WebSVN - FlightCtrl - Diff - Rev 2041 and 2044 - /branches/dongfang_FC


#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/pgmspace.h>
#include <stdarg.h>
#include <string.h>
 
#include "eeprom.h"
#include "menu.h"
#include "timer0.h"
#include "uart0.h"
#include "rc.h"
#include "externalControl.h"
#include "output.h"
#include "attitude.h"
 
#ifdef USE_DIRECT_GPS
#include "mk3mag.h"
#endif
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
 
#define FALSE   0
#define TRUE    1
//int8_t test __attribute__ ((section (".noinit")));
uint8_t request_verInfo = FALSE;
uint8_t request_externalControl = FALSE;
uint8_t request_display = FALSE;
uint8_t request_display1 = FALSE;
uint8_t request_debugData = FALSE;
uint8_t request_data3D = FALSE;
uint8_t request_debugLabel = 255;
uint8_t request_PPMChannels = FALSE;
uint8_t request_motorTest = FALSE;
uint8_t request_variables = FALSE;
 
uint8_t displayLine = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t receivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t rxDataLen = 0;
 
uint8_t motorTestActive = 0;
uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
uint8_t confirmFrame;
 
typedef struct {
        int16_t heading;
}__attribute__((packed)) Heading_t;
 
DebugOut_t debugOut;
Data3D_t data3D;
 
uint16_t debugData_timer;
uint16_t data3D_timer;
uint16_t debugData_interval = 0; // in 1ms
uint16_t data3D_interval = 0; // in 1ms
 
#ifdef USE_DIRECT_GPS
int16_t toMk3MagTimer;
#endif
 
// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] = {
                //1234567890123456
                "AnglePitch      ", //0
                "AngleRoll       ",
                "AngleYaw        ",
                "GyroPitch       ",
                "GyroRoll        ",
                "GyroYaw         ", //5
                "AccPitch        ",
                "AccRoll         ",
                "AccZ            ",
                "AccPitch (angle)",
                "AccRoll (angle) ", //10
                "GPS sat         ",
        "mag hdng        ",
                "Pitch Term      ",
                "Roll Term       ",
                "Yaw Term        ", //15
                "Throttle Term   ",
 
                "ControlAct/10   ",
        "Acc. Vector     ",
                "heightTrottleIn ",
                "HeightdThrottle ", //20
                "Height          ",
                "TargetHeight    ",
                "heightError     ",
                "HeightPdThrottle",
                "HeightIdThrottle", //25
                "HeightDdThrottle",
                "HeightPFactor   ",
                "HeightIFactor   ",
                "HeightDFactor   ",
                "Altitude        ", //30
                "AirpressADC     " };
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void usart0_init(void) {
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |= (1 << DDD1);
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t) (ubrr >> 8);
        UBRR0L = (uint8_t) ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |= (1 << UCSZ01);
        UCSR0C |= (1 << UCSZ00);
 
        // flush receive buffer
        while (UCSR0A & (1 << RXC0))
                UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        // initialize the debug timer
        debugData_timer = setDelay(debugData_interval);
 
        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        rxDataLen = 0;
 
        // no bytes to send
        txd_complete = TRUE;
 
#ifdef USE_DIRECT_GPS
        toMk3MagTimer = setDelay(220);
#endif
 
        versionInfo.SWMajor = VERSION_MAJOR;
        versionInfo.SWMinor = VERSION_MINOR;
        versionInfo.SWPatch = VERSION_PATCH;
        versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
        versionInfo.protoMinor = VERSION_SERIAL_MINOR;
 
        // restore global interrupt flags
        SREG = sreg;
}
 
/****************************************************************/
/* USART0 transmitter ISR                                       */
/****************************************************************/
ISR(USART0_TX_vect) {
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if (!txd_complete) { // transmission not completed
                ptr_txd_buffer++; // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else
                ptr_txd_buffer = 0;
}
 
/****************************************************************/
/* USART0 receiver               ISR                            */
/****************************************************************/
ISR(USART0_RX_vect) {
        static uint16_t checksum;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t checksum1, checksum2;
        uint8_t c;
 
        c = UDR0; // catch the received byte
 
        if (rxd_buffer_locked)
                return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                checksum = c; // init checksum
        }
#if 0
        else if (ptr_rxd_buffer == 1) { // handle address
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                checksum += c; // update checksum
        }
#endif
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
                if (c != '\r') { // no termination character
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        checksum += c; // update checksum
                } else { // termination character was received
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        checksum -= rxd_buffer[ptr_rxd_buffer - 2];
                        checksum -= rxd_buffer[ptr_rxd_buffer - 1];
                        // calculate checksum from transmitted data
                        checksum %= 4096;
                        checksum1 = '=' + checksum / 64;
                        checksum2 = '=' + checksum % 64;
                        // compare checksum to transmitted checksum bytes
                        if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
                                        == rxd_buffer[ptr_rxd_buffer - 1])) {
                                // checksum valid
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE; // lock the rxd buffer
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if (rxd_buffer[2] == 'R') {
                                        wdt_enable(WDTO_250MS);
                                } // Reset-Commando
                        } else { // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        } else { // rxd buffer overrun
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
}
 
// --------------------------------------------------------------------------
void Addchecksum(uint16_t datalen) {
        uint16_t tmpchecksum = 0, i;
        for (i = 0; i < datalen; i++) {
                tmpchecksum += txd_buffer[i];
        }
        tmpchecksum %= 4096;
        txd_buffer[i++] = '=' + tmpchecksum / 64;
        txd_buffer[i++] = '=' + tmpchecksum % 64;
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}
 
