WebSVN - FlightCtrl - Diff - Rev 2109 and 2132 - /branches/dongfang_FC_fixedwing/arduino


#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/pgmspace.h>
#include <stdarg.h>
#include <string.h>
 
#include "eeprom.h"
#include "timer0.h"
#include "uart0.h"
#include "rc.h"
#include "externalControl.h"
#include "output.h"
#include "attitude.h"
#include "commands.h"
#include "main.h"
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
 
#define FALSE   0
#define TRUE    1
 
int8_t displayBuff[DISPLAYBUFFSIZE];
uint8_t dispPtr = 0;
 
uint8_t requestedDebugLabel = 255;
uint8_t request_verInfo = FALSE;
uint8_t request_externalControl = FALSE;
uint8_t request_debugData = FALSE;
uint8_t request_data3D = FALSE;
uint8_t request_PPMChannels = FALSE;
uint8_t request_servoTest = FALSE;
uint8_t request_variables = FALSE;
uint8_t request_OSD = FALSE;
 
/*
#define request_verInfo         (1<<0)
#define request_externalControl (1<<1)
#define request_display         (1<<3)
#define request_display1        (1<<4)
#define request_debugData       (1<<5)
#define request_data3D          (1<<6)
#define request_PPMChannels     (1<<7)
#define request_motorTest       (1<<8)
#define request_variables       (1<<9)
#define request_OSD             (1<<10)
*/
 
//uint16_t request = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t receivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t rxDataLen = 0;
 
uint8_t servoTestActive = 0;
uint8_t servoTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t confirmFrame;
 
typedef struct {
        int16_t heading;
}__attribute__((packed)) Heading_t;
 
Data3D_t data3D;
 
uint16_t debugData_timer;
uint16_t data3D_timer;
uint16_t OSD_timer;
uint16_t debugData_interval = 0; // in 1ms
uint16_t data3D_interval = 0; // in 1ms
uint16_t OSD_interval = 0;
 
#ifdef USE_DIRECT_GPS
int16_t toMk3MagTimer;
#endif
 
// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] = {
                //1234567890123456
                "Gyro P          ", //0
                "Gyro R          ",
                "Gyro Y          ",
                "Attitude P      ",
                "Attitude R      ",
                "Attitude Y      ", //5
                "Target P        ",
                "Target R        ",
                "Target Y        ",
                "Error P         ",
                "Error R         ", //10
                "Error Y         ",
        "Term P          ",
                "Term R          ",
                "Throttle        ",
                "Term Y          ", //15
                "Flight mode     ",
                "Ultralow thr.   ",
        "Var0            ",
                "Var1            ",
                "RC P            ", //20
                "RC R            ",
                "RC T            ",
                "RC Y            ",
                "Servo P         ",
                "Servo R         ", //25
                "Servo T         ",
                "Servo Y         ",
                "I2C cycles      ",
                "I2C restarts    ",
                "                ", //30
                "                "
  };
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void usart0_init(void) {
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |= (1 << DDD1);
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t) (ubrr >> 8);
        UBRR0L = (uint8_t) ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |= (1 << UCSZ01);
        UCSR0C |= (1 << UCSZ00);
 
        // flush receive buffer
        while (UCSR0A & (1 << RXC0))
                UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        // initialize the debug timer
        debugData_timer = setDelay(debugData_interval);
 
        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        rxDataLen = 0;
 
        // no bytes to send
        txd_complete = TRUE;
 
 
 
 
 
        versionInfo.SWMajor = VERSION_MAJOR;
        versionInfo.SWMinor = VERSION_MINOR;
        versionInfo.SWPatch = VERSION_PATCH;
        versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
        versionInfo.protoMinor = VERSION_SERIAL_MINOR;
 
        // restore global interrupt flags
        SREG = sreg;
}
 
/****************************************************************/
/* USART0 transmitter ISR                                       */
/****************************************************************/
ISR(USART_TX_vect) {
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if (!txd_complete) { // transmission not completed
                ptr_txd_buffer++; // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else
                ptr_txd_buffer = 0;
}
 
/****************************************************************/
/* USART0 receiver               ISR                            */
/****************************************************************/
ISR(USART_RX_vect) {
        static uint16_t checksum;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t checksum1, checksum2;
        uint8_t c;
 
        c = UDR0; // catch the received byte
 
        if (rxd_buffer_locked)
                return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                checksum = c; // init checksum
        }
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
                if (c != '\r') { // no termination character
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        checksum += c; // update checksum
                } else { // termination character was received
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        checksum -= rxd_buffer[ptr_rxd_buffer - 2];
                        checksum -= rxd_buffer[ptr_rxd_buffer - 1];
                        // calculate checksum from transmitted data
                        checksum %= 4096;
                        checksum1 = '=' + checksum / 64;
                        checksum2 = '=' + checksum % 64;
                        // compare checksum to transmitted checksum bytes
                        if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
                                        == rxd_buffer[ptr_rxd_buffer - 1])) {
                                // checksum valid
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE; // lock the rxd buffer
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if (rxd_buffer[2] == 'R') {
                                        reset();
                                }
                        } else { // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        } else { // rxd buffer overrun
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
}
 
// --------------------------------------------------------------------------
void addChecksum(uint16_t datalen) {
        uint16_t tmpchecksum = 0, i;
        for (i = 0; i < datalen; i++) {
                tmpchecksum += txd_buffer[i];
        }
        tmpchecksum %= 4096;
        txd_buffer[i++] = '=' + (tmpchecksum >> 6);
        txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}
 
