Debug("Writing BL %d", pRxData[0]); |
544 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
544 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
545 | { |
545 | { |
546 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
546 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
547 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
547 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
548 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
548 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
549 | else tempchar1 = 0; // indicate error |
549 | else tempchar1 = 0; // indicate error |
550 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
550 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
551 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
551 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
552 | } |
552 | } |
553 | break; |
553 | break; |
554 | case 'j': |
554 | case 'j': |
555 | if(MotorenEin) break; |
555 | if(MotorenEin) break; |
556 | 556 | ||
557 | #ifdef WITH_JETI_SIMULATION /// MartinW main.h means no memsave |
557 | #ifdef WITH_JETI_SIMULATION /// MartinW main.h means no memsave |
558 | #warning : "### with jeti update command ###" |
558 | #warning : "### with jeti update command ###" |
559 | 559 | ||
560 | 560 | ||
561 | 561 | ||
562 | tempchar1 = LIBFC_GetCPUType(); |
562 | tempchar1 = LIBFC_GetCPUType(); |
563 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
563 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
564 | { |
564 | { |
565 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
565 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
566 | 566 | ||
567 | cli(); |
567 | cli(); |
568 | 568 | ||
569 | // UART0 & UART1 disable RX and TX-Interrupt |
569 | // UART0 & UART1 disable RX and TX-Interrupt |
570 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
570 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
571 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
571 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
572 | 572 | ||
573 | // UART0 & UART1 disable receiver and transmitter |
573 | // UART0 & UART1 disable receiver and transmitter |
574 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
574 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
575 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
575 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
576 | 576 | ||
577 | // UART0 & UART1 flush receive buffer explicit |
577 | // UART0 & UART1 flush receive buffer explicit |
578 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
578 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
579 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
579 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
580 | 580 | ||
581 | 581 | ||
582 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
582 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
583 | else |
583 | else |
584 | { // Jeti or HoTT update |
584 | { // Jeti or HoTT update |
585 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
585 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
586 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
586 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
587 | //#endif |
587 | //#endif |
588 | ReceiverUpdateModeActive = 1; |
588 | ReceiverUpdateModeActive = 1; |
589 | // UART0 & UART1 set baudrate |
589 | // UART0 & UART1 set baudrate |
590 | UBRR1H = (uint8_t)(ubrr>>8); |
590 | UBRR1H = (uint8_t)(ubrr>>8); |
591 | UBRR1L = (uint8_t)ubrr; |
591 | UBRR1L = (uint8_t)ubrr; |
592 | UBRR0H = UBRR1H; |
592 | UBRR0H = UBRR1H; |
593 | UBRR0L = UBRR1L; |
593 | UBRR0L = UBRR1L; |
594 | // UART1 no parity |
594 | // UART1 no parity |
595 | UCSR1C &= ~(1 << UPM11); |
595 | UCSR1C &= ~(1 << UPM11); |
596 | UCSR1C &= ~(1 << UPM10); |
596 | UCSR1C &= ~(1 << UPM10); |
597 | // UART1 8-bit |
597 | // UART1 8-bit |
598 | UCSR1B &= ~(1 << UCSZ12); |
598 | UCSR1B &= ~(1 << UCSZ12); |
599 | UCSR1C |= (1 << UCSZ11); |
599 | UCSR1C |= (1 << UCSZ11); |
600 | UCSR1C |= (1 << UCSZ10); |
600 | UCSR1C |= (1 << UCSZ10); |
601 | } |
601 | } |
602 | // UART0 & UART1 1 stop bit |
602 | // UART0 & UART1 1 stop bit |
603 | UCSR1C &= ~(1 << USBS1); |
603 | UCSR1C &= ~(1 << USBS1); |
604 | UCSR0C &= ~(1 << USBS0); |
604 | UCSR0C &= ~(1 << USBS0); |
605 | // UART1 clear 9th bit |
605 | // UART1 clear 9th bit |
606 | UCSR1B &= ~(1<<TXB81); |
606 | UCSR1B &= ~(1<<TXB81); |
607 | // enable receiver and transmitter for UART0 and UART1 |
607 | // enable receiver and transmitter for UART0 and UART1 |
