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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | #include <avr/io.h> |
53 | #include <avr/io.h> |
54 | #include <avr/interrupt.h> |
54 | #include <avr/interrupt.h> |
55 | #include <avr/wdt.h> |
55 | #include <avr/wdt.h> |
56 | #include <avr/pgmspace.h> |
56 | #include <avr/pgmspace.h> |
57 | #include <stdarg.h> |
57 | #include <stdarg.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | 59 | ||
60 | #include "eeprom.h" |
60 | #include "eeprom.h" |
61 | #include "menu.h" |
61 | #include "menu.h" |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | #include "attitude.h" |
64 | #include "attitude.h" |
65 | #include "rc.h" |
65 | #include "rc.h" |
66 | #include "externalControl.h" |
66 | #include "externalControl.h" |
67 | 67 | ||
68 | #if defined (USE_MK3MAG) |
68 | #if defined (USE_MK3MAG) |
69 | #include "ubx.h" |
69 | #include "ubx.h" |
70 | #endif |
70 | #endif |
71 | #ifdef USE_MK3MAG |
71 | #ifdef USE_MK3MAG |
72 | #include "mk3mag.h" |
72 | #include "mk3mag.h" |
73 | #endif |
73 | #endif |
74 | 74 | ||
75 | #define FC_ADDRESS 1 |
75 | #define FC_ADDRESS 1 |
76 | #define NC_ADDRESS 2 |
76 | #define NC_ADDRESS 2 |
77 | #define MK3MAG_ADDRESS 3 |
77 | #define MK3MAG_ADDRESS 3 |
78 | 78 | ||
79 | #define FALSE 0 |
79 | #define FALSE 0 |
80 | #define TRUE 1 |
80 | #define TRUE 1 |
81 | //int8_t test __attribute__ ((section (".noinit"))); |
81 | //int8_t test __attribute__ ((section (".noinit"))); |
82 | uint8_t Request_VerInfo = FALSE; |
82 | uint8_t Request_VerInfo = FALSE; |
83 | uint8_t Request_ExternalControl = FALSE; |
83 | uint8_t Request_ExternalControl = FALSE; |
84 | uint8_t Request_Display = FALSE; |
84 | uint8_t Request_Display = FALSE; |
85 | uint8_t Request_Display1 = FALSE; |
85 | uint8_t Request_Display1 = FALSE; |
86 | uint8_t Request_DebugData = FALSE; |
86 | uint8_t Request_DebugData = FALSE; |
87 | uint8_t Request_Data3D = FALSE; |
87 | uint8_t Request_Data3D = FALSE; |
88 | uint8_t Request_DebugLabel = 255; |
88 | uint8_t Request_DebugLabel = 255; |
89 | uint8_t Request_PPMChannels = FALSE; |
89 | uint8_t Request_PPMChannels = FALSE; |
90 | uint8_t Request_MotorTest = FALSE; |
90 | uint8_t Request_MotorTest = FALSE; |
91 | uint8_t DisplayLine = 0; |
91 | uint8_t DisplayLine = 0; |
92 | 92 | ||
93 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
93 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
94 | volatile uint8_t rxd_buffer_locked = FALSE; |
94 | volatile uint8_t rxd_buffer_locked = FALSE; |
95 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
95 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
96 | volatile uint8_t txd_complete = TRUE; |
96 | volatile uint8_t txd_complete = TRUE; |
97 | volatile uint8_t ReceivedBytes = 0; |
97 | volatile uint8_t ReceivedBytes = 0; |
98 | volatile uint8_t *pRxData = 0; |
98 | volatile uint8_t *pRxData = 0; |
99 | volatile uint8_t RxDataLen = 0; |
99 | volatile uint8_t RxDataLen = 0; |
100 | 100 | ||
101 | uint8_t motorTestActive = 0; |
101 | uint8_t motorTestActive = 0; |
102 | uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
102 | uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
103 | uint8_t ConfirmFrame; |
103 | uint8_t ConfirmFrame; |
104 | 104 | ||
105 | typedef struct { |
105 | typedef struct { |
106 | int16_t Heading; |
106 | int16_t Heading; |
107 | } __attribute__((packed)) Heading_t; |
107 | } __attribute__((packed)) Heading_t; |
108 | 108 | ||
109 | DebugOut_t DebugOut; |
109 | DebugOut_t DebugOut; |
110 | Data3D_t Data3D; |
110 | Data3D_t Data3D; |
111 | UART_VersionInfo_t UART_VersionInfo; |
111 | UART_VersionInfo_t UART_VersionInfo; |
112 | 112 | ||
113 | uint16_t DebugData_Timer; |
113 | uint16_t DebugData_Timer; |
114 | uint16_t Data3D_Timer; |
114 | uint16_t Data3D_Timer; |
115 | uint16_t DebugData_Interval = 500; // in 1ms |
115 | uint16_t DebugData_Interval = 500; // in 1ms |
116 | uint16_t Data3D_Interval = 0; // in 1ms |
116 | uint16_t Data3D_Interval = 0; // in 1ms |
117 | 117 | ||
118 | #ifdef USE_MK3MAG |
118 | #ifdef USE_MK3MAG |
119 | int16_t Compass_Timer; |
119 | int16_t Compass_Timer; |
120 | #endif |
120 | #endif |
121 | 121 | ||
122 | // keep lables in flash to save 512 bytes of sram space |
122 | // keep lables in flash to save 512 bytes of sram space |
123 | const prog_uint8_t ANALOG_LABEL[32][16] = { |
123 | const prog_uint8_t ANALOG_LABEL[32][16] = { |
124 | //1234567890123456 |
124 | //1234567890123456 |
125 | "AnglePitch ", //0 |
125 | "AnglePitch ", //0 |
126 | "AngleRoll ", |
126 | "AngleRoll ", |
127 | "AngleYaw ", |
127 | "AngleYaw ", |
- | 128 | "GyroPitch(PID) ", |
|
- | 129 | "GyroRoll(PID) ", |
|
- | 130 | "GyroYaw ", //5 |
|
128 | "GyroPitch(AC) ", |
131 | "GyroPitch(AC) ", |
129 | "GyroRoll(AC) ", |
132 | "GyroRoll(AC) ", |
130 | "GyroYaw(AC) ", //5 |
133 | "GyroYaw(AC) ", |
131 | "Pitch_Raw ", |
134 | "AccPitch ", |
132 | "HiResPitch_PID ", |
- | |
133 | "PitchGyroOffset ", |
- | |
134 | "Roll_Raw ", |
135 | "AccRoll ", //10 |
