WebSVN - FlightCtrl - Diff - Rev 2165 and 2174 - /branches/V0.88e_ACC-HH_HR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdarg.h>
#include <string.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "uart.h"
#include "libfc.h"
#include "eeprom.h"
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define BL_CTRL_ADDRESS 5
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
#define MAX_SENDE_BUFF     175
#define MAX_EMPFANGS_BUFF  175
 
#define BLPARAM_REVISION 1
#define MASK_SET_PWM_SCALING            0x01
#define MASK_SET_CURRENT_LIMIT          0x02
#define MASK_SET_TEMP_LIMIT                     0x04
#define MASK_SET_CURRENT_SCALING        0x08
#define MASK_SET_BITCONFIG                      0x10
#define MASK_RESET_CAPCOUNTER           0x20
#define MASK_SET_DEFAULT_PARAMS         0x40
#define MASK_SET_SAVE_EEPROM            0x80
 
unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
unsigned char DisplayLine = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
 
unsigned char *pRxData = 0;
unsigned char RxDataLen = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned volatile char PC_MotortestActive = 0;
unsigned char DebugTextAnforderung = 255;
 
unsigned char PcZugriff = 100;
unsigned char MotorTest[16];
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
unsigned char ConfirmFrame;
struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternControl;
struct str_VersionInfo VersionInfo;
struct str_WinkelOut WinkelOut;
struct str_Data3D Data3D;
 
int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
unsigned int AboTimeOut = 0;
unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update      2 = JetiBox-Simulation
 
 
 
 
       
#ifdef WITH_FULL_ANALOG_TEXT            ///  MartinW main.h means no memsave
#warning : "### with  normal ANALOG_TEXT[32][16] ###"
       
const unsigned char ANALOG_TEXT[32][16] PROGMEM =
{
   //1234567890123456
    "AngleNick       ", //0
    "AngleRoll       ",
    "AccNick         ",
    "AccRoll         ",
    "YawGyro         ",
    "Height Value    ", //5
    "AccZ            ",
    "Gas             ",
    "Compass Value   ",
    "Voltage [0.1V]  ",
    "Receiver Level  ", //10
    "Gyro Compass    ",
    "Motor 1         ",
    "Motor 2         ",
    "Motor 3         ",
    "Motor 4         ", //15
    "PAN-Cos         ",//MartinR
    "PAN-Sin         ",//MartinR
    "PAN-Servo       ",//MartinR
    "Servo-Roll      ",//MartinR
    "Servo-Nick      ", //20
    "Hovergas        ",
    "Current [0.1A]  ",
    "Capacity [mAh]  ",
    "Hight Setpoint  ",
    "FC_StatusFlags  ", //25 ///MartinR
    "FC_StatusFlags2 ",///MartinR
    "Compass Setpoint",
    "I2C-Error       ",
    "BL Limit        ",
    "GPS_Nick        ", //30
    "GPS_Roll        "
};     
       
#else
#warning : "### with  reduced ANALOG_TEXT[32][13] ###"  
const unsigned char ANALOG_TEXT[32][13] PROGMEM =
{
   //1234567890123456
    "AngleNick    ", //0
    "AngleRoll    ",
    "AccNick      ",
    "AccRoll      ",
    "YawGyro      ",
    "Height Value ", //5
    "AccZ         ",
    "Gas          ",
    "Compass Value",
    "Voltage[0.1V]",
    "ReceiverLevel", //10
    "Gyro Compass ",
    "Motor 1      ",
    "Motor 2      ",
    "Motor 3      ",
    "Motor 4      ", //15
    "PAN-cos      ",//MartinR
    "PAN-sin      ",//MartinR
    "PAN-Servo    ",//MartinR
    "Servo-Roll   ",//MartinR
    "Servo-Nick   ", //20
    "Hovergas     ",
    "Current[0.1A]",
    "Capacity[mAh]",
    "Hight Setp   ",
    "FC_Flags     ", //25 ///MartinR
    "FC_Flags2    ",///MartinR
    "Compass Setp ",
    "I2C-Error    ",
    "BL Limit     ",
    "GPS_Nick     ", //30
    "GPS_Roll     "
};      
       