// --------------------------------------------------------------------------
// application example:
// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
/*
 void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
 va_list ap;
 uint16_t txd_bufferIndex = 0;
 uint8_t *currentBuffer;
 uint8_t currentBufferIndex;
 uint16_t lengthOfCurrentBuffer;
 uint8_t shift = 0;
 
 txd_buffer[txd_bufferIndex++] = '#';                   // Start character
 txd_buffer[txd_bufferIndex++] = 'a' + addr;            // Address (a=0; b=1,...)
 txd_buffer[txd_bufferIndex++] = cmd;                   // Command
 
 va_start(ap, numofbuffers);
 
 while(numofbuffers) {
 currentBuffer = va_arg(ap, uint8_t*);
 lengthOfCurrentBuffer = va_arg(ap, int);
 currentBufferIndex = 0;
 // Encode data: 3 bytes of data are encoded into 4 bytes,
 // where the 2 most significant bits are both 0.
 while(currentBufferIndex != lengthOfCurrentBuffer) {
 if (!shift) txd_buffer[txd_bufferIndex] = 0;
 txd_buffer[txd_bufferIndex]  |= currentBuffer[currentBufferIndex] >> (shift + 2);
 txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
 shift += 2;
 if (shift == 6) { shift=0; txd_bufferIndex++; }
 currentBufferIndex++;
 }
 }
 // If the number of data bytes was not divisible by 3, stuff
 //  with 0 pseudodata  until length is again divisible by 3.
 if (shift == 2) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex]  &= 0b00110000;
 txd_buffer[++txd_bufferIndex] = 0;
 shift = 4;
 }
 if (shift == 4) {
 // We need to stuff with zero bytes at the end.
 txd_buffer[txd_bufferIndex++] &= 0b00111100;
 txd_buffer[txd_bufferIndex]    = 0;
 }
 va_end(ap);
 Addchecksum(pt); // add checksum after data block and initates the transmission
 }
 */
 
void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
        va_list ap;
        uint16_t pt = 0;
        uint8_t a, b, c;
        uint8_t ptr = 0;
 
        uint8_t *pdata = 0;
        int len = 0;
 
        txd_buffer[pt++] = '#'; // Start character
        txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd; // Command
 
        va_start(ap, numofbuffers);
 
        if (numofbuffers) {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }
 
        while (len) {
                if (len) {
                        a = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        a = 0;
                if (len) {
                        b = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        b = 0;
                if (len) {
                        c = pdata[ptr++];
                        len--;
                        if ((!len) && numofbuffers) {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                } else
                        c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + (c & 0x3f);
        }
        va_end(ap);
        Addchecksum(pt); // add checksum after data block and initates the transmission
}
 
// --------------------------------------------------------------------------
void Decode64(void) {
        uint8_t a, b, c, d;
        uint8_t x, y, z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = receivedBytes - 6;
 
        while (len) {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if (len--)
                        rxd_buffer[ptrOut++] = x;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = y;
                else
                        break;
                if (len--)
                        rxd_buffer[ptrOut++] = z;
                else
                        break;
        }
        pRxData = &rxd_buffer[3];
        rxDataLen = ptrOut - 3;
}
 
// --------------------------------------------------------------------------
void usart0_processRxData(void) {
        // We control the motorTestActive var from here: Count it down.
        if (motorTestActive)
                motorTestActive--;
        // if data in the rxd buffer are not locked immediately return
        if (!rxd_buffer_locked)
                return;
        uint8_t tempchar[3];
        Decode64(); // decode data block in rxd_buffer
 
        switch (rxd_buffer[1] - 'a') {
 
        case FC_ADDRESS:
                switch (rxd_buffer[2]) {
#ifdef USE_DIRECT_GPS
                case 'K':// compass value
                  // What is the point of this - the compass will overwrite this soon?
                magneticHeading = ((Heading_t *)pRxData)->heading;
                // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
                break;
#endif
                case 't': // motor test
                        if (rxDataLen > 20) {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));
                        } else {
                                memcpy(&motorTest[0], (uint8_t*) pRxData, 4);
                        }
                        motorTestActive = 255;
                        externalControlActive = 255;
                        break;
 
                case 'n':// "Get Mixer Table
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));
                        break;
 
                case 'm':// "Set Mixer Table
                        if (pRxData[0] == EEMIXER_REVISION) {
                                memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));
                                mixerMatrix_writeToEEProm();
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                tempchar[0] = 1;
                        } else {
                                tempchar[0] = 0;
                        }
                        sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);
                        break;
 
                case 'p': // get PPM channels
                        request_PPMChannels = TRUE;
                        break;
 
                case 'q':// request settings
                        if (pRxData[0] == 0xFF) {
                                pRxData[0] = getParamByte(PID_ACTIVE_SET);
                        }
                        // limit settings range
                        if (pRxData[0] < 1)
                                pRxData[0] = 1; // limit to 1
                        else if (pRxData[0] > 5)
                                pRxData[0] = 5; // limit to 5
                        // load requested parameter set
                        paramSet_readFromEEProm(pRxData[0]);
                        tempchar[0] = pRxData[0];
                        tempchar[1] = EEPARAM_REVISION;
                        tempchar[2] = sizeof(staticParams);
                        while (!txd_complete)
                                ; // wait for previous frame to be sent
                        sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams));
                        break;
 
                case 's': // save settings
                        if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off
                        {
                                if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings
                                {
                                        memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams));
                                        paramSet_writeToEEProm(pRxData[0]);
                                        tempchar[0] = getActiveParamSet();
                                        beepNumber(tempchar[0]);
                                } else {
                                        tempchar[0] = 0; //indicate bad data
                                }
                                while (!txd_complete)
                                        ; // wait for previous frame to be sent
                                sendOutData('S', FC_ADDRESS, 1, &tempchar, 1);
                        }
                        break;
 
                default:
                        //unsupported command received
                        break;
                } // case FC_ADDRESS:
 
        default: // any Slave Address
                switch (rxd_buffer[2]) {
                case 'a':// request for labels of the analog debug outputs
                        request_debugLabel = pRxData[0];
                        if (request_debugLabel > 31)
                                request_debugLabel = 31;
                        break;
 
                case 'b': // submit extern control
                        memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl));
                        confirmFrame = externalControl.frame;
                        externalControlActive = 255;
                        break;
 
                case 'h':// request for display columns
                        remoteKeys |= pRxData[0];
                        if (remoteKeys)
                                displayLine = 0;
                        request_display = TRUE;
                        break;
 
                case 'l':// request for display columns
                        menuItem = pRxData[0];
                        request_display1 = TRUE;
                        break;
 
                case 'v': // request for version and board release
                        request_verInfo = TRUE;
                        break;
 
                case 'x':
                        request_variables = TRUE;
                        break;
 
                case 'g':// get external control data
                        request_externalControl = TRUE;
                        break;
 
                case 'd': // request for the debug data
                        debugData_interval = (uint16_t) pRxData[0] * 10;
                        if (debugData_interval > 0)
                                request_debugData = TRUE;
                        break;
 
                case 'c': // request for the 3D data
                        data3D_interval = (uint16_t) pRxData[0] * 10;
                        if (data3D_interval > 0)
                                request_data3D = TRUE;
                        break;
 
                default:
                        //unsupported command received
                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        rxDataLen = 0;
        rxd_buffer_locked = FALSE;
}
 