135 | "HiResRoll_PID ", //10 |
136 | "CorrSumPitch ", |
136 | "rollGyroOffset ", |
137 | "CorrSumRoll ", |
137 | "Pressure range ", |
138 | "Pressure range ", |
138 | "Pressure A/D ", |
139 | "Pressure A/D ", |
139 | "Pressure Value ", |
140 | "Pressure Value ", //15 |
140 | "Press. rangewidz", //15 |
141 | "Press. rangewidz", |
141 | "Press. init A/D ", |
142 | "Press. init A/D ", |
142 | "Ext. Quality ", |
- | |
143 | "Looping ", |
143 | "FACTOR ", |
144 | "throttleTerm ", |
144 | "throttleTerm ", |
145 | "pitchTerm ", //20 |
145 | "pitchTerm ", //20 |
146 | "rollTerm ", |
146 | "rollTerm ", |
147 | "yawTerm ", |
147 | "yawTerm ", |
148 | "P Pitch ", |
148 | "P Pitch ", |
149 | "I Pitch ", |
149 | "I Pitch ", |
150 | "P+D Pitch ", //25 |
150 | "P+D Pitch ", //25 |
151 | "Pitch acc noise ", |
151 | "Pitch acc noise ", |
152 | "Roll acc noise ", |
152 | "Roll acc noise ", |
153 | "Pitch Corr ", |
153 | "DynamicPitch ", |
154 | "Roll Corr ", |
154 | "DynamicRoll ", |
155 | "Pitch Noise ", //30 |
155 | "Pitch Noise ", //30 |
156 | "Roll Noise " |
156 | "Roll Noise " |
157 | }; |
157 | }; |
158 | 158 | ||
159 | /****************************************************************/ |
159 | /****************************************************************/ |
160 | /* Initialization of the USART0 */ |
160 | /* Initialization of the USART0 */ |
161 | /****************************************************************/ |
161 | /****************************************************************/ |
162 | void usart0_Init (void) { |
162 | void usart0_Init (void) { |
163 | uint8_t sreg = SREG; |
163 | uint8_t sreg = SREG; |
164 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
164 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
165 | 165 | ||
166 | // disable all interrupts before configuration |
166 | // disable all interrupts before configuration |
167 | cli(); |
167 | cli(); |
168 | 168 | ||
169 | // disable RX-Interrupt |
169 | // disable RX-Interrupt |
170 | UCSR0B &= ~(1 << RXCIE0); |
170 | UCSR0B &= ~(1 << RXCIE0); |
171 | // disable TX-Interrupt |
171 | // disable TX-Interrupt |
172 | UCSR0B &= ~(1 << TXCIE0); |
172 | UCSR0B &= ~(1 << TXCIE0); |
173 | 173 | ||
174 | // set direction of RXD0 and TXD0 pins |
174 | // set direction of RXD0 and TXD0 pins |
175 | // set RXD0 (PD0) as an input pin |
175 | // set RXD0 (PD0) as an input pin |
176 | PORTD |= (1 << PORTD0); |
176 | PORTD |= (1 << PORTD0); |
177 | DDRD &= ~(1 << DDD0); |
177 | DDRD &= ~(1 << DDD0); |
178 | // set TXD0 (PD1) as an output pin |
178 | // set TXD0 (PD1) as an output pin |
179 | PORTD |= (1 << PORTD1); |
179 | PORTD |= (1 << PORTD1); |
180 | DDRD |= (1 << DDD1); |
180 | DDRD |= (1 << DDD1); |
181 | 181 | ||
182 | // USART0 Baud Rate Register |
182 | // USART0 Baud Rate Register |
183 | // set clock divider |
183 | // set clock divider |
184 | UBRR0H = (uint8_t)(ubrr >> 8); |
184 | UBRR0H = (uint8_t)(ubrr >> 8); |
185 | UBRR0L = (uint8_t)ubrr; |
185 | UBRR0L = (uint8_t)ubrr; |
186 | 186 | ||
187 | // USART0 Control and Status Register A, B, C |
187 | // USART0 Control and Status Register A, B, C |
188 | 188 | ||
189 | // enable double speed operation in |
189 | // enable double speed operation in |
190 | UCSR0A |= (1 << U2X0); |
190 | UCSR0A |= (1 << U2X0); |
191 | // enable receiver and transmitter in |
191 | // enable receiver and transmitter in |
192 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
192 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
193 | // set asynchronous mode |
193 | // set asynchronous mode |
194 | UCSR0C &= ~(1 << UMSEL01); |
194 | UCSR0C &= ~(1 << UMSEL01); |
195 | UCSR0C &= ~(1 << UMSEL00); |
195 | UCSR0C &= ~(1 << UMSEL00); |
196 | // no parity |
196 | // no parity |
197 | UCSR0C &= ~(1 << UPM01); |
197 | UCSR0C &= ~(1 << UPM01); |
198 | UCSR0C &= ~(1 << UPM00); |
198 | UCSR0C &= ~(1 << UPM00); |
199 | // 1 stop bit |
199 | // 1 stop bit |
200 | UCSR0C &= ~(1 << USBS0); |
200 | UCSR0C &= ~(1 << USBS0); |
201 | // 8-bit |
201 | // 8-bit |
202 | UCSR0B &= ~(1 << UCSZ02); |
202 | UCSR0B &= ~(1 << UCSZ02); |
203 | UCSR0C |= (1 << UCSZ01); |
203 | UCSR0C |= (1 << UCSZ01); |
204 | UCSR0C |= (1 << UCSZ00); |
204 | UCSR0C |= (1 << UCSZ00); |
205 | 205 | ||
206 | // flush receive buffer |
206 | // flush receive buffer |
207 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
207 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
208 | 208 | ||
209 | // enable interrupts at the end |
209 | // enable interrupts at the end |
210 | // enable RX-Interrupt |
210 | // enable RX-Interrupt |
211 | UCSR0B |= (1 << RXCIE0); |
211 | UCSR0B |= (1 << RXCIE0); |
212 | // enable TX-Interrupt |
212 | // enable TX-Interrupt |
213 | UCSR0B |= (1 << TXCIE0); |
213 | UCSR0B |= (1 << TXCIE0); |
214 | 214 | ||
215 | // initialize the debug timer |
215 | // initialize the debug timer |
216 | DebugData_Timer = SetDelay(DebugData_Interval); |
216 | DebugData_Timer = SetDelay(DebugData_Interval); |
217 | 217 | ||
218 | // unlock rxd_buffer |
218 | // unlock rxd_buffer |