       
#endif
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_TX_vect)
{
 static unsigned int ptr = 0;
 unsigned char tmp_tx;
 
 if(!UebertragungAbgeschlossen)
  {
   ptr++;                    // die [0] wurde schon gesendet
   tmp_tx = TxdBuffer[ptr];
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
    {
     ptr = 0;
     UebertragungAbgeschlossen = 1;
    }
   UDR0 = tmp_tx;
  }
  else ptr = 0;
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_RX_vect)
{
 static unsigned int crc;
 static unsigned char crc1,crc2,buf_ptr;
 static unsigned char UartState = 0;
 unsigned char CrcOkay = 0;
 
 if (ReceiverUpdateModeActive == 1) {   UDR1 = UDR0; return; }          // 1 = Update      
 if (ReceiverUpdateModeActive == 2) {   RxdBuffer[0] = UDR0; return; }  // 2 = JetiBox-Simulation 
 
 SioTmp = UDR0;
 
 if(buf_ptr >= MAX_SENDE_BUFF)    UartState = 0;
 if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= RxdBuffer[buf_ptr-2];
   crc -= RxdBuffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
         AnzahlEmpfangsBytes = buf_ptr + 1;
     RxdBuffer[buf_ptr] = '\r';
         if(RxdBuffer[2] == 'R')
          {
         
#ifdef WITH_MKTOOL_Display                      ///  MartinW main.h
#warning : "### with  MKTool Display ###"
           LcdClear();
#endif
 
           wdt_enable(WDTO_250MS); // Reset-Commando
           ServoActive = 0;
          }
 
        }
  }
  else
  switch(UartState)
  {
   case 0:
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
                  buf_ptr = 0;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  RxdBuffer[buf_ptr] = SioTmp;
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
  }
}
 
 
// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
 unsigned int tmpCRC = 0,i;
 for(i = 0; i < wieviele;i++)
  {
   tmpCRC += TxdBuffer[i];
  }
   tmpCRC %= 4096;
   TxdBuffer[i++] = '=' + tmpCRC / 64;
   TxdBuffer[i++] = '=' + tmpCRC % 64;
   TxdBuffer[i++] = '\r';
  UebertragungAbgeschlossen = 0;
  UDR0 = TxdBuffer[0];
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
{
 va_list ap;
 unsigned int pt = 0;
 unsigned char a,b,c;
 unsigned char ptr = 0;
 
 unsigned char *snd = 0;
 int len = 0;
 
 TxdBuffer[pt++] = '#';                         // Startzeichen
 TxdBuffer[pt++] = 'a' + address;               // Adresse (a=0; b=1,...)
 TxdBuffer[pt++] = cmd;                         // Commando
 
 va_start(ap, BufferAnzahl);
 if(BufferAnzahl)
 {
                snd = va_arg(ap, unsigned char*);
                len = va_arg(ap, int);
                ptr = 0;
                BufferAnzahl--;
 }
 while(len)
  {
        if(len)
        {
           a = snd[ptr++];
           len--;
           if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else a = 0;
        if(len)
        {
                b = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else b = 0;
        if(len)
        {
                c = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else c = 0;
   TxdBuffer[pt++] = '=' + (a >> 2);
   TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   TxdBuffer[pt++] = '=' + ( c & 0x3f);
  }
 va_end(ap);
 AddCRC(pt);
}
 
// --------------------------------------------------------------------------
void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
{
 unsigned char a,b,c,d;
 unsigned char x,y,z;
 unsigned char ptrIn = 3; // start at begin of data block
 unsigned char ptrOut = 3;
 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.
 
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[ptrIn++] - '=';
 
   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;
 
   if(len--) RxdBuffer[ptrOut++] = x; else break;
   if(len--) RxdBuffer[ptrOut++] = y; else break;
   if(len--) RxdBuffer[ptrOut++] = z;   else break;
  }
        pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
        RxDataLen = ptrOut - 3;  // wie viele Bytes wurden dekodiert?
 
