Rev 1775 | Rev 1821 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1775 | Rev 1796 | ||
---|---|---|---|
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 | #include "output.h" |
67 | #include "output.h" |
68 | - | ||
69 | #if defined (USE_MK3MAG) |
- | |
70 | #include "ubx.h" |
- | |
71 | #endif |
68 | |
72 | #ifdef USE_MK3MAG |
69 | #ifdef USE_MK3MAG |
73 | #include "mk3mag.h" |
70 | #include "mk3mag.h" |
74 | #endif |
71 | #endif |
75 | 72 | ||
76 | #define FC_ADDRESS 1 |
73 | #define FC_ADDRESS 1 |
77 | #define NC_ADDRESS 2 |
74 | #define NC_ADDRESS 2 |
78 | #define MK3MAG_ADDRESS 3 |
75 | #define MK3MAG_ADDRESS 3 |
79 | 76 | ||
80 | #define FALSE 0 |
77 | #define FALSE 0 |
81 | #define TRUE 1 |
78 | #define TRUE 1 |
82 | //int8_t test __attribute__ ((section (".noinit"))); |
79 | //int8_t test __attribute__ ((section (".noinit"))); |
83 | uint8_t request_VerInfo = FALSE; |
80 | uint8_t request_VerInfo = FALSE; |
84 | uint8_t request_ExternalControl = FALSE; |
81 | uint8_t request_ExternalControl = FALSE; |
85 | uint8_t request_Display = FALSE; |
82 | uint8_t request_Display = FALSE; |
86 | uint8_t request_Display1 = FALSE; |
83 | uint8_t request_Display1 = FALSE; |
87 | uint8_t request_DebugData = FALSE; |
84 | uint8_t request_DebugData = FALSE; |
88 | uint8_t request_Data3D = FALSE; |
85 | uint8_t request_Data3D = FALSE; |
89 | uint8_t request_DebugLabel = 255; |
86 | uint8_t request_DebugLabel = 255; |
90 | uint8_t request_PPMChannels = FALSE; |
87 | uint8_t request_PPMChannels = FALSE; |
91 | uint8_t request_MotorTest = FALSE; |
88 | uint8_t request_MotorTest = FALSE; |
92 | uint8_t request_variables = FALSE; |
89 | uint8_t request_variables = FALSE; |
93 | 90 | ||
94 | uint8_t DisplayLine = 0; |
91 | uint8_t DisplayLine = 0; |
95 | 92 | ||
96 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
93 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
97 | volatile uint8_t rxd_buffer_locked = FALSE; |
94 | volatile uint8_t rxd_buffer_locked = FALSE; |
98 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
95 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
99 | volatile uint8_t txd_complete = TRUE; |
96 | volatile uint8_t txd_complete = TRUE; |
100 | volatile uint8_t ReceivedBytes = 0; |
97 | volatile uint8_t ReceivedBytes = 0; |
101 | volatile uint8_t *pRxData = 0; |
98 | volatile uint8_t *pRxData = 0; |
102 | volatile uint8_t RxDataLen = 0; |
99 | volatile uint8_t RxDataLen = 0; |
103 | 100 | ||
104 | uint8_t motorTestActive = 0; |
101 | uint8_t motorTestActive = 0; |
105 | 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}; |
106 | uint8_t ConfirmFrame; |
103 | uint8_t ConfirmFrame; |
107 | 104 | ||
108 | typedef struct { |
105 | typedef struct { |
109 | int16_t Heading; |
106 | int16_t Heading; |
110 | } __attribute__((packed)) Heading_t; |
107 | } __attribute__((packed)) Heading_t; |
111 | 108 | ||
112 | DebugOut_t DebugOut; |
109 | DebugOut_t DebugOut; |
113 | Data3D_t Data3D; |
110 | Data3D_t Data3D; |
114 | UART_VersionInfo_t UART_VersionInfo; |
111 | UART_VersionInfo_t UART_VersionInfo; |
115 | 112 | ||
116 | uint16_t DebugData_Timer; |
113 | uint16_t DebugData_Timer; |
117 | uint16_t Data3D_Timer; |
114 | uint16_t Data3D_Timer; |
118 | uint16_t DebugData_Interval = 500; // in 1ms |
115 | uint16_t DebugData_Interval = 500; // in 1ms |
119 | uint16_t Data3D_Interval = 0; // in 1ms |
116 | uint16_t Data3D_Interval = 0; // in 1ms |
120 | 117 | ||
121 | #ifdef USE_MK3MAG |
118 | #ifdef USE_MK3MAG |
122 | int16_t Compass_Timer; |
119 | int16_t Compass_Timer; |
123 | #endif |
120 | #endif |
124 | 121 | ||
125 | // keep lables in flash to save 512 bytes of sram space |
122 | // keep lables in flash to save 512 bytes of sram space |
126 | const prog_uint8_t ANALOG_LABEL[32][16] = { |
123 | const prog_uint8_t ANALOG_LABEL[32][16] = { |
127 | //1234567890123456 |
124 | //1234567890123456 |
128 | "AnglePitch ", //0 |
125 | "AnglePitch ", //0 |
129 | "AngleRoll ", |
126 | "AngleRoll ", |
130 | "AngleYaw ", |
127 | "AngleYaw ", |
131 | "GyroPitch(PID) ", |
128 | "GyroPitch(PID) ", |
132 | "GyroRoll(PID) ", |
129 | "GyroRoll(PID) ", |
133 | "GyroYaw ", //5 |
130 | "GyroYaw ", //5 |
134 | "GyroPitch(AC) ", |
131 | "GyroPitch(AC) ", |
135 | "GyroRoll(AC) ", |
132 | "GyroRoll(AC) ", |
136 | "GyroYaw(AC) ", |
133 | "GyroYaw(AC) ", |
137 | "AccPitch (angle)", |
134 | "AccPitch (angle)", |
138 | "AccRoll (angle) ", //10 |
135 | "AccRoll (angle) ", //10 |
139 | "UBat ", |
136 | "UBat ", |
140 | "Pitch Term ", |
137 | "Pitch Term ", |
141 | "Roll Term ", |
138 | "Roll Term ", |
142 | "Yaw Term ", |
139 | "Yaw Term ", |
143 | "Throttle Term ", //15 |
140 | "Throttle Term ", //15 |
144 | "0th O Corr pitch", |
141 | "0th O Corr pitch", |
145 | "0th O Corr roll ", |
142 | "0th O Corr roll ", |
146 | "DriftCompDelta P", |
143 | "DriftCompDelta P", |
147 | "DriftCompDelta R", |
144 | "DriftCompDelta R", |
148 | "ADPitchGyroOffs ", //20 |
145 | "ADPitchGyroOffs ", //20 |
149 | "ADRollGyroOffs ", |
146 | "ADRollGyroOffs ", |
150 | "M1 ", |
147 | "M1 ", |
151 | "M2 ", |
148 | "M2 ", |
152 | "M3 ", |
149 | "M3 ", |
153 | "M4 ", //25 |
150 | "M4 ", //25 |
154 | "ControlYaw ", |
151 | "ControlYaw ", |
155 | "Acc Z ", |
152 | "Airpress. Range ", |
156 | "DriftCompPitch ", |
153 | "DriftCompPitch ", |
157 | "DriftCompRoll ", |
154 | "DriftCompRoll ", |
158 | "Pitch Noise ", //30 |
155 | "AirpressFiltered", //30 |
159 | "Roll Noise " |
156 | "AirpressADC " |
160 | }; |
157 | }; |
161 | 158 | ||