219 | rxd_buffer_locked = FALSE; |
219 | rxd_buffer_locked = FALSE; |
220 | pRxData = 0; |
220 | pRxData = 0; |
221 | RxDataLen = 0; |
221 | RxDataLen = 0; |
222 | 222 | ||
223 | // no bytes to send |
223 | // no bytes to send |
224 | txd_complete = TRUE; |
224 | txd_complete = TRUE; |
225 | 225 | ||
226 | #ifdef USE_MK3MAG |
226 | #ifdef USE_MK3MAG |
227 | Compass_Timer = SetDelay(220); |
227 | Compass_Timer = SetDelay(220); |
228 | #endif |
228 | #endif |
229 | 229 | ||
230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
235 | 235 | ||
236 | // restore global interrupt flags |
236 | // restore global interrupt flags |
237 | SREG = sreg; |
237 | SREG = sreg; |
238 | } |
238 | } |
239 | 239 | ||
240 | /****************************************************************/ |
240 | /****************************************************************/ |
241 | /* USART0 transmitter ISR */ |
241 | /* USART0 transmitter ISR */ |
242 | /****************************************************************/ |
242 | /****************************************************************/ |
243 | ISR(USART0_TX_vect) { |
243 | ISR(USART0_TX_vect) { |
244 | static uint16_t ptr_txd_buffer = 0; |
244 | static uint16_t ptr_txd_buffer = 0; |
245 | uint8_t tmp_tx; |
245 | uint8_t tmp_tx; |
246 | if(!txd_complete) { // transmission not completed |
246 | if(!txd_complete) { // transmission not completed |
247 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
247 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
248 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
248 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
249 | // if terminating character or end of txd buffer was reached |
249 | // if terminating character or end of txd buffer was reached |
250 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
250 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
251 | ptr_txd_buffer = 0; // reset txd pointer |
251 | ptr_txd_buffer = 0; // reset txd pointer |
252 | txd_complete = 1; // stop transmission |
252 | txd_complete = 1; // stop transmission |
253 | } |
253 | } |
254 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
254 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
255 | } |
255 | } |
256 | // transmission completed |
256 | // transmission completed |
257 | else ptr_txd_buffer = 0; |
257 | else ptr_txd_buffer = 0; |
258 | } |
258 | } |
259 | 259 | ||
260 | /****************************************************************/ |
260 | /****************************************************************/ |
261 | /* USART0 receiver ISR */ |
261 | /* USART0 receiver ISR */ |
262 | /****************************************************************/ |
262 | /****************************************************************/ |
263 | ISR(USART0_RX_vect) { |
263 | ISR(USART0_RX_vect) { |
264 | static uint16_t crc; |
264 | static uint16_t crc; |
265 | static uint8_t ptr_rxd_buffer = 0; |
265 | static uint8_t ptr_rxd_buffer = 0; |
266 | uint8_t crc1, crc2; |
266 | uint8_t crc1, crc2; |
267 | uint8_t c; |
267 | uint8_t c; |
268 | 268 | ||
269 | c = UDR0; // catch the received byte |
269 | c = UDR0; // catch the received byte |
270 | 270 | ||
271 | #if (defined (USE_MK3MAG)) |
271 | #if (defined (USE_MK3MAG)) |
272 | // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
272 | // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
273 | if(CPUType != ATMEGA644P) ubx_parser(c); |
273 | if(CPUType != ATMEGA644P) ubx_parser(c); |
274 | #endif |
274 | #endif |
275 | 275 | ||
276 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
276 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
277 | 277 | ||
278 | // the rxd buffer is unlocked |
278 | // the rxd buffer is unlocked |
279 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
279 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
281 | crc = c; // init crc |
281 | crc = c; // init crc |
282 | } |
282 | } |
283 | #if 0 |
283 | #if 0 |
284 | else if (ptr_rxd_buffer == 1) { // handle address |
284 | else if (ptr_rxd_buffer == 1) { // handle address |
285 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
285 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
286 | crc += c; // update crc |
286 | crc += c; // update crc |
287 | } |
287 | } |
288 | #endif |
288 | #endif |
289 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
289 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
290 | if(c != '\r') { // no termination character |
290 | if(c != '\r') { // no termination character |
291 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
291 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
292 | crc += c; // update crc |
292 | crc += c; // update crc |
293 | } else { // termination character was received |
293 | } else { // termination character was received |
294 | // the last 2 bytes are no subject for checksum calculation |
294 | // the last 2 bytes are no subject for checksum calculation |
295 | // they are the checksum itself |
295 | // they are the checksum itself |
