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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 | ||
| - | 112 | ||
| - | 113 | ||
| - | 114 | ||
| - | 115 | ||
| - | 116 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
|
| - | 117 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
|
| 111 | 118 | ||
| 112 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
119 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 113 | { |
120 | { |
| 114 | //1234567890123456 |
121 | //1234567890123456 |
| 115 | "AngleNick ", //0 |
122 | "AngleNick ", //0 |
| 116 | "AngleRoll ", |
123 | "AngleRoll ", |
| 117 | "AccNick ", |
124 | "AccNick ", |
| 118 | "AccRoll ", |
125 | "AccRoll ", |
| 119 | "YawGyro ", |
126 | "YawGyro ", |
| 120 | "Height Value ", //5 |
127 | "Height Value ", //5 |
| 121 | "AccZ ", |
128 | "AccZ ", |
| 122 | "Gas ", |
129 | "Gas ", |
| 123 | "Compass Value ", |
130 | "Compass Value ", |
| 124 | "Voltage [0.1V] ", |
131 | "Voltage [0.1V] ", |
| 125 | "Receiver Level ", //10 |
132 | "Receiver Level ", //10 |
| 126 | "Gyro Compass ", |
133 | "Gyro Compass ", |
| 127 | "Motor 1 ", |
134 | "Motor 1 ", |
| 128 | "Motor 2 ", |
135 | "Motor 2 ", |
| 129 | "Motor 3 ", |
136 | "Motor 3 ", |
| 130 | "Motor 4 ", //15 |
137 | "Motor 4 ", //15 |
| 131 | "16 ", |
138 | "PAN-Cos ",//MartinR |
| 132 | "17 ", |
139 | "PAN-Sin ",//MartinR |
| 133 | "18 ", |
140 | "PAN-Servo ",//MartinR |
| 134 | "19 ", |
141 | "Servo-Roll ",//MartinR |
| 135 | "Servo ", //20 |
142 | "Servo-Nick ", //20 |
| 136 | "Hovergas ", |
143 | "Hovergas ", |
| 137 | "Current [0.1A] ", |
144 | "Current [0.1A] ", |
| 138 | "Capacity [mAh] ", |
145 | "Capacity [mAh] ", |
| 139 | "Height Setpoint ", |
146 | "Hight Setpoint ", |
| 140 | "25 ", //25 |
147 | "FC_StatusFlags ", //25 ///MartinR |
| 141 | "26 ", //"26 CPU OverLoad ", |
148 | "FC_StatusFlags2 ",///MartinR |
| 142 | "Compass Setpoint", |
149 | "Compass Setpoint", |
| 143 | "I2C-Error ", |
150 | "I2C-Error ", |
| 144 | "BL Limit ", |
151 | "BL Limit ", |
| 145 | "GPS_Nick ", //30 |
152 | "GPS_Nick ", //30 |
| 146 | "GPS_Roll " |
153 | "GPS_Roll " |
| 147 | }; |
154 | }; |
| 148 | 155 | ||
| - | 156 | ||
| - | 157 | #else |
|
| - | 158 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
|
| - | 159 | const unsigned char ANALOG_TEXT[32][13] PROGMEM = |
|
| - | 160 | { |
|
| - | 161 | //1234567890123456 |
|
| - | 162 | "AngleNick ", //0 |
|
| - | 163 | "AngleRoll ", |
|
| - | 164 | "AccNick ", |
|
| - | 165 | "AccRoll ", |
|
| - | 166 | "YawGyro ", |
|
| - | 167 | "Height Value ", //5 |
|
| - | 168 | "AccZ ", |
|
| - | 169 | "Gas ", |
|
| - | 170 | "Compass Value", |
|
| - | 171 | "Voltage[0.1V]", |
|
| - | 172 | "ReceiverLevel", //10 |
|
| - | 173 | "Gyro Compass ", |
|
| - | 174 | "Motor 1 ", |
|
| - | 175 | "Motor 2 ", |
|
| - | 176 | "Motor 3 ", |
|
| - | 177 | "Motor 4 ", //15 |
|
| - | 178 | "PAN-cos ",//MartinR |
|
| - | 179 | "PAN-sin ",//MartinR |
|
| - | 180 | "PAN-Servo ",//MartinR |
|
| - | 181 | "Servo-Roll ",//MartinR |
|
| - | 182 | "Servo-Nick ", //20 |
|
| - | 183 | "Hovergas ", |
|
| - | 184 | "Current[0.1A]", |
|
| - | 185 | "Capacity[mAh]", |
|
| - | 186 | "Hight Setp ", |
|
| - | 187 | "FC_Flags ", //25 ///MartinR |
|
| - | 188 | "FC_Flags2 ",///MartinR |
|
| - | 189 | "Compass Setp ", |
|
| - | 190 | "I2C-Error ", |
|
| - | 191 | "BL Limit ", |
|
| - | 192 | "GPS_Nick ", //30 |
|
| - | 193 | "GPS_Roll " |
|
| - | 194 | }; |
|
| - | 195 | ||
| - | 196 | ||
| - | 197 | #endif |
|
| 149 | 198 | ||
| 150 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
199 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 151 | //++ Sende-Part der Datenübertragung |
200 | //++ Sende-Part der Datenübertragung |
| 152 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
201 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 153 | ISR(USART0_TX_vect) |
202 | ISR(USART0_TX_vect) |
| 154 | { |
203 | { |
| 155 | static unsigned int ptr = 0; |
204 | static unsigned int ptr = 0; |
| 156 | unsigned char tmp_tx; |
205 | unsigned char tmp_tx; |
| 157 | 206 | ||
| 158 | if(!UebertragungAbgeschlossen) |
207 | if(!UebertragungAbgeschlossen) |
| 159 | { |
208 | { |
| 160 | ptr++; // die [0] wurde schon gesendet |
209 | ptr++; // die [0] wurde schon gesendet |
| 161 | tmp_tx = TxdBuffer[ptr]; |
210 | tmp_tx = TxdBuffer[ptr]; |
| 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
211 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 163 | { |
212 | { |
| 164 | ptr = 0; |
213 | ptr = 0; |
| 165 | UebertragungAbgeschlossen = 1; |
214 | UebertragungAbgeschlossen = 1; |
| 166 | } |
215 | } |
| 167 | UDR0 = tmp_tx; |
216 | UDR0 = tmp_tx; |
| 168 | } |
217 | } |
| 169 | else ptr = 0; |
218 | else ptr = 0; |
| 170 | } |
219 | } |
| 171 | 220 | ||
| 172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
221 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
222 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
223 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 175 | ISR(USART0_RX_vect) |
224 | ISR(USART0_RX_vect) |
| 176 | { |
225 | { |
| 177 | static unsigned int crc; |
226 | static unsigned int crc; |
| 178 | static unsigned char crc1,crc2,buf_ptr; |
227 | static unsigned char crc1,crc2,buf_ptr; |
| 179 | static unsigned char UartState = 0; |
228 | static unsigned char UartState = 0; |
| 180 | unsigned char CrcOkay = 0; |
229 | unsigned char CrcOkay = 0; |
| 181 | 230 | ||
| 182 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
231 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
| 183 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
232 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
| 184 | 233 | ||
| 185 | SioTmp = UDR0; |
234 | SioTmp = UDR0; |
| 186 | 235 | ||
| 187 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
236 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 188 | if(SioTmp == '\r' && UartState == 2) |
237 | if(SioTmp == '\r' && UartState == 2) |
| 189 | { |
238 | { |
| 190 | UartState = 0; |