/************************************************************************/
/* Routine f�r die Serielle Ausgabe                                     */
/************************************************************************/
int16_t uart_putchar(int8_t c) {
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
//---------------------------------------------------------------------------------------------
void usart0_transmitTxData(void) {
        if (!txd_complete)
                return;
 
        if (request_verInfo && txd_complete) {
                sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo));
                request_verInfo = FALSE;
        }
 
        if (request_display && txd_complete) {
                LCD_printMenu();
                sendOutData('H', FC_ADDRESS, 2, &displayLine, sizeof(displayLine),
                                &displayBuff[displayLine * 20], 20);
                displayLine++;
                if (displayLine >= 4)
                        displayLine = 0;
                request_display = FALSE;
        }
 
        if (request_display1 && txd_complete) {
                LCD_printMenu();
                sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem,
                                sizeof(maxMenuItem), displayBuff, sizeof(displayBuff));
                request_display1 = FALSE;
        }
 
        if (request_debugLabel != 0xFF) { // Texte f�r die Analogdaten
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer
                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel,
                                sizeof(request_debugLabel), label, 16);
                request_debugLabel = 0xFF;
        }
 
        if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen
                sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame));
                confirmFrame = 0;
        }
 
        if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData)
                        && txd_complete) {
                sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut));
                debugData_timer = setDelay(debugData_interval);
                request_debugData = FALSE;
        }
 
        if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D)
                        && txd_complete) {
                sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D));
                data3D.anglePitch = (int16_t) ((10 * angle[PITCH])
                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
                data3D.angleRoll = (int16_t) ((10 * angle[ROLL])
                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
                data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
                data3D_timer = setDelay(data3D_interval);
                request_data3D = FALSE;
        }
 
        if (request_externalControl && txd_complete) {
                sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl,
                                sizeof(externalControl));
                request_externalControl = FALSE;
        }
 
#ifdef USE_DIRECT_GPS
        if((checkDelay(toMk3MagTimer)) && txd_complete) {
                toMk3Mag.attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                toMk3Mag.attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg
                toMk3Mag.userParam[0] = dynamicParams.userParams[0];
                toMk3Mag.userParam[1] = dynamicParams.userParams[1];
                toMk3Mag.calState = compassCalState;
                sendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag));
                // the last state is 5 and should be send only once to avoid multiple flash writing
                if(compassCalState > 4) compassCalState = 0;
                toMk3MagTimer = setDelay(99);
        }
#endif
 
        if (request_motorTest && txd_complete) {
                sendOutData('T', FC_ADDRESS, 0);
                request_motorTest = FALSE;
        }
 
        if (request_PPMChannels && txd_complete) {
                sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in));
                request_PPMChannels = FALSE;
        }
 
        if (request_variables && txd_complete) {
                sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables));
                request_variables = FALSE;
        }
}
 