// --------------------------------------------------------------------------
// application example:
// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
/*
 void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
 va_list ap;
 uint16_t txd_bufferIndex = 0;
 uint8_t *currentBuffer;
 uint8_t currentBufferIndex;
 uint16_t lengthOfCurrentBuffer;
 uint8_t shift = 0;
 
 txd_buffer[txd_bufferIndex++] = '#';                   // Start character
 txd_buffer[txd_bufferIndex++] = 'a' + addr;            // Address (a=0; b=1,...)
 txd_buffer[txd_bufferIndex++] = cmd;                   // Command
 
 va_start(ap, numofbuffers);
 
 while(numofbuffers) {
 currentBuffer = va_arg(ap, uint8_t*);
 lengthOfCurrentBuffer = va_arg(ap, int);
 currentBufferIndex = 0;
 // Encode data: 3 bytes of data are encoded into 4 bytes,
 // where the 2 most significant bits are both 0.
 while(currentBufferIndex != lengthOfCurrentBuffer) {
 if (!shift) txd_buffer[txd_bufferIndex] = 0;
 txd_buffer[txd_bufferIndex]  |= currentBuffer[currentBufferIndex] >> (shift + 2);
 txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
 shift += 2;
 if (shift == 6) { shift=0; txd_bufferIndex++; }
 currentBufferIndex++;
 }
 }
 // If the number of data bytes was not divisible by 3, stuff
 //  with 0 pseudodata  until length is again divisible by 3.
 if (shift == 2) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex]  &= 0b00110000;
 txd_buffer[++txd_bufferIndex] = 0;
 shift = 4;
 }
 if (shift == 4) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex++] &= 0b00111100;
 txd_buffer[txd_bufferIndex]    = 0;
 }
 va_end(ap);
 Addchecksum(pt); // add checksum after data block and initates the transmission
 }
 */
 
void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
        va_list ap;
        uint16_t pt = 0;
        uint8_t a, b, c;
        uint8_t ptr = 0;
 
        uint8_t *pdata = 0;
        int len = 0;
 
        txd_buffer[pt++] = '#'; // Start character
        txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd; // Command
 
        va_start(ap, numofbuffers);
 
        if (numofbuffers) {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }
 
        while (len) {
                if (len) {
                        a = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        a = 0;
                if (len) {
                        b = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        b = 0;
                if (len) {
                        c = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + (c & 0x3f);
        }
        va_end(ap);
        addChecksum(pt); // add checksum after data block and initates the transmission
}
 
// --------------------------------------------------------------------------
void decode64(void) {
        uint8_t a, b, c, d;
        uint8_t x, y, z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = receivedBytes - 6;
 
        while (len) {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if (len--)
                        rxd_buffer[ptrOut++] = x;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = y;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = z;
                else
                        break;
        }
        pRxData = &rxd_buffer[3];
        rxDataLen = ptrOut - 3;
}
 
// --------------------------------------------------------------------------
void usart0_processRxData(void) {
        // We control the servoTestActive var from here: Count it down.
        if (servoTestActive)
          servoTestActive--;
        // if data in the rxd buffer are not locked immediately return
        if (!rxd_buffer_locked)
                return;
        uint8_t tempchar[3];
        decode64(); // decode data block in rxd_buffer
 
        switch (rxd_buffer[1] - 'a') {
 
        case FC_ADDRESS:
                switch (rxd_buffer[2]) {
#ifdef USE_DIRECT_GPS
                case 'K':// compass value
                  // What is the point of this - the compass will overwrite this soon?
                magneticHeading = ((Heading_t *)pRxData)->heading;
                // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
                break;
#endif
                case 't': // motor test
                        if (rxDataLen > 20) {
                                memcpy(&servoTest[0], (uint8_t*) pRxData, sizeof(servoTest));
                        } else {
                                memcpy(&servoTest[0], (uint8_t*) pRxData, 4);
                        }
                        servoTestActive = 255;
                        externalControlActive = 255;
                        break;
 
                case 'p': // get PPM channels
                        request_PPMChannels = TRUE;
                        break;
 
        case 'i':// Read IMU configuration
            tempchar[0] = IMUCONFIG_REVISION;
            tempchar[1] = sizeof(IMUConfig);
            while (!txd_complete)
                ; // wait for previous frame to be sent
            sendOutData('I', FC_ADDRESS, 2, &tempchar, 2, (uint8_t *) &IMUConfig, sizeof(IMUConfig));
            break;
 
        case 'j':// Save IMU configuration
          if (!isFlying) // save settings only if motors are off
          {
              if ((pRxData[0] == IMUCONFIG_REVISION) && (pRxData[1] == sizeof(IMUConfig))) {
                  memcpy(&IMUConfig, (uint8_t*) &pRxData[2], sizeof(IMUConfig));
                  IMUConfig_writeToEEprom();
                  tempchar[0] = 1; //indicate ok data
              } else {
                  tempchar[0] = 0; //indicate bad data
              }
              while (!txd_complete)
                  ; // wait for previous frame to be sent
              sendOutData('J', FC_ADDRESS, 1, &tempchar, 1);
          }
          break;
 
                case 'q':// request settings
                        if (pRxData[0] == 0xFF) {
                                pRxData[0] = getParamByte(PID_ACTIVE_SET);
                        }
                        // limit settings range
                        if (pRxData[0] < 1)
                                pRxData[0] = 1; // limit to 1
                        else if (pRxData[0] > 5)
                                pRxData[0] = 5; // limit to 5
                        // load requested parameter set
 
                        paramSet_readFromEEProm(pRxData[0]);
 
                        tempchar[0] = pRxData[0];
                        tempchar[1] = EEPARAM_REVISION;
                        tempchar[2] = sizeof(staticParams);
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams));
                        break;
 
                case 's': // save settings
                        if (!isFlying) // save settings only if motors are off
                        {
                                if ((pRxData[1] == EEPARAM_REVISION) && (pRxData[2] == sizeof(staticParams))) // check for setting to be in range and version of settings
                                {
                                        memcpy(&staticParams, (uint8_t*) &pRxData[3], sizeof(staticParams));
                                        paramSet_writeToEEProm(1);
                                        configuration_paramSetDidChange();
                                        tempchar[0] = 1;
                                        beepNumber(tempchar[0]);
                                } else {
                                        tempchar[0] = 0; //indicate bad data
                                }
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                sendOutData('S', FC_ADDRESS, 1, &tempchar, 1);
                        }
                        break;
 
                default:
                        //unsupported command received
                        break;
                } // case FC_ADDRESS:
 
        default: // any Slave Address
                switch (rxd_buffer[2]) {
                case 'a':// request for labels of the analog debug outputs
                        requestedDebugLabel = pRxData[0];
                        if (requestedDebugLabel > 31)
                                requestedDebugLabel = 31;
                        break;
 
