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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 | #include "output.h" |
67 | #include "output.h" |
| 68 | 68 | ||
| 69 | #ifdef USE_MK3MAG |
69 | #ifdef USE_MK3MAG |
| 70 | #include "mk3mag.h" |
70 | #include "mk3mag.h" |
| 71 | #endif |
71 | #endif |
| 72 | 72 | ||
| 73 | #define FC_ADDRESS 1 |
73 | #define FC_ADDRESS 1 |
| 74 | #define NC_ADDRESS 2 |
74 | #define NC_ADDRESS 2 |
| 75 | #define MK3MAG_ADDRESS 3 |
75 | #define MK3MAG_ADDRESS 3 |
| 76 | 76 | ||
| 77 | #define FALSE 0 |
77 | #define FALSE 0 |
| 78 | #define TRUE 1 |
78 | #define TRUE 1 |
| 79 | //int8_t test __attribute__ ((section (".noinit"))); |
79 | //int8_t test __attribute__ ((section (".noinit"))); |
| 80 | uint8_t request_VerInfo = FALSE; |
80 | uint8_t request_VerInfo = FALSE; |
| 81 | uint8_t request_ExternalControl = FALSE; |
81 | uint8_t request_ExternalControl = FALSE; |
| 82 | uint8_t request_Display = FALSE; |
82 | uint8_t request_Display = FALSE; |
| 83 | uint8_t request_Display1 = FALSE; |
83 | uint8_t request_Display1 = FALSE; |
| 84 | uint8_t request_DebugData = FALSE; |
84 | uint8_t request_DebugData = FALSE; |
| 85 | uint8_t request_Data3D = FALSE; |
85 | uint8_t request_Data3D = FALSE; |
| 86 | uint8_t request_DebugLabel = 255; |
86 | uint8_t request_DebugLabel = 255; |
| 87 | uint8_t request_PPMChannels = FALSE; |
87 | uint8_t request_PPMChannels = FALSE; |
| 88 | uint8_t request_MotorTest = FALSE; |
88 | uint8_t request_MotorTest = FALSE; |
| 89 | uint8_t request_variables = FALSE; |
89 | uint8_t request_variables = FALSE; |
| 90 | 90 | ||
| 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) ", |
128 | "GyroPitch(PID) ", |
| 129 | "GyroRoll(PID) ", |
129 | "GyroRoll(PID) ", |
| 130 | "GyroYaw ", //5 |
130 | "GyroYaw ", //5 |
| 131 | "GyroPitch(AC) ", |
131 | "GyroPitch(AC) ", |
| 132 | "GyroRoll(AC) ", |
132 | "GyroRoll(AC) ", |
| 133 | "GyroYaw(AC) ", |
133 | "GyroYaw(AC) ", |
| 134 | "AccPitch (angle)", |
134 | "AccPitch (angle)", |
| 135 | "AccRoll (angle) ", //10 |
135 | "AccRoll (angle) ", //10 |
| 136 | "UBat ", |
136 | "UBat ", |
| 137 | "Pitch Term ", |
137 | "Pitch Term ", |
| 138 | "Roll Term ", |
138 | "Roll Term ", |
| 139 | "Yaw Term ", |
139 | "Yaw Term ", |
| 140 | "Throttle Term ", //15 |
140 | "Throttle Term ", //15 |
| 141 | "0th O Corr pitch", |
- | |
| 142 | "0th O Corr roll ", |
141 | "0th O Corr pitch", "0th O Corr roll ", |
| 143 | "DriftCompDelta P", |
142 | "DriftCompDelta P", |
| 144 | "DriftCompDelta R", |
143 | "DriftCompDelta R", |
| 145 | "ADPitchGyroOffs ", //20 |
144 | "ADPitchGyroOffs ", //20 |
| 146 | "ADRollGyroOffs ", |
- | |
| 147 | "M1 ", |
- | |
| 148 | "M2 ", |
145 | "ADRollGyroOffs ", "M1 ", "M2 ", |
| 149 | "M3 ", |
146 | "M3 ", |
| 150 | "M4 ", //25 |
147 | "M4 ", //25 |
| 151 | "ControlYaw ", |
- | |
| 152 | "Airpress. Range ", |
- | |
| 153 | "DriftCompPitch ", |
148 | "ControlYaw ", "Airpress. Range ", "DriftCompPitch ", |
| 154 | "DriftCompRoll ", |
- | |
| 155 | "AirpressFiltered", //30 |
149 | "DriftCompRoll ", "AirpressFiltered", //30 |
| 156 | "AirpressADC " |
150 | "AirpressADC " }; |
| 157 | }; |
- | |
| 158 | 151 | ||
| 159 | /****************************************************************/ |
152 | /****************************************************************/ |
| 160 | /* Initialization of the USART0 */ |
153 | /* Initialization of the USART0 */ |
| 161 | /****************************************************************/ |
154 | /****************************************************************/ |
| 162 | void usart0_Init (void) { |
155 | void usart0_Init(void) { |
| 163 | uint8_t sreg = SREG; |
156 | uint8_t sreg = SREG; |
| 164 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
157 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
| 165 | 158 | ||
| 166 | // disable all interrupts before configuration |
159 | // disable all interrupts before configuration |
| 167 | cli(); |
160 | cli(); |
| 168 | 161 | ||
| 169 | // disable RX-Interrupt |
162 | // disable RX-Interrupt |
| 170 | UCSR0B &= ~(1 << RXCIE0); |
163 | UCSR0B &= ~(1 << RXCIE0); |
| 171 | // disable TX-Interrupt |
164 | // disable TX-Interrupt |
| 172 | UCSR0B &= ~(1 << TXCIE0); |
165 | UCSR0B &= ~(1 << TXCIE0); |
| 173 | 166 | ||
| 174 | // set direction of RXD0 and TXD0 pins |
167 | // set direction of RXD0 and TXD0 pins |
| 175 | // set RXD0 (PD0) as an input pin |