Rev 2041	Rev 2044
1	#include <avr/io.h>	1	#include <avr/io.h>
2	#include <avr/interrupt.h>	2	#include <avr/interrupt.h>
3	#include <avr/wdt.h>	3	#include <avr/wdt.h>
4	#include <avr/pgmspace.h>	4	#include <avr/pgmspace.h>
5	#include <stdarg.h>	5	#include <stdarg.h>
6	#include <string.h>	6	#include <string.h>
7		7
8	#include "eeprom.h"	8	#include "eeprom.h"
9	#include "menu.h"	9	#include "menu.h"
10	#include "timer0.h"	10	#include "timer0.h"
11	#include "uart0.h"	11	#include "uart0.h"
12	#include "rc.h"	12	#include "rc.h"
13	#include "externalControl.h"	13	#include "externalControl.h"
14	#include "output.h"	14	#include "output.h"
15	#include "attitude.h"	15	#include "attitude.h"
16		16
17	#ifdef USE_DIRECT_GPS	17	#ifdef USE_DIRECT_GPS
18	#include "mk3mag.h"	18	#include "mk3mag.h"
19	#endif	19	#endif
20		20
21	#define FC_ADDRESS 1	21	#define FC_ADDRESS 1
22	#define NC_ADDRESS 2	22	#define NC_ADDRESS 2
23	#define MK3MAG_ADDRESS 3	23	#define MK3MAG_ADDRESS 3
24		24
25	#define FALSE 0	25	#define FALSE 0
26	#define TRUE 1	26	#define TRUE 1
27	//int8_t test __attribute__ ((section (".noinit")));	27	//int8_t test __attribute__ ((section (".noinit")));
28	uint8_t request_verInfo = FALSE;	28	uint8_t request_verInfo = FALSE;
29	uint8_t request_externalControl = FALSE;	29	uint8_t request_externalControl = FALSE;
30	uint8_t request_display = FALSE;	30	uint8_t request_display = FALSE;
31	uint8_t request_display1 = FALSE;	31	uint8_t request_display1 = FALSE;
32	uint8_t request_debugData = FALSE;	32	uint8_t request_debugData = FALSE;
33	uint8_t request_data3D = FALSE;	33	uint8_t request_data3D = FALSE;
34	uint8_t request_debugLabel = 255;	34	uint8_t request_debugLabel = 255;
35	uint8_t request_PPMChannels = FALSE;	35	uint8_t request_PPMChannels = FALSE;
36	uint8_t request_motorTest = FALSE;	36	uint8_t request_motorTest = FALSE;
37	uint8_t request_variables = FALSE;	37	uint8_t request_variables = FALSE;
38		38
39	uint8_t displayLine = 0;	39	uint8_t displayLine = 0;
40		40
41	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	41	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
42	volatile uint8_t rxd_buffer_locked = FALSE;	42	volatile uint8_t rxd_buffer_locked = FALSE;
43	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	43	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
44	volatile uint8_t txd_complete = TRUE;	44	volatile uint8_t txd_complete = TRUE;
45	volatile uint8_t receivedBytes = 0;	45	volatile uint8_t receivedBytes = 0;
46	volatile uint8_t *pRxData = 0;	46	volatile uint8_t *pRxData = 0;
47	volatile uint8_t rxDataLen = 0;	47	volatile uint8_t rxDataLen = 0;
48		48
49	uint8_t motorTestActive = 0;	49	uint8_t motorTestActive = 0;
50	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };	50	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
51	uint8_t confirmFrame;	51	uint8_t confirmFrame;
52		52
53	typedef struct {	53	typedef struct {
54	int16_t heading;	54	int16_t heading;
55	}__attribute__((packed)) Heading_t;	55	}__attribute__((packed)) Heading_t;
56		56
57	DebugOut_t debugOut;	57	DebugOut_t debugOut;
58	Data3D_t data3D;	58	Data3D_t data3D;
59		59
60	uint16_t debugData_timer;	60	uint16_t debugData_timer;
61	uint16_t data3D_timer;	61	uint16_t data3D_timer;
62	uint16_t debugData_interval = 0; // in 1ms	62	uint16_t debugData_interval = 0; // in 1ms
63	uint16_t data3D_interval = 0; // in 1ms	63	uint16_t data3D_interval = 0; // in 1ms
64		64
65	#ifdef USE_DIRECT_GPS	65	#ifdef USE_DIRECT_GPS
66	int16_t toMk3MagTimer;	66	int16_t toMk3MagTimer;
67	#endif	67	#endif
68		68
69	// keep lables in flash to save 512 bytes of sram space	69	// keep lables in flash to save 512 bytes of sram space
70	const prog_uint8_t ANALOG_LABEL[32][16] = {	70	const prog_uint8_t ANALOG_LABEL[32][16] = {
71	//1234567890123456	71	//1234567890123456
72	"AnglePitch ", //0	72	"AnglePitch ", //0
73	"AngleRoll ",	73	"AngleRoll ",
74	"AngleYaw ",	74	"AngleYaw ",
75	"GyroPitch ",	75	"GyroPitch ",
76	"GyroRoll ",	76	"GyroRoll ",
77	"GyroYaw ", //5	77	"GyroYaw ", //5
78	"AccPitch ",	78	"AccPitch ",
79	"AccRoll ",	79	"AccRoll ",
80	"AccZ ",	80	"AccZ ",
81	"AccPitch (angle)",	81	"AccPitch (angle)",
82	"AccRoll (angle) ", //10	82	"AccRoll (angle) ", //10
83	"- ",	83	"GPS sat ",
-		84	"mag hdng ",
84	"Pitch Term ",	85	"Pitch Term ",
85	"Roll Term ",	86	"Roll Term ",
86	"Yaw Term ",	87	"Yaw Term ", //15
87	"Throttle Term ", //15	88	"Throttle Term ",
88	"- ",	-
89	"ControlAct/10 ",	89	"ControlAct/10 ",
90	"Acc. Vector ",	90	"Acc. Vector ",
91	"heightTrottleIn ",	91	"heightTrottleIn ",
92	"HeightdThrottle ", //20	92	"HeightdThrottle ", //20
93	"Height ",	93	"Height ",
94	"TargetHeight ",	94	"TargetHeight ",
95	"heightError ",	95	"heightError ",
96	"HeightPdThrottle",	96	"HeightPdThrottle",
97	"HeightIdThrottle", //25	97	"HeightIdThrottle", //25
98	"HeightDdThrottle",	98	"HeightDdThrottle",
99	"HeightPFactor ",	99	"HeightPFactor ",
100	"HeightIFactor ",	100	"HeightIFactor ",
101	"HeightDFactor ",	101	"HeightDFactor ",
102	"Altitude ", //30	102	"Altitude ", //30
103	"AirpressADC " };	103	"AirpressADC " };
104		104
105	/****************************************************************/	105	/****************************************************************/
106	/* Initialization of the USART0 */	106	/* Initialization of the USART0 */
107	/****************************************************************/	107	/****************************************************************/
108	void usart0_init(void) {	108	void usart0_init(void) {
109	uint8_t sreg = SREG;	109	uint8_t sreg = SREG;
110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);	110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