162 | /****************************************************************/ |
159 | /****************************************************************/ |
163 | /* Initialization of the USART0 */ |
160 | /* Initialization of the USART0 */ |
164 | /****************************************************************/ |
161 | /****************************************************************/ |
165 | void usart0_Init (void) { |
162 | void usart0_Init (void) { |
166 | uint8_t sreg = SREG; |
163 | uint8_t sreg = SREG; |
167 | 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); |
168 | 165 | ||
169 | // disable all interrupts before configuration |
166 | // disable all interrupts before configuration |
170 | cli(); |
167 | cli(); |
171 | 168 | ||
172 | // disable RX-Interrupt |
169 | // disable RX-Interrupt |
173 | UCSR0B &= ~(1 << RXCIE0); |
170 | UCSR0B &= ~(1 << RXCIE0); |
174 | // disable TX-Interrupt |
171 | // disable TX-Interrupt |
175 | UCSR0B &= ~(1 << TXCIE0); |
172 | UCSR0B &= ~(1 << TXCIE0); |
176 | 173 | ||
177 | // set direction of RXD0 and TXD0 pins |
174 | // set direction of RXD0 and TXD0 pins |
178 | // set RXD0 (PD0) as an input pin |
175 | // set RXD0 (PD0) as an input pin |
179 | PORTD |= (1 << PORTD0); |
176 | PORTD |= (1 << PORTD0); |
180 | DDRD &= ~(1 << DDD0); |
177 | DDRD &= ~(1 << DDD0); |
181 | // set TXD0 (PD1) as an output pin |
178 | // set TXD0 (PD1) as an output pin |
182 | PORTD |= (1 << PORTD1); |
179 | PORTD |= (1 << PORTD1); |
183 | DDRD |= (1 << DDD1); |
180 | DDRD |= (1 << DDD1); |
184 | 181 | ||
185 | // USART0 Baud Rate Register |
182 | // USART0 Baud Rate Register |
186 | // set clock divider |
183 | // set clock divider |
187 | UBRR0H = (uint8_t)(ubrr >> 8); |
184 | UBRR0H = (uint8_t)(ubrr >> 8); |
188 | UBRR0L = (uint8_t)ubrr; |
185 | UBRR0L = (uint8_t)ubrr; |
189 | 186 | ||
190 | // USART0 Control and Status Register A, B, C |
187 | // USART0 Control and Status Register A, B, C |
191 | 188 | ||
192 | // enable double speed operation in |
189 | // enable double speed operation in |
193 | UCSR0A |= (1 << U2X0); |
190 | UCSR0A |= (1 << U2X0); |
194 | // enable receiver and transmitter in |
191 | // enable receiver and transmitter in |
195 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
192 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
196 | // set asynchronous mode |
193 | // set asynchronous mode |
197 | UCSR0C &= ~(1 << UMSEL01); |
194 | UCSR0C &= ~(1 << UMSEL01); |
198 | UCSR0C &= ~(1 << UMSEL00); |
195 | UCSR0C &= ~(1 << UMSEL00); |
199 | // no parity |
196 | // no parity |
200 | UCSR0C &= ~(1 << UPM01); |
197 | UCSR0C &= ~(1 << UPM01); |
201 | UCSR0C &= ~(1 << UPM00); |
198 | UCSR0C &= ~(1 << UPM00); |
202 | // 1 stop bit |
199 | // 1 stop bit |
203 | UCSR0C &= ~(1 << USBS0); |
200 | UCSR0C &= ~(1 << USBS0); |
204 | // 8-bit |
201 | // 8-bit |
205 | UCSR0B &= ~(1 << UCSZ02); |
202 | UCSR0B &= ~(1 << UCSZ02); |
206 | UCSR0C |= (1 << UCSZ01); |
203 | UCSR0C |= (1 << UCSZ01); |
207 | UCSR0C |= (1 << UCSZ00); |
204 | UCSR0C |= (1 << UCSZ00); |
208 | 205 | ||
209 | // flush receive buffer |
206 | // flush receive buffer |
210 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
207 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
211 | 208 | ||
212 | // enable interrupts at the end |
209 | // enable interrupts at the end |
213 | // enable RX-Interrupt |
210 | // enable RX-Interrupt |
214 | UCSR0B |= (1 << RXCIE0); |
211 | UCSR0B |= (1 << RXCIE0); |
215 | // enable TX-Interrupt |
212 | // enable TX-Interrupt |
216 | UCSR0B |= (1 << TXCIE0); |
213 | UCSR0B |= (1 << TXCIE0); |
217 | 214 | ||
218 | // initialize the debug timer |
215 | // initialize the debug timer |
219 | DebugData_Timer = SetDelay(DebugData_Interval); |
216 | DebugData_Timer = SetDelay(DebugData_Interval); |
220 | 217 | ||
221 | // unlock rxd_buffer |
218 | // unlock rxd_buffer |
222 | rxd_buffer_locked = FALSE; |
219 | rxd_buffer_locked = FALSE; |
223 | pRxData = 0; |
220 | pRxData = 0; |
224 | RxDataLen = 0; |
221 | RxDataLen = 0; |
225 | 222 | ||
226 | // no bytes to send |
223 | // no bytes to send |
227 | txd_complete = TRUE; |
224 | txd_complete = TRUE; |
228 | 225 | ||
229 | #ifdef USE_MK3MAG |
226 | #ifdef USE_MK3MAG |
230 | Compass_Timer = SetDelay(220); |
227 | Compass_Timer = SetDelay(220); |
231 | #endif |
228 | #endif |
232 | 229 | ||
233 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
234 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
235 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
236 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
237 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
238 | 235 | ||
239 | // restore global interrupt flags |
236 | // restore global interrupt flags |
240 | SREG = sreg; |
237 | SREG = sreg; |
241 | } |
238 | } |
242 | 239 | ||
243 | /****************************************************************/ |
240 | /****************************************************************/ |
244 | /* USART0 transmitter ISR */ |
241 | /* USART0 transmitter ISR */ |
245 | /****************************************************************/ |
242 | /****************************************************************/ |
246 | ISR(USART0_TX_vect) { |
243 | ISR(USART0_TX_vect) { |
247 | static uint16_t ptr_txd_buffer = 0; |
244 | static uint16_t ptr_txd_buffer = 0; |
248 | uint8_t tmp_tx; |
245 | uint8_t tmp_tx; |
249 | if(!txd_complete) { // transmission not completed |
246 | if(!txd_complete) { // transmission not completed |
