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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur f�r den privaten Gebrauch |
3 | // + Nur f�r den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien ver�ffentlicht 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 Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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 zul�ssig |
25 | // + mit unserer Zustimmung zul�ssig |
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 example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: 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 "rc.h" |
64 | #include "rc.h" |
65 | #include "externalControl.h" |
65 | #include "externalControl.h" |
66 | #include "output.h" |
66 | #include "output.h" |
67 | #include "attitude.h" |
67 | #include "attitude.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 = 0; // in 1ms |
115 | uint16_t DebugData_Interval = 0; // 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 ", |
128 | "GyroPitch ", |
129 | "GyroRoll ", |
129 | "GyroRoll ", |
130 | "GyroYaw ", //5 |
130 | "GyroYaw ", //5 |
131 | "AccPitch ", |
131 | "AccPitch ", |
132 | "AccRoll ", |
132 | "AccRoll ", |
133 | "AccZ ", |
133 | "AccZ ", |
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 | "ca debug ", //15 |
140 | "Throttle Term ", //15 |
141 | "gyroP ", |
141 | "gyroP ", |
142 | "gyroI ", |
142 | "gyroI ", |
143 | "gyroD ", |
143 | "gyroD ", |
144 | "unused ", |
144 | "Acc Vector ", |
145 | "dHeightThrottle ", //20 |
145 | "dHeightThrottle ", //20 |
146 | "hoverThrottle ", |
146 | "hoverThrottle ", |
147 | "M1 ", |
147 | "M1 ", |
148 | "M2 ", |
148 | "M2 ", |
149 | "M3 ", |
149 | "M3 ", |
150 | "M4 ", //25 |
150 | "M4 ", //25 |
151 | "ControlYaw ", |
151 | "ControlYaw ", |
152 | "Airpress. Range ", |
152 | "Airpress. Range ", |
153 | "DriftCompPitch ", |
153 | "DriftCompPitch ", |
154 | "DriftCompRoll ", |
154 | "DriftCompRoll ", |
155 | "Altitude ", //30 |
155 | "Altitude ", //30 |
156 | "AirpressADC " }; |
156 | "AirpressADC " }; |
157 | 157 | ||
158 | /****************************************************************/ |
158 | /****************************************************************/ |
159 | /* Initialization of the USART0 */ |
159 | /* Initialization of the USART0 */ |
160 | /****************************************************************/ |
160 | /****************************************************************/ |
161 | void usart0_Init(void) { |
161 | void usart0_Init(void) { |
162 | uint8_t sreg = SREG; |
162 | uint8_t sreg = SREG; |
163 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
163 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
164 | 164 | ||
165 | // disable all interrupts before configuration |
165 | // disable all interrupts before configuration |
166 | cli(); |
166 | cli(); |
167 | 167 | ||
168 | // disable RX-Interrupt |
168 | // disable RX-Interrupt |
169 | UCSR0B &= ~(1 << RXCIE0); |
169 | UCSR0B &= ~(1 << RXCIE0); |
170 | // disable TX-Interrupt |
170 | // disable TX-Interrupt |
171 | UCSR0B &= ~(1 << TXCIE0); |
171 | UCSR0B &= ~(1 << TXCIE0); |
172 | 172 | ||
173 | // set direction of RXD0 and TXD0 pins |
173 | // set direction of RXD0 and TXD0 pins |
174 | // set RXD0 (PD0) as an input pin |
174 | // set RXD0 (PD0) as an input pin |
175 | PORTD |= (1 << PORTD0); |
175 | PORTD |= (1 << PORTD0); |
176 | DDRD &= ~(1 << DDD0); |
176 | DDRD &= ~(1 << DDD0); |
177 | // set TXD0 (PD1) as an output pin |
177 | // set TXD0 (PD1) as an output pin |
178 | PORTD |= (1 << PORTD1); |
178 | PORTD |= (1 << PORTD1); |
179 | DDRD |= (1 << DDD1); |
179 | DDRD |= (1 << DDD1); |
180 | 180 | ||
181 | // USART0 Baud Rate Register |
181 | // USART0 Baud Rate Register |
182 | // set clock divider |
182 | // set clock divider |
183 | UBRR0H = (uint8_t) (ubrr >> 8); |
183 | UBRR0H = (uint8_t) (ubrr >> 8); |
184 | UBRR0L = (uint8_t) ubrr; |
184 | UBRR0L = (uint8_t) ubrr; |
185 | 185 | ||
186 | // USART0 Control and Status Register A, B, C |
186 | // USART0 Control and Status Register A, B, C |
187 | 187 | ||
188 | // enable double speed operation in |
188 | // enable double speed operation in |
189 | UCSR0A |= (1 << U2X0); |
189 | UCSR0A |= (1 << U2X0); |
190 | // enable receiver and transmitter in |
190 | // enable receiver and transmitter in |
191 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
191 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
192 | // set asynchronous mode |
192 | // set asynchronous mode |
193 | UCSR0C &= ~(1 << UMSEL01); |
193 | UCSR0C &= ~(1 << UMSEL01); |
194 | UCSR0C &= ~(1 << UMSEL00); |
194 | UCSR0C &= ~(1 << UMSEL00); |
195 | // no parity |
195 | // no parity |
196 | UCSR0C &= ~(1 << UPM01); |
196 | UCSR0C &= ~(1 << UPM01); |
197 | UCSR0C &= ~(1 << UPM00); |
197 | UCSR0C &= ~(1 << UPM00); |
198 | // 1 stop bit |
198 | // 1 stop bit |
199 | UCSR0C &= ~(1 << USBS0); |
199 | UCSR0C &= ~(1 << USBS0); |
200 | // 8-bit |
200 | // 8-bit |
201 | UCSR0B &= ~(1 << UCSZ02); |
201 | UCSR0B &= ~(1 << UCSZ02); |
202 | UCSR0C |= (1 << UCSZ01); |
202 | UCSR0C |= (1 << UCSZ01); |
203 | UCSR0C |= (1 << UCSZ00); |
203 | UCSR0C |= (1 << UCSZ00); |
204 | 204 | ||
205 | // flush receive buffer |
205 | // flush receive buffer |
206 | while (UCSR0A & (1 << RXC0)) |