111		111
112	// disable all interrupts before configuration	112	// disable all interrupts before configuration
113	cli();	113	cli();
114		114
115	// disable RX-Interrupt	115	// disable RX-Interrupt
116	UCSR0B &= ~(1 << RXCIE0);	116	UCSR0B &= ~(1 << RXCIE0);
117	// disable TX-Interrupt	117	// disable TX-Interrupt
118	UCSR0B &= ~(1 << TXCIE0);	118	UCSR0B &= ~(1 << TXCIE0);
119		119
120	// set direction of RXD0 and TXD0 pins	120	// set direction of RXD0 and TXD0 pins
121	// set RXD0 (PD0) as an input pin	121	// set RXD0 (PD0) as an input pin
122	PORTD \|= (1 << PORTD0);	122	PORTD \|= (1 << PORTD0);
123	DDRD &= ~(1 << DDD0);	123	DDRD &= ~(1 << DDD0);
124	// set TXD0 (PD1) as an output pin	124	// set TXD0 (PD1) as an output pin
125	PORTD \|= (1 << PORTD1);	125	PORTD \|= (1 << PORTD1);
126	DDRD \|= (1 << DDD1);	126	DDRD \|= (1 << DDD1);
127		127
128	// USART0 Baud Rate Register	128	// USART0 Baud Rate Register
129	// set clock divider	129	// set clock divider
130	UBRR0H = (uint8_t) (ubrr >> 8);	130	UBRR0H = (uint8_t) (ubrr >> 8);
131	UBRR0L = (uint8_t) ubrr;	131	UBRR0L = (uint8_t) ubrr;
132		132
133	// USART0 Control and Status Register A, B, C	133	// USART0 Control and Status Register A, B, C
134		134
135	// enable double speed operation in	135	// enable double speed operation in
136	UCSR0A \|= (1 << U2X0);	136	UCSR0A \|= (1 << U2X0);
137	// enable receiver and transmitter in	137	// enable receiver and transmitter in
138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
139	// set asynchronous mode	139	// set asynchronous mode
140	UCSR0C &= ~(1 << UMSEL01);	140	UCSR0C &= ~(1 << UMSEL01);
141	UCSR0C &= ~(1 << UMSEL00);	141	UCSR0C &= ~(1 << UMSEL00);
142	// no parity	142	// no parity
143	UCSR0C &= ~(1 << UPM01);	143	UCSR0C &= ~(1 << UPM01);
144	UCSR0C &= ~(1 << UPM00);	144	UCSR0C &= ~(1 << UPM00);
145	// 1 stop bit	145	// 1 stop bit
146	UCSR0C &= ~(1 << USBS0);	146	UCSR0C &= ~(1 << USBS0);
147	// 8-bit	147	// 8-bit
148	UCSR0B &= ~(1 << UCSZ02);	148	UCSR0B &= ~(1 << UCSZ02);
149	UCSR0C \|= (1 << UCSZ01);	149	UCSR0C \|= (1 << UCSZ01);
150	UCSR0C \|= (1 << UCSZ00);	150	UCSR0C \|= (1 << UCSZ00);
151		151
152	// flush receive buffer	152	// flush receive buffer
153	while (UCSR0A & (1 << RXC0))	153	while (UCSR0A & (1 << RXC0))
154	UDR0;	154	UDR0;
155		155
156	// enable interrupts at the end	156	// enable interrupts at the end
157	// enable RX-Interrupt	157	// enable RX-Interrupt
158	UCSR0B \|= (1 << RXCIE0);	158	UCSR0B \|= (1 << RXCIE0);
159	// enable TX-Interrupt	159	// enable TX-Interrupt
160	UCSR0B \|= (1 << TXCIE0);	160	UCSR0B \|= (1 << TXCIE0);
161		161
162	// initialize the debug timer	162	// initialize the debug timer
163	debugData_timer = setDelay(debugData_interval);	163	debugData_timer = setDelay(debugData_interval);
164		164
165	// unlock rxd_buffer	165	// unlock rxd_buffer
166	rxd_buffer_locked = FALSE;	166	rxd_buffer_locked = FALSE;
167	pRxData = 0;	167	pRxData = 0;
168	rxDataLen = 0;	168	rxDataLen = 0;
169		169
170	// no bytes to send	170	// no bytes to send
171	txd_complete = TRUE;	171	txd_complete = TRUE;
172		172
173	#ifdef USE_DIRECT_GPS	173	#ifdef USE_DIRECT_GPS
174	toMk3MagTimer = setDelay(220);	174	toMk3MagTimer = setDelay(220);
175	#endif	175	#endif
176		176
177	versionInfo.SWMajor = VERSION_MAJOR;	177	versionInfo.SWMajor = VERSION_MAJOR;
178	versionInfo.SWMinor = VERSION_MINOR;	178	versionInfo.SWMinor = VERSION_MINOR;
179	versionInfo.SWPatch = VERSION_PATCH;	179	versionInfo.SWPatch = VERSION_PATCH;
180	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;	180	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
181	versionInfo.protoMinor = VERSION_SERIAL_MINOR;	181	versionInfo.protoMinor = VERSION_SERIAL_MINOR;
182		182
183	// restore global interrupt flags	183	// restore global interrupt flags
184	SREG = sreg;	184	SREG = sreg;
185	}	185	}
186		186
187	/****************************************************************/	187	/****************************************************************/
188	/* USART0 transmitter ISR */	188	/* USART0 transmitter ISR */
189	/****************************************************************/	189	/****************************************************************/
190	ISR(USART0_TX_vect) {	190	ISR(USART0_TX_vect) {
191	static uint16_t ptr_txd_buffer = 0;	191	static uint16_t ptr_txd_buffer = 0;
192	uint8_t tmp_tx;	192	uint8_t tmp_tx;
193	if (!txd_complete) { // transmission not completed	193	if (!txd_complete) { // transmission not completed
194	ptr_txd_buffer++; // die [0] wurde schon gesendet	194	ptr_txd_buffer++; // die [0] wurde schon gesendet
195	tmp_tx = txd_buffer[ptr_txd_buffer];	195	tmp_tx = txd_buffer[ptr_txd_buffer];
196	// if terminating character or end of txd buffer was reached	196	// if terminating character or end of txd buffer was reached
197	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {	197	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {
198	ptr_txd_buffer = 0; // reset txd pointer	198	ptr_txd_buffer = 0; // reset txd pointer
199	txd_complete = 1; // stop transmission	199	txd_complete = 1; // stop transmission
200	}	200	}
201	UDR0 = tmp_tx; // send current byte will trigger this ISR again	201	UDR0 = tmp_tx; // send current byte will trigger this ISR again
202	}	202	}
203	// transmission completed	203	// transmission completed
204	else	204	else
205	ptr_txd_buffer = 0;	205	ptr_txd_buffer = 0;
206	}	206	}
207		207
208	/****************************************************************/	208	/****************************************************************/
209	/* USART0 receiver ISR */	209	/* USART0 receiver ISR */