239 | UartState = 0; |
| 191 | crc -= RxdBuffer[buf_ptr-2]; |
240 | crc -= RxdBuffer[buf_ptr-2]; |
| 192 | crc -= RxdBuffer[buf_ptr-1]; |
241 | crc -= RxdBuffer[buf_ptr-1]; |
| 193 | crc %= 4096; |
242 | crc %= 4096; |
| 194 | crc1 = '=' + crc / 64; |
243 | crc1 = '=' + crc / 64; |
| 195 | crc2 = '=' + crc % 64; |
244 | crc2 = '=' + crc % 64; |
| 196 | CrcOkay = 0; |
245 | CrcOkay = 0; |
| 197 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
246 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 198 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
247 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 199 | { |
248 | { |
| 200 | NeuerDatensatzEmpfangen = 1; |
249 | NeuerDatensatzEmpfangen = 1; |
| 201 | AnzahlEmpfangsBytes = buf_ptr + 1; |
250 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 202 | RxdBuffer[buf_ptr] = '\r'; |
251 | RxdBuffer[buf_ptr] = '\r'; |
| 203 | if(RxdBuffer[2] == 'R') |
252 | if(RxdBuffer[2] == 'R') |
| 204 | { |
253 | { |
| - | 254 | ||
| - | 255 | #ifdef WITH_MKTOOL_Display /// MartinW main.h |
|
| - | 256 | #warning : "### with MKTool Display ###" |
|
| 205 | LcdClear(); |
257 | LcdClear(); |
| - | 258 | #endif |
|
| - | 259 | ||
| 206 | wdt_enable(WDTO_250MS); // Reset-Commando |
260 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 207 | ServoActive = 0; |
261 | ServoActive = 0; |
| 208 | } |
262 | } |
| 209 | 263 | ||
| 210 | } |
264 | } |
| 211 | } |
265 | } |
| 212 | else |
266 | else |
| 213 | switch(UartState) |
267 | switch(UartState) |
| 214 | { |
268 | { |
| 215 | case 0: |
269 | case 0: |
| 216 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
270 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 217 | buf_ptr = 0; |
271 | buf_ptr = 0; |
| 218 | RxdBuffer[buf_ptr++] = SioTmp; |
272 | RxdBuffer[buf_ptr++] = SioTmp; |
| 219 | crc = SioTmp; |
273 | crc = SioTmp; |
| 220 | break; |
274 | break; |
| 221 | case 1: // Adresse auswerten |
275 | case 1: // Adresse auswerten |
| 222 | UartState++; |
276 | UartState++; |
| 223 | RxdBuffer[buf_ptr++] = SioTmp; |
277 | RxdBuffer[buf_ptr++] = SioTmp; |
| 224 | crc += SioTmp; |
278 | crc += SioTmp; |
| 225 | break; |
279 | break; |
| 226 | case 2: // Eingangsdaten sammeln |
280 | case 2: // Eingangsdaten sammeln |
| 227 | RxdBuffer[buf_ptr] = SioTmp; |
281 | RxdBuffer[buf_ptr] = SioTmp; |
| 228 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
282 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 229 | else UartState = 0; |
283 | else UartState = 0; |
| 230 | crc += SioTmp; |
284 | crc += SioTmp; |
| 231 | break; |
285 | break; |
| 232 | default: |
286 | default: |
| 233 | UartState = 0; |
287 | UartState = 0; |
| 234 | break; |
288 | break; |
| 235 | } |
289 | } |
| 236 | } |
290 | } |
| 237 | 291 | ||
| 238 | 292 | ||
| 239 | // -------------------------------------------------------------------------- |
293 | // -------------------------------------------------------------------------- |
| 240 | void AddCRC(unsigned int wieviele) |
294 | void AddCRC(unsigned int wieviele) |
| 241 | { |
295 | { |
| 242 | unsigned int tmpCRC = 0,i; |
296 | unsigned int tmpCRC = 0,i; |
| 243 | for(i = 0; i < wieviele;i++) |
297 | for(i = 0; i < wieviele;i++) |
| 244 | { |
298 | { |
| 245 | tmpCRC += TxdBuffer[i]; |
299 | tmpCRC += TxdBuffer[i]; |
| 246 | } |
300 | } |
| 247 | tmpCRC %= 4096; |
301 | tmpCRC %= 4096; |
| 248 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
302 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 249 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
303 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 250 | TxdBuffer[i++] = '\r'; |
304 | TxdBuffer[i++] = '\r'; |
| 251 | UebertragungAbgeschlossen = 0; |
305 | UebertragungAbgeschlossen = 0; |
| 252 | UDR0 = TxdBuffer[0]; |
306 | UDR0 = TxdBuffer[0]; |
| 253 | } |
307 | } |
| 254 | 308 | ||
| 255 | 309 | ||
| 256 | 310 | ||
| 257 | // -------------------------------------------------------------------------- |
311 | // -------------------------------------------------------------------------- |
| 258 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
312 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 259 | { |
313 | { |
| 260 | va_list ap; |
314 | va_list ap; |
| 261 | unsigned int pt = 0; |
315 | unsigned int pt = 0; |
| 262 | unsigned char a,b,c; |
316 | unsigned char a,b,c; |
| 263 | unsigned char ptr = 0; |
317 | unsigned char ptr = 0; |
| 264 | 318 | ||
| 265 | unsigned char *snd = 0; |
319 | unsigned char *snd = 0; |
| 266 | int len = 0; |
320 | int len = 0; |
| 267 | 321 | ||
| 268 | TxdBuffer[pt++] = '#'; // Startzeichen |
322 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 269 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
323 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 270 | TxdBuffer[pt++] = cmd; // Commando |
324 | TxdBuffer[pt++] = cmd; // Commando |
| 271 | 325 | ||
| 272 | va_start(ap, BufferAnzahl); |
326 | va_start(ap, BufferAnzahl); |
| 273 | if(BufferAnzahl) |
327 | if(BufferAnzahl) |
| 274 | { |
328 | { |
| 275 | snd = va_arg(ap, unsigned char*); |
329 | snd = va_arg(ap, unsigned char*); |
| 276 | len = va_arg(ap, int); |
330 | len = va_arg(ap, int); |
| 277 | ptr = 0; |
331 | ptr = 0; |
| 278 | BufferAnzahl--; |
332 | BufferAnzahl--; |
| 279 | } |
333 | } |
| 280 | while(len) |
334 | while(len) |
| 281 | { |
335 | { |
| 282 | if(len) |
336 | if(len) |
| 283 | { |
337 | { |
| 284 | a = snd[ptr++]; |
338 | a = snd[ptr++]; |
| 285 | len--; |
339 | len--; |
| 286 | if((!len) && BufferAnzahl) |
340 | if((!len) && BufferAnzahl) |
| 287 | { |
341 | { |
| 288 | snd = va_arg(ap, unsigned char*); |
342 | snd = va_arg(ap, unsigned char*); |
| 289 | len = va_arg(ap, int); |
343 | len = va_arg(ap, int); |
| 290 | ptr = 0; |
344 | ptr = 0; |
| 291 | BufferAnzahl--; |
345 | BufferAnzahl--; |
| 292 | } |
346 | } |
| 293 | } |
347 | } |
| 294 | else a = 0; |
348 | else a = 0; |
| 295 | if(len) |
349 | if(len) |
| 296 | { |
350 | { |