168 | // set RXD0 (PD0) as an input pin |
| 176 | PORTD |= (1 << PORTD0); |
169 | PORTD |= (1 << PORTD0); |
| 177 | DDRD &= ~(1 << DDD0); |
170 | DDRD &= ~(1 << DDD0); |
| 178 | // set TXD0 (PD1) as an output pin |
171 | // set TXD0 (PD1) as an output pin |
| 179 | PORTD |= (1 << PORTD1); |
172 | PORTD |= (1 << PORTD1); |
| 180 | DDRD |= (1 << DDD1); |
173 | DDRD |= (1 << DDD1); |
| 181 | 174 | ||
| 182 | // USART0 Baud Rate Register |
175 | // USART0 Baud Rate Register |
| 183 | // set clock divider |
176 | // set clock divider |
| 184 | UBRR0H = (uint8_t)(ubrr >> 8); |
177 | UBRR0H = (uint8_t) (ubrr >> 8); |
| 185 | UBRR0L = (uint8_t)ubrr; |
178 | UBRR0L = (uint8_t) ubrr; |
| 186 | 179 | ||
| 187 | // USART0 Control and Status Register A, B, C |
180 | // USART0 Control and Status Register A, B, C |
| 188 | 181 | ||
| 189 | // enable double speed operation in |
182 | // enable double speed operation in |
| 190 | UCSR0A |= (1 << U2X0); |
183 | UCSR0A |= (1 << U2X0); |
| 191 | // enable receiver and transmitter in |
184 | // enable receiver and transmitter in |
| 192 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
185 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 193 | // set asynchronous mode |
186 | // set asynchronous mode |
| 194 | UCSR0C &= ~(1 << UMSEL01); |
187 | UCSR0C &= ~(1 << UMSEL01); |
| 195 | UCSR0C &= ~(1 << UMSEL00); |
188 | UCSR0C &= ~(1 << UMSEL00); |
| 196 | // no parity |
189 | // no parity |
| 197 | UCSR0C &= ~(1 << UPM01); |
190 | UCSR0C &= ~(1 << UPM01); |
| 198 | UCSR0C &= ~(1 << UPM00); |
191 | UCSR0C &= ~(1 << UPM00); |
| 199 | // 1 stop bit |
192 | // 1 stop bit |
| 200 | UCSR0C &= ~(1 << USBS0); |
193 | UCSR0C &= ~(1 << USBS0); |
| 201 | // 8-bit |
194 | // 8-bit |
| 202 | UCSR0B &= ~(1 << UCSZ02); |
195 | UCSR0B &= ~(1 << UCSZ02); |
| 203 | UCSR0C |= (1 << UCSZ01); |
196 | UCSR0C |= (1 << UCSZ01); |
| 204 | UCSR0C |= (1 << UCSZ00); |
197 | UCSR0C |= (1 << UCSZ00); |
| 205 | 198 | ||
| 206 | // flush receive buffer |
199 | // flush receive buffer |
| 207 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
200 | while (UCSR0A & (1 << RXC0)) |
| - | 201 | UDR0; |
|
| 208 | 202 | ||
| 209 | // enable interrupts at the end |
203 | // enable interrupts at the end |
| 210 | // enable RX-Interrupt |
204 | // enable RX-Interrupt |
| 211 | UCSR0B |= (1 << RXCIE0); |
205 | UCSR0B |= (1 << RXCIE0); |
| 212 | // enable TX-Interrupt |
206 | // enable TX-Interrupt |
| 213 | UCSR0B |= (1 << TXCIE0); |
207 | UCSR0B |= (1 << TXCIE0); |
| 214 | 208 | ||
| 215 | // initialize the debug timer |
209 | // initialize the debug timer |
| 216 | DebugData_Timer = SetDelay(DebugData_Interval); |
210 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 217 | 211 | ||
| 218 | // unlock rxd_buffer |
212 | // unlock rxd_buffer |
| 219 | rxd_buffer_locked = FALSE; |
213 | rxd_buffer_locked = FALSE; |
| 220 | pRxData = 0; |
214 | pRxData = 0; |
| 221 | RxDataLen = 0; |
215 | RxDataLen = 0; |
| 222 | 216 | ||
| 223 | // no bytes to send |
217 | // no bytes to send |
| 224 | txd_complete = TRUE; |
218 | txd_complete = TRUE; |
| 225 | 219 | ||
| 226 | #ifdef USE_MK3MAG |
220 | #ifdef USE_MK3MAG |
| 227 | Compass_Timer = SetDelay(220); |
221 | Compass_Timer = SetDelay(220); |
| 228 | #endif |
222 | #endif |
| 229 | 223 | ||
| 230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
224 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
225 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
226 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
227 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
228 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 235 | 229 | ||
| 236 | // restore global interrupt flags |
230 | // restore global interrupt flags |
| 237 | SREG = sreg; |
231 | SREG = sreg; |
| 238 | } |
232 | } |
| 239 | 233 | ||
| 240 | /****************************************************************/ |
234 | /****************************************************************/ |
| 241 | /* USART0 transmitter ISR */ |
235 | /* USART0 transmitter ISR */ |
| 242 | /****************************************************************/ |
236 | /****************************************************************/ |
| 243 | ISR(USART0_TX_vect) { |
237 | ISR(USART0_TX_vect) |
| - | 238 | { |
|
| 244 | static uint16_t ptr_txd_buffer = 0; |
239 | static uint16_t ptr_txd_buffer = 0; |
| 245 | uint8_t tmp_tx; |