250 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
247 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
251 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
248 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
252 | // if terminating character or end of txd buffer was reached |
249 | // if terminating character or end of txd buffer was reached |
253 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
250 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
254 | ptr_txd_buffer = 0; // reset txd pointer |
251 | ptr_txd_buffer = 0; // reset txd pointer |
255 | txd_complete = 1; // stop transmission |
252 | txd_complete = 1; // stop transmission |
256 | } |
253 | } |
257 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
254 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
258 | } |
255 | } |
259 | // transmission completed |
256 | // transmission completed |
260 | else ptr_txd_buffer = 0; |
257 | else ptr_txd_buffer = 0; |
261 | } |
258 | } |
262 | 259 | ||
263 | /****************************************************************/ |
260 | /****************************************************************/ |
264 | /* USART0 receiver ISR */ |
261 | /* USART0 receiver ISR */ |
265 | /****************************************************************/ |
262 | /****************************************************************/ |
266 | ISR(USART0_RX_vect) { |
263 | ISR(USART0_RX_vect) { |
267 | static uint16_t crc; |
264 | static uint16_t crc; |
268 | static uint8_t ptr_rxd_buffer = 0; |
265 | static uint8_t ptr_rxd_buffer = 0; |
269 | uint8_t crc1, crc2; |
266 | uint8_t crc1, crc2; |
270 | uint8_t c; |
267 | uint8_t c; |
271 | 268 | ||
272 | c = UDR0; // catch the received byte |
269 | c = UDR0; // catch the received byte |
273 | - | ||
274 | #if (defined (USE_MK3MAG)) |
- | |
275 | // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
- | |
276 | if(CPUType != ATMEGA644P) ubx_parser(c); |
- | |
277 | #endif |
- | |
278 | 270 | ||
279 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
271 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
280 | 272 | ||
281 | // the rxd buffer is unlocked |
273 | // the rxd buffer is unlocked |
282 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
274 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
283 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
275 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
284 | crc = c; // init crc |
276 | crc = c; // init crc |
285 | } |
277 | } |
286 | #if 0 |
278 | #if 0 |
287 | else if (ptr_rxd_buffer == 1) { // handle address |
279 | else if (ptr_rxd_buffer == 1) { // handle address |
288 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
289 | crc += c; // update crc |
281 | crc += c; // update crc |
290 | } |
282 | } |
291 | #endif |
283 | #endif |
292 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
284 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
293 | if(c != '\r') { // no termination character |
285 | if(c != '\r') { // no termination character |
294 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
286 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
295 | crc += c; // update crc |
287 | crc += c; // update crc |
296 | } else { // termination character was received |
288 | } else { // termination character was received |
297 | // the last 2 bytes are no subject for checksum calculation |
289 | // the last 2 bytes are no subject for checksum calculation |
298 | // they are the checksum itself |
290 | // they are the checksum itself |
299 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
291 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
300 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
292 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
301 | // calculate checksum from transmitted data |
293 | // calculate checksum from transmitted data |
302 | crc %= 4096; |
294 | crc %= 4096; |
303 | crc1 = '=' + crc / 64; |
295 | crc1 = '=' + crc / 64; |
304 | crc2 = '=' + crc % 64; |
296 | crc2 = '=' + crc % 64; |
305 | // compare checksum to transmitted checksum bytes |
297 | // compare checksum to transmitted checksum bytes |
306 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
298 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
307 | // checksum valid |
299 | // checksum valid |
308 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
300 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
309 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
301 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
310 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
302 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
311 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
303 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
312 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
304 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
313 | } else { // checksum invalid |
305 | } else { // checksum invalid |
314 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
306 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
315 | } |
307 | } |
316 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
308 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
317 | } |
309 | } |
318 | } else { // rxd buffer overrun |
310 | } else { // rxd buffer overrun |
319 | ptr_rxd_buffer = 0; // reset rxd buffer |
311 | ptr_rxd_buffer = 0; // reset rxd buffer |
320 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
312 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