608 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
608 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
609 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
609 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
610 | // enable RX-Interrupt for UART0 and UART1 |
610 | // enable RX-Interrupt for UART0 and UART1 |
611 | UCSR0B |= (1 << RXCIE0); |
611 | UCSR0B |= (1 << RXCIE0); |
612 | UCSR1B |= (1 << RXCIE1); |
612 | UCSR1B |= (1 << RXCIE1); |
613 | // disable other Interrupts |
613 | // disable other Interrupts |
614 | TIMSK0 = 0; |
614 | TIMSK0 = 0; |
615 | TIMSK1 = 0; |
615 | TIMSK1 = 0; |
616 | TIMSK2 = 0; |
616 | TIMSK2 = 0; |
617 | 617 | ||
618 | sei(); |
618 | sei(); |
619 | } |
619 | } |
620 | 620 | ||
621 | #else |
621 | #else |
622 | #warning : "### without jeti update command ###" |
622 | #warning : "### without jeti update command ###" |
623 | 623 | ||
624 | #endif |
624 | #endif |
625 | break; |
625 | break; |
626 | 626 | ||
627 | } // case FC_ADDRESS: |
627 | } // case FC_ADDRESS: |
628 | 628 | ||
629 | default: // any Slave Address |
629 | default: // any Slave Address |
630 | 630 | ||
631 | switch(RxdBuffer[2]) |
631 | switch(RxdBuffer[2]) |
632 | { |
632 | { |
633 | // 't' comand placed here only for compatibility to BL |
633 | // 't' comand placed here only for compatibility to BL |
634 | case 't':// Motortest |
634 | case 't':// Motortest |
635 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
635 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
636 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
636 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
637 | while(!UebertragungAbgeschlossen); |
637 | while(!UebertragungAbgeschlossen); |
638 | SendOutData('T', MeineSlaveAdresse, 0); |
638 | SendOutData('T', MeineSlaveAdresse, 0); |
639 | PC_MotortestActive = 250; |
639 | PC_MotortestActive = 250; |
640 | PcZugriff = 255; |
640 | PcZugriff = 255; |
641 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
641 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
642 | break; |
642 | break; |
643 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
643 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
644 | case 'K':// Kompasswert |
644 | case 'K':// Kompasswert |
645 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
645 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
646 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
646 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
647 | break; |
647 | break; |
648 | case 'a':// Texte der Analogwerte |
648 | case 'a':// Texte der Analogwerte |
649 | DebugTextAnforderung = pRxData[0]; |
649 | DebugTextAnforderung = pRxData[0]; |
650 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
650 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
651 | PcZugriff = 255; |
651 | PcZugriff = 255; |
652 | break; |
652 | break; |
653 | case 'b': |
653 | case 'b': |
654 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
654 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
655 | ConfirmFrame = ExternControl.Frame; |
655 | ConfirmFrame = ExternControl.Frame; |
656 | PcZugriff = 255; |
656 | PcZugriff = 255; |
657 | break; |
657 | break; |
658 | case 'c': // Poll the 3D-Data |
658 | case 'c': // Poll the 3D-Data |
659 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
659 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
660 | Intervall3D = pRxData[0] * 10; |
660 | Intervall3D = pRxData[0] * 10; |
661 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
661 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
662 | break; |
662 | break; |
663 | case 'd': // Poll the debug data |
663 | case 'd': // Poll the debug data |
664 | PcZugriff = 255; |
664 | PcZugriff = 255; |
665 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
665 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
666 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
666 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
667 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
667 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
668 | break; |
668 | break; |
669 | 669 | ||
670 | case 'h':// x-1 Displayzeilen |
670 | case 'h':// x-1 Displayzeilen |
671 | 671 | ||
672 | #ifdef WITH_MKTOOL_Display /// MartinW memorysave |
672 | #ifdef WITH_MKTOOL_Display /// MartinW memorysave |
673 | #warning : "### with MKTool Display ###" |
673 | #warning : "### with MKTool Display ###" |
674 | 674 | ||
675 | PcZugriff = 255; |
675 | PcZugriff = 255; |
676 | if((pRxData[0] & 0x80) == 0x00) // old format |