206 | while (UCSR0A & (1 << RXC0)) |
207 | UDR0; |
207 | UDR0; |
208 | 208 | ||
209 | // enable interrupts at the end |
209 | // enable interrupts at the end |
210 | // enable RX-Interrupt |
210 | // enable RX-Interrupt |
211 | UCSR0B |= (1 << RXCIE0); |
211 | UCSR0B |= (1 << RXCIE0); |
212 | // enable TX-Interrupt |
212 | // enable TX-Interrupt |
213 | UCSR0B |= (1 << TXCIE0); |
213 | UCSR0B |= (1 << TXCIE0); |
214 | 214 | ||
215 | // initialize the debug timer |
215 | // initialize the debug timer |
216 | DebugData_Timer = setDelay(DebugData_Interval); |
216 | DebugData_Timer = setDelay(DebugData_Interval); |
217 | 217 | ||
218 | // unlock rxd_buffer |
218 | // unlock rxd_buffer |
219 | rxd_buffer_locked = FALSE; |
219 | rxd_buffer_locked = FALSE; |
220 | pRxData = 0; |
220 | pRxData = 0; |
221 | RxDataLen = 0; |
221 | RxDataLen = 0; |
222 | 222 | ||
223 | // no bytes to send |
223 | // no bytes to send |
224 | txd_complete = TRUE; |
224 | txd_complete = TRUE; |
225 | 225 | ||
226 | #ifdef USE_MK3MAG |
226 | #ifdef USE_MK3MAG |
227 | Compass_Timer = setDelay(220); |
227 | Compass_Timer = setDelay(220); |
228 | #endif |
228 | #endif |
229 | 229 | ||
230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
230 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
231 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
232 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
233 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
234 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
235 | 235 | ||
236 | // restore global interrupt flags |
236 | // restore global interrupt flags |
237 | SREG = sreg; |
237 | SREG = sreg; |
238 | } |
238 | } |
239 | 239 | ||
240 | /****************************************************************/ |
240 | /****************************************************************/ |
241 | /* USART0 transmitter ISR */ |
241 | /* USART0 transmitter ISR */ |
242 | /****************************************************************/ |
242 | /****************************************************************/ |
243 | ISR(USART0_TX_vect) |
243 | ISR(USART0_TX_vect) |
244 | { |
244 | { |
245 | static uint16_t ptr_txd_buffer = 0; |
245 | static uint16_t ptr_txd_buffer = 0; |
246 | uint8_t tmp_tx; |
246 | uint8_t tmp_tx; |
247 | if (!txd_complete) { // transmission not completed |
247 | if (!txd_complete) { // transmission not completed |
248 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
248 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
249 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
249 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
250 | // if terminating character or end of txd buffer was reached |
250 | // if terminating character or end of txd buffer was reached |
251 | if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
251 | if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
252 | ptr_txd_buffer = 0; // reset txd pointer |
252 | ptr_txd_buffer = 0; // reset txd pointer |
253 | txd_complete = 1; // stop transmission |
253 | txd_complete = 1; // stop transmission |
254 | } |
254 | } |
255 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
255 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
256 | } |
256 | } |
257 | // transmission completed |
257 | // transmission completed |
258 | else |
258 | else |
259 | ptr_txd_buffer = 0; |
259 | ptr_txd_buffer = 0; |
260 | } |
260 | } |
261 | 261 | ||
262 | /****************************************************************/ |
262 | /****************************************************************/ |
263 | /* USART0 receiver ISR */ |
263 | /* USART0 receiver ISR */ |
264 | /****************************************************************/ |
264 | /****************************************************************/ |
265 | ISR(USART0_RX_vect) |
265 | ISR(USART0_RX_vect) |
266 | { |
266 | { |
267 | static uint16_t checksum; |
267 | static uint16_t checksum; |
268 | static uint8_t ptr_rxd_buffer = 0; |
268 | static uint8_t ptr_rxd_buffer = 0; |
269 | uint8_t checksum1, checksum2; |
269 | uint8_t checksum1, checksum2; |
270 | uint8_t c; |
270 | uint8_t c; |
271 | 271 | ||
272 | c = UDR0; // catch the received byte |
272 | c = UDR0; // catch the received byte |
273 | 273 | ||
274 | if (rxd_buffer_locked) |
274 | if (rxd_buffer_locked) |
275 | return; // if rxd buffer is locked immediately return |
275 | return; // if rxd buffer is locked immediately return |
276 | 276 | ||
277 | // the rxd buffer is unlocked |
277 | // the rxd buffer is unlocked |
278 | if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
278 | if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
279 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
279 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
280 | checksum = c; // init checksum |
280 | checksum = c; // init checksum |
281 | } |
281 | } |
282 | #if 0 |
282 | #if 0 |
283 | else if (ptr_rxd_buffer == 1) { // handle address |
283 | else if (ptr_rxd_buffer == 1) { // handle address |
284 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
284 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
285 | checksum += c; // update checksum |
285 | checksum += c; // update checksum |
286 | } |
286 | } |