296 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
296 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
297 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
297 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
298 | // calculate checksum from transmitted data |
298 | // calculate checksum from transmitted data |
299 | crc %= 4096; |
299 | crc %= 4096; |
300 | crc1 = '=' + crc / 64; |
300 | crc1 = '=' + crc / 64; |
301 | crc2 = '=' + crc % 64; |
301 | crc2 = '=' + crc % 64; |
302 | // compare checksum to transmitted checksum bytes |
302 | // compare checksum to transmitted checksum bytes |
303 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
303 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
304 | // checksum valid |
304 | // checksum valid |
305 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
305 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
306 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
306 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
307 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
307 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
309 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
309 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
310 | } else { // checksum invalid |
310 | } else { // checksum invalid |
311 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
311 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
312 | } |
312 | } |
313 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
313 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
314 | } |
314 | } |
315 | } else { // rxd buffer overrun |
315 | } else { // rxd buffer overrun |
316 | ptr_rxd_buffer = 0; // reset rxd buffer |
316 | ptr_rxd_buffer = 0; // reset rxd buffer |
317 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
317 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
318 | } |
318 | } |
319 | } |
319 | } |
320 | 320 | ||
321 | // -------------------------------------------------------------------------- |
321 | // -------------------------------------------------------------------------- |
322 | void AddCRC(uint16_t datalen) { |
322 | void AddCRC(uint16_t datalen) { |
323 | uint16_t tmpCRC = 0, i; |
323 | uint16_t tmpCRC = 0, i; |
324 | for(i = 0; i < datalen; i++) { |
324 | for(i = 0; i < datalen; i++) { |
325 | tmpCRC += txd_buffer[i]; |
325 | tmpCRC += txd_buffer[i]; |
326 | } |
326 | } |
327 | tmpCRC %= 4096; |
327 | tmpCRC %= 4096; |
328 | txd_buffer[i++] = '=' + tmpCRC / 64; |
328 | txd_buffer[i++] = '=' + tmpCRC / 64; |
329 | txd_buffer[i++] = '=' + tmpCRC % 64; |
329 | txd_buffer[i++] = '=' + tmpCRC % 64; |
330 | txd_buffer[i++] = '\r'; |
330 | txd_buffer[i++] = '\r'; |
331 | txd_complete = FALSE; |
331 | txd_complete = FALSE; |
332 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
332 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
333 | } |
333 | } |
334 | 334 | ||
335 | // -------------------------------------------------------------------------- |
335 | // -------------------------------------------------------------------------- |
336 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
336 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
337 | va_list ap; |
337 | va_list ap; |
338 | uint16_t pt = 0; |
338 | uint16_t pt = 0; |
339 | uint8_t a,b,c; |
339 | uint8_t a,b,c; |
340 | uint8_t ptr = 0; |
340 | uint8_t ptr = 0; |
341 | 341 | ||
342 | uint8_t *pdata = 0; |
342 | uint8_t *pdata = 0; |
343 | int len = 0; |
343 | int len = 0; |
344 | 344 | ||
345 | txd_buffer[pt++] = '#'; // Start character |
345 | txd_buffer[pt++] = '#'; // Start character |
346 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
346 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
347 | txd_buffer[pt++] = cmd; // Command |
347 | txd_buffer[pt++] = cmd; // Command |
348 | 348 | ||
349 | va_start(ap, numofbuffers); |
349 | va_start(ap, numofbuffers); |
350 | 350 | ||
351 | if(numofbuffers) { |
351 | if(numofbuffers) { |
352 | pdata = va_arg(ap, uint8_t*); |
352 | pdata = va_arg(ap, uint8_t*); |
353 | len = va_arg(ap, int); |
353 | len = va_arg(ap, int); |
354 | ptr = 0; |
354 | ptr = 0; |
355 | numofbuffers--; |
355 | numofbuffers--; |
356 | } |
356 | } |
357 | 357 | ||
358 | while(len){ |
358 | while(len){ |
359 | if(len) { |
359 | if(len) { |
360 | a = pdata[ptr++]; |
360 | a = pdata[ptr++]; |
361 | len--; |
361 | len--; |
362 | if((!len) && numofbuffers) { |
362 | if((!len) && numofbuffers) { |
363 | pdata = va_arg(ap, uint8_t*); |
363 | pdata = va_arg(ap, uint8_t*); |
364 | len = va_arg(ap, int); |
364 | len = va_arg(ap, int); |
365 | ptr = 0; |
365 | ptr = 0; |
366 | numofbuffers--; |
366 | numofbuffers--; |
367 | } |
367 | } |
368 | } |
368 | } |
369 | else a = 0; |
369 | else a = 0; |
370 | if(len) { |
370 | if(len) { |
371 | b = pdata[ptr++]; |
371 | b = pdata[ptr++]; |
372 | len--; |
372 | len--; |
373 | if((!len) && numofbuffers) { |
373 | if((!len) && numofbuffers) { |
374 | pdata = va_arg(ap, uint8_t*); |
374 | pdata = va_arg(ap, uint8_t*); |