| 297 | b = snd[ptr++]; |
351 | b = snd[ptr++]; |
| 298 | len--; |
352 | len--; |
| 299 | if((!len) && BufferAnzahl) |
353 | if((!len) && BufferAnzahl) |
| 300 | { |
354 | { |
| 301 | snd = va_arg(ap, unsigned char*); |
355 | snd = va_arg(ap, unsigned char*); |
| 302 | len = va_arg(ap, int); |
356 | len = va_arg(ap, int); |
| 303 | ptr = 0; |
357 | ptr = 0; |
| 304 | BufferAnzahl--; |
358 | BufferAnzahl--; |
| 305 | } |
359 | } |
| 306 | } |
360 | } |
| 307 | else b = 0; |
361 | else b = 0; |
| 308 | if(len) |
362 | if(len) |
| 309 | { |
363 | { |
| 310 | c = snd[ptr++]; |
364 | c = snd[ptr++]; |
| 311 | len--; |
365 | len--; |
| 312 | if((!len) && BufferAnzahl) |
366 | if((!len) && BufferAnzahl) |
| 313 | { |
367 | { |
| 314 | snd = va_arg(ap, unsigned char*); |
368 | snd = va_arg(ap, unsigned char*); |
| 315 | len = va_arg(ap, int); |
369 | len = va_arg(ap, int); |
| 316 | ptr = 0; |
370 | ptr = 0; |
| 317 | BufferAnzahl--; |
371 | BufferAnzahl--; |
| 318 | } |
372 | } |
| 319 | } |
373 | } |
| 320 | else c = 0; |
374 | else c = 0; |
| 321 | TxdBuffer[pt++] = '=' + (a >> 2); |
375 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 322 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
376 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 323 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
377 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 324 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
378 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 325 | } |
379 | } |
| 326 | va_end(ap); |
380 | va_end(ap); |
| 327 | AddCRC(pt); |
381 | AddCRC(pt); |
| 328 | } |
382 | } |
| 329 | 383 | ||
| 330 | // -------------------------------------------------------------------------- |
384 | // -------------------------------------------------------------------------- |
| 331 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
385 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 332 | { |
386 | { |
| 333 | unsigned char a,b,c,d; |
387 | unsigned char a,b,c,d; |
| 334 | unsigned char x,y,z; |
388 | unsigned char x,y,z; |
| 335 | unsigned char ptrIn = 3; // start at begin of data block |
389 | unsigned char ptrIn = 3; // start at begin of data block |
| 336 | unsigned char ptrOut = 3; |
390 | unsigned char ptrOut = 3; |
| 337 | 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 | 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. |
| 338 | 392 | ||
| 339 | while(len) |
393 | while(len) |
| 340 | { |
394 | { |
| 341 | a = RxdBuffer[ptrIn++] - '='; |
395 | a = RxdBuffer[ptrIn++] - '='; |
| 342 | b = RxdBuffer[ptrIn++] - '='; |
396 | b = RxdBuffer[ptrIn++] - '='; |
| 343 | c = RxdBuffer[ptrIn++] - '='; |
397 | c = RxdBuffer[ptrIn++] - '='; |
| 344 | d = RxdBuffer[ptrIn++] - '='; |
398 | d = RxdBuffer[ptrIn++] - '='; |
| 345 | 399 | ||
| 346 | x = (a << 2) | (b >> 4); |
400 | x = (a << 2) | (b >> 4); |
| 347 | y = ((b & 0x0f) << 4) | (c >> 2); |
401 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 348 | z = ((c & 0x03) << 6) | d; |
402 | z = ((c & 0x03) << 6) | d; |
| 349 | 403 | ||
| 350 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
404 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 351 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
405 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 352 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
406 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 353 | } |
407 | } |
| 354 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
408 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 355 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
409 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 356 | 410 | ||
| 357 | } |
411 | } |
| 358 | 412 | ||
| 359 | // -------------------------------------------------------------------------- |
413 | // -------------------------------------------------------------------------- |
| 360 | void BearbeiteRxDaten(void) |
414 | void BearbeiteRxDaten(void) |
| 361 | { |
415 | { |
| 362 | if(!NeuerDatensatzEmpfangen) return; |
416 | if(!NeuerDatensatzEmpfangen) return; |
| 363 | 417 | ||
| 364 | unsigned char tempchar1, tempchar2; |
418 | unsigned char tempchar1, tempchar2; |
| 365 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
419 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 366 | switch(RxdBuffer[1]-'a') // check for Slave Address |
420 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 367 | { |
421 | { |
| 368 | case FC_ADDRESS: // FC special commands |
422 | case FC_ADDRESS: // FC special commands |
| 369 | switch(RxdBuffer[2]) |
423 | switch(RxdBuffer[2]) |
| 370 | { |
424 | { |
| 371 | case 'K':// Kompasswert |
425 | case 'K':// Kompasswert |
| 372 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
426 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 373 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
427 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 374 | break; |
428 | break; |
| 375 | case 't':// Motortest |
429 | case 't':// Motortest |
| 376 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
430 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 377 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
431 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 378 | PC_MotortestActive = 240; |
432 | PC_MotortestActive = 240; |
| 379 | //while(!UebertragungAbgeschlossen); |
433 | //while(!UebertragungAbgeschlossen); |
| 380 | //SendOutData('T', MeineSlaveAdresse, 0); |
434 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 381 | PcZugriff = 255; |
435 | PcZugriff = 255; |
| 382 | break; |
436 | break; |
| 383 | 437 | ||
| 384 | case 'n':// "Get Mixer |
438 | case 'n':// "Get Mixer |
| 385 | while(!UebertragungAbgeschlossen); |
439 | while(!UebertragungAbgeschlossen); |
| 386 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
440 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 387 | Debug("Mixer lesen"); |
441 | Debug("Mixer lesen"); |
| 388 | break; |
442 | break; |
| 389 | 443 | ||