}
 
// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
 if(!NeuerDatensatzEmpfangen) return;
 
        unsigned char tempchar1, tempchar2;
        Decode64(); // dekodiere datenblock im Empfangsbuffer
        switch(RxdBuffer[1]-'a') // check for Slave Address
        {
                case FC_ADDRESS: // FC special commands
                switch(RxdBuffer[2])
                {
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
//                                      KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
                                        break;
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        PC_MotortestActive = 240;
                                        //while(!UebertragungAbgeschlossen);
                                        //SendOutData('T', MeineSlaveAdresse, 0);
                                        PcZugriff = 255;
                                        break;
 
                        case 'n':// "Get Mixer
                                        while(!UebertragungAbgeschlossen);
                    SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
                                        Debug("Mixer lesen");
                                        break;
 
                        case 'm':// "Write Mixer
                    if(pRxData[0] == EEMIXER_REVISION)
                                        {
                       memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
                       MixerTable_WriteToEEProm();
                                           tempchar1 = 1;
                                           VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
                                        }
                    else
                    {
                                                tempchar1 = 0;
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        break;
 
                        case 'p': // get PPM Channels
                                        GetPPMChannelAnforderung = 1;
                                        PcZugriff = 255;
                                        break;
 
                        case 'q':// "Get"-Anforderung für Settings
                                        // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
                                        if((10 <= pRxData[0]) && (pRxData[0] < 20))
                                        {
                                                tempchar1 = pRxData[0] - 10;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 1);
                                        }
                                        else if((20 <= pRxData[0]) && (pRxData[0] < 30))
                                        {
                                                tempchar1 = pRxData[0] - 20;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 0);
                                        }
                                        else
                                        {
                                                tempchar1 = pRxData[0];
                                                if(tempchar1 == 0xFF)
                                                {
                                                        tempchar1 = GetActiveParamSet();
                                                }
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                // load requested parameter set
                                                ParamSet_ReadFromEEProm(tempchar1);
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
                                        Debug("Lese Setting %d", tempchar1);
 
                                        break;
 
                        case 's': // Parametersatz speichern
                                        if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range
                                        {
                                                memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
                                                ParamSet_WriteToEEProm(pRxData[0]);
                                                Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
                                                Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
                                                tempchar1 = GetActiveParamSet();
                                        }
                                        else
                                        {
                                                tempchar1 = 0; // mark in response an invlid setting
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin) Piep(tempchar1,110);
                                        LipoDetection(0);
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'f': // auf anderen Parametersatz umschalten
                                if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
                                        tempchar1 = GetActiveParamSet();
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin) Piep(tempchar1,110);
                                        LipoDetection(0);
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'y':// serial Potis
                                        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];
                                        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];
                                        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];
                                        break;
 
                        case 'u': // request BL parameter
                                Debug("Reading BL %d", pRxData[0]);
                                // try to read BL configuration
                                tempchar2 = I2C_ReadBLConfig(pRxData[0]);
                                if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                else tempchar1 = 0;
                                while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
                                break;
 
                        case 'w': // write BL parameter
                                Debug("Writing BL %d", pRxData[0]);
                                if(RxDataLen >= 1+sizeof(BLConfig_t))
                                {
                                        memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
                                        tempchar2 = I2C_WriteBLConfig(pRxData[0]);
                                        if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                        else tempchar1 = 0; // indicate error
                                        while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                        SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));
                                }
                                break;
                        case 'j':
                                if(MotorenEin) break;
                       
#ifdef WITH_JETI_SIMULATION             ///  MartinW main.h means no memsave
#warning : "### with  jeti update command ###"
       
 
 
                                tempchar1 = LIBFC_GetCPUType();
                                if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P))
                                {
                                        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1);
 
                                        cli();
 
                                        // UART0 & UART1 disable RX and TX-Interrupt
                                        UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0));
                                        UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1));
 
                                        // UART0 & UART1 disable receiver and transmitter
                                        UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0));
                                        UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1));
 
                                        // UART0 & UART1 flush receive buffer explicit
                                        while ( UCSR1A & (1<<RXC1) ) UDR1;
                                        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
 