321 | } |
313 | } |
322 | } |
314 | } |
323 | 315 | ||
324 | // -------------------------------------------------------------------------- |
316 | // -------------------------------------------------------------------------- |
325 | void AddCRC(uint16_t datalen) { |
317 | void AddCRC(uint16_t datalen) { |
326 | uint16_t tmpCRC = 0, i; |
318 | uint16_t tmpCRC = 0, i; |
327 | for(i = 0; i < datalen; i++) { |
319 | for(i = 0; i < datalen; i++) { |
328 | tmpCRC += txd_buffer[i]; |
320 | tmpCRC += txd_buffer[i]; |
329 | } |
321 | } |
330 | tmpCRC %= 4096; |
322 | tmpCRC %= 4096; |
331 | txd_buffer[i++] = '=' + tmpCRC / 64; |
323 | txd_buffer[i++] = '=' + tmpCRC / 64; |
332 | txd_buffer[i++] = '=' + tmpCRC % 64; |
324 | txd_buffer[i++] = '=' + tmpCRC % 64; |
333 | txd_buffer[i++] = '\r'; |
325 | txd_buffer[i++] = '\r'; |
334 | txd_complete = FALSE; |
326 | txd_complete = FALSE; |
335 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
327 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
336 | } |
328 | } |
337 | 329 | ||
338 | // -------------------------------------------------------------------------- |
330 | // -------------------------------------------------------------------------- |
339 | // application example: |
331 | // application example: |
340 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
332 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
341 | /* |
333 | /* |
342 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
334 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
343 | va_list ap; |
335 | va_list ap; |
344 | uint16_t txd_bufferIndex = 0; |
336 | uint16_t txd_bufferIndex = 0; |
345 | uint8_t *currentBuffer; |
337 | uint8_t *currentBuffer; |
346 | uint8_t currentBufferIndex; |
338 | uint8_t currentBufferIndex; |
347 | uint16_t lengthOfCurrentBuffer; |
339 | uint16_t lengthOfCurrentBuffer; |
348 | uint8_t shift = 0; |
340 | uint8_t shift = 0; |
349 | |
341 | |
350 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
342 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
351 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
343 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
352 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
344 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
353 | |
345 | |
354 | va_start(ap, numofbuffers); |
346 | va_start(ap, numofbuffers); |
355 | 347 | ||
356 | while(numofbuffers) { |
348 | while(numofbuffers) { |
357 | currentBuffer = va_arg(ap, uint8_t*); |
349 | currentBuffer = va_arg(ap, uint8_t*); |
358 | lengthOfCurrentBuffer = va_arg(ap, int); |
350 | lengthOfCurrentBuffer = va_arg(ap, int); |
359 | currentBufferIndex = 0; |
351 | currentBufferIndex = 0; |
360 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
352 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
361 | // where the 2 most significant bits are both 0. |
353 | // where the 2 most significant bits are both 0. |
362 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
354 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
363 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
355 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
364 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
356 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
365 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
357 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
366 | shift += 2; |
358 | shift += 2; |
367 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
359 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
368 | currentBufferIndex++; |
360 | currentBufferIndex++; |
369 | } |
361 | } |
370 | } |
362 | } |
371 | // If the number of data bytes was not divisible by 3, stuff |
363 | // If the number of data bytes was not divisible by 3, stuff |
372 | // with 0 pseudodata until length is again divisible by 3. |
364 | // with 0 pseudodata until length is again divisible by 3. |
373 | if (shift == 2) { |
365 | if (shift == 2) { |
374 | // We need to stuff with zero bytes at the end. |
366 | // We need to stuff with zero bytes at the end. |
375 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
367 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
376 | txd_buffer[++txd_bufferIndex] = 0; |
368 | txd_buffer[++txd_bufferIndex] = 0; |
377 | shift = 4; |
369 | shift = 4; |
378 | } |
370 | } |
379 | if (shift == 4) { |
371 | if (shift == 4) { |
380 | // We need to stuff with zero bytes at the end. |
372 | // We need to stuff with zero bytes at the end. |
381 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
373 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
382 | txd_buffer[txd_bufferIndex] = 0; |
374 | txd_buffer[txd_bufferIndex] = 0; |
383 | } |
375 | } |
384 | va_end(ap); |
376 | va_end(ap); |
385 | AddCRC(pt); // add checksum after data block and initates the transmission |
377 | AddCRC(pt); // add checksum after data block and initates the transmission |
386 | } |
378 | } |
387 | */ |
379 | */ |
388 | 380 | ||
389 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
381 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
390 | va_list ap; |
382 | va_list ap; |
391 | uint16_t pt = 0; |
383 | uint16_t pt = 0; |
392 | uint8_t a,b,c; |
384 | uint8_t a,b,c; |
393 | uint8_t ptr = 0; |
385 | uint8_t ptr = 0; |
394 | 386 | ||
395 | uint8_t *pdata = 0; |
387 | uint8_t *pdata = 0; |
396 | int len = 0; |
388 | int len = 0; |
397 | 389 | ||
398 | txd_buffer[pt++] = '#'; // Start character |