| 390 | case 'm':// "Write Mixer |
444 | case 'm':// "Write Mixer |
| 391 | if(pRxData[0] == EEMIXER_REVISION) |
445 | if(pRxData[0] == EEMIXER_REVISION) |
| 392 | { |
446 | { |
| 393 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
447 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 394 | MixerTable_WriteToEEProm(); |
448 | MixerTable_WriteToEEProm(); |
| 395 | tempchar1 = 1; |
449 | tempchar1 = 1; |
| 396 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
450 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| 397 | } |
451 | } |
| 398 | else |
452 | else |
| 399 | { |
453 | { |
| 400 | tempchar1 = 0; |
454 | tempchar1 = 0; |
| 401 | } |
455 | } |
| 402 | while(!UebertragungAbgeschlossen); |
456 | while(!UebertragungAbgeschlossen); |
| 403 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
457 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 404 | break; |
458 | break; |
| 405 | 459 | ||
| 406 | case 'p': // get PPM Channels |
460 | case 'p': // get PPM Channels |
| 407 | GetPPMChannelAnforderung = 1; |
461 | GetPPMChannelAnforderung = 1; |
| 408 | PcZugriff = 255; |
462 | PcZugriff = 255; |
| 409 | break; |
463 | break; |
| 410 | 464 | ||
| 411 | case 'q':// "Get"-Anforderung für Settings |
465 | case 'q':// "Get"-Anforderung für Settings |
| 412 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
466 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 413 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
467 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| 414 | { |
468 | { |
| 415 | tempchar1 = pRxData[0] - 10; |
469 | tempchar1 = pRxData[0] - 10; |
| 416 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
470 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 417 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
471 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 418 | SetDefaultParameter(tempchar1, 1); |
472 | SetDefaultParameter(tempchar1, 1); |
| 419 | } |
473 | } |
| 420 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
474 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| 421 | { |
475 | { |
| 422 | tempchar1 = pRxData[0] - 20; |
476 | tempchar1 = pRxData[0] - 20; |
| 423 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
477 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 424 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
478 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 425 | SetDefaultParameter(tempchar1, 0); |
479 | SetDefaultParameter(tempchar1, 0); |
| 426 | } |
480 | } |
| 427 | else |
481 | else |
| 428 | { |
482 | { |
| 429 | tempchar1 = pRxData[0]; |
483 | tempchar1 = pRxData[0]; |
| 430 | if(tempchar1 == 0xFF) |
484 | if(tempchar1 == 0xFF) |
| 431 | { |
485 | { |
| 432 | tempchar1 = GetActiveParamSet(); |
486 | tempchar1 = GetActiveParamSet(); |
| 433 | } |
487 | } |
| 434 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
488 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 435 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
489 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 436 | // load requested parameter set |
490 | // load requested parameter set |
| 437 | ParamSet_ReadFromEEProm(tempchar1); |
491 | ParamSet_ReadFromEEProm(tempchar1); |
| 438 | } |
492 | } |
| 439 | while(!UebertragungAbgeschlossen); |
493 | while(!UebertragungAbgeschlossen); |
| 440 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
494 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 441 | Debug("Lese Setting %d", tempchar1); |
495 | Debug("Lese Setting %d", tempchar1); |
| 442 | 496 | ||
| 443 | break; |
497 | break; |
| 444 | 498 | ||
| 445 | case 's': // Parametersatz speichern |
499 | case 's': // Parametersatz speichern |
| 446 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
500 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| 447 | { |
501 | { |
| 448 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
502 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 449 | ParamSet_WriteToEEProm(pRxData[0]); |
503 | ParamSet_WriteToEEProm(pRxData[0]); |
| 450 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
504 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 451 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
505 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 452 | tempchar1 = GetActiveParamSet(); |
506 | tempchar1 = GetActiveParamSet(); |
| 453 | } |
507 | } |
| 454 | else |
508 | else |
| 455 | { |
509 | { |
| 456 | tempchar1 = 0; // mark in response an invlid setting |
510 | tempchar1 = 0; // mark in response an invlid setting |
| 457 | } |
511 | } |
| 458 | while(!UebertragungAbgeschlossen); |
512 | while(!UebertragungAbgeschlossen); |
| 459 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
513 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 460 | if(!MotorenEin) Piep(tempchar1,110); |
514 | if(!MotorenEin) Piep(tempchar1,110); |
| 461 | LipoDetection(0); |
515 | LipoDetection(0); |
| 462 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
516 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 463 | break; |
517 | break; |
| 464 | case 'f': // auf anderen Parametersatz umschalten |
518 | case 'f': // auf anderen Parametersatz umschalten |
| 465 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
519 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 466 | tempchar1 = GetActiveParamSet(); |
520 | tempchar1 = GetActiveParamSet(); |
| 467 | while(!UebertragungAbgeschlossen); |
521 | while(!UebertragungAbgeschlossen); |
| 468 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
522 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 469 | if(!MotorenEin) Piep(tempchar1,110); |
523 | if(!MotorenEin) Piep(tempchar1,110); |
| 470 | LipoDetection(0); |
524 | LipoDetection(0); |
| 471 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
525 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 472 | break; |
526 | break; |
| 473 | case 'y':// serial Potis |
527 | case 'y':// serial Potis |