                                        if(pRxData[0] == 1) ReceiverUpdateModeActive = 2;
                                        else
                                        {           // Jeti or HoTT update
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                                if(pRxData[0] == 100)   ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1);  // HoTT
//#endif
                                                ReceiverUpdateModeActive = 1;
                                                // UART0 & UART1 set baudrate
                                                UBRR1H = (uint8_t)(ubrr>>8);
                                                UBRR1L = (uint8_t)ubrr;
                                                UBRR0H = UBRR1H;
                                                UBRR0L = UBRR1L;
                                                // UART1 no parity
                                                UCSR1C &= ~(1 << UPM11);
                                                UCSR1C &= ~(1 << UPM10);
                                                // UART1 8-bit
                                                UCSR1B &= ~(1 << UCSZ12);
                                                UCSR1C |= (1 << UCSZ11);
                                                UCSR1C |= (1 << UCSZ10);
                                        }
                                        // UART0 & UART1 1 stop bit
                                        UCSR1C &= ~(1 << USBS1);
                                        UCSR0C &= ~(1 << USBS0);
                                        // UART1 clear 9th bit
                                        UCSR1B &= ~(1<<TXB81);
                                        // enable receiver and transmitter for UART0 and UART1
                                        UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
                                        UCSR1B |= (1 << TXEN1) | (1 << RXEN1);
                                        // enable RX-Interrupt for UART0 and UART1
                                        UCSR0B |= (1 << RXCIE0);
                                        UCSR1B |= (1 << RXCIE1);
                                        // disable other Interrupts
                                        TIMSK0 = 0;
                                        TIMSK1 = 0;
                                        TIMSK2 = 0;
 
                                        sei();
                                }
                               
#else
#warning : "### without  jeti update command ###"       
 
#endif
                                break;
 
                } // case FC_ADDRESS:
 
                default: // any Slave Address
 
                switch(RxdBuffer[2])
                {
                        // 't' comand placed here only for compatibility to BL
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('T', MeineSlaveAdresse, 0);
                                        PC_MotortestActive = 250;
                                        PcZugriff = 255;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
//                                      KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
                                        break;
                        case 'a':// Texte der Analogwerte
                                        DebugTextAnforderung = pRxData[0];
                                        if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
                                        PcZugriff = 255;
                                        break;
                        case 'b':
                                        memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl));
                                        ConfirmFrame = ExternControl.Frame;
                                        PcZugriff = 255;
                                        break;
                        case 'c': // Poll the 3D-Data
                    if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
                                        Intervall3D = pRxData[0] * 10;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        case 'd': // Poll the debug data
                                        PcZugriff = 255;
                                        DebugDataIntervall = (unsigned int)pRxData[0] * 10;
                                        if(DebugDataIntervall > 0) DebugDataAnforderung = 1;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
 
                        case 'h':// x-1 Displayzeilen
                       
#ifdef WITH_MKTOOL_Display                                                              /// MartinW memorysave
#warning : "### with  MKTool Display ###"
 
                                        PcZugriff = 255;
                                if((pRxData[0] & 0x80) == 0x00) // old format
                                        {
                                                DisplayLine = 2;
                                                Display_Interval = 0;
                                        }
                                        else // new format
                                        {
                                                RemoteKeys |= ~pRxData[0];
                                                Display_Interval = (unsigned int)pRxData[1] * 10;
                                                DisplayLine = 4;
                                                AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        }
                                        DebugDisplayAnforderung = 1;
                                        break;
 
                        case 'l':// x-1 Displayzeilen
                                PcZugriff = 255;
                                        MenuePunkt = pRxData[0];
                                        DebugDisplayAnforderung1 = 1;
                                       
#endif
                                        break;
                        case 'v': // Version-Anforderung und Ausbaustufe
                                        GetVersionAnforderung = 1;
                                        break;
 
                        case 'g'://
                                        GetExternalControl = 1;
                                        break;
 
                        default:
                                //unsupported command received
                                break;
                }
                break; // default:
        }
        NeuerDatensatzEmpfangen = 0;
        pRxData = 0;
        RxDataLen = 0;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
void uart_putchar (char c)
//############################################################################
{
        //Warten solange bis Zeichen gesendet wurde
        loop_until_bit_is_set(UCSR0A, UDRE0);
        //Ausgabe des Zeichens
        UDR0 = c;
}
 
 
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
        unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1);
 
        //Enable TXEN im Register UCR TX-Data Enable & RX Enable
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
    // UART Double Speed (U2X)
        UCSR0A |= (1 << U2X0);
        // RX-Interrupt Freigabe
        UCSR0B |= (1 << RXCIE0);
        // TX-Interrupt Freigabe
        UCSR0B |= (1 << TXCIE0);
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        Debug_Timer = SetDelay(DebugDataIntervall);
        Kompass_Timer = SetDelay(220);
 