240 | uint8_t tmp_tx; |
| 246 | if(!txd_complete) { // transmission not completed |
241 | if (!txd_complete) { // transmission not completed |
| 247 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
242 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
| 248 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
243 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
| 249 | // if terminating character or end of txd buffer was reached |
244 | // if terminating character or end of txd buffer was reached |
| 250 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
245 | if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
| 251 | ptr_txd_buffer = 0; // reset txd pointer |
246 | ptr_txd_buffer = 0; // reset txd pointer |
| 252 | txd_complete = 1; // stop transmission |
247 | txd_complete = 1; // stop transmission |
| 253 | } |
248 | } |
| 254 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
249 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| 255 | } |
250 | } |
| 256 | // transmission completed |
251 | // transmission completed |
| - | 252 | else |
|
| 257 | else ptr_txd_buffer = 0; |
253 | ptr_txd_buffer = 0; |
| 258 | } |
254 | } |
| 259 | 255 | ||
| 260 | /****************************************************************/ |
256 | /****************************************************************/ |
| 261 | /* USART0 receiver ISR */ |
257 | /* USART0 receiver ISR */ |
| 262 | /****************************************************************/ |
258 | /****************************************************************/ |
| 263 | ISR(USART0_RX_vect) { |
259 | ISR(USART0_RX_vect) |
| - | 260 | { |
|
| 264 | static uint16_t crc; |
261 | static uint16_t crc; |
| 265 | static uint8_t ptr_rxd_buffer = 0; |
262 | static uint8_t ptr_rxd_buffer = 0; |
| 266 | uint8_t crc1, crc2; |
263 | uint8_t crc1, crc2; |
| 267 | uint8_t c; |
264 | uint8_t c; |
| 268 | 265 | ||
| 269 | c = UDR0; // catch the received byte |
266 | c = UDR0; // catch the received byte |
| 270 | 267 | ||
| - | 268 | if (rxd_buffer_locked) |
|
| 271 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
269 | return; // if rxd buffer is locked immediately return |
| 272 | 270 | ||
| 273 | // the rxd buffer is unlocked |
271 | // the rxd buffer is unlocked |
| 274 | if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
272 | if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
| 275 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
273 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| 276 | crc = c; // init crc |
274 | crc = c; // init crc |
| 277 | } |
275 | } |
| 278 | #if 0 |
276 | #if 0 |
| 279 | else if (ptr_rxd_buffer == 1) { // handle address |
277 | else if (ptr_rxd_buffer == 1) { // handle address |
| 280 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
278 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| 281 | crc += c; // update crc |
279 | crc += c; // update crc |
| 282 | } |
280 | } |
| 283 | #endif |
281 | #endif |
| 284 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
282 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
| 285 | if(c != '\r') { // no termination character |
283 | if (c != '\r') { // no termination character |
| 286 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
284 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| 287 | crc += c; // update crc |
285 | crc += c; // update crc |
| 288 | } else { // termination character was received |
286 | } else { // termination character was received |
| 289 | // the last 2 bytes are no subject for checksum calculation |
287 | // the last 2 bytes are no subject for checksum calculation |
| 290 | // they are the checksum itself |
288 | // they are the checksum itself |
| 291 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
289 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
| 292 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
290 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
| 293 | // calculate checksum from transmitted data |
291 | // calculate checksum from transmitted data |
| 294 | crc %= 4096; |
292 | crc %= 4096; |
| 295 | crc1 = '=' + crc / 64; |
293 | crc1 = '=' + crc / 64; |
| 296 | crc2 = '=' + crc % 64; |
294 | crc2 = '=' + crc % 64; |
| 297 | // compare checksum to transmitted checksum bytes |
295 | // compare checksum to transmitted checksum bytes |
| 298 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