| 474 | 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[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]; |
| 475 | 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[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]; |
| 476 | 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 | 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]; |
| 477 | break; |
531 | break; |
| 478 | 532 | ||
| 479 | case 'u': // request BL parameter |
533 | case 'u': // request BL parameter |
| 480 | Debug("Reading BL %d", pRxData[0]); |
534 | Debug("Reading BL %d", pRxData[0]); |
| 481 | // try to read BL configuration |
535 | // try to read BL configuration |
| 482 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
536 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 483 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
537 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 484 | else tempchar1 = 0; |
538 | else tempchar1 = 0; |
| 485 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
539 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 486 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
540 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 487 | break; |
541 | break; |
| 488 | 542 | ||
| 489 | case 'w': // write BL parameter |
543 | case 'w': // write BL parameter |
| 490 | Debug("Writing BL %d", pRxData[0]); |
544 | Debug("Writing BL %d", pRxData[0]); |
| 491 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
545 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| 492 | { |
546 | { |
| 493 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
547 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| 494 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
548 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 495 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
549 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 496 | else tempchar1 = 0; // indicate error |
550 | else tempchar1 = 0; // indicate error |
| 497 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
551 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 498 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
552 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 499 | } |
553 | } |
| 500 | break; |
554 | break; |
| 501 | case 'j': |
555 | case 'j': |
| 502 | if(MotorenEin) break; |
556 | if(MotorenEin) break; |
| - | 557 | ||
| - | 558 | #ifdef WITH_JETI_SIMULATION /// MartinW main.h means no memsave |
|
| - | 559 | #warning : "### with jeti update command ###" |
|
| - | 560 | ||
| - | 561 | ||
| - | 562 | ||
| 503 | tempchar1 = LIBFC_GetCPUType(); |
563 | tempchar1 = LIBFC_GetCPUType(); |
| 504 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
564 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| 505 | { |
565 | { |
| 506 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
566 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| 507 | 567 | ||
| 508 | cli(); |
568 | cli(); |
| 509 | 569 | ||
| 510 | // UART0 & UART1 disable RX and TX-Interrupt |
570 | // UART0 & UART1 disable RX and TX-Interrupt |
| 511 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
571 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| 512 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
572 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| 513 | 573 | ||
| 514 | // UART0 & UART1 disable receiver and transmitter |
574 | // UART0 & UART1 disable receiver and transmitter |
| 515 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
575 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| 516 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
576 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| 517 | 577 | ||
| 518 | // UART0 & UART1 flush receive buffer explicit |
578 | // UART0 & UART1 flush receive buffer explicit |
| 519 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
579 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
| 520 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
580 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
| 521 | 581 | ||
| 522 | 582 | ||
| 523 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
583 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
| 524 | else |
584 | else |
| 525 | { // Jeti or HoTT update |
585 | { // Jeti or HoTT update |
| 526 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
586 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 527 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
587 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
| 528 | //#endif |
588 | //#endif |
| 529 | ReceiverUpdateModeActive = 1; |
589 | ReceiverUpdateModeActive = 1; |
| 530 | // UART0 & UART1 set baudrate |
590 | // UART0 & UART1 set baudrate |
| 531 | UBRR1H = (uint8_t)(ubrr>>8); |
591 | UBRR1H = (uint8_t)(ubrr>>8); |
| 532 | UBRR1L = (uint8_t)ubrr; |
592 | UBRR1L = (uint8_t)ubrr; |
| 533 | UBRR0H = UBRR1H; |
593 | UBRR0H = UBRR1H; |
| 534 | UBRR0L = UBRR1L; |
594 | UBRR0L = UBRR1L; |
| 535 | // UART1 no parity |
595 | // UART1 no parity |
| 536 | UCSR1C &= ~(1 << UPM11); |
596 | UCSR1C &= ~(1 << UPM11); |
| 537 | UCSR1C &= ~(1 << UPM10); |
597 | UCSR1C &= ~(1 << UPM10); |
| 538 | // UART1 8-bit |
598 | // UART1 8-bit |
| 539 | UCSR1B &= ~(1 << UCSZ12); |
599 | UCSR1B &= ~(1 << UCSZ12); |
| 540 | UCSR1C |= (1 << UCSZ11); |
600 | UCSR1C |= (1 << UCSZ11); |
| 541 | UCSR1C |= (1 << UCSZ10); |
601 | UCSR1C |= (1 << UCSZ10); |
| 542 | } |
602 | } |
| 543 | // UART0 & UART1 1 stop bit |
603 | // UART0 & UART1 1 stop bit |
| 544 | UCSR1C &= ~(1 << USBS1); |
604 | UCSR1C &= ~(1 << USBS1); |
| 545 | UCSR0C &= ~(1 << USBS0); |
605 | UCSR0C &= ~(1 << USBS0); |
| 546 | // UART1 clear 9th bit |
606 | // UART1 clear 9th bit |
| 547 | UCSR1B &= ~(1<<TXB81); |
607 | UCSR1B &= ~(1<<TXB81); |
| 548 | // enable receiver and transmitter for UART0 and UART1 |
608 | // enable receiver and transmitter for UART0 and UART1 |
| 549 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
