WebSVN - FlightCtrl - Diff - Rev 1646 and 1775 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt und genannt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #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 "menu.h"
 #include "timer0.h"
 #include "uart0.h"
 #include "attitude.h"
 #include "rc.h"
 #include "externalControl.h"
+#include "output.h"
 #if defined (USE_MK3MAG)
 #include "ubx.h"
 #endif
 #ifdef USE_MK3MAG
 #include "mk3mag.h"
 #endif
 #define FC_ADDRESS 1
 #define NC_ADDRESS 2
 #define MK3MAG_ADDRESS 3
 #define FALSE   0
 #define TRUE    1
 //int8_t test __attribute__ ((section (".noinit")));
-uint8_t Request_VerInfo                 = FALSE;
+uint8_t request_VerInfo                 = FALSE;
-uint8_t Request_ExternalControl         = FALSE;
+uint8_t request_ExternalControl         = FALSE;
-uint8_t Request_Display                 = FALSE;
+uint8_t request_Display                 = FALSE;
-uint8_t Request_Display1                = FALSE;
+uint8_t request_Display1                = FALSE;
-uint8_t Request_DebugData               = FALSE;
+uint8_t request_DebugData               = FALSE;
-uint8_t Request_Data3D                  = FALSE;
+uint8_t request_Data3D                  = FALSE;
-uint8_t Request_DebugLabel              = 255;
+uint8_t request_DebugLabel              = 255;
-uint8_t Request_PPMChannels     = FALSE;
+uint8_t request_PPMChannels             = FALSE;
-uint8_t Request_MotorTest               = FALSE;
+uint8_t request_MotorTest               = FALSE;
+uint8_t request_variables               = FALSE;
 uint8_t DisplayLine = 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 motorTestActive  = 0;
 uint8_t motorTest[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;
 DebugOut_t              DebugOut;
 Data3D_t                Data3D;
 UART_VersionInfo_t      UART_VersionInfo;
 uint16_t DebugData_Timer;
 uint16_t Data3D_Timer;
 uint16_t DebugData_Interval = 500; // in 1ms
 uint16_t Data3D_Interval = 0; // in 1ms
 #ifdef USE_MK3MAG
 int16_t Compass_Timer;
 #endif
 // keep lables in flash to save 512 bytes of sram space
 const prog_uint8_t ANALOG_LABEL[32][16] = {
     //1234567890123456
     "AnglePitch      ", //0
     "AngleRoll       ",
     "AngleYaw        ",
     "GyroPitch(PID)  ",
     "GyroRoll(PID)   ",
     "GyroYaw         ", //5
     "GyroPitch(AC)   ",
     "GyroRoll(AC)    ",
     "GyroYaw(AC)     ",
-    "AccPitch        ",
+    "AccPitch (angle)",
-    "AccRoll         ", //10
+    "AccRoll (angle) ", //10
-    "CorrSumPitch    ",
+    "UBat            ",
-    "CorrSumRoll     ",
+    "Pitch Term      ",
-    "Pressure range  ",
+    "Roll Term       ",
-    "Pressure A/D    ",
+    "Yaw Term        ",
-    "Pressure Value  ", //15
+    "Throttle Term   ", //15
-    "Press. rangewidz",
+    "0th O Corr pitch",
-    "Press. init A/D ",
+    "0th O Corr roll ",
-    "FACTOR          ",
+    "DriftCompDelta P",
-    "throttleTerm    ",
+    "DriftCompDelta R",
-    "pitchTerm       ", //20
+    "ADPitchGyroOffs ", //20
-    "rollTerm        ",
+    "ADRollGyroOffs  ",
-    "yawTerm         ",
+    "M1              ",
-    "P Pitch         ",
+    "M2              ",
-    "I Pitch         ",
+    "M3              ",
-    "P+D Pitch       ", //25
+    "M4              ", //25
-    "Pitch acc noise ",
+    "ControlYaw      ",
-    "Roll acc noise  ",
+    "Acc Z           ",
-    "DynamicPitch    ",
+    "DriftCompPitch  ",
-    "DynamicRoll     ",
+    "DriftCompRoll   ",
     "Pitch Noise     ", //30
     "Roll Noise      "
   };
 /****************************************************************/
 /*              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;
 #ifdef USE_MK3MAG
   Compass_Timer = SetDelay(220);
 #endif
   UART_VersionInfo.SWMajor = VERSION_MAJOR;
   UART_VersionInfo.SWMinor = VERSION_MINOR;
   UART_VersionInfo.SWPatch = VERSION_PATCH;
   UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
   UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
   // restore global interrupt flags
   SREG = sreg;
+}
 /****************************************************************/
 /* USART0 transmitter ISR                                       */
 /****************************************************************/
 ISR(USART0_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(USART0_RX_vect) {
   static uint16_t crc;
   static uint8_t ptr_rxd_buffer = 0;
   uint8_t crc1, crc2;
   uint8_t c;
   c = UDR0;  // catch the received byte
 #if (defined (USE_MK3MAG))
   // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart.