296 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 |
| - | 297 | == rxd_buffer[ptr_rxd_buffer - 1])) { |
|
| 299 | // checksum valid |
298 | // checksum valid |
| 300 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
299 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| 301 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
300 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| 302 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
301 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
| 303 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
302 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| 304 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
303 | if (rxd_buffer[2] == 'R') { |
| - | 304 | wdt_enable(WDTO_250MS); |
|
| - | 305 | } // Reset-Commando |
|
| 305 | } else { // checksum invalid |
306 | } else { // checksum invalid |
| 306 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
307 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
| 307 | } |
308 | } |
| 308 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
309 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| 309 | } |
310 | } |
| 310 | } else { // rxd buffer overrun |
311 | } else { // rxd buffer overrun |
| 311 | ptr_rxd_buffer = 0; // reset rxd buffer |
312 | ptr_rxd_buffer = 0; // reset rxd buffer |
| 312 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
313 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
| 313 | } |
314 | } |
| 314 | } |
315 | } |
| 315 | 316 | ||
| 316 | // -------------------------------------------------------------------------- |
317 | // -------------------------------------------------------------------------- |
| 317 | void AddCRC(uint16_t datalen) { |
318 | void AddCRC(uint16_t datalen) { |
| 318 | uint16_t tmpCRC = 0, i; |
319 | uint16_t tmpCRC = 0, i; |
| 319 | for(i = 0; i < datalen; i++) { |
320 | for (i = 0; i < datalen; i++) { |
| 320 | tmpCRC += txd_buffer[i]; |
321 | tmpCRC += txd_buffer[i]; |
| 321 | } |
322 | } |
| 322 | tmpCRC %= 4096; |
323 | tmpCRC %= 4096; |
| 323 | txd_buffer[i++] = '=' + tmpCRC / 64; |
324 | txd_buffer[i++] = '=' + tmpCRC / 64; |
| 324 | txd_buffer[i++] = '=' + tmpCRC % 64; |
325 | txd_buffer[i++] = '=' + tmpCRC % 64; |
| 325 | txd_buffer[i++] = '\r'; |
326 | txd_buffer[i++] = '\r'; |
| 326 | txd_complete = FALSE; |
327 | txd_complete = FALSE; |
| 327 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
328 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| 328 | } |
329 | } |
| 329 | 330 | ||
| 330 | // -------------------------------------------------------------------------- |
331 | // -------------------------------------------------------------------------- |
| 331 | // application example: |
332 | // application example: |
| 332 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
333 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
| 333 | /* |
334 | /* |
| 334 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
335 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| 335 | va_list ap; |
336 | va_list ap; |
| 336 | uint16_t txd_bufferIndex = 0; |
337 | uint16_t txd_bufferIndex = 0; |
| 337 | uint8_t *currentBuffer; |
338 | uint8_t *currentBuffer; |
| 338 | uint8_t currentBufferIndex; |
339 | uint8_t currentBufferIndex; |
| 339 | uint16_t lengthOfCurrentBuffer; |
340 | uint16_t lengthOfCurrentBuffer; |
| 340 | uint8_t shift = 0; |
341 | uint8_t shift = 0; |
| 341 | |
342 | |
| 342 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
343 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
| 343 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
344 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
| 344 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
345 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
| 345 | |
346 | |
| 346 | va_start(ap, numofbuffers); |
347 | va_start(ap, numofbuffers); |
| 347 | 348 | ||
| 348 | while(numofbuffers) { |
349 | while(numofbuffers) { |
| 349 | currentBuffer = va_arg(ap, uint8_t*); |
350 | currentBuffer = va_arg(ap, uint8_t*); |
| 350 | lengthOfCurrentBuffer = va_arg(ap, int); |
351 | lengthOfCurrentBuffer = va_arg(ap, int); |
| 351 | currentBufferIndex = 0; |
352 | currentBufferIndex = 0; |
| 352 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
353 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
| 353 | // where the 2 most significant bits are both 0. |