        VersionInfo.SWMajor = VERSION_MAJOR;
        VersionInfo.SWMinor = VERSION_MINOR;
        VersionInfo.SWPatch = VERSION_PATCH;
        VersionInfo.ProtoMajor  = VERSION_SERIAL_MAJOR;
        VersionInfo.ProtoMinor  = VERSION_SERIAL_MINOR;
 
        pRxData = 0;
        RxDataLen = 0;
}
 
//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
        if(!UebertragungAbgeschlossen) return;
 
        if(CheckDelay(AboTimeOut))
        {
                Display_Interval = 0;
                DebugDataIntervall = 0;
                Intervall3D = 0;
        }
 
#ifdef WITH_MKTOOL_Display      //main.h
#warning : "### with  MKTool Display ###"
 
        if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen)
        {
                if(DisplayLine > 3)// new format
                {
                        Menu();
                        SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80);
                }
                else // old format
                {
                        LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
                        SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
                        if(DisplayLine++ > 3) DisplayLine = 0;
                }
                Display_Timer = SetDelay(Display_Interval);
                DebugDisplayAnforderung = 0;
        }
        if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen)
        {
                Menu();
                SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff));
                DebugDisplayAnforderung1 = 0;
        }
       
#endif
 
        if(GetVersionAnforderung && UebertragungAbgeschlossen)
        {
                SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo));
                GetVersionAnforderung = 0;
                Debug_OK("Version gesendet");
        }
 
        if(GetExternalControl && UebertragungAbgeschlossen)           // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
        {
                SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl));
                GetExternalControl = 0;
        }
    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
         {
                  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
          SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
          Kompass_Timer = SetDelay(99);
         }
    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
         {
                  CopyDebugValues();
          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
          DebugDataAnforderung = 0;
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
         }
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
         {
                  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
                  Data3D.Centroid[0] = SummeNick >> 9;
                  Data3D.Centroid[1] = SummeRoll >> 9;
                  Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
          SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
          Timer3D = SetDelay(Intervall3D);
         }
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
     {
         
         
         
         #ifdef WITH_FULL_ANALOG_TEXT                   ///  MartinW main.h means no memsave
#warning : "### with  normal ANALOG_TEXT[32][16] ###"
                unsigned char label[16]; // local sram buffer
                memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra
      SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); 
 
#else
#warning : "### with  reduced ANALOG_TEXT[32][13] ###"  
       
                unsigned char label[16]="                "; // local sram buffer ///MartinW; for MKTool, needs 32 bytes
          memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 13); // read lable from flash to sra
      SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16);
#endif
         
         
         
      DebugTextAnforderung = 255;
         }
     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz bestätigen
         {
                SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
        ConfirmFrame = 0;
     }
 
     if(GetPPMChannelAnforderung && UebertragungAbgeschlossen)
     {
                 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
                 GetPPMChannelAnforderung = 0;
         }
 
#ifdef DEBUG                                                                                                                    // only include functions if DEBUG is defined
     if(SendDebugOutput && UebertragungAbgeschlossen)
     {
                 SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug));
                 SendDebugOutput = 0;
         }
#endif
 
}
 
 
 

Rev 2165	Rev 2174
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	"PAN-Cos ",//MartinR	138	"PAN-Cos ",//MartinR
139	"PAN-Sin ",//MartinR	139	"PAN-Sin ",//MartinR
140	"PAN-Servo ",//MartinR	140	"PAN-Servo ",//MartinR
141	"Servo-Roll ",//MartinR	141	"Servo-Roll ",//MartinR
142	"Servo-Nick ", //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	"FC_StatusFlags ", //25 ///MartinR
148	"Motor 8 ",///	148	"FC_StatusFlags2 ",///MartinR
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	"PAN-cos ",//MartinR	177	"PAN-cos ",//MartinR
178	"PAN-sin ",//MartinR	178	"PAN-sin ",//MartinR
179	"PAN-Servo ",//MartinR	179	"PAN-Servo ",//MartinR
180	"Servo-Roll ",//MartinR	180	"Servo-Roll ",//MartinR
181	"Servo-Nick ", //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	"FC_Flags ", //25 ///MartinR
187	"Motor 9 ",///	187	"FC_Flags2 ",///MartinR
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	{

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(root)/branches/V0.88e_ACC-HH_HR_MartinR/uart.c @ 2362 - Rev 2165 → 2174