375 | len = va_arg(ap, int); |
375 | len = va_arg(ap, int); |
376 | ptr = 0; |
376 | ptr = 0; |
377 | numofbuffers--; |
377 | numofbuffers--; |
378 | } |
378 | } |
379 | } else b = 0; |
379 | } else b = 0; |
380 | if(len) { |
380 | if(len) { |
381 | c = pdata[ptr++]; |
381 | c = pdata[ptr++]; |
382 | len--; |
382 | len--; |
383 | if((!len) && numofbuffers) { |
383 | if((!len) && numofbuffers) { |
384 | pdata = va_arg(ap, uint8_t*); |
384 | pdata = va_arg(ap, uint8_t*); |
385 | len = va_arg(ap, int); |
385 | len = va_arg(ap, int); |
386 | ptr = 0; |
386 | ptr = 0; |
387 | numofbuffers--; |
387 | numofbuffers--; |
388 | } |
388 | } |
389 | } |
389 | } |
390 | else c = 0; |
390 | else c = 0; |
391 | txd_buffer[pt++] = '=' + (a >> 2); |
391 | txd_buffer[pt++] = '=' + (a >> 2); |
392 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
392 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
393 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
393 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
394 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
394 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
395 | } |
395 | } |
396 | va_end(ap); |
396 | va_end(ap); |
397 | AddCRC(pt); // add checksum after data block and initates the transmission |
397 | AddCRC(pt); // add checksum after data block and initates the transmission |
398 | } |
398 | } |
399 | 399 | ||
400 | // -------------------------------------------------------------------------- |
400 | // -------------------------------------------------------------------------- |
401 | void Decode64(void) { |
401 | void Decode64(void) { |
402 | uint8_t a,b,c,d; |
402 | uint8_t a,b,c,d; |
403 | uint8_t x,y,z; |
403 | uint8_t x,y,z; |
404 | uint8_t ptrIn = 3; |
404 | uint8_t ptrIn = 3; |
405 | uint8_t ptrOut = 3; |
405 | uint8_t ptrOut = 3; |
406 | uint8_t len = ReceivedBytes - 6; |
406 | uint8_t len = ReceivedBytes - 6; |
407 | 407 | ||
408 | while(len) { |
408 | while(len) { |
409 | a = rxd_buffer[ptrIn++] - '='; |
409 | a = rxd_buffer[ptrIn++] - '='; |
410 | b = rxd_buffer[ptrIn++] - '='; |
410 | b = rxd_buffer[ptrIn++] - '='; |
411 | c = rxd_buffer[ptrIn++] - '='; |
411 | c = rxd_buffer[ptrIn++] - '='; |
412 | d = rxd_buffer[ptrIn++] - '='; |
412 | d = rxd_buffer[ptrIn++] - '='; |
413 | //if(ptrIn > ReceivedBytes - 3) break; |
413 | //if(ptrIn > ReceivedBytes - 3) break; |
414 | 414 | ||
415 | x = (a << 2) | (b >> 4); |
415 | x = (a << 2) | (b >> 4); |
416 | y = ((b & 0x0f) << 4) | (c >> 2); |
416 | y = ((b & 0x0f) << 4) | (c >> 2); |
417 | z = ((c & 0x03) << 6) | d; |
417 | z = ((c & 0x03) << 6) | d; |
418 | 418 | ||
419 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
419 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
420 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
420 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
421 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
421 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
422 | } |
422 | } |
423 | pRxData = &rxd_buffer[3]; |
423 | pRxData = &rxd_buffer[3]; |
424 | RxDataLen = ptrOut - 3; |
424 | RxDataLen = ptrOut - 3; |
425 | } |
425 | } |
426 | 426 | ||
427 | // -------------------------------------------------------------------------- |
427 | // -------------------------------------------------------------------------- |
428 | void usart0_ProcessRxData(void) { |
428 | void usart0_ProcessRxData(void) { |
429 | // if data in the rxd buffer are not locked immediately return |
429 | // if data in the rxd buffer are not locked immediately return |
430 | if(!rxd_buffer_locked) return; |
430 | if(!rxd_buffer_locked) return; |
431 | 431 | ||
432 | uint8_t tempchar1, tempchar2; |
432 | uint8_t tempchar1, tempchar2; |
433 | 433 | ||
434 | Decode64(); // decode data block in rxd_buffer |
434 | Decode64(); // decode data block in rxd_buffer |
435 | 435 | ||
436 | switch(rxd_buffer[1] - 'a') { |
436 | switch(rxd_buffer[1] - 'a') { |
437 | case FC_ADDRESS: |
437 | case FC_ADDRESS: |
438 | switch(rxd_buffer[2]) { |
438 | switch(rxd_buffer[2]) { |
439 | #ifdef USE_MK3MAG |
439 | #ifdef USE_MK3MAG |
440 | case 'K':// compass value |
440 | case 'K':// compass value |
441 | CompassHeading = ((Heading_t *)pRxData)->Heading; |
441 | CompassHeading = ((Heading_t *)pRxData)->Heading; |
442 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
442 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
443 | break; |
443 | break; |
444 | #endif |
444 | #endif |
445 | 445 | ||
446 | case 't':// motor test |
446 | case 't':// motor test |
447 | if(RxDataLen > 20) // |
447 | if(RxDataLen > 20) // |
448 | { |
448 | { |
449 | memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
449 | memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
450 | } |
450 | } |
451 | else |
451 | else |
452 | { |
452 | { |
453 | memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
453 | memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
454 | } |
454 | } |
455 | //Request_MotorTest = TRUE; |