287 | #endif |
287 | #endif |
288 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
288 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
289 | if (c != '\r') { // no termination character |
289 | if (c != '\r') { // no termination character |
290 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
290 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
291 | checksum += c; // update checksum |
291 | checksum += c; // update checksum |
292 | } else { // termination character was received |
292 | } else { // termination character was received |
293 | // the last 2 bytes are no subject for checksum calculation |
293 | // the last 2 bytes are no subject for checksum calculation |
294 | // they are the checksum itself |
294 | // they are the checksum itself |
295 | checksum -= rxd_buffer[ptr_rxd_buffer - 2]; |
295 | checksum -= rxd_buffer[ptr_rxd_buffer - 2]; |
296 | checksum -= rxd_buffer[ptr_rxd_buffer - 1]; |
296 | checksum -= rxd_buffer[ptr_rxd_buffer - 1]; |
297 | // calculate checksum from transmitted data |
297 | // calculate checksum from transmitted data |
298 | checksum %= 4096; |
298 | checksum %= 4096; |
299 | checksum1 = '=' + checksum / 64; |
299 | checksum1 = '=' + checksum / 64; |
300 | checksum2 = '=' + checksum % 64; |
300 | checksum2 = '=' + checksum % 64; |
301 | // compare checksum to transmitted checksum bytes |
301 | // compare checksum to transmitted checksum bytes |
302 | if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2 |
302 | if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2 |
303 | == rxd_buffer[ptr_rxd_buffer - 1])) { |
303 | == rxd_buffer[ptr_rxd_buffer - 1])) { |
304 | // checksum valid |
304 | // checksum valid |
305 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
305 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
306 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
306 | ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
307 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
307 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
309 | if (rxd_buffer[2] == 'R') { |
309 | if (rxd_buffer[2] == 'R') { |
310 | wdt_enable(WDTO_250MS); |
310 | wdt_enable(WDTO_250MS); |
311 | } // Reset-Commando |
311 | } // Reset-Commando |
312 | } else { // checksum invalid |
312 | } else { // checksum invalid |
313 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
313 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
314 | } |
314 | } |
315 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
315 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
316 | } |
316 | } |
317 | } else { // rxd buffer overrun |
317 | } else { // rxd buffer overrun |
318 | ptr_rxd_buffer = 0; // reset rxd buffer |
318 | ptr_rxd_buffer = 0; // reset rxd buffer |
319 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
319 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
320 | } |
320 | } |
321 | } |
321 | } |
322 | 322 | ||
323 | // -------------------------------------------------------------------------- |
323 | // -------------------------------------------------------------------------- |
324 | void Addchecksum(uint16_t datalen) { |
324 | void Addchecksum(uint16_t datalen) { |
325 | uint16_t tmpchecksum = 0, i; |
325 | uint16_t tmpchecksum = 0, i; |
326 | for (i = 0; i < datalen; i++) { |
326 | for (i = 0; i < datalen; i++) { |
327 | tmpchecksum += txd_buffer[i]; |
327 | tmpchecksum += txd_buffer[i]; |
328 | } |
328 | } |
329 | tmpchecksum %= 4096; |
329 | tmpchecksum %= 4096; |
330 | txd_buffer[i++] = '=' + tmpchecksum / 64; |
330 | txd_buffer[i++] = '=' + tmpchecksum / 64; |
331 | txd_buffer[i++] = '=' + tmpchecksum % 64; |
331 | txd_buffer[i++] = '=' + tmpchecksum % 64; |
332 | txd_buffer[i++] = '\r'; |
332 | txd_buffer[i++] = '\r'; |
333 | txd_complete = FALSE; |
333 | txd_complete = FALSE; |
334 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
334 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
335 | } |
335 | } |
336 | 336 | ||
337 | // -------------------------------------------------------------------------- |
337 | // -------------------------------------------------------------------------- |
338 | // application example: |
338 | // application example: |
339 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
339 | // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
340 | /* |
340 | /* |
341 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
341 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
342 | va_list ap; |
342 | va_list ap; |
343 | uint16_t txd_bufferIndex = 0; |
343 | uint16_t txd_bufferIndex = 0; |
344 | uint8_t *currentBuffer; |
344 | uint8_t *currentBuffer; |
345 | uint8_t currentBufferIndex; |
345 | uint8_t currentBufferIndex; |
346 | uint16_t lengthOfCurrentBuffer; |
346 | uint16_t lengthOfCurrentBuffer; |
347 | uint8_t shift = 0; |
347 | uint8_t shift = 0; |
348 | 348 | ||
349 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
349 | txd_buffer[txd_bufferIndex++] = '#'; // Start character |
350 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
350 | txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
351 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
351 | txd_buffer[txd_bufferIndex++] = cmd; // Command |
352 | 352 | ||
353 | va_start(ap, numofbuffers); |