390 | txd_buffer[pt++] = '#'; // Start character |
399 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
391 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
400 | txd_buffer[pt++] = cmd; // Command |
392 | txd_buffer[pt++] = cmd; // Command |
401 | 393 | ||
402 | va_start(ap, numofbuffers); |
394 | va_start(ap, numofbuffers); |
403 | 395 | ||
404 | if(numofbuffers) { |
396 | if(numofbuffers) { |
405 | pdata = va_arg(ap, uint8_t*); |
397 | pdata = va_arg(ap, uint8_t*); |
406 | len = va_arg(ap, int); |
398 | len = va_arg(ap, int); |
407 | ptr = 0; |
399 | ptr = 0; |
408 | numofbuffers--; |
400 | numofbuffers--; |
409 | } |
401 | } |
410 | 402 | ||
411 | while(len){ |
403 | while(len){ |
412 | if(len) { |
404 | if(len) { |
413 | a = pdata[ptr++]; |
405 | a = pdata[ptr++]; |
414 | len--; |
406 | len--; |
415 | if((!len) && numofbuffers) { |
407 | if((!len) && numofbuffers) { |
416 | pdata = va_arg(ap, uint8_t*); |
408 | pdata = va_arg(ap, uint8_t*); |
417 | len = va_arg(ap, int); |
409 | len = va_arg(ap, int); |
418 | ptr = 0; |
410 | ptr = 0; |
419 | numofbuffers--; |
411 | numofbuffers--; |
420 | } |
412 | } |
421 | } |
413 | } |
422 | else a = 0; |
414 | else a = 0; |
423 | if(len) { |
415 | if(len) { |
424 | b = pdata[ptr++]; |
416 | b = pdata[ptr++]; |
425 | len--; |
417 | len--; |
426 | if((!len) && numofbuffers) { |
418 | if((!len) && numofbuffers) { |
427 | pdata = va_arg(ap, uint8_t*); |
419 | pdata = va_arg(ap, uint8_t*); |
428 | len = va_arg(ap, int); |
420 | len = va_arg(ap, int); |
429 | ptr = 0; |
421 | ptr = 0; |
430 | numofbuffers--; |
422 | numofbuffers--; |
431 | } |
423 | } |
432 | } else b = 0; |
424 | } else b = 0; |
433 | if(len) { |
425 | if(len) { |
434 | c = pdata[ptr++]; |
426 | c = pdata[ptr++]; |
435 | len--; |
427 | len--; |
436 | if((!len) && numofbuffers) { |
428 | if((!len) && numofbuffers) { |
437 | pdata = va_arg(ap, uint8_t*); |
429 | pdata = va_arg(ap, uint8_t*); |
438 | len = va_arg(ap, int); |
430 | len = va_arg(ap, int); |
439 | ptr = 0; |
431 | ptr = 0; |
440 | numofbuffers--; |
432 | numofbuffers--; |
441 | } |
433 | } |
442 | } |
434 | } |
443 | else c = 0; |
435 | else c = 0; |
444 | txd_buffer[pt++] = '=' + (a >> 2); |
436 | txd_buffer[pt++] = '=' + (a >> 2); |
445 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
437 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
446 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
438 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
447 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
439 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
448 | } |
440 | } |
449 | va_end(ap); |
441 | va_end(ap); |
450 | AddCRC(pt); // add checksum after data block and initates the transmission |
442 | AddCRC(pt); // add checksum after data block and initates the transmission |
451 | } |
443 | } |
452 | 444 | ||
453 | // -------------------------------------------------------------------------- |
445 | // -------------------------------------------------------------------------- |
454 | void Decode64(void) { |
446 | void Decode64(void) { |
455 | uint8_t a,b,c,d; |
447 | uint8_t a,b,c,d; |
456 | uint8_t x,y,z; |
448 | uint8_t x,y,z; |
457 | uint8_t ptrIn = 3; |
449 | uint8_t ptrIn = 3; |
458 | uint8_t ptrOut = 3; |
450 | uint8_t ptrOut = 3; |
459 | uint8_t len = ReceivedBytes - 6; |
451 | uint8_t len = ReceivedBytes - 6; |
460 | 452 | ||
461 | while(len) { |
453 | while(len) { |
462 | a = rxd_buffer[ptrIn++] - '='; |
454 | a = rxd_buffer[ptrIn++] - '='; |
463 | b = rxd_buffer[ptrIn++] - '='; |
455 | b = rxd_buffer[ptrIn++] - '='; |
464 | c = rxd_buffer[ptrIn++] - '='; |
456 | c = rxd_buffer[ptrIn++] - '='; |
465 | d = rxd_buffer[ptrIn++] - '='; |
457 | d = rxd_buffer[ptrIn++] - '='; |
466 | //if(ptrIn > ReceivedBytes - 3) break; |
458 | //if(ptrIn > ReceivedBytes - 3) break; |
467 | 459 | ||
468 | x = (a << 2) | (b >> 4); |
460 | x = (a << 2) | (b >> 4); |
469 | y = ((b & 0x0f) << 4) | (c >> 2); |
461 | y = ((b & 0x0f) << 4) | (c >> 2); |
470 | z = ((c & 0x03) << 6) | d; |
462 | z = ((c & 0x03) << 6) | d; |
471 | 463 | ||
472 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
464 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
473 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
465 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
474 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
466 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
475 | } |
467 | } |
476 | pRxData = &rxd_buffer[3]; |
468 | pRxData = &rxd_buffer[3]; |
477 | RxDataLen = ptrOut - 3; |
469 | RxDataLen = ptrOut - 3; |
478 | } |
470 | } |
479 | 471 | ||
480 | // -------------------------------------------------------------------------- |
472 | // -------------------------------------------------------------------------- |
481 | void usart0_ProcessRxData(void) { |
473 | void usart0_ProcessRxData(void) { |
482 | // We control the motorTestActive var from here: Count it down. |
474 | // We control the motorTestActive var from here: Count it down. |
483 | if (motorTestActive) motorTestActive--; |
475 | if (motorTestActive) motorTestActive--; |
484 | // if data in the rxd buffer are not locked immediately return |
476 | // if data in the rxd buffer are not locked immediately return |
485 | if(!rxd_buffer_locked) return; |
477 | if(!rxd_buffer_locked) return; |
486 | uint8_t tempchar1, tempchar2; |
478 | uint8_t tempchar1, tempchar2; |
487 | Decode64(); // decode data block in rxd_buffer |
479 | Decode64(); // decode data block in rxd_buffer |