455 | //Request_MotorTest = TRUE; |
456 | motorTestActive = 255; |
456 | motorTestActive = 255; |
457 | externalControlActive = 255; |
457 | externalControlActive = 255; |
458 | break; |
458 | break; |
459 | 459 | ||
460 | case 'n':// "Get Mixer Table |
460 | case 'n':// "Get Mixer Table |
461 | while(!txd_complete); // wait for previous frame to be sent |
461 | while(!txd_complete); // wait for previous frame to be sent |
462 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
462 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
463 | break; |
463 | break; |
464 | 464 | ||
465 | case 'm':// "Set Mixer Table |
465 | case 'm':// "Set Mixer Table |
466 | if(pRxData[0] == EEMIXER_REVISION) |
466 | if(pRxData[0] == EEMIXER_REVISION) |
467 | { |
467 | { |
468 | memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
468 | memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
469 | MixerTable_WriteToEEProm(); |
469 | MixerTable_WriteToEEProm(); |
470 | while(!txd_complete); // wait for previous frame to be sent |
470 | while(!txd_complete); // wait for previous frame to be sent |
471 | tempchar1 = 1; |
471 | tempchar1 = 1; |
472 | } |
472 | } |
473 | else |
473 | else |
474 | { |
474 | { |
475 | tempchar1 = 0; |
475 | tempchar1 = 0; |
476 | } |
476 | } |
477 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
477 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
478 | break; |
478 | break; |
479 | 479 | ||
480 | case 'p': // get PPM channels |
480 | case 'p': // get PPM channels |
481 | Request_PPMChannels = TRUE; |
481 | Request_PPMChannels = TRUE; |
482 | break; |
482 | break; |
483 | 483 | ||
484 | case 'q':// request settings |
484 | case 'q':// request settings |
485 | if(pRxData[0] == 0xFF) |
485 | if(pRxData[0] == 0xFF) |
486 | { |
486 | { |
487 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
487 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
488 | } |
488 | } |
489 | // limit settings range |
489 | // limit settings range |
490 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
490 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
491 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
491 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
492 | // load requested parameter set |
492 | // load requested parameter set |
493 | ParamSet_ReadFromEEProm(pRxData[0]); |
493 | ParamSet_ReadFromEEProm(pRxData[0]); |
494 | tempchar1 = pRxData[0]; |
494 | tempchar1 = pRxData[0]; |
495 | tempchar2 = EEPARAM_REVISION; |
495 | tempchar2 = EEPARAM_REVISION; |
496 | while(!txd_complete); // wait for previous frame to be sent |
496 | while(!txd_complete); // wait for previous frame to be sent |
497 | SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
497 | SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
498 | break; |
498 | break; |
499 | 499 | ||
500 | case 's': // save settings |
500 | case 's': // save settings |
501 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
501 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
502 | { |
502 | { |
503 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
503 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
504 | { |
504 | { |
505 | memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
505 | memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
506 | ParamSet_WriteToEEProm(pRxData[0]); |
506 | ParamSet_WriteToEEProm(pRxData[0]); |
507 | /* |
507 | /* |
508 | TODO: Remove this encapsulation breach |
508 | TODO: Remove this encapsulation breach |
509 | turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
509 | turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
510 | turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
510 | turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
511 | */ |
511 | */ |
512 | tempchar1 = getActiveParamSet(); |
512 | tempchar1 = getActiveParamSet(); |
513 | beepNumber(tempchar1); |
513 | beepNumber(tempchar1); |
514 | } |
514 | } |
515 | else |
515 | else |
516 | { |
516 | { |
517 | tempchar1 = 0; //indicate bad data |
517 | tempchar1 = 0; //indicate bad data |
518 | } |
518 | } |
519 | while(!txd_complete); // wait for previous frame to be sent |
519 | while(!txd_complete); // wait for previous frame to be sent |
520 | SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
520 | SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
521 | } |
521 | } |
522 | break; |
522 | break; |
523 | 523 | ||
524 | default: |
524 | default: |
525 | //unsupported command received |
525 | //unsupported command received |
526 | break; |
526 | break; |
527 | } // case FC_ADDRESS: |
527 | } // case FC_ADDRESS: |
528 | 528 | ||
529 | default: // any Slave Address |
529 | default: // any Slave Address |
530 | 530 | ||
531 | switch(rxd_buffer[2]) |
531 | switch(rxd_buffer[2]) |
532 | { |
532 | { |
533 | case 'a':// request for labels of the analog debug outputs |
533 | case 'a':// request for labels of the analog debug outputs |
534 | Request_DebugLabel = pRxData[0]; |
534 | Request_DebugLabel = pRxData[0]; |