                case 'b': // submit extern control
                        memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl));
                        confirmFrame = externalControl.frame;
                        externalControlActive = 255;
                        break;
 
                case 'o':// request for OSD data (FC style)
                  OSD_interval = (uint16_t) pRxData[0] * 10;
                  if (OSD_interval > 0)
                    request_OSD = TRUE;
                  break;
                 
                case 'v': // request for version and board release
                        request_verInfo = TRUE;
                        break;
 
                case 'x':
                        request_variables = TRUE;
                        break;
 
                case 'g':// get external control data
                        request_externalControl = TRUE;
                        break;
 
                case 'd': // request for the debug data
                        debugData_interval = (uint16_t) pRxData[0] * 10;
                        if (debugData_interval > 0)
                                request_debugData = TRUE;
                        break;
 
                case 'c': // request for the 3D data
                        data3D_interval = (uint16_t) pRxData[0] * 10;
                        if (data3D_interval > 0)
                                request_data3D = TRUE;
                        break;
 
                default:
                        //unsupported command received
                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        rxDataLen = 0;
        rxd_buffer_locked = FALSE;
}
 
/************************************************************************/
/* Routine f�r die Serielle Ausgabe                                     */
/************************************************************************/
int16_t uart_putchar(int8_t c) {
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
//---------------------------------------------------------------------------------------------
void usart0_transmitTxData(void) {
        if (!txd_complete)
                return;
 
        if (request_verInfo && txd_complete) {
                sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo));
                request_verInfo = FALSE;
        }
 
        if (requestedDebugLabel != 0xFF && txd_complete) { // Texte f�r die Analogdaten
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[requestedDebugLabel], 16); // read lable from flash to sram buffer
                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &requestedDebugLabel,
                                sizeof(requestedDebugLabel), label, 16);
                requestedDebugLabel = 0xFF;
        }
 
        if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen
                sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame));
                confirmFrame = 0;
        }
 
        if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData)
                        && txd_complete) {
                sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut));
                debugData_timer = setDelay(debugData_interval);
                request_debugData = FALSE;
        }
 
        if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) && txd_complete) {
                sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D));
                data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
                data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
                data3D.heading = (int16_t) (attitude[YAW] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
                data3D_timer = setDelay(data3D_interval);
                request_data3D = FALSE;
        }
 
        if (request_externalControl && txd_complete) {
                sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl,
                                sizeof(externalControl));
                request_externalControl = FALSE;
        }
 
 
        if (request_servoTest && txd_complete) {
                sendOutData('T', FC_ADDRESS, 0);
                request_servoTest = FALSE;
        }
 
        if (request_PPMChannels && txd_complete) {
                sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in));
                request_PPMChannels = FALSE;
        }
 
        if (request_variables && txd_complete) {
                sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables));
                request_variables = FALSE;
        }
 
        if (((OSD_interval && checkDelay(OSD_timer)) || request_OSD) && txd_complete) {
          int32_t height = 0;
          data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
          data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
          // TODO: To 0..359 interval.
          data3D.heading = (int16_t) (attitude[YAW] / (GYRO_DEG_FACTOR/10)); // convert to multiple of 0.1 deg
          sendOutData('O', FC_ADDRESS, 3, (uint8_t*)&data3D, sizeof(data3D), (uint8_t*)&height, sizeof(height), (uint8_t*)UBat, sizeof(UBat));
          OSD_timer = setDelay(OSD_interval);
          request_OSD = FALSE;
        }
}
 