488 | 480 | ||
489 | switch(rxd_buffer[1] - 'a') { |
481 | switch(rxd_buffer[1] - 'a') { |
490 | 482 | ||
491 | case FC_ADDRESS: |
483 | case FC_ADDRESS: |
492 | switch(rxd_buffer[2]) { |
484 | switch(rxd_buffer[2]) { |
493 | #ifdef USE_MK3MAG |
485 | #ifdef USE_MK3MAG |
494 | case 'K':// compass value |
486 | case 'K':// compass value |
495 | compassHeading = ((Heading_t *)pRxData)->Heading; |
487 | compassHeading = ((Heading_t *)pRxData)->Heading; |
496 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
488 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
497 | break; |
489 | break; |
498 | #endif |
490 | #endif |
499 | case 't': // motor test |
491 | case 't': // motor test |
500 | if(RxDataLen > 20) { |
492 | if(RxDataLen > 20) { |
501 | memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
493 | memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
502 | } else { |
494 | } else { |
503 | memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
495 | memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
504 | } |
496 | } |
505 | motorTestActive = 255; |
497 | motorTestActive = 255; |
506 | externalControlActive = 255; |
498 | externalControlActive = 255; |
507 | break; |
499 | break; |
508 | 500 | ||
509 | case 'n':// "Get Mixer Table |
501 | case 'n':// "Get Mixer Table |
510 | while(!txd_complete); // wait for previous frame to be sent |
502 | while(!txd_complete); // wait for previous frame to be sent |
511 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
503 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
512 | break; |
504 | break; |
513 | 505 | ||
514 | case 'm':// "Set Mixer Table |
506 | case 'm':// "Set Mixer Table |
515 | if(pRxData[0] == EEMIXER_REVISION) { |
507 | if(pRxData[0] == EEMIXER_REVISION) { |
516 | memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
508 | memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
517 | MixerTable_WriteToEEProm(); |
509 | MixerTable_WriteToEEProm(); |
518 | while(!txd_complete); // wait for previous frame to be sent |
510 | while(!txd_complete); // wait for previous frame to be sent |
519 | tempchar1 = 1; |
511 | tempchar1 = 1; |
520 | } else { |
512 | } else { |
521 | tempchar1 = 0; |
513 | tempchar1 = 0; |
522 | } |
514 | } |
523 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
515 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
524 | break; |
516 | break; |
525 | 517 | ||
526 | case 'p': // get PPM channels |
518 | case 'p': // get PPM channels |
527 | request_PPMChannels = TRUE; |
519 | request_PPMChannels = TRUE; |
528 | break; |
520 | break; |
529 | 521 | ||
530 | case 'q':// request settings |
522 | case 'q':// request settings |
531 | if(pRxData[0] == 0xFF) { |
523 | if(pRxData[0] == 0xFF) { |
532 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
524 | pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
533 | } |
525 | } |
534 | // limit settings range |
526 | // limit settings range |
535 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
527 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
536 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
528 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
537 | // load requested parameter set |
529 | // load requested parameter set |
538 | ParamSet_ReadFromEEProm(pRxData[0]); |
530 | ParamSet_ReadFromEEProm(pRxData[0]); |
539 | tempchar1 = pRxData[0]; |
531 | tempchar1 = pRxData[0]; |
540 | tempchar2 = EEPARAM_REVISION; |
532 | tempchar2 = EEPARAM_REVISION; |
541 | while(!txd_complete); // wait for previous frame to be sent |
533 | while(!txd_complete); // wait for previous frame to be sent |
542 | SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
534 | SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
543 | break; |
535 | break; |
544 | 536 | ||
545 | case 's': // save settings |
537 | case 's': // save settings |
546 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
538 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
547 | { |
539 | { |
548 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
540 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
549 | { |
541 | { |
550 | memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
542 | memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
551 | ParamSet_WriteToEEProm(pRxData[0]); |
543 | ParamSet_WriteToEEProm(pRxData[0]); |
552 | /* |
544 | /* |
553 | TODO: Remove this encapsulation breach |
545 | TODO: Remove this encapsulation breach |
554 | turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
546 | turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
555 | turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
547 | turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
556 | */ |
548 | */ |
557 | tempchar1 = getActiveParamSet(); |
549 | tempchar1 = getActiveParamSet(); |
558 | beepNumber(tempchar1); |
550 | beepNumber(tempchar1); |
559 | } |
551 | } |
560 | else |
552 | else |
561 | { |
553 | { |
562 | tempchar1 = 0; //indicate bad data |
554 | tempchar1 = 0; //indicate bad data |
563 | } |
555 | } |
564 | while(!txd_complete); // wait for previous frame to be sent |
556 | while(!txd_complete); // wait for previous frame to be sent |
565 | SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
557 | SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
566 | } |
558 | } |
567 | break; |
559 | break; |
568 | 560 | ||
569 | default: |
561 | default: |
570 | //unsupported command received |
562 | //unsupported command received |