535 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
535 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
536 | externalControlActive = 255; |
536 | externalControlActive = 255; |
537 | break; |
537 | break; |
538 | 538 | ||
539 | case 'b': // submit extern control |
539 | case 'b': // submit extern control |
540 | memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
540 | memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
541 | ConfirmFrame = externalControl.frame; |
541 | ConfirmFrame = externalControl.frame; |
542 | externalControlActive = 255; |
542 | externalControlActive = 255; |
543 | break; |
543 | break; |
544 | 544 | ||
545 | case 'h':// request for display columns |
545 | case 'h':// request for display columns |
546 | externalControlActive = 255; |
546 | externalControlActive = 255; |
547 | RemoteKeys |= pRxData[0]; |
547 | RemoteKeys |= pRxData[0]; |
548 | if(RemoteKeys) DisplayLine = 0; |
548 | if(RemoteKeys) DisplayLine = 0; |
549 | Request_Display = TRUE; |
549 | Request_Display = TRUE; |
550 | break; |
550 | break; |
551 | 551 | ||
552 | case 'l':// request for display columns |
552 | case 'l':// request for display columns |
553 | externalControlActive = 255; |
553 | externalControlActive = 255; |
554 | MenuItem = pRxData[0]; |
554 | MenuItem = pRxData[0]; |
555 | Request_Display1 = TRUE; |
555 | Request_Display1 = TRUE; |
556 | break; |
556 | break; |
557 | 557 | ||
558 | case 'v': // request for version and board release |
558 | case 'v': // request for version and board release |
559 | Request_VerInfo = TRUE; |
559 | Request_VerInfo = TRUE; |
560 | break; |
560 | break; |
561 | 561 | ||
562 | case 'g':// get external control data |
562 | case 'g':// get external control data |
563 | Request_ExternalControl = TRUE; |
563 | Request_ExternalControl = TRUE; |
564 | break; |
564 | break; |
565 | 565 | ||
566 | case 'd': // request for the debug data |
566 | case 'd': // request for the debug data |
567 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
567 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
568 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
568 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
569 | break; |
569 | break; |
570 | 570 | ||
571 | case 'c': // request for the 3D data |
571 | case 'c': // request for the 3D data |
572 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
572 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
573 | if(Data3D_Interval > 0) Request_Data3D = TRUE; |
573 | if(Data3D_Interval > 0) Request_Data3D = TRUE; |
574 | break; |
574 | break; |
575 | 575 | ||
576 | default: |
576 | default: |
577 | //unsupported command received |
577 | //unsupported command received |
578 | break; |
578 | break; |
579 | } |
579 | } |
580 | break; // default: |
580 | break; // default: |
581 | } |
581 | } |
582 | // unlock the rxd buffer after processing |
582 | // unlock the rxd buffer after processing |
583 | pRxData = 0; |
583 | pRxData = 0; |
584 | RxDataLen = 0; |
584 | RxDataLen = 0; |
585 | rxd_buffer_locked = FALSE; |
585 | rxd_buffer_locked = FALSE; |
586 | } |
586 | } |
587 | 587 | ||
588 | /************************************************************************/ |
588 | /************************************************************************/ |
589 | /* Routine für die Serielle Ausgabe */ |
589 | /* Routine für die Serielle Ausgabe */ |
590 | /************************************************************************/ |
590 | /************************************************************************/ |
591 | int16_t uart_putchar (int8_t c) { |
591 | int16_t uart_putchar (int8_t c) { |
592 | if (c == '\n') |
592 | if (c == '\n') |
593 | uart_putchar('\r'); |
593 | uart_putchar('\r'); |
594 | // wait until previous character was send |
594 | // wait until previous character was send |
595 | loop_until_bit_is_set(UCSR0A, UDRE0); |
595 | loop_until_bit_is_set(UCSR0A, UDRE0); |
596 | // send character |
596 | // send character |
597 | UDR0 = c; |
597 | UDR0 = c; |
598 | return (0); |
598 | return (0); |
599 | } |
599 | } |
600 | 600 | ||
601 | //--------------------------------------------------------------------------------------------- |
601 | //--------------------------------------------------------------------------------------------- |
602 | void usart0_TransmitTxData(void) { |
602 | void usart0_TransmitTxData(void) { |
603 | if(!txd_complete) return; |
603 | if(!txd_complete) return; |
604 | 604 | ||
605 | if(Request_VerInfo && txd_complete) { |
605 | if(Request_VerInfo && txd_complete) { |
606 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
606 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
607 | Request_VerInfo = FALSE; |
607 | Request_VerInfo = FALSE; |
608 | } |
608 | } |
609 | 609 | ||
610 | if(Request_Display && txd_complete) { |
610 | if(Request_Display && txd_complete) { |
611 | LCD_PrintMenu(); |
611 | LCD_PrintMenu(); |
612 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
612 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