210	/****************************************************************/	210	/****************************************************************/
211	ISR(USART0_RX_vect) {	211	ISR(USART0_RX_vect) {
212	static uint16_t checksum;	212	static uint16_t checksum;
213	static uint8_t ptr_rxd_buffer = 0;	213	static uint8_t ptr_rxd_buffer = 0;
214	uint8_t checksum1, checksum2;	214	uint8_t checksum1, checksum2;
215	uint8_t c;	215	uint8_t c;
216		216
217	c = UDR0; // catch the received byte	217	c = UDR0; // catch the received byte
218		218
219	if (rxd_buffer_locked)	219	if (rxd_buffer_locked)
220	return; // if rxd buffer is locked immediately return	220	return; // if rxd buffer is locked immediately return
221		221
222	// the rxd buffer is unlocked	222	// the rxd buffer is unlocked
223	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received	223	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
225	checksum = c; // init checksum	225	checksum = c; // init checksum
226	}	226	}
227	#if 0	227	#if 0
228	else if (ptr_rxd_buffer == 1) { // handle address	228	else if (ptr_rxd_buffer == 1) { // handle address
229	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	229	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
230	checksum += c; // update checksum	230	checksum += c; // update checksum
231	}	231	}
232	#endif	232	#endif
233	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes	233	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
234	if (c != '\r') { // no termination character	234	if (c != '\r') { // no termination character
235	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	235	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
236	checksum += c; // update checksum	236	checksum += c; // update checksum
237	} else { // termination character was received	237	} else { // termination character was received
238	// the last 2 bytes are no subject for checksum calculation	238	// the last 2 bytes are no subject for checksum calculation
239	// they are the checksum itself	239	// they are the checksum itself
240	checksum -= rxd_buffer[ptr_rxd_buffer - 2];	240	checksum -= rxd_buffer[ptr_rxd_buffer - 2];
241	checksum -= rxd_buffer[ptr_rxd_buffer - 1];	241	checksum -= rxd_buffer[ptr_rxd_buffer - 1];
242	// calculate checksum from transmitted data	242	// calculate checksum from transmitted data
243	checksum %= 4096;	243	checksum %= 4096;
244	checksum1 = '=' + checksum / 64;	244	checksum1 = '=' + checksum / 64;
245	checksum2 = '=' + checksum % 64;	245	checksum2 = '=' + checksum % 64;
246	// compare checksum to transmitted checksum bytes	246	// compare checksum to transmitted checksum bytes
247	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2	247	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
248	== rxd_buffer[ptr_rxd_buffer - 1])) {	248	== rxd_buffer[ptr_rxd_buffer - 1])) {
249	// checksum valid	249	// checksum valid
250	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	250	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
251	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	251	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
252	rxd_buffer_locked = TRUE; // lock the rxd buffer	252	rxd_buffer_locked = TRUE; // lock the rxd buffer
253	// if 2nd byte is an 'R' enable watchdog that will result in an reset	253	// if 2nd byte is an 'R' enable watchdog that will result in an reset
254	if (rxd_buffer[2] == 'R') {	254	if (rxd_buffer[2] == 'R') {
255	wdt_enable(WDTO_250MS);	255	wdt_enable(WDTO_250MS);
256	} // Reset-Commando	256	} // Reset-Commando
257	} else { // checksum invalid	257	} else { // checksum invalid
258	rxd_buffer_locked = FALSE; // unlock rxd buffer	258	rxd_buffer_locked = FALSE; // unlock rxd buffer
259	}	259	}
260	ptr_rxd_buffer = 0; // reset rxd buffer pointer	260	ptr_rxd_buffer = 0; // reset rxd buffer pointer
261	}	261	}
262	} else { // rxd buffer overrun	262	} else { // rxd buffer overrun
263	ptr_rxd_buffer = 0; // reset rxd buffer	263	ptr_rxd_buffer = 0; // reset rxd buffer
264	rxd_buffer_locked = FALSE; // unlock rxd buffer	264	rxd_buffer_locked = FALSE; // unlock rxd buffer
265	}	265	}
266	}	266	}
267		267
268	// --------------------------------------------------------------------------	268	// --------------------------------------------------------------------------
269	void Addchecksum(uint16_t datalen) {	269	void Addchecksum(uint16_t datalen) {
270	uint16_t tmpchecksum = 0, i;	270	uint16_t tmpchecksum = 0, i;
271	for (i = 0; i < datalen; i++) {	271	for (i = 0; i < datalen; i++) {
272	tmpchecksum += txd_buffer[i];	272	tmpchecksum += txd_buffer[i];
273	}	273	}
274	tmpchecksum %= 4096;	274	tmpchecksum %= 4096;
275	txd_buffer[i++] = '=' + tmpchecksum / 64;	275	txd_buffer[i++] = '=' + tmpchecksum / 64;
276	txd_buffer[i++] = '=' + tmpchecksum % 64;	276	txd_buffer[i++] = '=' + tmpchecksum % 64;
277	txd_buffer[i++] = '\r';	277	txd_buffer[i++] = '\r';
278	txd_complete = FALSE;	278	txd_complete = FALSE;
279	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	279	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
280	}	280	}
281		281
282	// --------------------------------------------------------------------------	282	// --------------------------------------------------------------------------
283	// application example:	283	// application example:
284	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);	284	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
285	/*	285	/*
286	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	286	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
287	va_list ap;	287	va_list ap;
288	uint16_t txd_bufferIndex = 0;	288	uint16_t txd_bufferIndex = 0;