354 | // where the 2 most significant bits are both 0. |
| 354 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
355 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
| 355 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
356 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
| 356 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
357 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
| 357 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
358 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
| 358 | shift += 2; |
359 | shift += 2; |
| 359 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
360 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
| 360 | currentBufferIndex++; |
361 | currentBufferIndex++; |
| 361 | } |
362 | } |
| 362 | } |
363 | } |
| 363 | // If the number of data bytes was not divisible by 3, stuff |
364 | // If the number of data bytes was not divisible by 3, stuff |
| 364 | // with 0 pseudodata until length is again divisible by 3. |
365 | // with 0 pseudodata until length is again divisible by 3. |
| 365 | if (shift == 2) { |
366 | if (shift == 2) { |
| 366 | // We need to stuff with zero bytes at the end. |
367 | // We need to stuff with zero bytes at the end. |
| 367 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
368 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
| 368 | txd_buffer[++txd_bufferIndex] = 0; |
369 | txd_buffer[++txd_bufferIndex] = 0; |
| 369 | shift = 4; |
370 | shift = 4; |
| 370 | } |
371 | } |
| 371 | if (shift == 4) { |
372 | if (shift == 4) { |
| 372 | // We need to stuff with zero bytes at the end. |
373 | // We need to stuff with zero bytes at the end. |
| 373 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
374 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
| 374 | txd_buffer[txd_bufferIndex] = 0; |
375 | txd_buffer[txd_bufferIndex] = 0; |
| 375 | } |
376 | } |
| 376 | va_end(ap); |
377 | va_end(ap); |
| 377 | AddCRC(pt); // add checksum after data block and initates the transmission |
378 | AddCRC(pt); // add checksum after data block and initates the transmission |
| 378 | } |
379 | } |
| 379 | */ |
380 | */ |
| 380 | 381 | ||
| 381 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
382 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| 382 | va_list ap; |
383 | va_list ap; |
| 383 | uint16_t pt = 0; |
384 | uint16_t pt = 0; |
| 384 | uint8_t a,b,c; |
385 | uint8_t a, b, c; |
| 385 | uint8_t ptr = 0; |
386 | uint8_t ptr = 0; |
| 386 | 387 | ||
| 387 | uint8_t *pdata = 0; |
388 | uint8_t *pdata = 0; |
| 388 | int len = 0; |
389 | int len = 0; |
| 389 | 390 | ||
| 390 | txd_buffer[pt++] = '#'; // Start character |
391 | txd_buffer[pt++] = '#'; // Start character |
| 391 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
392 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
| 392 | txd_buffer[pt++] = cmd; // Command |
393 | txd_buffer[pt++] = cmd; // Command |
| 393 | 394 | ||
| 394 | va_start(ap, numofbuffers); |
395 | va_start(ap, numofbuffers); |
| 395 | 396 | ||
| 396 | if(numofbuffers) { |
397 | if (numofbuffers) { |
| 397 | pdata = va_arg(ap, uint8_t*); |
398 | pdata = va_arg(ap, uint8_t*); |
| 398 | len = va_arg(ap, int); |
399 | len = va_arg(ap, int); |
| 399 | ptr = 0; |
400 | ptr = 0; |
| 400 | numofbuffers--; |
401 | numofbuffers--; |
| 401 | } |
402 | } |
| 402 | 403 | ||
| 403 | while(len){ |
404 | while (len) { |
| 404 | if(len) { |
405 | if (len) { |
| 405 | a = pdata[ptr++]; |
406 | a = pdata[ptr++]; |
| 406 | len--; |
407 | len--; |
| 407 | if((!len) && numofbuffers) { |
408 | if ((!len) && numofbuffers) { |
| 408 | pdata = va_arg(ap, uint8_t*); |
409 | pdata = va_arg(ap, uint8_t*); |
| 409 | len = va_arg(ap, int); |
410 | len = va_arg(ap, int); |
| 410 | ptr = 0; |
411 | ptr = 0; |
| 411 | numofbuffers--; |
412 | numofbuffers--; |
| 412 | } |
413 | } |
| 413 | } |
414 | } else |
| 414 | else a = 0; |
415 | a = 0; |
| 415 | if(len) { |
416 | if (len) { |
| 416 | b = pdata[ptr++]; |
417 | b = pdata[ptr++]; |
| 417 | len--; |
418 | len--; |
| 418 | if((!len) && numofbuffers) { |
419 | if ((!len) && numofbuffers) { |
| 419 | pdata = va_arg(ap, uint8_t*); |
420 | pdata = va_arg(ap, uint8_t*); |
| 420 | len = va_arg(ap, int); |
421 | len = va_arg(ap, int); |
| 421 | ptr = 0; |
422 | ptr = 0; |
| - | 423 | numofbuffers--; |
|
| 422 | numofbuffers--; |
424 | } |
| 423 | } |
425 | } else |
| 424 | } else b = 0; |
426 | b = 0; |