Rev 2109	Rev 2132
1	#include <avr/io.h>	1	#include <avr/io.h>
2	#include <avr/interrupt.h>	2	#include <avr/interrupt.h>
3	#include <avr/wdt.h>	3	#include <avr/wdt.h>
4	#include <avr/pgmspace.h>	4	#include <avr/pgmspace.h>
5	#include <stdarg.h>	5	#include <stdarg.h>
6	#include <string.h>	6	#include <string.h>
7		7
8	#include "eeprom.h"	8	#include "eeprom.h"
9	#include "timer0.h"	9	#include "timer0.h"
10	#include "uart0.h"	10	#include "uart0.h"
11	#include "rc.h"	11	#include "rc.h"
12	#include "externalControl.h"	12	#include "externalControl.h"
13	#include "output.h"	13	#include "output.h"
14	#include "attitude.h"	14	#include "attitude.h"
15	#include "commands.h"	15	#include "commands.h"
-		16	#include "main.h"
16		17
17	#define FC_ADDRESS 1	18	#define FC_ADDRESS 1
18	#define NC_ADDRESS 2	19	#define NC_ADDRESS 2
19	#define MK3MAG_ADDRESS 3	20	#define MK3MAG_ADDRESS 3
20		21
21	#define FALSE 0	22	#define FALSE 0
22	#define TRUE 1	23	#define TRUE 1
23		24
24	int8_t displayBuff[DISPLAYBUFFSIZE];	25	int8_t displayBuff[DISPLAYBUFFSIZE];
25	uint8_t dispPtr = 0;	26	uint8_t dispPtr = 0;
26		27
27	uint8_t requestedDebugLabel = 255;	28	uint8_t requestedDebugLabel = 255;
28	uint8_t request_verInfo = FALSE;	29	uint8_t request_verInfo = FALSE;
29	uint8_t request_externalControl = FALSE;	30	uint8_t request_externalControl = FALSE;
30	uint8_t request_debugData = FALSE;	31	uint8_t request_debugData = FALSE;
31	uint8_t request_data3D = FALSE;	32	uint8_t request_data3D = FALSE;
32	uint8_t request_PPMChannels = FALSE;	33	uint8_t request_PPMChannels = FALSE;
33	uint8_t request_servoTest = FALSE;	34	uint8_t request_servoTest = FALSE;
34	uint8_t request_variables = FALSE;	35	uint8_t request_variables = FALSE;
35	uint8_t request_OSD = FALSE;	36	uint8_t request_OSD = FALSE;
36		37
37	/*	38	/*
38	#define request_verInfo (1<<0)	39	#define request_verInfo (1<<0)
39	#define request_externalControl (1<<1)	40	#define request_externalControl (1<<1)
40	#define request_display (1<<3)	41	#define request_display (1<<3)
41	#define request_display1 (1<<4)	42	#define request_display1 (1<<4)
42	#define request_debugData (1<<5)	43	#define request_debugData (1<<5)
43	#define request_data3D (1<<6)	44	#define request_data3D (1<<6)
44	#define request_PPMChannels (1<<7)	45	#define request_PPMChannels (1<<7)
45	#define request_motorTest (1<<8)	46	#define request_motorTest (1<<8)
46	#define request_variables (1<<9)	47	#define request_variables (1<<9)
47	#define request_OSD (1<<10)	48	#define request_OSD (1<<10)
48	*/	49	*/
49		50
50	//uint16_t request = 0;	51	//uint16_t request = 0;
51		52
52	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	53	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
53	volatile uint8_t rxd_buffer_locked = FALSE;	54	volatile uint8_t rxd_buffer_locked = FALSE;
54	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	55	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
55	volatile uint8_t txd_complete = TRUE;	56	volatile uint8_t txd_complete = TRUE;
56	volatile uint8_t receivedBytes = 0;	57	volatile uint8_t receivedBytes = 0;
57	volatile uint8_t *pRxData = 0;	58	volatile uint8_t *pRxData = 0;
58	volatile uint8_t rxDataLen = 0;	59	volatile uint8_t rxDataLen = 0;
59		60
60	uint8_t servoTestActive = 0;	61	uint8_t servoTestActive = 0;
61	uint8_t servoTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };	62	uint8_t servoTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
62	uint8_t confirmFrame;	63	uint8_t confirmFrame;
63		64
64	typedef struct {	65	typedef struct {
65	int16_t heading;	66	int16_t heading;
66	}__attribute__((packed)) Heading_t;	67	}__attribute__((packed)) Heading_t;
67		68
68	Data3D_t data3D;	69	Data3D_t data3D;
69		70
70	uint16_t debugData_timer;	71	uint16_t debugData_timer;
71	uint16_t data3D_timer;	72	uint16_t data3D_timer;
72	uint16_t OSD_timer;	73	uint16_t OSD_timer;
73	uint16_t debugData_interval = 0; // in 1ms	74	uint16_t debugData_interval = 0; // in 1ms
74	uint16_t data3D_interval = 0; // in 1ms	75	uint16_t data3D_interval = 0; // in 1ms
75	uint16_t OSD_interval = 0;	76	uint16_t OSD_interval = 0;
76		77
77	#ifdef USE_DIRECT_GPS	78	#ifdef USE_DIRECT_GPS
78	int16_t toMk3MagTimer;	79	int16_t toMk3MagTimer;
79	#endif	80	#endif
80		81
81	// keep lables in flash to save 512 bytes of sram space	82	// keep lables in flash to save 512 bytes of sram space
82	const prog_uint8_t ANALOG_LABEL[32][16] = {	83	const prog_uint8_t ANALOG_LABEL[32][16] = {
83	//1234567890123456	84	//1234567890123456
84	"Gyro P ", //0	85	"Gyro P ", //0
85	"Gyro R ",	86	"Gyro R ",
86	"Gyro Y ",	87	"Gyro Y ",
87	"Attitude P ",	88	"Attitude P ",
88	"Attitude R ",	89	"Attitude R ",
89	"Attitude Y ", //5	90	"Attitude Y ", //5
90	"Target P ",	91	"Target P ",
91	"Target R ",	92	"Target R ",
92	"Target Y ",	93	"Target Y ",
93	"Error P ",	94	"Error P ",
94	"Error R ", //10	95	"Error R ", //10
95	"Error Y ",	96	"Error Y ",
96	"Term P ",	97	"Term P ",
97	"Term R ",	98	"Term R ",
98	"Throttle ",	99	"Throttle ",
99	"Term Y ", //15	100	"Term Y ", //15
100	"Flight mode ",	101	"Flight mode ",
101	"Ultralow thr. ",	102	"Ultralow thr. ",
102	"Var0 ",	103	"Var0 ",
103	"Var1 ",	104	"Var1 ",
104	"RC P ", //20	105	"RC P ", //20
105	"RC R ",	106	"RC R ",
106	"RC T ",	107	"RC T ",
107	"RC Y ",	108	"RC Y ",
108	"Servo P ",	109	"Servo P ",
109	"Servo R ", //25	110	"Servo R ", //25
110	"Servo T ",	111	"Servo T ",
111	"Servo Y ",	112	"Servo Y ",
112	"I2C cycles ",	113	"I2C cycles ",
113	"I2C restarts ",	114	"I2C restarts ",
114	" ", //30	115	" ", //30
115	" "	116	" "
116	};	117	};
117		118
118	/****************************************************************/	119	/****************************************************************/
119	/* Initialization of the USART0 */	120	/* Initialization of the USART0 */