   if(CPUType != ATMEGA644P) ubx_parser(c);
 #endif
   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
     crc = c; // init crc
+  }
 #if 0
   else if (ptr_rxd_buffer == 1) { // handle address
     rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
     crc += c; // update crc
+  }
 #endif
   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
       crc += c; // update crc
     } else { // termination character was received
       // the last 2 bytes are no subject for checksum calculation
       // they are the checksum itself
       crc -= rxd_buffer[ptr_rxd_buffer-2];
       crc -= rxd_buffer[ptr_rxd_buffer-1];
       // calculate checksum from transmitted data
       crc %= 4096;
       crc1 = '=' + crc / 64;
       crc2 = '=' + crc % 64;
       // compare checksum to transmitted checksum bytes
       if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == 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') {wdt_enable(WDTO_250MS);} // Reset-Commando
       } 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 AddCRC(uint16_t datalen) {
   uint16_t tmpCRC = 0, i;
   for(i = 0; i < datalen; i++) {
     tmpCRC += txd_buffer[i];
+  }
   tmpCRC %= 4096;
   txd_buffer[i++] = '=' + tmpCRC / 64;
   txd_buffer[i++] = '=' + tmpCRC % 64;
   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);
+  AddCRC(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);
   AddCRC(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 motorTestActive var from here: Count it down.
+  if (motorTestActive) motorTestActive--;
   // if data in the rxd buffer are not locked immediately return
   if(!rxd_buffer_locked) return;
   uint8_t tempchar1, tempchar2;
   Decode64(); // decode data block in rxd_buffer
   switch(rxd_buffer[1] - 'a') {
   case FC_ADDRESS:
     switch(rxd_buffer[2]) {
 #ifdef USE_MK3MAG
     case 'K':// compass value
-      CompassHeading = ((Heading_t *)pRxData)->Heading;
+      compassHeading = ((Heading_t *)pRxData)->Heading;
-      CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
+      compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
       break;
 #endif
-    case 't':// motor test
+    case 't': // motor test
-      if(RxDataLen > 20) //
+      if(RxDataLen > 20) {
-        {
-          memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest));
+        memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest));
-        }
-      else
+      } else {
-        {
-          memcpy(&motorTest[0], (uint8_t*)pRxData, 4);
+        memcpy(&motorTest[0], (uint8_t*)pRxData, 4);
-        }
+      }
-      //Request_MotorTest = TRUE;
       motorTestActive = 255;
       externalControlActive = 255;
       break;
     case 'n':// "Get Mixer Table
       while(!txd_complete); // wait for previous frame to be sent
       SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));
       break;
     case 'm':// "Set Mixer Table
-      if(pRxData[0] == EEMIXER_REVISION)
+      if(pRxData[0] == EEMIXER_REVISION) {
-        {
-          memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer));
+        memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer));
-          MixerTable_WriteToEEProm();
+        MixerTable_WriteToEEProm();
-          while(!txd_complete); // wait for previous frame to be sent
+        while(!txd_complete); // wait for previous frame to be sent
-          tempchar1 = 1;
+        tempchar1 = 1;
-        }
-      else
+      } else {
-        {
-          tempchar1 = 0;
+        tempchar1 = 0;
-        }
+      }
       SendOutData('M', FC_ADDRESS,  1, &tempchar1, 1);
       break;
     case 'p': // get PPM channels
-      Request_PPMChannels = TRUE;
+      request_PPMChannels = TRUE;
       break;
     case 'q':// request settings
-      if(pRxData[0] == 0xFF)
+      if(pRxData[0] == 0xFF) {
-        {
-          pRxData[0] = GetParamByte(PID_ACTIVE_SET);
+        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]);
       tempchar1 = pRxData[0];
       tempchar2 = EEPARAM_REVISION;
       while(!txd_complete); // wait for previous frame to be sent
       SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams));
       break;
     case 's': // save settings
       if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off
+        {
           if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings
+            {
               memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams));
               ParamSet_WriteToEEProm(pRxData[0]);
               /*
                 TODO: Remove this encapsulation breach
                 turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L;
                 turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L;
               */
               tempchar1 = getActiveParamSet();
               beepNumber(tempchar1);
+            }
           else
+            {
               tempchar1 = 0;    //indicate bad data
+            }
           while(!txd_complete); // wait for previous frame to be sent
           SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1));
+        }
       break;
     default:
       //unsupported command received
       break;
     } // case FC_ADDRESS:
   default: // any Slave Address
-    switch(rxd_buffer[2])