353 | va_start(ap, numofbuffers); |
354 | 354 | ||
355 | while(numofbuffers) { |
355 | while(numofbuffers) { |
356 | currentBuffer = va_arg(ap, uint8_t*); |
356 | currentBuffer = va_arg(ap, uint8_t*); |
357 | lengthOfCurrentBuffer = va_arg(ap, int); |
357 | lengthOfCurrentBuffer = va_arg(ap, int); |
358 | currentBufferIndex = 0; |
358 | currentBufferIndex = 0; |
359 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
359 | // Encode data: 3 bytes of data are encoded into 4 bytes, |
360 | // where the 2 most significant bits are both 0. |
360 | // where the 2 most significant bits are both 0. |
361 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
361 | while(currentBufferIndex != lengthOfCurrentBuffer) { |
362 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
362 | if (!shift) txd_buffer[txd_bufferIndex] = 0; |
363 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
363 | txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
364 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
364 | txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
365 | shift += 2; |
365 | shift += 2; |
366 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
366 | if (shift == 6) { shift=0; txd_bufferIndex++; } |
367 | currentBufferIndex++; |
367 | currentBufferIndex++; |
368 | } |
368 | } |
369 | } |
369 | } |
370 | // If the number of data bytes was not divisible by 3, stuff |
370 | // If the number of data bytes was not divisible by 3, stuff |
371 | // with 0 pseudodata until length is again divisible by 3. |
371 | // with 0 pseudodata until length is again divisible by 3. |
372 | if (shift == 2) { |
372 | if (shift == 2) { |
373 | // We need to stuff with zero bytes at the end. |
373 | // We need to stuff with zero bytes at the end. |
374 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
374 | txd_buffer[txd_bufferIndex] &= 0b00110000; |
375 | txd_buffer[++txd_bufferIndex] = 0; |
375 | txd_buffer[++txd_bufferIndex] = 0; |
376 | shift = 4; |
376 | shift = 4; |
377 | } |
377 | } |
378 | if (shift == 4) { |
378 | if (shift == 4) { |
379 | // We need to stuff with zero bytes at the end. |
379 | // We need to stuff with zero bytes at the end. |
380 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
380 | txd_buffer[txd_bufferIndex++] &= 0b00111100; |
381 | txd_buffer[txd_bufferIndex] = 0; |
381 | txd_buffer[txd_bufferIndex] = 0; |
382 | } |
382 | } |
383 | va_end(ap); |
383 | va_end(ap); |
384 | Addchecksum(pt); // add checksum after data block and initates the transmission |
384 | Addchecksum(pt); // add checksum after data block and initates the transmission |
385 | } |
385 | } |
386 | */ |
386 | */ |
387 | 387 | ||
388 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
388 | void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
389 | va_list ap; |
389 | va_list ap; |
390 | uint16_t pt = 0; |
390 | uint16_t pt = 0; |
391 | uint8_t a, b, c; |
391 | uint8_t a, b, c; |
392 | uint8_t ptr = 0; |
392 | uint8_t ptr = 0; |
393 | 393 | ||
394 | uint8_t *pdata = 0; |
394 | uint8_t *pdata = 0; |
395 | int len = 0; |
395 | int len = 0; |
396 | 396 | ||
397 | txd_buffer[pt++] = '#'; // Start character |
397 | txd_buffer[pt++] = '#'; // Start character |
398 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
398 | txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
399 | txd_buffer[pt++] = cmd; // Command |
399 | txd_buffer[pt++] = cmd; // Command |
400 | 400 | ||
401 | va_start(ap, numofbuffers); |
401 | va_start(ap, numofbuffers); |
402 | 402 | ||
403 | if (numofbuffers) { |
403 | if (numofbuffers) { |
404 | pdata = va_arg(ap, uint8_t*); |
404 | pdata = va_arg(ap, uint8_t*); |
405 | len = va_arg(ap, int); |
405 | len = va_arg(ap, int); |
406 | ptr = 0; |
406 | ptr = 0; |
407 | numofbuffers--; |
407 | numofbuffers--; |
408 | } |
408 | } |
409 | 409 | ||
410 | while (len) { |
410 | while (len) { |
411 | if (len) { |
411 | if (len) { |
412 | a = pdata[ptr++]; |
412 | a = pdata[ptr++]; |
413 | len--; |
413 | len--; |
414 | if ((!len) && numofbuffers) { |
414 | if ((!len) && numofbuffers) { |
415 | pdata = va_arg(ap, uint8_t*); |
415 | pdata = va_arg(ap, uint8_t*); |
416 | len = va_arg(ap, int); |
416 | len = va_arg(ap, int); |
417 | ptr = 0; |
417 | ptr = 0; |
418 | numofbuffers--; |
418 | numofbuffers--; |
419 | } |
419 | } |
420 | } else |
420 | } else |
421 | a = 0; |
421 | a = 0; |
422 | if (len) { |
422 | if (len) { |
423 | b = pdata[ptr++]; |
423 | b = pdata[ptr++]; |
424 | len--; |
424 | len--; |
425 | if ((!len) && numofbuffers) { |
425 | if ((!len) && numofbuffers) { |
426 | pdata = va_arg(ap, uint8_t*); |
426 | pdata = va_arg(ap, uint8_t*); |
427 | len = va_arg(ap, int); |
427 | len = va_arg(ap, int); |
428 | ptr = 0; |
428 | ptr = 0; |
429 | numofbuffers--; |
429 | numofbuffers--; |
430 | } |
430 | } |
431 | } else |
431 | } else |
432 | b = 0; |
432 | b = 0; |
433 | if (len) { |
433 | if (len) { |
434 | c = pdata[ptr++]; |
434 | c = pdata[ptr++]; |
435 | len--; |
435 | len--; |
436 | if ((!len) && numofbuffers) { |
436 | if ((!len) && numofbuffers) { |
437 | pdata = va_arg(ap, uint8_t*); |
437 | pdata = va_arg(ap, uint8_t*); |
438 | len = va_arg(ap, int); |
438 | len = va_arg(ap, int); |
439 | ptr = 0; |
439 | ptr = 0; |