120	/****************************************************************/	121	/****************************************************************/
121	void usart0_init(void) {	122	void usart0_init(void) {
122	uint8_t sreg = SREG;	123	uint8_t sreg = SREG;
123	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);	124	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
124		125
125	// disable all interrupts before configuration	126	// disable all interrupts before configuration
126	cli();	127	cli();
127		128
128	// disable RX-Interrupt	129	// disable RX-Interrupt
129	UCSR0B &= ~(1 << RXCIE0);	130	UCSR0B &= ~(1 << RXCIE0);
130	// disable TX-Interrupt	131	// disable TX-Interrupt
131	UCSR0B &= ~(1 << TXCIE0);	132	UCSR0B &= ~(1 << TXCIE0);
132		133
133	// set direction of RXD0 and TXD0 pins	134	// set direction of RXD0 and TXD0 pins
134	// set RXD0 (PD0) as an input pin	135	// set RXD0 (PD0) as an input pin
135	PORTD \|= (1 << PORTD0);	136	PORTD \|= (1 << PORTD0);
136	DDRD &= ~(1 << DDD0);	137	DDRD &= ~(1 << DDD0);
137	// set TXD0 (PD1) as an output pin	138	// set TXD0 (PD1) as an output pin
138	PORTD \|= (1 << PORTD1);	139	PORTD \|= (1 << PORTD1);
139	DDRD \|= (1 << DDD1);	140	DDRD \|= (1 << DDD1);
140		141
141	// USART0 Baud Rate Register	142	// USART0 Baud Rate Register
142	// set clock divider	143	// set clock divider
143	UBRR0H = (uint8_t) (ubrr >> 8);	144	UBRR0H = (uint8_t) (ubrr >> 8);
144	UBRR0L = (uint8_t) ubrr;	145	UBRR0L = (uint8_t) ubrr;
145		146
146	// USART0 Control and Status Register A, B, C	147	// USART0 Control and Status Register A, B, C
147		148
148	// enable double speed operation in	149	// enable double speed operation in
149	UCSR0A \|= (1 << U2X0);	150	UCSR0A \|= (1 << U2X0);
150	// enable receiver and transmitter in	151	// enable receiver and transmitter in
151	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	152	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
152	// set asynchronous mode	153	// set asynchronous mode
153	UCSR0C &= ~(1 << UMSEL01);	154	UCSR0C &= ~(1 << UMSEL01);
154	UCSR0C &= ~(1 << UMSEL00);	155	UCSR0C &= ~(1 << UMSEL00);
155	// no parity	156	// no parity
156	UCSR0C &= ~(1 << UPM01);	157	UCSR0C &= ~(1 << UPM01);
157	UCSR0C &= ~(1 << UPM00);	158	UCSR0C &= ~(1 << UPM00);
158	// 1 stop bit	159	// 1 stop bit
159	UCSR0C &= ~(1 << USBS0);	160	UCSR0C &= ~(1 << USBS0);
160	// 8-bit	161	// 8-bit
161	UCSR0B &= ~(1 << UCSZ02);	162	UCSR0B &= ~(1 << UCSZ02);
162	UCSR0C \|= (1 << UCSZ01);	163	UCSR0C \|= (1 << UCSZ01);
163	UCSR0C \|= (1 << UCSZ00);	164	UCSR0C \|= (1 << UCSZ00);
164		165
165	// flush receive buffer	166	// flush receive buffer
166	while (UCSR0A & (1 << RXC0))	167	while (UCSR0A & (1 << RXC0))
167	UDR0;	168	UDR0;
168		169
169	// enable interrupts at the end	170	// enable interrupts at the end
170	// enable RX-Interrupt	171	// enable RX-Interrupt
171	UCSR0B \|= (1 << RXCIE0);	172	UCSR0B \|= (1 << RXCIE0);
172	// enable TX-Interrupt	173	// enable TX-Interrupt
173	UCSR0B \|= (1 << TXCIE0);	174	UCSR0B \|= (1 << TXCIE0);
174		175
175	// initialize the debug timer	176	// initialize the debug timer
176	debugData_timer = setDelay(debugData_interval);	177	debugData_timer = setDelay(debugData_interval);
177		178
178	// unlock rxd_buffer	179	// unlock rxd_buffer
179	rxd_buffer_locked = FALSE;	180	rxd_buffer_locked = FALSE;
180	pRxData = 0;	181	pRxData = 0;
181	rxDataLen = 0;	182	rxDataLen = 0;
182		183
183	// no bytes to send	184	// no bytes to send
184	txd_complete = TRUE;	185	txd_complete = TRUE;
185		-
186	#ifdef USE_DIRECT_GPS	-
187	toMk3MagTimer = setDelay(220);	-
188	#endif	-
189		186
190	versionInfo.SWMajor = VERSION_MAJOR;	187	versionInfo.SWMajor = VERSION_MAJOR;
191	versionInfo.SWMinor = VERSION_MINOR;	188	versionInfo.SWMinor = VERSION_MINOR;
192	versionInfo.SWPatch = VERSION_PATCH;	189	versionInfo.SWPatch = VERSION_PATCH;
193	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;	190	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
194	versionInfo.protoMinor = VERSION_SERIAL_MINOR;	191	versionInfo.protoMinor = VERSION_SERIAL_MINOR;
195		192
196	// restore global interrupt flags	193	// restore global interrupt flags
197	SREG = sreg;	194	SREG = sreg;
198	}	195	}
199		196
200	/****************************************************************/	197	/****************************************************************/
201	/* USART0 transmitter ISR */	198	/* USART0 transmitter ISR */
202	/****************************************************************/	199	/****************************************************************/
203	ISR(USART_TX_vect) {	200	ISR(USART_TX_vect) {
204	static uint16_t ptr_txd_buffer = 0;	201	static uint16_t ptr_txd_buffer = 0;
205	uint8_t tmp_tx;	202	uint8_t tmp_tx;
206	if (!txd_complete) { // transmission not completed	203	if (!txd_complete) { // transmission not completed
207	ptr_txd_buffer++; // die [0] wurde schon gesendet	204	ptr_txd_buffer++; // die [0] wurde schon gesendet
208	tmp_tx = txd_buffer[ptr_txd_buffer];	205	tmp_tx = txd_buffer[ptr_txd_buffer];
209	// if terminating character or end of txd buffer was reached	206	// if terminating character or end of txd buffer was reached
210	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {	207	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {
211	ptr_txd_buffer = 0; // reset txd pointer	208	ptr_txd_buffer = 0; // reset txd pointer
212	txd_complete = 1; // stop transmission	209	txd_complete = 1; // stop transmission
213	}	210	}
214	UDR0 = tmp_tx; // send current byte will trigger this ISR again	211	UDR0 = tmp_tx; // send current byte will trigger this ISR again
215	}	212	}
216	// transmission completed	213	// transmission completed
217	else	214	else