289	uint8_t *currentBuffer;	289	uint8_t *currentBuffer;
290	uint8_t currentBufferIndex;	290	uint8_t currentBufferIndex;
291	uint16_t lengthOfCurrentBuffer;	291	uint16_t lengthOfCurrentBuffer;
292	uint8_t shift = 0;	292	uint8_t shift = 0;
293		293
294	txd_buffer[txd_bufferIndex++] = '#'; // Start character	294	txd_buffer[txd_bufferIndex++] = '#'; // Start character
295	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)	295	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)
296	txd_buffer[txd_bufferIndex++] = cmd; // Command	296	txd_buffer[txd_bufferIndex++] = cmd; // Command
297		297
298	va_start(ap, numofbuffers);	298	va_start(ap, numofbuffers);
299		299
300	while(numofbuffers) {	300	while(numofbuffers) {
301	currentBuffer = va_arg(ap, uint8_t*);	301	currentBuffer = va_arg(ap, uint8_t*);
302	lengthOfCurrentBuffer = va_arg(ap, int);	302	lengthOfCurrentBuffer = va_arg(ap, int);
303	currentBufferIndex = 0;	303	currentBufferIndex = 0;
304	// Encode data: 3 bytes of data are encoded into 4 bytes,	304	// Encode data: 3 bytes of data are encoded into 4 bytes,
305	// where the 2 most significant bits are both 0.	305	// where the 2 most significant bits are both 0.
306	while(currentBufferIndex != lengthOfCurrentBuffer) {	306	while(currentBufferIndex != lengthOfCurrentBuffer) {
307	if (!shift) txd_buffer[txd_bufferIndex] = 0;	307	if (!shift) txd_buffer[txd_bufferIndex] = 0;
308	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);	308	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);
309	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;	309	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
310	shift += 2;	310	shift += 2;
311	if (shift == 6) { shift=0; txd_bufferIndex++; }	311	if (shift == 6) { shift=0; txd_bufferIndex++; }
312	currentBufferIndex++;	312	currentBufferIndex++;
313	}	313	}
314	}	314	}
315	// If the number of data bytes was not divisible by 3, stuff	315	// If the number of data bytes was not divisible by 3, stuff
316	// with 0 pseudodata until length is again divisible by 3.	316	// with 0 pseudodata until length is again divisible by 3.
317	if (shift == 2) {	317	if (shift == 2) {
318	// We need to stuff with zero bytes at the end.	318	// We need to stuff with zero bytes at the end.
319	txd_buffer[txd_bufferIndex] &= 0b00110000;	319	txd_buffer[txd_bufferIndex] &= 0b00110000;
320	txd_buffer[++txd_bufferIndex] = 0;	320	txd_buffer[++txd_bufferIndex] = 0;
321	shift = 4;	321	shift = 4;
322	}	322	}
323	if (shift == 4) {	323	if (shift == 4) {
324	// We need to stuff with zero bytes at the end.	324	// We need to stuff with zero bytes at the end.
325	txd_buffer[txd_bufferIndex++] &= 0b00111100;	325	txd_buffer[txd_bufferIndex++] &= 0b00111100;
326	txd_buffer[txd_bufferIndex] = 0;	326	txd_buffer[txd_bufferIndex] = 0;
327	}	327	}
328	va_end(ap);	328	va_end(ap);
329	Addchecksum(pt); // add checksum after data block and initates the transmission	329	Addchecksum(pt); // add checksum after data block and initates the transmission
330	}	330	}
331	*/	331	*/
332		332
333	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	333	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
334	va_list ap;	334	va_list ap;
335	uint16_t pt = 0;	335	uint16_t pt = 0;
336	uint8_t a, b, c;	336	uint8_t a, b, c;
337	uint8_t ptr = 0;	337	uint8_t ptr = 0;
338		338
339	uint8_t *pdata = 0;	339	uint8_t *pdata = 0;
340	int len = 0;	340	int len = 0;
341		341
342	txd_buffer[pt++] = '#'; // Start character	342	txd_buffer[pt++] = '#'; // Start character
343	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	343	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
344	txd_buffer[pt++] = cmd; // Command	344	txd_buffer[pt++] = cmd; // Command
345		345
346	va_start(ap, numofbuffers);	346	va_start(ap, numofbuffers);
347		347
348	if (numofbuffers) {	348	if (numofbuffers) {
349	pdata = va_arg(ap, uint8_t*);	349	pdata = va_arg(ap, uint8_t*);
350	len = va_arg(ap, int);	350	len = va_arg(ap, int);
351	ptr = 0;	351	ptr = 0;
352	numofbuffers--;	352	numofbuffers--;
353	}	353	}
354		354
355	while (len) {	355	while (len) {
356	if (len) {	356	if (len) {
357	a = pdata[ptr++];	357	a = pdata[ptr++];
358	len--;	358	len--;
359	if ((!len) && numofbuffers) {	359	if ((!len) && numofbuffers) {
360	pdata = va_arg(ap, uint8_t*);	360	pdata = va_arg(ap, uint8_t*);
361	len = va_arg(ap, int);	361	len = va_arg(ap, int);
362	ptr = 0;	362	ptr = 0;
363	numofbuffers--;	363	numofbuffers--;
364	}	364	}
365	} else	365	} else
366	a = 0;	366	a = 0;
367	if (len) {	367	if (len) {
368	b = pdata[ptr++];	368	b = pdata[ptr++];
369	len--;	369	len--;
370	if ((!len) && numofbuffers) {	370	if ((!len) && numofbuffers) {
371	pdata = va_arg(ap, uint8_t*);	371	pdata = va_arg(ap, uint8_t*);
372	len = va_arg(ap, int);	372	len = va_arg(ap, int);
373	ptr = 0;	373	ptr = 0;
374	numofbuffers--;	374	numofbuffers--;
375	}	375	}
376	} else	376	} else
377	b = 0;	377	b = 0;
378	if (len) {	378	if (len) {
379	c = pdata[ptr++];	379	c = pdata[ptr++];
380	len--;	380	len--;
381	if ((!len) && numofbuffers) {	381	if ((!len) && numofbuffers) {
382	pdata = va_arg(ap, uint8_t*);	382	pdata = va_arg(ap, uint8_t*);
383	len = va_arg(ap, int);	383	len = va_arg(ap, int);
384	ptr = 0;	384	ptr = 0;
385	numofbuffers--;	385	numofbuffers--;
386	}	386	}
387	} else	387	} else
388	c = 0;	388	c = 0;
389	txd_buffer[pt++] = '=' + (a >> 2);	389	txd_buffer[pt++] = '=' + (a >> 2);
390	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	390	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
391	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	391	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
392	txd_buffer[pt++] = '=' + (c & 0x3f);	392	txd_buffer[pt++] = '=' + (c & 0x3f);