676 | if((pRxData[0] & 0x80) == 0x00) // old format |
677 | { |
677 | { |
678 | DisplayLine = 2; |
678 | DisplayLine = 2; |
679 | Display_Interval = 0; |
679 | Display_Interval = 0; |
680 | } |
680 | } |
681 | else // new format |
681 | else // new format |
682 | { |
682 | { |
683 | RemoteKeys |= ~pRxData[0]; |
683 | RemoteKeys |= ~pRxData[0]; |
684 | Display_Interval = (unsigned int)pRxData[1] * 10; |
684 | Display_Interval = (unsigned int)pRxData[1] * 10; |
685 | DisplayLine = 4; |
685 | DisplayLine = 4; |
686 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
686 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
687 | } |
687 | } |
688 | DebugDisplayAnforderung = 1; |
688 | DebugDisplayAnforderung = 1; |
689 | break; |
689 | break; |
690 | 690 | ||
691 | case 'l':// x-1 Displayzeilen |
691 | case 'l':// x-1 Displayzeilen |
692 | PcZugriff = 255; |
692 | PcZugriff = 255; |
693 | MenuePunkt = pRxData[0]; |
693 | MenuePunkt = pRxData[0]; |
694 | DebugDisplayAnforderung1 = 1; |
694 | DebugDisplayAnforderung1 = 1; |
695 | 695 | ||
696 | #endif |
696 | #endif |
697 | break; |
697 | break; |
698 | case 'v': // Version-Anforderung und Ausbaustufe |
698 | case 'v': // Version-Anforderung und Ausbaustufe |
699 | GetVersionAnforderung = 1; |
699 | GetVersionAnforderung = 1; |
700 | break; |
700 | break; |
701 | 701 | ||
702 | case 'g':// |
702 | case 'g':// |
703 | GetExternalControl = 1; |
703 | GetExternalControl = 1; |
704 | break; |
704 | break; |
705 | 705 | ||
706 | default: |
706 | default: |
707 | //unsupported command received |
707 | //unsupported command received |
708 | break; |
708 | break; |
709 | } |
709 | } |
710 | break; // default: |
710 | break; // default: |
711 | } |
711 | } |
712 | NeuerDatensatzEmpfangen = 0; |
712 | NeuerDatensatzEmpfangen = 0; |
713 | pRxData = 0; |
713 | pRxData = 0; |
714 | RxDataLen = 0; |
714 | RxDataLen = 0; |
715 | } |
715 | } |
716 | 716 | ||
717 | //############################################################################ |
717 | //############################################################################ |
718 | //Routine für die Serielle Ausgabe |
718 | //Routine für die Serielle Ausgabe |
719 | void uart_putchar (char c) |
719 | void uart_putchar (char c) |
720 | //############################################################################ |
720 | //############################################################################ |
721 | { |
721 | { |
722 | //Warten solange bis Zeichen gesendet wurde |
722 | //Warten solange bis Zeichen gesendet wurde |
723 | loop_until_bit_is_set(UCSR0A, UDRE0); |
723 | loop_until_bit_is_set(UCSR0A, UDRE0); |
724 | //Ausgabe des Zeichens |
724 | //Ausgabe des Zeichens |
725 | UDR0 = c; |
725 | UDR0 = c; |
726 | } |
726 | } |
727 | 727 | ||
728 | 728 | ||
729 | //############################################################################ |
729 | //############################################################################ |
730 | //INstallation der Seriellen Schnittstelle |
730 | //INstallation der Seriellen Schnittstelle |
731 | void UART_Init (void) |
731 | void UART_Init (void) |
732 | //############################################################################ |
732 | //############################################################################ |
733 | { |
733 | { |
734 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
734 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
735 | 735 | ||
736 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
736 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
737 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
737 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
738 | // UART Double Speed (U2X) |
738 | // UART Double Speed (U2X) |
739 | UCSR0A |= (1 << U2X0); |
739 | UCSR0A |= (1 << U2X0); |
740 | // RX-Interrupt Freigabe |
740 | // RX-Interrupt Freigabe |
741 | UCSR0B |= (1 << RXCIE0); |
741 | UCSR0B |= (1 << RXCIE0); |
742 | // TX-Interrupt Freigabe |
742 | // TX-Interrupt Freigabe |
743 | UCSR0B |= (1 << TXCIE0); |
743 | UCSR0B |= (1 << TXCIE0); |
744 | // USART0 Baud Rate Register |
744 | // USART0 Baud Rate Register |
745 | // set clock divider |
745 | // set clock divider |
746 | UBRR0H = (uint8_t)(ubrr >> 8); |
746 | UBRR0H = (uint8_t)(ubrr >> 8); |
747 | UBRR0L = (uint8_t)ubrr; |
747 | UBRR0L = (uint8_t)ubrr; |
748 | 748 | ||
749 | Debug_Timer = SetDelay(DebugDataIntervall); |
749 | Debug_Timer = SetDelay(DebugDataIntervall); |
750 | Kompass_Timer = SetDelay(220); |
750 | Kompass_Timer = SetDelay(220); |