218	ptr_txd_buffer = 0;	215	ptr_txd_buffer = 0;
219	}	216	}
220		217
221	/****************************************************************/	218	/****************************************************************/
222	/* USART0 receiver ISR */	219	/* USART0 receiver ISR */
223	/****************************************************************/	220	/****************************************************************/
224	ISR(USART_RX_vect) {	221	ISR(USART_RX_vect) {
225	static uint16_t checksum;	222	static uint16_t checksum;
226	static uint8_t ptr_rxd_buffer = 0;	223	static uint8_t ptr_rxd_buffer = 0;
227	uint8_t checksum1, checksum2;	224	uint8_t checksum1, checksum2;
228	uint8_t c;	225	uint8_t c;
229		226
230	c = UDR0; // catch the received byte	227	c = UDR0; // catch the received byte
231		228
232	if (rxd_buffer_locked)	229	if (rxd_buffer_locked)
233	return; // if rxd buffer is locked immediately return	230	return; // if rxd buffer is locked immediately return
234		231
235	// the rxd buffer is unlocked	232	// the rxd buffer is unlocked
236	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received	233	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
237	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	234	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
238	checksum = c; // init checksum	235	checksum = c; // init checksum
239	}	236	}
240	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes	237	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
241	if (c != '\r') { // no termination character	238	if (c != '\r') { // no termination character
242	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	239	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
243	checksum += c; // update checksum	240	checksum += c; // update checksum
244	} else { // termination character was received	241	} else { // termination character was received
245	// the last 2 bytes are no subject for checksum calculation	242	// the last 2 bytes are no subject for checksum calculation
246	// they are the checksum itself	243	// they are the checksum itself
247	checksum -= rxd_buffer[ptr_rxd_buffer - 2];	244	checksum -= rxd_buffer[ptr_rxd_buffer - 2];
248	checksum -= rxd_buffer[ptr_rxd_buffer - 1];	245	checksum -= rxd_buffer[ptr_rxd_buffer - 1];
249	// calculate checksum from transmitted data	246	// calculate checksum from transmitted data
250	checksum %= 4096;	247	checksum %= 4096;
251	checksum1 = '=' + checksum / 64;	248	checksum1 = '=' + checksum / 64;
252	checksum2 = '=' + checksum % 64;	249	checksum2 = '=' + checksum % 64;
253	// compare checksum to transmitted checksum bytes	250	// compare checksum to transmitted checksum bytes
254	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2	251	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
255	== rxd_buffer[ptr_rxd_buffer - 1])) {	252	== rxd_buffer[ptr_rxd_buffer - 1])) {
256	// checksum valid	253	// checksum valid
257	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	254	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
258	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	255	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
259	rxd_buffer_locked = TRUE; // lock the rxd buffer	256	rxd_buffer_locked = TRUE; // lock the rxd buffer
260	// if 2nd byte is an 'R' enable watchdog that will result in an reset	257	// if 2nd byte is an 'R' enable watchdog that will result in an reset
261	if (rxd_buffer[2] == 'R') {	258	if (rxd_buffer[2] == 'R') {
262	wdt_enable(WDTO_250MS);	259	reset();
263	} // Reset-Commando	260	}
264	} else { // checksum invalid	261	} else { // checksum invalid
265	rxd_buffer_locked = FALSE; // unlock rxd buffer	262	rxd_buffer_locked = FALSE; // unlock rxd buffer
266	}	263	}
267	ptr_rxd_buffer = 0; // reset rxd buffer pointer	264	ptr_rxd_buffer = 0; // reset rxd buffer pointer
268	}	265	}
269	} else { // rxd buffer overrun	266	} else { // rxd buffer overrun
270	ptr_rxd_buffer = 0; // reset rxd buffer	267	ptr_rxd_buffer = 0; // reset rxd buffer
271	rxd_buffer_locked = FALSE; // unlock rxd buffer	268	rxd_buffer_locked = FALSE; // unlock rxd buffer
272	}	269	}
273	}	270	}
274		271
275	// --------------------------------------------------------------------------	272	// --------------------------------------------------------------------------
276	void addChecksum(uint16_t datalen) {	273	void addChecksum(uint16_t datalen) {
277	uint16_t tmpchecksum = 0, i;	274	uint16_t tmpchecksum = 0, i;
278	for (i = 0; i < datalen; i++) {	275	for (i = 0; i < datalen; i++) {
279	tmpchecksum += txd_buffer[i];	276	tmpchecksum += txd_buffer[i];
280	}	277	}
281	tmpchecksum %= 4096;	278	tmpchecksum %= 4096;
282	txd_buffer[i++] = '=' + (tmpchecksum >> 6);	279	txd_buffer[i++] = '=' + (tmpchecksum >> 6);
283	txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);	280	txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);
284	txd_buffer[i++] = '\r';	281	txd_buffer[i++] = '\r';
285	txd_complete = FALSE;	282	txd_complete = FALSE;
286	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	283	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
287	}	284	}
288		285
289	// --------------------------------------------------------------------------	286	// --------------------------------------------------------------------------
290	// application example:	287	// application example:
291	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);	288	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
292	/*	289	/*
293	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	290	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
294	va_list ap;	291	va_list ap;
295	uint16_t txd_bufferIndex = 0;	292	uint16_t txd_bufferIndex = 0;
296	uint8_t *currentBuffer;	293	uint8_t *currentBuffer;