+    switch(rxd_buffer[2]) {
-      {
       case 'a':// request for labels of the analog debug outputs
-        Request_DebugLabel = pRxData[0];
+        request_DebugLabel = pRxData[0];
-        if(Request_DebugLabel > 31) Request_DebugLabel = 31;
+        if(request_DebugLabel > 31) request_DebugLabel = 31;
         externalControlActive = 255;
         break;
       case 'b': // submit extern control
         memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl));
         ConfirmFrame = externalControl.frame;
         externalControlActive = 255;
         break;
       case 'h':// request for display columns
         externalControlActive = 255;
         RemoteKeys |= pRxData[0];
         if(RemoteKeys) DisplayLine = 0;
-        Request_Display = TRUE;
+        request_Display = TRUE;
         break;
       case 'l':// request for display columns
         externalControlActive = 255;
         MenuItem = pRxData[0];
-        Request_Display1 = TRUE;
+        request_Display1 = TRUE;
         break;
       case 'v': // request for version and board release
-        Request_VerInfo = TRUE;
+        request_VerInfo = TRUE;
         break;
+    case 'x':
+      request_variables = TRUE;
+      break;
       case 'g':// get external control data
-        Request_ExternalControl = TRUE;
+        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;
+        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;
+        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 für 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) {
+  if(request_VerInfo && txd_complete) {
     SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
-    Request_VerInfo = FALSE;
+    request_VerInfo = FALSE;
   }
-  if(Request_Display && txd_complete) {
+  if(request_Display && txd_complete) {
     LCD_PrintMenu();
     SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20);
     DisplayLine++;
     if(DisplayLine >= 4) DisplayLine = 0;
-    Request_Display = FALSE;
+    request_Display = FALSE;
+  }
-  if(Request_Display1 && txd_complete) {
+  if(request_Display1 && txd_complete) {
     LCD_PrintMenu();
     SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));
-    Request_Display1 = FALSE;
+    request_Display1 = FALSE;
   }
-  if(Request_DebugLabel != 0xFF) { // Texte für die Analogdaten
+  if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten
     uint8_t label[16]; // local sram buffer
-    memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer
+    memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer
-    SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16);
+    SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16);
-    Request_DebugLabel = 0xFF;
+    request_DebugLabel = 0xFF;
+  }
   if(ConfirmFrame && txd_complete) {   // Datensatz ohne CRC bestätigen
     SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
     ConfirmFrame = 0;
+  }
-  if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) {
+  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;
+    request_DebugData = FALSE;
   }
-  if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) {
+  if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) {
     SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D));
     Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
     Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
     Data3D.Heading   = (int16_t)((10 * yawGyroHeading)   / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
     Data3D_Timer = SetDelay(Data3D_Interval);
-    Request_Data3D = FALSE;
+    request_Data3D = FALSE;
+  }
-  if(Request_ExternalControl && txd_complete) {
+  if(request_ExternalControl && txd_complete) {
     SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl));
-    Request_ExternalControl = FALSE;
+    request_ExternalControl = FALSE;
+  }
 #ifdef USE_MK3MAG
   if((CheckDelay(Compass_Timer)) && txd_complete) {
-    ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
+    ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL);  // approx. 0.1 deg
-    ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
+    ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL);  // approx. 0.1 deg
     ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];
     ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];
-    ToMk3Mag.CalState = CompassCalState;
+    ToMk3Mag.CalState = compassCalState;
     SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));
     // the last state is 5 and should be send only once to avoid multiple flash writing
-    if(CompassCalState > 4)  CompassCalState = 0;
+    if(compassCalState > 4)  compassCalState = 0;
     Compass_Timer = SetDelay(99);
+  }
 #endif
-  if(Request_MotorTest && txd_complete) {
+  if(request_MotorTest && txd_complete) {
     SendOutData('T', FC_ADDRESS, 0);
-    Request_MotorTest = FALSE;
+    request_MotorTest = FALSE;
   }
-  if(Request_PPMChannels && txd_complete) {
+  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('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in));
+    SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables));
-    Request_PPMChannels = FALSE;
+    request_variables = FALSE;
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/uart0.c @ 1801 - Rev 1646 → 1775