751 | 751 | ||
752 | VersionInfo.SWMajor = VERSION_MAJOR; |
752 | VersionInfo.SWMajor = VERSION_MAJOR; |
753 | VersionInfo.SWMinor = VERSION_MINOR; |
753 | VersionInfo.SWMinor = VERSION_MINOR; |
754 | VersionInfo.SWPatch = VERSION_PATCH; |
754 | VersionInfo.SWPatch = VERSION_PATCH; |
755 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
755 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
756 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
756 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
757 | 757 | ||
758 | pRxData = 0; |
758 | pRxData = 0; |
759 | RxDataLen = 0; |
759 | RxDataLen = 0; |
760 | } |
760 | } |
761 | 761 | ||
762 | //--------------------------------------------------------------------------------------------- |
762 | //--------------------------------------------------------------------------------------------- |
763 | void DatenUebertragung(void) |
763 | void DatenUebertragung(void) |
764 | { |
764 | { |
765 | if(!UebertragungAbgeschlossen) return; |
765 | if(!UebertragungAbgeschlossen) return; |
766 | 766 | ||
767 | if(CheckDelay(AboTimeOut)) |
767 | if(CheckDelay(AboTimeOut)) |
768 | { |
768 | { |
769 | Display_Interval = 0; |
769 | Display_Interval = 0; |
770 | DebugDataIntervall = 0; |
770 | DebugDataIntervall = 0; |
771 | Intervall3D = 0; |
771 | Intervall3D = 0; |
772 | } |
772 | } |
773 | 773 | ||
774 | #ifdef WITH_MKTOOL_Display //main.h |
774 | #ifdef WITH_MKTOOL_Display //main.h |
775 | #warning : "### with MKTool Display ###" |
775 | #warning : "### with MKTool Display ###" |
776 | 776 | ||
777 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
777 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
778 | { |
778 | { |
779 | if(DisplayLine > 3)// new format |
779 | if(DisplayLine > 3)// new format |
780 | { |
780 | { |
781 | Menu(); |
781 | Menu(); |
782 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
782 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
783 | } |
783 | } |
784 | else // old format |
784 | else // old format |
785 | { |
785 | { |
786 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
786 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
787 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
787 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
788 | if(DisplayLine++ > 3) DisplayLine = 0; |
788 | if(DisplayLine++ > 3) DisplayLine = 0; |
789 | } |
789 | } |
790 | Display_Timer = SetDelay(Display_Interval); |
790 | Display_Timer = SetDelay(Display_Interval); |
791 | DebugDisplayAnforderung = 0; |
791 | DebugDisplayAnforderung = 0; |
792 | } |
792 | } |
793 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
793 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
794 | { |
794 | { |
795 | Menu(); |
795 | Menu(); |
796 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
796 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
797 | DebugDisplayAnforderung1 = 0; |
797 | DebugDisplayAnforderung1 = 0; |
798 | } |
798 | } |
799 | 799 | ||
800 | #endif |
800 | #endif |
801 | 801 | ||
802 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
802 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
803 | { |
803 | { |
804 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
804 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
805 | GetVersionAnforderung = 0; |
805 | GetVersionAnforderung = 0; |
806 | Debug_OK("Version gesendet"); |
806 | Debug_OK("Version gesendet"); |
807 | } |
807 | } |
808 | 808 | ||
809 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
809 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
810 | { |
810 | { |
811 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
811 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
812 | GetExternalControl = 0; |
812 | GetExternalControl = 0; |
813 | } |
813 | } |
814 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
814 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
815 | { |
815 | { |
816 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
816 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
817 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
817 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
818 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
818 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
819 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
819 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
820 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
820 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
821 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