297	uint8_t currentBufferIndex;	294	uint8_t currentBufferIndex;
298	uint16_t lengthOfCurrentBuffer;	295	uint16_t lengthOfCurrentBuffer;
299	uint8_t shift = 0;	296	uint8_t shift = 0;
300		297
301	txd_buffer[txd_bufferIndex++] = '#'; // Start character	298	txd_buffer[txd_bufferIndex++] = '#'; // Start character
302	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)	299	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)
303	txd_buffer[txd_bufferIndex++] = cmd; // Command	300	txd_buffer[txd_bufferIndex++] = cmd; // Command
304		301
305	va_start(ap, numofbuffers);	302	va_start(ap, numofbuffers);
306		303
307	while(numofbuffers) {	304	while(numofbuffers) {
308	currentBuffer = va_arg(ap, uint8_t*);	305	currentBuffer = va_arg(ap, uint8_t*);
309	lengthOfCurrentBuffer = va_arg(ap, int);	306	lengthOfCurrentBuffer = va_arg(ap, int);
310	currentBufferIndex = 0;	307	currentBufferIndex = 0;
311	// Encode data: 3 bytes of data are encoded into 4 bytes,	308	// Encode data: 3 bytes of data are encoded into 4 bytes,
312	// where the 2 most significant bits are both 0.	309	// where the 2 most significant bits are both 0.
313	while(currentBufferIndex != lengthOfCurrentBuffer) {	310	while(currentBufferIndex != lengthOfCurrentBuffer) {
314	if (!shift) txd_buffer[txd_bufferIndex] = 0;	311	if (!shift) txd_buffer[txd_bufferIndex] = 0;
315	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);	312	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);
316	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;	313	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
317	shift += 2;	314	shift += 2;
318	if (shift == 6) { shift=0; txd_bufferIndex++; }	315	if (shift == 6) { shift=0; txd_bufferIndex++; }
319	currentBufferIndex++;	316	currentBufferIndex++;
320	}	317	}
321	}	318	}
322	// If the number of data bytes was not divisible by 3, stuff	319	// If the number of data bytes was not divisible by 3, stuff
323	// with 0 pseudodata until length is again divisible by 3.	320	// with 0 pseudodata until length is again divisible by 3.
324	if (shift == 2) {	321	if (shift == 2) {
325	// We need to stuff with zero bytes at the end.	322	// We need to stuff with zero bytes at the end.
326	txd_buffer[txd_bufferIndex] &= 0b00110000;	323	txd_buffer[txd_bufferIndex] &= 0b00110000;
327	txd_buffer[++txd_bufferIndex] = 0;	324	txd_buffer[++txd_bufferIndex] = 0;
328	shift = 4;	325	shift = 4;
329	}	326	}
330	if (shift == 4) {	327	if (shift == 4) {
331	// We need to stuff with zero bytes at the end.	328	// We need to stuff with zero bytes at the end.
332	txd_buffer[txd_bufferIndex++] &= 0b00111100;	329	txd_buffer[txd_bufferIndex++] &= 0b00111100;
333	txd_buffer[txd_bufferIndex] = 0;	330	txd_buffer[txd_bufferIndex] = 0;
334	}	331	}
335	va_end(ap);	332	va_end(ap);
336	Addchecksum(pt); // add checksum after data block and initates the transmission	333	Addchecksum(pt); // add checksum after data block and initates the transmission
337	}	334	}
338	*/	335	*/
339		336
340	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	337	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
341	va_list ap;	338	va_list ap;
342	uint16_t pt = 0;	339	uint16_t pt = 0;
343	uint8_t a, b, c;	340	uint8_t a, b, c;
344	uint8_t ptr = 0;	341	uint8_t ptr = 0;
345		342
346	uint8_t *pdata = 0;	343	uint8_t *pdata = 0;
347	int len = 0;	344	int len = 0;
348		345
349	txd_buffer[pt++] = '#'; // Start character	346	txd_buffer[pt++] = '#'; // Start character
350	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	347	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
351	txd_buffer[pt++] = cmd; // Command	348	txd_buffer[pt++] = cmd; // Command
352		349
353	va_start(ap, numofbuffers);	350	va_start(ap, numofbuffers);
354		351
355	if (numofbuffers) {	352	if (numofbuffers) {
356	pdata = va_arg(ap, uint8_t*);	353	pdata = va_arg(ap, uint8_t*);
357	len = va_arg(ap, int);	354	len = va_arg(ap, int);
358	ptr = 0;	355	ptr = 0;
359	numofbuffers--;	356	numofbuffers--;
360	}	357	}
361		358
362	while (len) {	359	while (len) {
363	if (len) {	360	if (len) {
364	a = pdata[ptr++];	361	a = pdata[ptr++];
365	len--;	362	len--;
366	if ((!len) && numofbuffers) {	363	if ((!len) && numofbuffers) {
367	pdata = va_arg(ap, uint8_t*);	364	pdata = va_arg(ap, uint8_t*);
368	len = va_arg(ap, int);	365	len = va_arg(ap, int);
369	ptr = 0;	366	ptr = 0;
370	numofbuffers--;	367	numofbuffers--;
371	}	368	}
372	} else	369	} else
373	a = 0;	370	a = 0;
374	if (len) {	371	if (len) {
375	b = pdata[ptr++];	372	b = pdata[ptr++];
376	len--;	373	len--;
377	if ((!len) && numofbuffers) {	374	if ((!len) && numofbuffers) {
378	pdata = va_arg(ap, uint8_t*);	375	pdata = va_arg(ap, uint8_t*);
379	len = va_arg(ap, int);	376	len = va_arg(ap, int);
380	ptr = 0;	377	ptr = 0;
381	numofbuffers--;	378	numofbuffers--;
382	}	379	}
383	} else	380	} else
384	b = 0;	381	b = 0;
385	if (len) {	382	if (len) {
386	c = pdata[ptr++];	383	c = pdata[ptr++];
387	len--;	384	len--;
388	if ((!len) && numofbuffers) {	385	if ((!len) && numofbuffers) {
389	pdata = va_arg(ap, uint8_t*);	386	pdata = va_arg(ap, uint8_t*);
390	len = va_arg(ap, int);	387	len = va_arg(ap, int);
391	ptr = 0;	388	ptr = 0;
392	numofbuffers--;	389	numofbuffers--;
393	}	390	}
394	} else	391	} else
395	c = 0;	392	c = 0;
396	txd_buffer[pt++] = '=' + (a >> 2);	393	txd_buffer[pt++] = '=' + (a >> 2);
397	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	394	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
398	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	395	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
399	txd_buffer[pt++] = '=' + (c & 0x3f);	396	txd_buffer[pt++] = '=' + (c & 0x3f);
400	}	397	}
401	va_end(ap);	398	va_end(ap);