| 425 | if(len) { |
427 | if (len) { |
| 426 | c = pdata[ptr++]; |
428 | c = pdata[ptr++]; |
| 427 | len--; |
429 | len--; |
| 428 | if((!len) && numofbuffers) { |
430 | if ((!len) && numofbuffers) { |
| 429 | pdata = va_arg(ap, uint8_t*); |
431 | pdata = va_arg(ap, uint8_t*); |
| 430 | len = va_arg(ap, int); |
432 | len = va_arg(ap, int); |
| 431 | ptr = 0; |
433 | ptr = 0; |
| 432 | numofbuffers--; |
434 | numofbuffers--; |
| 433 | } |
435 | } |
| 434 | } |
436 | } else |
| 435 | else c = 0; |
437 | c = 0; |
| 436 | txd_buffer[pt++] = '=' + (a >> 2); |
438 | txd_buffer[pt++] = '=' + (a >> 2); |
| 437 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
439 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 438 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
440 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 439 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
441 | txd_buffer[pt++] = '=' + (c & 0x3f); |
| 440 | } |
442 | } |
| 441 | va_end(ap); |
443 | va_end(ap); |
| 442 | AddCRC(pt); // add checksum after data block and initates the transmission |
444 | AddCRC(pt); // add checksum after data block and initates the transmission |
| 443 | } |
445 | } |
| 444 | 446 | ||
| 445 | // -------------------------------------------------------------------------- |
447 | // -------------------------------------------------------------------------- |
| 446 | void Decode64(void) { |
448 | void Decode64(void) { |
| 447 | uint8_t a,b,c,d; |
449 | uint8_t a, b, c, d; |
| 448 | uint8_t x,y,z; |
450 | uint8_t x, y, z; |
| 449 | uint8_t ptrIn = 3; |
451 | uint8_t ptrIn = 3; |
| 450 | uint8_t ptrOut = 3; |
452 | uint8_t ptrOut = 3; |
| 451 | uint8_t len = ReceivedBytes - 6; |
453 | uint8_t len = ReceivedBytes - 6; |
| 452 | 454 | ||
| 453 | while(len) { |
455 | while (len) { |
| 454 | a = rxd_buffer[ptrIn++] - '='; |
456 | a = rxd_buffer[ptrIn++] - '='; |
| 455 | b = rxd_buffer[ptrIn++] - '='; |
457 | b = rxd_buffer[ptrIn++] - '='; |
| 456 | c = rxd_buffer[ptrIn++] - '='; |
458 | c = rxd_buffer[ptrIn++] - '='; |
| 457 | d = rxd_buffer[ptrIn++] - '='; |
459 | d = rxd_buffer[ptrIn++] - '='; |
| 458 | //if(ptrIn > ReceivedBytes - 3) break; |
460 | //if(ptrIn > ReceivedBytes - 3) break; |
| 459 | 461 | ||
| 460 | x = (a << 2) | (b >> 4); |
462 | x = (a << 2) | (b >> 4); |
| 461 | y = ((b & 0x0f) << 4) | (c >> 2); |
463 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 462 | z = ((c & 0x03) << 6) | d; |
464 | z = ((c & 0x03) << 6) | d; |
| 463 | 465 | ||
| - | 466 | if (len--) |
|
| 464 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
467 | rxd_buffer[ptrOut++] = x; |
| - | 468 | else |
|
| - | 469 | break; |
|
| - | 470 | if (len--) |
|
| 465 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
471 | rxd_buffer[ptrOut++] = y; |
| - | 472 | else |
|
| - | 473 | break; |
|
| - | 474 | if (len--) |
|
| 466 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
475 | rxd_buffer[ptrOut++] = z; |
| - | 476 | else |
|
| - | 477 | break; |
|
| 467 | } |
478 | } |
| 468 | pRxData = &rxd_buffer[3]; |
479 | pRxData = &rxd_buffer[3]; |
| 469 | RxDataLen = ptrOut - 3; |
480 | RxDataLen = ptrOut - 3; |
| 470 | } |
481 | } |
| 471 | 482 | ||
| 472 | // -------------------------------------------------------------------------- |
483 | // -------------------------------------------------------------------------- |
| 473 | void usart0_ProcessRxData(void) { |
484 | void usart0_ProcessRxData(void) { |
| 474 | // We control the motorTestActive var from here: Count it down. |
485 | // We control the motorTestActive var from here: Count it down. |
| 475 | if (motorTestActive) motorTestActive--; |
486 | if (motorTestActive) |
| - | 487 | motorTestActive--; |
|
| 476 | // if data in the rxd buffer are not locked immediately return |
488 | // if data in the rxd buffer are not locked immediately return |
| 477 | if(!rxd_buffer_locked) return; |
489 | if (!rxd_buffer_locked) |
| - | 490 | return; |
|
| 478 | uint8_t tempchar1, tempchar2; |
491 | uint8_t tempchar1, tempchar2; |
| 479 | Decode64(); // decode data block in rxd_buffer |
492 | Decode64(); // decode data block in rxd_buffer |
| 480 | 493 | ||
| 481 | switch(rxd_buffer[1] - 'a') { |
494 | switch (rxd_buffer[1] - 'a') { |
| 482 | 495 | ||
| 483 | case FC_ADDRESS: |
496 | case FC_ADDRESS: |
| 484 | switch(rxd_buffer[2]) { |
497 | switch (rxd_buffer[2]) { |
| 485 | #ifdef USE_MK3MAG |
498 | #ifdef USE_MK3MAG |