571 | break; |
563 | break; |
572 | } // case FC_ADDRESS: |
564 | } // case FC_ADDRESS: |
573 | 565 | ||
574 | default: // any Slave Address |
566 | default: // any Slave Address |
575 | switch(rxd_buffer[2]) { |
567 | switch(rxd_buffer[2]) { |
576 | case 'a':// request for labels of the analog debug outputs |
568 | case 'a':// request for labels of the analog debug outputs |
577 | request_DebugLabel = pRxData[0]; |
569 | request_DebugLabel = pRxData[0]; |
578 | if(request_DebugLabel > 31) request_DebugLabel = 31; |
570 | if(request_DebugLabel > 31) request_DebugLabel = 31; |
579 | externalControlActive = 255; |
571 | externalControlActive = 255; |
580 | break; |
572 | break; |
581 | 573 | ||
582 | case 'b': // submit extern control |
574 | case 'b': // submit extern control |
583 | memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
575 | memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
584 | ConfirmFrame = externalControl.frame; |
576 | ConfirmFrame = externalControl.frame; |
585 | externalControlActive = 255; |
577 | externalControlActive = 255; |
586 | break; |
578 | break; |
587 | 579 | ||
588 | case 'h':// request for display columns |
580 | case 'h':// request for display columns |
589 | externalControlActive = 255; |
581 | externalControlActive = 255; |
590 | RemoteKeys |= pRxData[0]; |
582 | RemoteKeys |= pRxData[0]; |
591 | if(RemoteKeys) DisplayLine = 0; |
583 | if(RemoteKeys) DisplayLine = 0; |
592 | request_Display = TRUE; |
584 | request_Display = TRUE; |
593 | break; |
585 | break; |
594 | 586 | ||
595 | case 'l':// request for display columns |
587 | case 'l':// request for display columns |
596 | externalControlActive = 255; |
588 | externalControlActive = 255; |
597 | MenuItem = pRxData[0]; |
589 | MenuItem = pRxData[0]; |
598 | request_Display1 = TRUE; |
590 | request_Display1 = TRUE; |
599 | break; |
591 | break; |
600 | 592 | ||
601 | case 'v': // request for version and board release |
593 | case 'v': // request for version and board release |
602 | request_VerInfo = TRUE; |
594 | request_VerInfo = TRUE; |
603 | break; |
595 | break; |
604 | 596 | ||
605 | case 'x': |
597 | case 'x': |
606 | request_variables = TRUE; |
598 | request_variables = TRUE; |
607 | break; |
599 | break; |
608 | 600 | ||
609 | case 'g':// get external control data |
601 | case 'g':// get external control data |
610 | request_ExternalControl = TRUE; |
602 | request_ExternalControl = TRUE; |
611 | break; |
603 | break; |
612 | 604 | ||
613 | case 'd': // request for the debug data |
605 | case 'd': // request for the debug data |
614 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
606 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
615 | if(DebugData_Interval > 0) request_DebugData = TRUE; |
607 | if(DebugData_Interval > 0) request_DebugData = TRUE; |
616 | break; |
608 | break; |
617 | 609 | ||
618 | case 'c': // request for the 3D data |
610 | case 'c': // request for the 3D data |
619 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
611 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
620 | if(Data3D_Interval > 0) request_Data3D = TRUE; |
612 | if(Data3D_Interval > 0) request_Data3D = TRUE; |
621 | break; |
613 | break; |
622 | 614 | ||
623 | default: |
615 | default: |
624 | //unsupported command received |
616 | //unsupported command received |
625 | break; |
617 | break; |
626 | } |
618 | } |
627 | break; // default: |
619 | break; // default: |
628 | } |
620 | } |
629 | // unlock the rxd buffer after processing |
621 | // unlock the rxd buffer after processing |
630 | pRxData = 0; |
622 | pRxData = 0; |
631 | RxDataLen = 0; |
623 | RxDataLen = 0; |
632 | rxd_buffer_locked = FALSE; |
624 | rxd_buffer_locked = FALSE; |
633 | } |
625 | } |
634 | 626 | ||
635 | /************************************************************************/ |
627 | /************************************************************************/ |
636 | /* Routine für die Serielle Ausgabe */ |
628 | /* Routine für die Serielle Ausgabe */ |
637 | /************************************************************************/ |
629 | /************************************************************************/ |
638 | int16_t uart_putchar (int8_t c) { |
630 | int16_t uart_putchar (int8_t c) { |
639 | if (c == '\n') |
631 | if (c == '\n') |
640 | uart_putchar('\r'); |
632 | uart_putchar('\r'); |
641 | // wait until previous character was send |
633 | // wait until previous character was send |
642 | loop_until_bit_is_set(UCSR0A, UDRE0); |
634 | loop_until_bit_is_set(UCSR0A, UDRE0); |
643 | // send character |
635 | // send character |
644 | UDR0 = c; |
636 | UDR0 = c; |
645 | return (0); |
637 | return (0); |
646 | } |
638 | } |
647 | 639 | ||
648 | //--------------------------------------------------------------------------------------------- |
640 | //--------------------------------------------------------------------------------------------- |
649 | void usart0_TransmitTxData(void) { |
641 | void usart0_TransmitTxData(void) { |
650 | if(!txd_complete) return; |
642 | if(!txd_complete) return; |
651 | 643 | ||
652 | if(request_VerInfo && txd_complete) { |
644 | if(request_VerInfo && txd_complete) { |
653 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
645 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
654 | request_VerInfo = FALSE; |
646 | request_VerInfo = FALSE; |
655 | } |
647 | } |
656 | 648 | ||
657 | if(request_Display && txd_complete) { |
649 | if(request_Display && txd_complete) { |