609 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| 550 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
610 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| 551 | // enable RX-Interrupt for UART0 and UART1 |
611 | // enable RX-Interrupt for UART0 and UART1 |
| 552 | UCSR0B |= (1 << RXCIE0); |
612 | UCSR0B |= (1 << RXCIE0); |
| 553 | UCSR1B |= (1 << RXCIE1); |
613 | UCSR1B |= (1 << RXCIE1); |
| 554 | // disable other Interrupts |
614 | // disable other Interrupts |
| 555 | TIMSK0 = 0; |
615 | TIMSK0 = 0; |
| 556 | TIMSK1 = 0; |
616 | TIMSK1 = 0; |
| 557 | TIMSK2 = 0; |
617 | TIMSK2 = 0; |
| 558 | 618 | ||
| 559 | sei(); |
619 | sei(); |
| 560 | } |
620 | } |
| - | 621 | ||
| - | 622 | #else |
|
| - | 623 | #warning : "### without jeti update command ###" |
|
| - | 624 | ||
| - | 625 | #endif |
|
| 561 | break; |
626 | break; |
| 562 | 627 | ||
| 563 | } // case FC_ADDRESS: |
628 | } // case FC_ADDRESS: |
| 564 | 629 | ||
| 565 | default: // any Slave Address |
630 | default: // any Slave Address |
| 566 | 631 | ||
| 567 | switch(RxdBuffer[2]) |
632 | switch(RxdBuffer[2]) |
| 568 | { |
633 | { |
| 569 | // 't' comand placed here only for compatibility to BL |
634 | // 't' comand placed here only for compatibility to BL |
| 570 | case 't':// Motortest |
635 | case 't':// Motortest |
| 571 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
636 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 572 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
637 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 573 | while(!UebertragungAbgeschlossen); |
638 | while(!UebertragungAbgeschlossen); |
| 574 | SendOutData('T', MeineSlaveAdresse, 0); |
639 | SendOutData('T', MeineSlaveAdresse, 0); |
| 575 | PC_MotortestActive = 250; |
640 | PC_MotortestActive = 250; |
| 576 | PcZugriff = 255; |
641 | PcZugriff = 255; |
| 577 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
642 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 578 | break; |
643 | break; |
| 579 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
644 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 580 | case 'K':// Kompasswert |
645 | case 'K':// Kompasswert |
| 581 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
646 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 582 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
647 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 583 | break; |
648 | break; |
| 584 | case 'a':// Texte der Analogwerte |
649 | case 'a':// Texte der Analogwerte |
| 585 | DebugTextAnforderung = pRxData[0]; |
650 | DebugTextAnforderung = pRxData[0]; |
| 586 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
651 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 587 | PcZugriff = 255; |
652 | PcZugriff = 255; |
| 588 | break; |
653 | break; |
| 589 | case 'b': |
654 | case 'b': |
| 590 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
655 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 591 | ConfirmFrame = ExternControl.Frame; |
656 | ConfirmFrame = ExternControl.Frame; |
| 592 | PcZugriff = 255; |
657 | PcZugriff = 255; |
| 593 | break; |
658 | break; |
| 594 | case 'c': // Poll the 3D-Data |
659 | case 'c': // Poll the 3D-Data |
| 595 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
660 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 596 | Intervall3D = pRxData[0] * 10; |
661 | Intervall3D = pRxData[0] * 10; |
| 597 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
662 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 598 | break; |
663 | break; |
| 599 | case 'd': // Poll the debug data |
664 | case 'd': // Poll the debug data |
| 600 | PcZugriff = 255; |
665 | PcZugriff = 255; |
| 601 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
666 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 602 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
667 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 603 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
668 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 604 | break; |
669 | break; |
| 605 | 670 | ||
| 606 | case 'h':// x-1 Displayzeilen |
671 | case 'h':// x-1 Displayzeilen |
| - | 672 | ||
| - | 673 | #ifdef WITH_MKTOOL_Display /// MartinW memorysave |
|
| - | 674 | #warning : "### with MKTool Display ###" |
|
| - | 675 | ||
| 607 | PcZugriff = 255; |
676 | PcZugriff = 255; |
| 608 | if((pRxData[0] & 0x80) == 0x00) // old format |
677 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 609 | { |
678 | { |
| 610 | DisplayLine = 2; |
679 | DisplayLine = 2; |
| 611 | Display_Interval = 0; |
680 | Display_Interval = 0; |
| 612 | } |
681 | } |
| 613 | else // new format |
682 | else // new format |
| 614 | { |
683 | { |
| 615 | RemoteKeys |= ~pRxData[0]; |
684 | RemoteKeys |= ~pRxData[0]; |
| 616 | Display_Interval = (unsigned int)pRxData[1] * 10; |
685 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 617 | DisplayLine = 4; |
686 | DisplayLine = 4; |
| 618 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
687 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 619 | } |
688 | } |
| 620 | DebugDisplayAnforderung = 1; |
689 | DebugDisplayAnforderung = 1; |
| 621 | break; |
690 | break; |
| 622 | 691 | ||
| 623 | case 'l':// x-1 Displayzeilen |
692 | case 'l':// x-1 Displayzeilen |
| 624 | PcZugriff = 255; |
693 | PcZugriff = 255; |
| 625 | MenuePunkt = pRxData[0]; |
694 | MenuePunkt = pRxData[0]; |
| 626 | DebugDisplayAnforderung1 = 1; |
695 | DebugDisplayAnforderung1 = 1; |
| - | 696 | ||
| - | 697 | #endif |
|
| 627 | break; |
698 | break; |
| 628 | case 'v': // Version-Anforderung und Ausbaustufe |
699 | case 'v': // Version-Anforderung und Ausbaustufe |
| 629 | GetVersionAnforderung = 1; |
700 | GetVersionAnforderung = 1; |
| 630 | break; |
701 | break; |
| 631 | 702 | ||
| 632 | case 'g':// |
703 | case 'g':// |
| 633 | GetExternalControl = 1; |
704 | GetExternalControl = 1; |
| 634 | break; |
705 | break; |
| 635 | 706 | ||
| 636 | default: |