| 486 | case 'K':// compass value |
499 | case 'K':// compass value |
| 487 | compassHeading = ((Heading_t *)pRxData)->Heading; |
500 | compassHeading = ((Heading_t *)pRxData)->Heading; |
| 488 | compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
501 | // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| 623 | RxDataLen = 0; |
647 | RxDataLen = 0; |
| 624 | rxd_buffer_locked = FALSE; |
648 | rxd_buffer_locked = FALSE; |
| 625 | } |
649 | } |
| 626 | 650 | ||
| 627 | /************************************************************************/ |
651 | /************************************************************************/ |
| 628 | /* Routine für die Serielle Ausgabe */ |
652 | /* Routine für die Serielle Ausgabe */ |
| 629 | /************************************************************************/ |
653 | /************************************************************************/ |
| 630 | int16_t uart_putchar (int8_t c) { |
654 | int16_t uart_putchar(int8_t c) { |
| 631 | if (c == '\n') |
655 | if (c == '\n') |
| 632 | uart_putchar('\r'); |
656 | uart_putchar('\r'); |
| 633 | // wait until previous character was send |
657 | // wait until previous character was send |
| 634 | loop_until_bit_is_set(UCSR0A, UDRE0); |
658 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 635 | // send character |
659 | // send character |
| 636 | UDR0 = c; |
660 | UDR0 = c; |
| 637 | return (0); |
661 | return (0); |
| 638 | } |
662 | } |
| 639 | 663 | ||
| 640 | //--------------------------------------------------------------------------------------------- |
664 | //--------------------------------------------------------------------------------------------- |
| 641 | void usart0_TransmitTxData(void) { |
665 | void usart0_TransmitTxData(void) { |
| 642 | if(!txd_complete) return; |
666 | if (!txd_complete) |
| - | 667 | return; |
|
| - | 668 | ||
| - | 669 | if (request_VerInfo && txd_complete) { |
|
| - | 670 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
|
| - | 671 | sizeof(UART_VersionInfo)); |
|
| - | 672 | request_VerInfo = FALSE; |
|
| - | 673 | } |
|
| - | 674 | ||
| - | 675 | if (request_Display && txd_complete) { |
|
| - | 676 | LCD_PrintMenu(); |
|
| - | 677 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), |
|
| - | 678 | &DisplayBuff[DisplayLine * 20], 20); |
|
| - | 679 | DisplayLine++; |
|
| - | 680 | if (DisplayLine >= 4) |
|
| - | 681 | DisplayLine = 0; |
|
| - | 682 | request_Display = FALSE; |
|
| - | 683 | } |
|
| - | 684 | ||
| - | 685 | if (request_Display1 && txd_complete) { |
|
| - | 686 | LCD_PrintMenu(); |
|
| - | 687 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, |
|
| - | 688 | sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
|
| - | 689 | request_Display1 = FALSE; |
|
| - | 690 | } |
|
| - | 691 | ||
| - | 692 | if (request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
|
| - | 693 | uint8_t label[16]; // local sram buffer |
|
| - | 694 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
|
| - | 695 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
|
| - | 696 | sizeof(request_DebugLabel), label, 16); |
|
| - | 697 | request_DebugLabel = 0xFF; |
|
| - | 698 | } |
|
| 643 | - | ||
| 644 | if(request_VerInfo && txd_complete) { |
- | |
| 645 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
- | |
| 646 | request_VerInfo = FALSE; |
- | |
| 647 | } |
- | |
| 648 | - | ||
| 649 | if(request_Display && txd_complete) { |
- | |
| 650 | LCD_PrintMenu(); |
- | |
| 651 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
- | |
| 652 | DisplayLine++; |
- | |
| 653 | if(DisplayLine >= 4) DisplayLine = 0; |
- | |
| 654 | request_Display = FALSE; |
- | |
| 655 | } |
- | |
| 656 | - | ||
| 657 | if(request_Display1 && txd_complete) { |
- | |
| 658 | LCD_PrintMenu(); |
- | |
| 659 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
- | |
| 660 | request_Display1 = FALSE; |
- | |
| 661 | } |
- | |
| 662 | - | ||
| 663 | if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
- | |
| 664 | uint8_t label[16]; // local sram buffer |
- | |
| 665 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
- | |
| 666 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
- | |
| 667 | request_DebugLabel = 0xFF; |
- | |
| 668 | } |
- | |
| 669 | 699 | ||
| 670 | if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
700 | if (ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