440 | numofbuffers--; |
440 | numofbuffers--; |
441 | } |
441 | } |
442 | } else |
442 | } else |
443 | c = 0; |
443 | c = 0; |
444 | txd_buffer[pt++] = '=' + (a >> 2); |
444 | txd_buffer[pt++] = '=' + (a >> 2); |
445 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
445 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
446 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
446 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
447 | txd_buffer[pt++] = '=' + (c & 0x3f); |
447 | txd_buffer[pt++] = '=' + (c & 0x3f); |
448 | } |
448 | } |
449 | va_end(ap); |
449 | va_end(ap); |
450 | Addchecksum(pt); // add checksum after data block and initates the transmission |
450 | Addchecksum(pt); // add checksum after data block and initates the transmission |
451 | } |
451 | } |
452 | 452 | ||
453 | // -------------------------------------------------------------------------- |
453 | // -------------------------------------------------------------------------- |
454 | void Decode64(void) { |
454 | void Decode64(void) { |
455 | uint8_t a, b, c, d; |
455 | uint8_t a, b, c, d; |
456 | uint8_t x, y, z; |
456 | uint8_t x, y, z; |
457 | uint8_t ptrIn = 3; |
457 | uint8_t ptrIn = 3; |
458 | uint8_t ptrOut = 3; |
458 | uint8_t ptrOut = 3; |
459 | uint8_t len = ReceivedBytes - 6; |
459 | uint8_t len = ReceivedBytes - 6; |
460 | 460 | ||
461 | while (len) { |
461 | while (len) { |
462 | a = rxd_buffer[ptrIn++] - '='; |
462 | a = rxd_buffer[ptrIn++] - '='; |
463 | b = rxd_buffer[ptrIn++] - '='; |
463 | b = rxd_buffer[ptrIn++] - '='; |
464 | c = rxd_buffer[ptrIn++] - '='; |
464 | c = rxd_buffer[ptrIn++] - '='; |
465 | d = rxd_buffer[ptrIn++] - '='; |
465 | d = rxd_buffer[ptrIn++] - '='; |
466 | //if(ptrIn > ReceivedBytes - 3) break; |
466 | //if(ptrIn > ReceivedBytes - 3) break; |
467 | 467 | ||
468 | x = (a << 2) | (b >> 4); |
468 | x = (a << 2) | (b >> 4); |
469 | y = ((b & 0x0f) << 4) | (c >> 2); |
469 | y = ((b & 0x0f) << 4) | (c >> 2); |
470 | z = ((c & 0x03) << 6) | d; |
470 | z = ((c & 0x03) << 6) | d; |
471 | 471 | ||
472 | if (len--) |
472 | if (len--) |
473 | rxd_buffer[ptrOut++] = x; |
473 | rxd_buffer[ptrOut++] = x; |
474 | else |
474 | else |
475 | break; |
475 | break; |
476 | if (len--) |
476 | if (len--) |
477 | rxd_buffer[ptrOut++] = y; |
477 | rxd_buffer[ptrOut++] = y; |
478 | else |
478 | else |
479 | break; |
479 | break; |
480 | if (len--) |
480 | if (len--) |
481 | rxd_buffer[ptrOut++] = z; |
481 | rxd_buffer[ptrOut++] = z; |
482 | else |
482 | else |
483 | break; |
483 | break; |
484 | } |
484 | } |
485 | pRxData = &rxd_buffer[3]; |
485 | pRxData = &rxd_buffer[3]; |
486 | RxDataLen = ptrOut - 3; |
486 | RxDataLen = ptrOut - 3; |
487 | } |
487 | } |
488 | 488 | ||
489 | // -------------------------------------------------------------------------- |
489 | // -------------------------------------------------------------------------- |
490 | void usart0_ProcessRxData(void) { |
490 | void usart0_ProcessRxData(void) { |
491 | // We control the motorTestActive var from here: Count it down. |
491 | // We control the motorTestActive var from here: Count it down. |
492 | if (motorTestActive) |
492 | if (motorTestActive) |
493 | motorTestActive--; |
493 | motorTestActive--; |
494 | // if data in the rxd buffer are not locked immediately return |
494 | // if data in the rxd buffer are not locked immediately return |
495 | if (!rxd_buffer_locked) |
495 | if (!rxd_buffer_locked) |
496 | return; |
496 | return; |
497 | uint8_t tempchar1, tempchar2; |
497 | uint8_t tempchar[3]; |
498 | Decode64(); // decode data block in rxd_buffer |
498 | Decode64(); // decode data block in rxd_buffer |
499 | 499 | ||
500 | switch (rxd_buffer[1] - 'a') { |
500 | switch (rxd_buffer[1] - 'a') { |
501 | 501 | ||
502 | case FC_ADDRESS: |
502 | case FC_ADDRESS: |
503 | switch (rxd_buffer[2]) { |
503 | switch (rxd_buffer[2]) { |
504 | #ifdef USE_MK3MAG |
504 | #ifdef USE_MK3MAG |
505 | case 'K':// compass value |
505 | case 'K':// compass value |
506 | compassHeading = ((Heading_t *)pRxData)->Heading; |
506 | compassHeading = ((Heading_t *)pRxData)->Heading; |
507 | // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
507 | // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
508 | break; |
508 | break; |
509 | #endif |
509 | #endif |
510 | case 't': // motor test |
510 | case 't': // motor test |
511 | if (RxDataLen > 20) { |
511 | if (RxDataLen > 20) { |
512 | memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
512 | memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
513 | } else { |
513 | } else { |
514 | memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
514 | memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
515 | } |
515 | } |
516 | motorTestActive = 255; |
516 | motorTestActive = 255; |
517 | externalControlActive = 255; |
517 | externalControlActive = 255; |
518 | break; |
518 | break; |
519 | 519 | ||
520 | case 'n':// "Get Mixer Table |
520 | case 'n':// "Get Mixer Table |
521 | while (!txd_complete) |
521 | while (!txd_complete) |
522 | ; // wait for previous frame to be sent |
522 | ; // wait for previous frame to be sent |
523 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
523 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
524 | break; |