613 | DisplayLine++; |
613 | DisplayLine++; |
614 | if(DisplayLine >= 4) DisplayLine = 0; |
614 | if(DisplayLine >= 4) DisplayLine = 0; |
615 | Request_Display = FALSE; |
615 | Request_Display = FALSE; |
616 | } |
616 | } |
617 | 617 | ||
618 | if(Request_Display1 && txd_complete) { |
618 | if(Request_Display1 && txd_complete) { |
619 | LCD_PrintMenu(); |
619 | LCD_PrintMenu(); |
620 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
620 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
621 | Request_Display1 = FALSE; |
621 | Request_Display1 = FALSE; |
622 | } |
622 | } |
623 | 623 | ||
624 | if(Request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
624 | if(Request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
625 | uint8_t label[16]; // local sram buffer |
625 | uint8_t label[16]; // local sram buffer |
626 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
626 | memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
627 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
627 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
628 | Request_DebugLabel = 0xFF; |
628 | Request_DebugLabel = 0xFF; |
629 | } |
629 | } |
630 | 630 | ||
631 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
631 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
632 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
632 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
633 | ConfirmFrame = 0; |
633 | ConfirmFrame = 0; |
634 | } |
634 | } |
635 | 635 | ||
636 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) { |
636 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) { |
637 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
637 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
638 | DebugData_Timer = SetDelay(DebugData_Interval); |
638 | DebugData_Timer = SetDelay(DebugData_Interval); |
639 | Request_DebugData = FALSE; |
639 | Request_DebugData = FALSE; |
640 | } |
640 | } |
641 | 641 | ||
642 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) { |
642 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) { |
643 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
643 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
644 | Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
644 | Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
645 | Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
645 | Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
646 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
646 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
647 | Data3D_Timer = SetDelay(Data3D_Interval); |
647 | Data3D_Timer = SetDelay(Data3D_Interval); |
648 | Request_Data3D = FALSE; |
648 | Request_Data3D = FALSE; |
649 | } |
649 | } |
650 | 650 | ||
651 | if(Request_ExternalControl && txd_complete) { |
651 | if(Request_ExternalControl && txd_complete) { |
652 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
652 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
653 | Request_ExternalControl = FALSE; |
653 | Request_ExternalControl = FALSE; |
654 | } |
654 | } |
655 | 655 | ||
656 | #ifdef USE_MK3MAG |
656 | #ifdef USE_MK3MAG |
657 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
657 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
658 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
658 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
659 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
659 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCH_ROLL); // approx. 0.1 deg |
660 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
660 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
661 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
661 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
662 | ToMk3Mag.CalState = CompassCalState; |
662 | ToMk3Mag.CalState = CompassCalState; |
663 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
663 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
664 | // the last state is 5 and should be send only once to avoid multiple flash writing |
664 | // the last state is 5 and should be send only once to avoid multiple flash writing |
665 | if(CompassCalState > 4) CompassCalState = 0; |
665 | if(CompassCalState > 4) CompassCalState = 0; |
666 | Compass_Timer = SetDelay(99); |
666 | Compass_Timer = SetDelay(99); |
667 | } |
667 | } |
668 | #endif |
668 | #endif |
669 | 669 | ||
670 | if(Request_MotorTest && txd_complete) { |
670 | if(Request_MotorTest && txd_complete) { |
671 | SendOutData('T', FC_ADDRESS, 0); |
671 | SendOutData('T', FC_ADDRESS, 0); |
672 | Request_MotorTest = FALSE; |
672 | Request_MotorTest = FALSE; |
673 | } |
673 | } |
674 | 674 | ||
675 | if(Request_PPMChannels && txd_complete) { |
675 | if(Request_PPMChannels && txd_complete) { |
676 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
676 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
677 | Request_PPMChannels = FALSE; |
677 | Request_PPMChannels = FALSE; |
678 | } |
678 | } |
679 | } |
679 | } |
680 | 680 |