402	addChecksum(pt); // add checksum after data block and initates the transmission	399	addChecksum(pt); // add checksum after data block and initates the transmission
403	}	400	}
404		401
405	// --------------------------------------------------------------------------	402	// --------------------------------------------------------------------------
406	void decode64(void) {	403	void decode64(void) {
407	uint8_t a, b, c, d;	404	uint8_t a, b, c, d;
408	uint8_t x, y, z;	405	uint8_t x, y, z;
409	uint8_t ptrIn = 3;	406	uint8_t ptrIn = 3;
410	uint8_t ptrOut = 3;	407	uint8_t ptrOut = 3;
411	uint8_t len = receivedBytes - 6;	408	uint8_t len = receivedBytes - 6;
412		409
413	while (len) {	410	while (len) {
414	a = rxd_buffer[ptrIn++] - '=';	411	a = rxd_buffer[ptrIn++] - '=';
415	b = rxd_buffer[ptrIn++] - '=';	412	b = rxd_buffer[ptrIn++] - '=';
416	c = rxd_buffer[ptrIn++] - '=';	413	c = rxd_buffer[ptrIn++] - '=';
417	d = rxd_buffer[ptrIn++] - '=';	414	d = rxd_buffer[ptrIn++] - '=';
418	//if(ptrIn > ReceivedBytes - 3) break;	415	//if(ptrIn > ReceivedBytes - 3) break;
419		416
420	x = (a << 2) \| (b >> 4);	417	x = (a << 2) \| (b >> 4);
421	y = ((b & 0x0f) << 4) \| (c >> 2);	418	y = ((b & 0x0f) << 4) \| (c >> 2);
422	z = ((c & 0x03) << 6) \| d;	419	z = ((c & 0x03) << 6) \| d;
423		420
424	if (len--)	421	if (len--)
425	rxd_buffer[ptrOut++] = x;	422	rxd_buffer[ptrOut++] = x;
426	else	423	else
427	break;	424	break;
428	if (len--)	425	if (len--)
429	rxd_buffer[ptrOut++] = y;	426	rxd_buffer[ptrOut++] = y;
430	else	427	else
431	break;	428	break;
432	if (len--)	429	if (len--)
433	rxd_buffer[ptrOut++] = z;	430	rxd_buffer[ptrOut++] = z;
434	else	431	else
435	break;	432	break;
436	}	433	}
437	pRxData = &rxd_buffer[3];	434	pRxData = &rxd_buffer[3];
438	rxDataLen = ptrOut - 3;	435	rxDataLen = ptrOut - 3;
439	}	436	}
440		437
441	// --------------------------------------------------------------------------	438	// --------------------------------------------------------------------------
442	void usart0_processRxData(void) {	439	void usart0_processRxData(void) {
443	// We control the servoTestActive var from here: Count it down.	440	// We control the servoTestActive var from here: Count it down.
444	if (servoTestActive)	441	if (servoTestActive)
445	servoTestActive--;	442	servoTestActive--;
446	// if data in the rxd buffer are not locked immediately return	443	// if data in the rxd buffer are not locked immediately return
447	if (!rxd_buffer_locked)	444	if (!rxd_buffer_locked)
448	return;	445	return;
449	uint8_t tempchar[3];	446	uint8_t tempchar[3];
450	decode64(); // decode data block in rxd_buffer	447	decode64(); // decode data block in rxd_buffer
451		448
452	switch (rxd_buffer[1] - 'a') {	449	switch (rxd_buffer[1] - 'a') {
453		450
454	case FC_ADDRESS:	451	case FC_ADDRESS:
455	switch (rxd_buffer[2]) {	452	switch (rxd_buffer[2]) {
456	#ifdef USE_DIRECT_GPS	453	#ifdef USE_DIRECT_GPS
457	case 'K':// compass value	454	case 'K':// compass value
458	// What is the point of this - the compass will overwrite this soon?	455	// What is the point of this - the compass will overwrite this soon?
459	magneticHeading = ((Heading_t *)pRxData)->heading;	456	magneticHeading = ((Heading_t *)pRxData)->heading;
460	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;	457	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
461	break;	458	break;
462	#endif	459	#endif
463	case 't': // motor test	460	case 't': // motor test
464	if (rxDataLen > 20) {	461	if (rxDataLen > 20) {
465	memcpy(&servoTest[0], (uint8_t*) pRxData, sizeof(servoTest));	462	memcpy(&servoTest[0], (uint8_t*) pRxData, sizeof(servoTest));
466	} else {	463	} else {
467	memcpy(&servoTest[0], (uint8_t*) pRxData, 4);	464	memcpy(&servoTest[0], (uint8_t*) pRxData, 4);
468	}	465	}
469	servoTestActive = 255;	466	servoTestActive = 255;
470	externalControlActive = 255;	467	externalControlActive = 255;
471	break;	468	break;
472		469
473	case 'p': // get PPM channels	470	case 'p': // get PPM channels
474	request_PPMChannels = TRUE;	471	request_PPMChannels = TRUE;
475	break;	472	break;
476		473
477	case 'i':// Read IMU configuration	474	case 'i':// Read IMU configuration
478	tempchar[0] = IMUCONFIG_REVISION;	475	tempchar[0] = IMUCONFIG_REVISION;
479	tempchar[1] = sizeof(IMUConfig);	476	tempchar[1] = sizeof(IMUConfig);
480	while (!txd_complete)	477	while (!txd_complete)
481	; // wait for previous frame to be sent	478	; // wait for previous frame to be sent
482	sendOutData('I', FC_ADDRESS, 2, &tempchar, 2, (uint8_t *) &IMUConfig, sizeof(IMUConfig));	479	sendOutData('I', FC_ADDRESS, 2, &tempchar, 2, (uint8_t *) &IMUConfig, sizeof(IMUConfig));
483	break;	480	break;
484		481
485	case 'j':// Save IMU configuration	482	case 'j':// Save IMU configuration
486	if (!isFlying) // save settings only if motors are off	483	if (!isFlying) // save settings only if motors are off
487	{	484	{
488	if ((pRxData[0] == IMUCONFIG_REVISION) && (pRxData[1] == sizeof(IMUConfig))) {	485	if ((pRxData[0] == IMUCONFIG_REVISION) && (pRxData[1] == sizeof(IMUConfig))) {
489	memcpy(&IMUConfig, (uint8_t*) &pRxData[2], sizeof(IMUConfig));	486	memcpy(&IMUConfig, (uint8_t*) &pRxData[2], sizeof(IMUConfig));
490	IMUConfig_writeToEEprom();	487	IMUConfig_writeToEEprom();
491	tempchar[0] = 1; //indicate ok data	488	tempchar[0] = 1; //indicate ok data
492	} else {	489	} else {
493	tempchar[0] = 0; //indicate bad data	490	tempchar[0] = 0; //indicate bad data
494	}	491	}
495	while (!txd_complete)	492	while (!txd_complete)
496	; // wait for previous frame to be sent	493	; // wait for previous frame to be sent
497	sendOutData('J', FC_ADDRESS, 1, &tempchar, 1);	494	sendOutData('J', FC_ADDRESS, 1, &tempchar, 1);
498	}	495	}
499	break;	496	break;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/arduino_atmega328/uart0.c - Rev 2109 → 2132