524 | break; |
525 | 525 | ||
526 | case 'm':// "Set Mixer Table |
526 | case 'm':// "Set Mixer Table |
527 | if (pRxData[0] == EEMIXER_REVISION) { |
527 | if (pRxData[0] == EEMIXER_REVISION) { |
528 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
528 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
529 | mixerMatrix_writeToEEProm(); |
529 | mixerMatrix_writeToEEProm(); |
530 | while (!txd_complete) |
530 | while (!txd_complete) |
531 | ; // wait for previous frame to be sent |
531 | ; // wait for previous frame to be sent |
532 | tempchar1 = 1; |
532 | tempchar[0] = 1; |
533 | } else { |
533 | } else { |
534 | tempchar1 = 0; |
534 | tempchar[0] = 0; |
535 | } |
535 | } |
536 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
536 | SendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
537 | break; |
537 | break; |
538 | 538 | ||
539 | case 'p': // get PPM channels |
539 | case 'p': // get PPM channels |
540 | request_PPMChannels = TRUE; |
540 | request_PPMChannels = TRUE; |
541 | break; |
541 | break; |
542 | 542 | ||
543 | case 'q':// request settings |
543 | case 'q':// request settings |
544 | if (pRxData[0] == 0xFF) { |
544 | if (pRxData[0] == 0xFF) { |
545 | pRxData[0] = getParamByte(PID_ACTIVE_SET); |
545 | pRxData[0] = getParamByte(PID_ACTIVE_SET); |
546 | } |
546 | } |
547 | // limit settings range |
547 | // limit settings range |
548 | if (pRxData[0] < 1) |
548 | if (pRxData[0] < 1) |
549 | pRxData[0] = 1; // limit to 1 |
549 | pRxData[0] = 1; // limit to 1 |
550 | else if (pRxData[0] > 5) |
550 | else if (pRxData[0] > 5) |
551 | pRxData[0] = 5; // limit to 5 |
551 | pRxData[0] = 5; // limit to 5 |
552 | // load requested parameter set |
552 | // load requested parameter set |
553 | paramSet_readFromEEProm(pRxData[0]); |
553 | paramSet_readFromEEProm(pRxData[0]); |
554 | tempchar1 = pRxData[0]; |
554 | tempchar[0] = pRxData[0]; |
555 | tempchar2 = EEPARAM_REVISION; |
555 | tempchar[1] = EEPARAM_REVISION; |
- | 556 | tempchar[2] = sizeof(staticParams); |
|
556 | while (!txd_complete) |
557 | while (!txd_complete) |
557 | ; // wait for previous frame to be sent |
558 | ; // wait for previous frame to be sent |
558 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), |
559 | SendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
559 | &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, |
- | |
560 | sizeof(staticParams)); |
- | |
561 | break; |
560 | break; |
562 | 561 | ||
563 | case 's': // save settings |
562 | case 's': // save settings |
564 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
563 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
565 | { |
564 | { |
566 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
565 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
567 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
566 | == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
568 | { |
567 | { |
569 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
568 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
570 | paramSet_writeToEEProm(pRxData[0]); |
569 | paramSet_writeToEEProm(pRxData[0]); |
571 | tempchar1 = getActiveParamSet(); |
570 | tempchar[0] = getActiveParamSet(); |
572 | beepNumber(tempchar1); |
571 | beepNumber(tempchar[0]); |
573 | } else { |
572 | } else { |
574 | tempchar1 = 0; //indicate bad data |
573 | tempchar[0] = 0; //indicate bad data |
575 | } |
574 | } |
576 | while (!txd_complete) |
575 | while (!txd_complete) |
577 | ; // wait for previous frame to be sent |
576 | ; // wait for previous frame to be sent |
578 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
577 | SendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
579 | } |
578 | } |
580 | break; |
579 | break; |
581 | 580 | ||
582 | default: |
581 | default: |
583 | //unsupported command received |
582 | //unsupported command received |
584 | break; |
583 | break; |
585 | } // case FC_ADDRESS: |
584 | } // case FC_ADDRESS: |
586 | 585 | ||
587 | default: // any Slave Address |
586 | default: // any Slave Address |
588 | switch (rxd_buffer[2]) { |
587 | switch (rxd_buffer[2]) { |
589 | case 'a':// request for labels of the analog debug outputs |
588 | case 'a':// request for labels of the analog debug outputs |
590 | request_DebugLabel = pRxData[0]; |
589 | request_DebugLabel = pRxData[0]; |
591 | if (request_DebugLabel > 31) |
590 | if (request_DebugLabel > 31) |
592 | request_DebugLabel = 31; |
591 | request_DebugLabel = 31; |
593 | break; |
592 | break; |
594 | 593 | ||
595 | case 'b': // submit extern control |
594 | case 'b': // submit extern control |
596 | memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
595 | memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
597 | ConfirmFrame = externalControl.frame; |
596 | ConfirmFrame = externalControl.frame; |
598 | externalControlActive = 255; |
597 | externalControlActive = 255; |
599 | break; |
598 | break; |
600 | 599 | ||
601 | case 'h':// request for display columns |
600 | case 'h':// request for display columns |
602 | RemoteKeys |= pRxData[0]; |
601 | RemoteKeys |= pRxData[0]; |
603 | if (RemoteKeys) |
602 | if (RemoteKeys) |
604 | DisplayLine = 0; |
603 | DisplayLine = 0; |
605 | request_Display = TRUE; |
604 | request_Display = TRUE; |