707 | default: |
| 637 | //unsupported command received |
708 | //unsupported command received |
| 638 | break; |
709 | break; |
| 639 | } |
710 | } |
| 640 | break; // default: |
711 | break; // default: |
| 641 | } |
712 | } |
| 642 | NeuerDatensatzEmpfangen = 0; |
713 | NeuerDatensatzEmpfangen = 0; |
| 643 | pRxData = 0; |
714 | pRxData = 0; |
| 644 | RxDataLen = 0; |
715 | RxDataLen = 0; |
| 645 | } |
716 | } |
| 646 | 717 | ||
| 647 | //############################################################################ |
718 | //############################################################################ |
| 648 | //Routine für die Serielle Ausgabe |
719 | //Routine für die Serielle Ausgabe |
| 649 | void uart_putchar (char c) |
720 | void uart_putchar (char c) |
| 650 | //############################################################################ |
721 | //############################################################################ |
| 651 | { |
722 | { |
| 652 | //Warten solange bis Zeichen gesendet wurde |
723 | //Warten solange bis Zeichen gesendet wurde |
| 653 | loop_until_bit_is_set(UCSR0A, UDRE0); |
724 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 654 | //Ausgabe des Zeichens |
725 | //Ausgabe des Zeichens |
| 655 | UDR0 = c; |
726 | UDR0 = c; |
| 656 | } |
727 | } |
| 657 | 728 | ||
| 658 | 729 | ||
| 659 | //############################################################################ |
730 | //############################################################################ |
| 660 | //INstallation der Seriellen Schnittstelle |
731 | //INstallation der Seriellen Schnittstelle |
| 661 | void UART_Init (void) |
732 | void UART_Init (void) |
| 662 | //############################################################################ |
733 | //############################################################################ |
| 663 | { |
734 | { |
| 664 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
735 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 665 | 736 | ||
| 666 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
737 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 667 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
738 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 668 | // UART Double Speed (U2X) |
739 | // UART Double Speed (U2X) |
| 669 | UCSR0A |= (1 << U2X0); |
740 | UCSR0A |= (1 << U2X0); |
| 670 | // RX-Interrupt Freigabe |
741 | // RX-Interrupt Freigabe |
| 671 | UCSR0B |= (1 << RXCIE0); |
742 | UCSR0B |= (1 << RXCIE0); |
| 672 | // TX-Interrupt Freigabe |
743 | // TX-Interrupt Freigabe |
| 673 | UCSR0B |= (1 << TXCIE0); |
744 | UCSR0B |= (1 << TXCIE0); |
| 674 | // USART0 Baud Rate Register |
745 | // USART0 Baud Rate Register |
| 675 | // set clock divider |
746 | // set clock divider |
| 676 | UBRR0H = (uint8_t)(ubrr >> 8); |
747 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 677 | UBRR0L = (uint8_t)ubrr; |
748 | UBRR0L = (uint8_t)ubrr; |
| 678 | 749 | ||
| 679 | Debug_Timer = SetDelay(DebugDataIntervall); |
750 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 680 | Kompass_Timer = SetDelay(220); |
751 | Kompass_Timer = SetDelay(220); |
| 681 | 752 | ||
| 682 | VersionInfo.SWMajor = VERSION_MAJOR; |
753 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 683 | VersionInfo.SWMinor = VERSION_MINOR; |
754 | VersionInfo.SWMinor = VERSION_MINOR; |
| 684 | VersionInfo.SWPatch = VERSION_PATCH; |
755 | VersionInfo.SWPatch = VERSION_PATCH; |
| 685 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
756 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 686 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
757 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 687 | 758 | ||
| 688 | pRxData = 0; |
759 | pRxData = 0; |
| 689 | RxDataLen = 0; |
760 | RxDataLen = 0; |
| 690 | } |
761 | } |
| 691 | 762 | ||
| 692 | //--------------------------------------------------------------------------------------------- |
763 | //--------------------------------------------------------------------------------------------- |
| 693 | void DatenUebertragung(void) |
764 | void DatenUebertragung(void) |
| 694 | { |
765 | { |
| 695 | if(!UebertragungAbgeschlossen) return; |
766 | if(!UebertragungAbgeschlossen) return; |
| 696 | 767 | ||
| 697 | if(CheckDelay(AboTimeOut)) |
768 | if(CheckDelay(AboTimeOut)) |
| 698 | { |
769 | { |
| 699 | Display_Interval = 0; |
770 | Display_Interval = 0; |
| 700 | DebugDataIntervall = 0; |
771 | DebugDataIntervall = 0; |
| 701 | Intervall3D = 0; |
772 | Intervall3D = 0; |
| 702 | } |
773 | } |
| - | 774 | ||
| - | 775 | #ifdef WITH_MKTOOL_Display //main.h |
|
| - | 776 | #warning : "### with MKTool Display ###" |
|
| 703 | 777 | ||
| 704 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
778 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 705 | { |
779 | { |
| 706 | if(DisplayLine > 3)// new format |
780 | if(DisplayLine > 3)// new format |
| 707 | { |
781 | { |
| 708 | Menu(); |
782 | Menu(); |
| 709 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
783 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 710 | } |
784 | } |
| 711 | else // old format |
785 | else // old format |
| 712 | { |
786 | { |
| 713 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
787 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 714 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
788 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 715 | if(DisplayLine++ > 3) DisplayLine = 0; |
789 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 716 | } |
790 | } |
| 717 | Display_Timer = SetDelay(Display_Interval); |
791 | Display_Timer = SetDelay(Display_Interval); |
| 718 | DebugDisplayAnforderung = 0; |
792 | DebugDisplayAnforderung = 0; |
| 719 | } |
793 | } |
| 720 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
794 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 721 | { |
795 | { |
| 722 | Menu(); |
796 | Menu(); |
| 723 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