821 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
822 | Kompass_Timer = SetDelay(99); |
822 | Kompass_Timer = SetDelay(99); |
823 | } |
823 | } |
824 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
824 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
825 | { |
825 | { |
826 | CopyDebugValues(); |
826 | CopyDebugValues(); |
827 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
827 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
828 | DebugDataAnforderung = 0; |
828 | DebugDataAnforderung = 0; |
829 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
829 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
830 | } |
830 | } |
831 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
831 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
832 | { |
832 | { |
833 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
833 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
834 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
834 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
835 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
835 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
836 | Data3D.Centroid[0] = SummeNick >> 9; |
836 | Data3D.Centroid[0] = SummeNick >> 9; |
837 | Data3D.Centroid[1] = SummeRoll >> 9; |
837 | Data3D.Centroid[1] = SummeRoll >> 9; |
838 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
838 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
839 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
839 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
840 | Timer3D = SetDelay(Intervall3D); |
840 | Timer3D = SetDelay(Intervall3D); |
841 | } |
841 | } |
842 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
842 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
843 | { |
843 | { |
844 | 844 | ||
845 | 845 | ||
846 | 846 | ||
847 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
847 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
848 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
848 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
849 | unsigned char label[16]; // local sram buffer |
849 | unsigned char label[16]; // local sram buffer |
850 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
850 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
851 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
851 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
852 | 852 | ||
853 | #else |
853 | #else |
854 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
854 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
855 | 855 | ||
856 | unsigned char label[16]=" "; // local sram buffer ///MartinW; for MKTool, needs 32 bytes |
856 | unsigned char label[16]=" "; // local sram buffer ///MartinW; for MKTool, needs 32 bytes |
857 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 13); // read lable from flash to sra |
857 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 13); // read lable from flash to sra |
858 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
858 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
859 | #endif |
859 | #endif |
860 | 860 | ||
861 | 861 | ||
862 | 862 | ||
863 | DebugTextAnforderung = 255; |
863 | DebugTextAnforderung = 255; |
864 | } |
864 | } |
865 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
865 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
866 | { |
866 | { |
867 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
867 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
868 | ConfirmFrame = 0; |
868 | ConfirmFrame = 0; |
869 | } |
869 | } |
870 | 870 | ||
871 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
871 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
872 | { |
872 | { |
873 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
873 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
874 | GetPPMChannelAnforderung = 0; |
874 | GetPPMChannelAnforderung = 0; |
875 | } |
875 | } |
876 | 876 | ||
877 | #ifdef DEBUG // only include functions if DEBUG is defined |
877 | #ifdef DEBUG // only include functions if DEBUG is defined |
878 | if(SendDebugOutput && UebertragungAbgeschlossen) |
878 | if(SendDebugOutput && UebertragungAbgeschlossen) |
879 | { |
879 | { |
880 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
880 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
881 | SendDebugOutput = 0; |
881 | SendDebugOutput = 0; |
882 | } |
882 | } |
883 | #endif |
883 | #endif |
884 | 884 | ||
885 | } |
885 | } |
886 | 886 | ||
887 | 887 | ||
888 | 888 |