606 | break; |
605 | break; |
607 | 606 | ||
608 | case 'l':// request for display columns |
607 | case 'l':// request for display columns |
609 | MenuItem = pRxData[0]; |
608 | MenuItem = pRxData[0]; |
610 | request_Display1 = TRUE; |
609 | request_Display1 = TRUE; |
611 | break; |
610 | break; |
612 | 611 | ||
613 | case 'v': // request for version and board release |
612 | case 'v': // request for version and board release |
614 | request_VerInfo = TRUE; |
613 | request_VerInfo = TRUE; |
615 | break; |
614 | break; |
616 | 615 | ||
617 | case 'x': |
616 | case 'x': |
618 | request_variables = TRUE; |
617 | request_variables = TRUE; |
619 | break; |
618 | break; |
620 | 619 | ||
621 | case 'g':// get external control data |
620 | case 'g':// get external control data |
622 | request_ExternalControl = TRUE; |
621 | request_ExternalControl = TRUE; |
623 | break; |
622 | break; |
624 | 623 | ||
625 | case 'd': // request for the debug data |
624 | case 'd': // request for the debug data |
626 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
625 | DebugData_Interval = (uint16_t) pRxData[0] * 10; |
627 | if (DebugData_Interval > 0) |
626 | if (DebugData_Interval > 0) |
628 | request_DebugData = TRUE; |
627 | request_DebugData = TRUE; |
629 | break; |
628 | break; |
630 | 629 | ||
631 | case 'c': // request for the 3D data |
630 | case 'c': // request for the 3D data |
632 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
631 | Data3D_Interval = (uint16_t) pRxData[0] * 10; |
633 | if (Data3D_Interval > 0) |
632 | if (Data3D_Interval > 0) |
634 | request_Data3D = TRUE; |
633 | request_Data3D = TRUE; |
635 | break; |
634 | break; |
636 | 635 | ||
637 | default: |
636 | default: |
638 | //unsupported command received |
637 | //unsupported command received |
639 | break; |
638 | break; |
640 | } |
639 | } |
641 | break; // default: |
640 | break; // default: |
642 | } |
641 | } |
643 | // unlock the rxd buffer after processing |
642 | // unlock the rxd buffer after processing |
644 | pRxData = 0; |
643 | pRxData = 0; |
645 | RxDataLen = 0; |
644 | RxDataLen = 0; |
646 | rxd_buffer_locked = FALSE; |
645 | rxd_buffer_locked = FALSE; |
647 | } |
646 | } |
648 | 647 | ||
649 | /************************************************************************/ |
648 | /************************************************************************/ |
650 | /* Routine f�r die Serielle Ausgabe */ |
649 | /* Routine f�r die Serielle Ausgabe */ |
651 | /************************************************************************/ |
650 | /************************************************************************/ |
652 | int16_t uart_putchar(int8_t c) { |
651 | int16_t uart_putchar(int8_t c) { |
653 | if (c == '\n') |
652 | if (c == '\n') |
654 | uart_putchar('\r'); |
653 | uart_putchar('\r'); |
655 | // wait until previous character was send |
654 | // wait until previous character was send |
656 | loop_until_bit_is_set(UCSR0A, UDRE0); |
655 | loop_until_bit_is_set(UCSR0A, UDRE0); |
657 | // send character |
656 | // send character |
658 | UDR0 = c; |
657 | UDR0 = c; |
659 | return (0); |
658 | return (0); |
660 | } |
659 | } |
661 | 660 | ||
662 | //--------------------------------------------------------------------------------------------- |
661 | //--------------------------------------------------------------------------------------------- |
663 | void usart0_TransmitTxData(void) { |
662 | void usart0_TransmitTxData(void) { |
664 | if (!txd_complete) |
663 | if (!txd_complete) |
665 | return; |
664 | return; |
666 | 665 | ||
667 | if (request_VerInfo && txd_complete) { |
666 | if (request_VerInfo && txd_complete) { |
668 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
667 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
669 | sizeof(UART_VersionInfo)); |
668 | sizeof(UART_VersionInfo)); |
670 | request_VerInfo = FALSE; |
669 | request_VerInfo = FALSE; |
671 | } |
670 | } |
672 | 671 | ||
673 | if (request_Display && txd_complete) { |
672 | if (request_Display && txd_complete) { |
674 | LCD_PrintMenu(); |
673 | LCD_PrintMenu(); |
675 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), |
674 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), |
676 | &DisplayBuff[DisplayLine * 20], 20); |
675 | &DisplayBuff[DisplayLine * 20], 20); |
677 | DisplayLine++; |
676 | DisplayLine++; |
678 | if (DisplayLine >= 4) |
677 | if (DisplayLine >= 4) |
679 | DisplayLine = 0; |
678 | DisplayLine = 0; |
680 | request_Display = FALSE; |
679 | request_Display = FALSE; |
681 | } |
680 | } |
682 | 681 | ||
683 | if (request_Display1 && txd_complete) { |
682 | if (request_Display1 && txd_complete) { |
684 | LCD_PrintMenu(); |
683 | LCD_PrintMenu(); |
685 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, |
684 | SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, |
686 | sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
685 | sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
687 | request_Display1 = FALSE; |
686 | request_Display1 = FALSE; |
688 | } |
687 | } |
689 | 688 | ||
690 | if (request_DebugLabel != 0xFF) { // Texte f�r die Analogdaten |
689 | if (request_DebugLabel != 0xFF) { // Texte f�r die Analogdaten |
691 | uint8_t label[16]; // local sram buffer |