797 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 724 | DebugDisplayAnforderung1 = 0; |
798 | DebugDisplayAnforderung1 = 0; |
| 725 | } |
799 | } |
| - | 800 | ||
| - | 801 | #endif |
|
| - | 802 | ||
| 726 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
803 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 727 | { |
804 | { |
| 728 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
805 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 729 | GetVersionAnforderung = 0; |
806 | GetVersionAnforderung = 0; |
| 730 | Debug_OK("Version gesendet"); |
807 | Debug_OK("Version gesendet"); |
| 731 | } |
808 | } |
| 732 | 809 | ||
| 733 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
810 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 734 | { |
811 | { |
| 735 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
812 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 736 | GetExternalControl = 0; |
813 | GetExternalControl = 0; |
| 737 | } |
814 | } |
| 738 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
815 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 739 | { |
816 | { |
| 740 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
817 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 741 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
818 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 742 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
819 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 743 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
820 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 744 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
821 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 745 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
822 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 746 | Kompass_Timer = SetDelay(99); |
823 | Kompass_Timer = SetDelay(99); |
| 747 | } |
824 | } |
| 748 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
825 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 749 | { |
826 | { |
| 750 | CopyDebugValues(); |
827 | CopyDebugValues(); |
| 751 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
828 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 752 | DebugDataAnforderung = 0; |
829 | DebugDataAnforderung = 0; |
| 753 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
830 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 754 | } |
831 | } |
| 755 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
832 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 756 | { |
833 | { |
| 757 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
834 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 758 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
835 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 759 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
836 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 760 | Data3D.Centroid[0] = SummeNick >> 9; |
837 | Data3D.Centroid[0] = SummeNick >> 9; |
| 761 | Data3D.Centroid[1] = SummeRoll >> 9; |
838 | Data3D.Centroid[1] = SummeRoll >> 9; |
| 762 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
839 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| 763 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
840 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 764 | Timer3D = SetDelay(Intervall3D); |
841 | Timer3D = SetDelay(Intervall3D); |
| 765 | } |
842 | } |
| 766 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
843 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 767 | { |
844 | { |
| - | 845 | ||
| - | 846 | ||
| - | 847 | ||
| - | 848 | #ifdef WITH_FULL_ANALOG_TEXT /// MartinW main.h means no memsave |
|
| - | 849 | #warning : "### with normal ANALOG_TEXT[32][16] ###" |
|
| 768 | unsigned char label[16]; // local sram buffer |
850 | unsigned char label[16]; // local sram buffer |
| 769 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
851 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| - | 852 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
|
| - | 853 | ||
| - | 854 | #else |
|
| - | 855 | #warning : "### with reduced ANALOG_TEXT[32][13] ###" |
|
| - | 856 | ||
| - | 857 | unsigned char label[16]=" "; // local sram buffer ///MartinW; for MKTool, needs 32 bytes |
|
| - | 858 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 13); // read lable from flash to sra |
|
| 770 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
859 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| - | 860 | #endif |
|
| - | 861 | ||
| - | 862 | ||
| - | 863 | ||
| 771 | DebugTextAnforderung = 255; |
864 | DebugTextAnforderung = 255; |
| 772 | } |
865 | } |
| 773 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
866 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 774 | { |
867 | { |
| 775 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
868 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 776 | ConfirmFrame = 0; |
869 | ConfirmFrame = 0; |
| 777 | } |
870 | } |
| 778 | 871 | ||
| 779 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
872 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 780 | { |
873 | { |
| 781 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
874 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 782 | GetPPMChannelAnforderung = 0; |
875 | GetPPMChannelAnforderung = 0; |
| 783 | } |
876 | } |
| 784 | 877 | ||
| 785 | #ifdef DEBUG // only include functions if DEBUG is defined |
878 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 786 | if(SendDebugOutput && UebertragungAbgeschlossen) |
879 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 787 | { |
880 | { |
| 788 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
881 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 789 | SendDebugOutput = 0; |
882 | SendDebugOutput = 0; |
| 790 | } |
883 | } |
| 791 | #endif |
884 | #endif |
| 792 | 885 | ||
| 793 | } |
886 | } |
| 794 | 887 | ||
| 795 | 888 | ||
| 796 | 889 | ||