| - | 701 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame, |
|
| 671 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
702 | sizeof(ConfirmFrame)); |
| 672 | ConfirmFrame = 0; |
703 | ConfirmFrame = 0; |
| 673 | } |
704 | } |
| 674 | 705 | ||
| - | 706 | if (((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) |
|
| 675 | if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) && txd_complete) { |
707 | && txd_complete) { |
| 676 | SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
708 | SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| 677 | DebugData_Timer = SetDelay(DebugData_Interval); |
709 | DebugData_Timer = SetDelay(DebugData_Interval); |
| 678 | request_DebugData = FALSE; |
710 | request_DebugData = FALSE; |
| 679 | } |
711 | } |
| 680 | 712 | ||
| - | 713 | if (((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) |
|
| 681 | if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) { |
714 | && txd_complete) { |
| - | 715 | SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
|
| 682 | SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
716 | Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
| - | 717 | / 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° |
718 | Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
| 684 | Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
719 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| 685 | Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
720 | Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| 686 | Data3D_Timer = SetDelay(Data3D_Interval); |
721 | Data3D_Timer = SetDelay(Data3D_Interval); |
| 687 | request_Data3D = FALSE; |
722 | request_Data3D = FALSE; |
| 688 | } |
723 | } |
| 689 | 724 | ||
| 690 | if(request_ExternalControl && txd_complete) { |
725 | if (request_ExternalControl && txd_complete) { |
| - | 726 | SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
|
| 691 | SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
727 | sizeof(externalControl)); |
| 692 | request_ExternalControl = FALSE; |
728 | request_ExternalControl = FALSE; |
| 693 | } |
729 | } |
| 694 | 730 | ||
| 695 | #ifdef USE_MK3MAG |
731 | #ifdef USE_MK3MAG |
| 696 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
732 | if((CheckDelay(Compass_Timer)) && txd_complete) { |
| 697 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
733 | ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / 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 |
734 | ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| 699 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
735 | ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| 700 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
736 | ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
| 701 | ToMk3Mag.CalState = compassCalState; |
737 | ToMk3Mag.CalState = compassCalState; |
| 702 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
738 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| 703 | // the last state is 5 and should be send only once to avoid multiple flash writing |
739 | // the last state is 5 and should be send only once to avoid multiple flash writing |
| 704 | if(compassCalState > 4) compassCalState = 0; |
740 | if(compassCalState > 4) compassCalState = 0; |
| 705 | Compass_Timer = SetDelay(99); |
741 | Compass_Timer = SetDelay(99); |
| 706 | } |
742 | } |
| 707 | #endif |
743 | #endif |
| 708 | 744 | ||
| 709 | if(request_MotorTest && txd_complete) { |
745 | if (request_MotorTest && txd_complete) { |
| 710 | SendOutData('T', FC_ADDRESS, 0); |
746 | SendOutData('T', FC_ADDRESS, 0); |
| 711 | request_MotorTest = FALSE; |
747 | request_MotorTest = FALSE; |
| 712 | } |
748 | } |
| 713 | 749 | ||
| 714 | if(request_PPMChannels && txd_complete) { |
750 | if (request_PPMChannels && txd_complete) { |
| 715 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
751 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
| 716 | request_PPMChannels = FALSE; |
752 | request_PPMChannels = FALSE; |
| 717 | } |
753 | } |
| 718 | 754 | ||
| 719 | if (request_variables && txd_complete) { |
755 | if (request_variables && txd_complete) { |
| 720 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables)); |
756 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
| 721 | request_variables = FALSE; |
757 | request_variables = FALSE; |
| 722 | } |
758 | } |
| 723 | } |
759 | } |
| 724 | 760 | ||