658 | LCD_PrintMenu(); |
650 | LCD_PrintMenu(); |
659 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
651 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
660 | DisplayLine++; |
652 | DisplayLine++; |
661 | if(DisplayLine >= 4) DisplayLine = 0; |
653 | if(DisplayLine >= 4) DisplayLine = 0; |
662 | request_Display = FALSE; |
654 | request_Display = FALSE; |
663 | } |
655 | } |
664 | 656 | ||
665 | if(request_Display1 && txd_complete) { |
657 | if(request_Display1 && txd_complete) { |
666 | LCD_PrintMenu(); |
658 | LCD_PrintMenu(); |
667 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
659 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
668 | request_Display1 = FALSE; |
660 | request_Display1 = FALSE; |
669 | } |
661 | } |
670 | 662 | ||
671 | if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
663 | if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
672 | uint8_t label[16]; // local sram buffer |
664 | uint8_t label[16]; // local sram buffer |
673 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
665 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
674 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
666 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
675 | request_DebugLabel = 0xFF; |
667 | request_DebugLabel = 0xFF; |
676 | } |
668 | } |
677 | 669 | ||
678 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
670 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
679 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
671 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
680 | ConfirmFrame = 0; |
672 | ConfirmFrame = 0; |
681 | } |
673 | } |
682 | 674 | ||
683 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) && txd_complete) { |
675 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) && txd_complete) { |
684 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
676 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
685 | DebugData_Timer = SetDelay(DebugData_Interval); |
677 | DebugData_Timer = SetDelay(DebugData_Interval); |
686 | request_DebugData = FALSE; |
678 | request_DebugData = FALSE; |
687 | } |
679 | } |
688 | 680 | ||
689 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) { |
681 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) { |
690 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
682 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
691 | Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
683 | Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
692 | Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
684 | Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
693 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
685 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
694 | Data3D_Timer = SetDelay(Data3D_Interval); |
686 | Data3D_Timer = SetDelay(Data3D_Interval); |
695 | request_Data3D = FALSE; |
687 | request_Data3D = FALSE; |
696 | } |
688 | } |
697 | 689 | ||
698 | if(request_ExternalControl && txd_complete) { |
690 | if(request_ExternalControl && txd_complete) { |
699 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
691 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
700 | request_ExternalControl = FALSE; |
692 | request_ExternalControl = FALSE; |
701 | } |
693 | } |
702 | 694 | ||
703 | #ifdef USE_MK3MAG |
695 | #ifdef USE_MK3MAG |
704 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
696 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
705 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
697 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
706 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
698 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
707 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
699 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
708 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
700 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
709 | ToMk3Mag.CalState = compassCalState; |
701 | ToMk3Mag.CalState = compassCalState; |
710 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
702 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
711 | // the last state is 5 and should be send only once to avoid multiple flash writing |
703 | // the last state is 5 and should be send only once to avoid multiple flash writing |
712 | if(compassCalState > 4) compassCalState = 0; |
704 | if(compassCalState > 4) compassCalState = 0; |
713 | Compass_Timer = SetDelay(99); |
705 | Compass_Timer = SetDelay(99); |
714 | } |
706 | } |
715 | #endif |
707 | #endif |
716 | 708 | ||
717 | if(request_MotorTest && txd_complete) { |
709 | if(request_MotorTest && txd_complete) { |
718 | SendOutData('T', FC_ADDRESS, 0); |
710 | SendOutData('T', FC_ADDRESS, 0); |
719 | request_MotorTest = FALSE; |
711 | request_MotorTest = FALSE; |
720 | } |
712 | } |
721 | 713 | ||
722 | if(request_PPMChannels && txd_complete) { |
714 | if(request_PPMChannels && txd_complete) { |
723 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
715 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
724 | request_PPMChannels = FALSE; |
716 | request_PPMChannels = FALSE; |
725 | } |
717 | } |
726 | 718 | ||
727 | if (request_variables && txd_complete) { |
719 | if (request_variables && txd_complete) { |
728 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables)); |
720 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables)); |
729 | request_variables = FALSE; |
721 | request_variables = FALSE; |
730 | } |
722 | } |
731 | } |
723 | } |
732 | 724 |