690 | uint8_t label[16]; // local sram buffer |
692 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
691 | memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
693 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
692 | SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
694 | sizeof(request_DebugLabel), label, 16); |
693 | sizeof(request_DebugLabel), label, 16); |
695 | request_DebugLabel = 0xFF; |
694 | request_DebugLabel = 0xFF; |
696 | } |
695 | } |
697 | 696 | ||
698 | if (ConfirmFrame && txd_complete) { // Datensatz ohne checksum bestätigen |
697 | if (ConfirmFrame && txd_complete) { // Datensatz ohne checksum bestätigen |
699 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame, sizeof(ConfirmFrame)); |
698 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame, sizeof(ConfirmFrame)); |
700 | ConfirmFrame = 0; |
699 | ConfirmFrame = 0; |
701 | } |
700 | } |
702 | 701 | ||
703 | if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
702 | if (((DebugData_Interval && checkDelay(DebugData_Timer)) || request_DebugData) |
704 | && txd_complete) { |
703 | && txd_complete) { |
705 | SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
704 | SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
706 | DebugData_Timer = setDelay(DebugData_Interval); |
705 | DebugData_Timer = setDelay(DebugData_Interval); |
707 | request_DebugData = FALSE; |
706 | request_DebugData = FALSE; |
708 | } |
707 | } |
709 | 708 | ||
710 | if (((Data3D_Interval && checkDelay(Data3D_Timer)) || request_Data3D) |
709 | if (((Data3D_Interval && checkDelay(Data3D_Timer)) || request_Data3D) |
711 | && txd_complete) { |
710 | && txd_complete) { |
712 | SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
711 | SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
713 | Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
712 | Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
714 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
713 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
715 | Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
714 | Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
716 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
715 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
717 | Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
716 | Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
718 | Data3D_Timer = setDelay(Data3D_Interval); |
717 | Data3D_Timer = setDelay(Data3D_Interval); |
719 | request_Data3D = FALSE; |
718 | request_Data3D = FALSE; |
720 | } |
719 | } |
721 | 720 | ||
722 | if (request_ExternalControl && txd_complete) { |
721 | if (request_ExternalControl && txd_complete) { |
723 | SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
722 | SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
724 | sizeof(externalControl)); |
723 | sizeof(externalControl)); |
725 | request_ExternalControl = FALSE; |
724 | request_ExternalControl = FALSE; |
726 | } |
725 | } |
727 | 726 | ||
728 | #ifdef USE_MK3MAG |
727 | #ifdef USE_MK3MAG |
729 | if((checkDelay(Compass_Timer)) && txd_complete) { |
728 | if((checkDelay(Compass_Timer)) && txd_complete) { |
730 | toMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
729 | toMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
731 | toMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
730 | toMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
732 | toMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
731 | toMk3Mag.UserParam[0] = dynamicParams.userParams[0]; |
733 | toMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
732 | toMk3Mag.UserParam[1] = dynamicParams.userParams[1]; |
734 | toMk3Mag.CalState = compassCalState; |
733 | toMk3Mag.CalState = compassCalState; |
735 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
734 | SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
736 | // the last state is 5 and should be send only once to avoid multiple flash writing |
735 | // the last state is 5 and should be send only once to avoid multiple flash writing |
737 | if(compassCalState > 4) compassCalState = 0; |
736 | if(compassCalState > 4) compassCalState = 0; |
738 | Compass_Timer = setDelay(99); |
737 | Compass_Timer = setDelay(99); |
739 | } |
738 | } |
740 | #endif |
739 | #endif |
741 | 740 | ||
742 | if (request_MotorTest && txd_complete) { |
741 | if (request_MotorTest && txd_complete) { |
743 | SendOutData('T', FC_ADDRESS, 0); |
742 | SendOutData('T', FC_ADDRESS, 0); |
744 | request_MotorTest = FALSE; |
743 | request_MotorTest = FALSE; |
745 | } |
744 | } |
746 | 745 | ||
747 | if (request_PPMChannels && txd_complete) { |
746 | if (request_PPMChannels && txd_complete) { |
748 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
747 | SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
749 | request_PPMChannels = FALSE; |
748 | request_PPMChannels = FALSE; |
750 | } |
749 | } |
751 | 750 | ||
752 | if (request_variables && txd_complete) { |
751 | if (request_variables && txd_complete) { |
753 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
752 | SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
754 | request_variables = FALSE; |
753 | request_variables = FALSE; |
755 | } |
754 | } |
756 | } |
755 | } |
757 | 756 |