393	}	393	}
394	va_end(ap);	394	va_end(ap);
395	Addchecksum(pt); // add checksum after data block and initates the transmission	395	Addchecksum(pt); // add checksum after data block and initates the transmission
396	}	396	}
397		397
398	// --------------------------------------------------------------------------	398	// --------------------------------------------------------------------------
399	void Decode64(void) {	399	void Decode64(void) {
400	uint8_t a, b, c, d;	400	uint8_t a, b, c, d;
401	uint8_t x, y, z;	401	uint8_t x, y, z;
402	uint8_t ptrIn = 3;	402	uint8_t ptrIn = 3;
403	uint8_t ptrOut = 3;	403	uint8_t ptrOut = 3;
404	uint8_t len = receivedBytes - 6;	404	uint8_t len = receivedBytes - 6;
405		405
406	while (len) {	406	while (len) {
407	a = rxd_buffer[ptrIn++] - '=';	407	a = rxd_buffer[ptrIn++] - '=';
408	b = rxd_buffer[ptrIn++] - '=';	408	b = rxd_buffer[ptrIn++] - '=';
409	c = rxd_buffer[ptrIn++] - '=';	409	c = rxd_buffer[ptrIn++] - '=';
410	d = rxd_buffer[ptrIn++] - '=';	410	d = rxd_buffer[ptrIn++] - '=';
411	//if(ptrIn > ReceivedBytes - 3) break;	411	//if(ptrIn > ReceivedBytes - 3) break;
412		412
413	x = (a << 2) \| (b >> 4);	413	x = (a << 2) \| (b >> 4);
414	y = ((b & 0x0f) << 4) \| (c >> 2);	414	y = ((b & 0x0f) << 4) \| (c >> 2);
415	z = ((c & 0x03) << 6) \| d;	415	z = ((c & 0x03) << 6) \| d;
416		416
417	if (len--)	417	if (len--)
418	rxd_buffer[ptrOut++] = x;	418	rxd_buffer[ptrOut++] = x;
419	else	419	else
420	break;	420	break;
421	if (len--)	421	if (len--)
422	rxd_buffer[ptrOut++] = y;	422	rxd_buffer[ptrOut++] = y;
423	else	423	else
424	break;	424	break;
425	if (len--)	425	if (len--)
426	rxd_buffer[ptrOut++] = z;	426	rxd_buffer[ptrOut++] = z;
427	else	427	else
428	break;	428	break;
429	}	429	}
430	pRxData = &rxd_buffer[3];	430	pRxData = &rxd_buffer[3];
431	rxDataLen = ptrOut - 3;	431	rxDataLen = ptrOut - 3;
432	}	432	}
433		433
434	// --------------------------------------------------------------------------	434	// --------------------------------------------------------------------------
435	void usart0_processRxData(void) {	435	void usart0_processRxData(void) {
436	// We control the motorTestActive var from here: Count it down.	436	// We control the motorTestActive var from here: Count it down.
437	if (motorTestActive)	437	if (motorTestActive)
438	motorTestActive--;	438	motorTestActive--;
439	// if data in the rxd buffer are not locked immediately return	439	// if data in the rxd buffer are not locked immediately return
440	if (!rxd_buffer_locked)	440	if (!rxd_buffer_locked)
441	return;	441	return;
442	uint8_t tempchar[3];	442	uint8_t tempchar[3];
443	Decode64(); // decode data block in rxd_buffer	443	Decode64(); // decode data block in rxd_buffer
444		444
445	switch (rxd_buffer[1] - 'a') {	445	switch (rxd_buffer[1] - 'a') {
446		446
447	case FC_ADDRESS:	447	case FC_ADDRESS:
448	switch (rxd_buffer[2]) {	448	switch (rxd_buffer[2]) {
449	#ifdef USE_DIRECT_GPS	449	#ifdef USE_DIRECT_GPS
450	case 'K':// compass value	450	case 'K':// compass value
451	// What is the point of this - the compass will overwrite this soon?	451	// What is the point of this - the compass will overwrite this soon?
452	magneticHeading = ((Heading_t *)pRxData)->heading;	452	magneticHeading = ((Heading_t *)pRxData)->heading;
453	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;	453	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
454	break;	454	break;
455	#endif	455	#endif
456	case 't': // motor test	456	case 't': // motor test
457	if (rxDataLen > 20) {	457	if (rxDataLen > 20) {
458	memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));	458	memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));
459	} else {	459	} else {
460	memcpy(&motorTest[0], (uint8_t*) pRxData, 4);	460	memcpy(&motorTest[0], (uint8_t*) pRxData, 4);
461	}	461	}
462	motorTestActive = 255;	462	motorTestActive = 255;
463	externalControlActive = 255;	463	externalControlActive = 255;
464	break;	464	break;
465		465
466	case 'n':// "Get Mixer Table	466	case 'n':// "Get Mixer Table
467	while (!txd_complete)	467	while (!txd_complete)
468	; // wait for previous frame to be sent	468	; // wait for previous frame to be sent
469	sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));	469	sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));
470	break;	470	break;
471		471
472	case 'm':// "Set Mixer Table	472	case 'm':// "Set Mixer Table
473	if (pRxData[0] == EEMIXER_REVISION) {	473	if (pRxData[0] == EEMIXER_REVISION) {
474	memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));	474	memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));
475	mixerMatrix_writeToEEProm();	475	mixerMatrix_writeToEEProm();
476	while (!txd_complete)	476	while (!txd_complete)
477	; // wait for previous frame to be sent	477	; // wait for previous frame to be sent
478	tempchar[0] = 1;	478	tempchar[0] = 1;
479	} else {	479	} else {
480	tempchar[0] = 0;	480	tempchar[0] = 0;
481	}	481	}
482	sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);	482	sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);
483	break;	483	break;
484		484
485	case 'p': // get PPM channels	485	case 'p': // get PPM channels
486	request_PPMChannels = TRUE;	486	request_PPMChannels = TRUE;
487	break;	487	break;
488		488
489	case 'q':// request settings	489	case 'q':// request settings
490	if (pRxData[0] == 0xFF) {	490	if (pRxData[0] == 0xFF) {
491	pRxData[0] = getParamByte(PID_ACTIVE_SET);	491	pRxData[0] = getParamByte(PID_ACTIVE_SET);
492	}	492	}
493	// limit settings range	493	// limit settings range
494	if (pRxData[0] < 1)	494	if (pRxData[0] < 1)
495	pRxData[0] = 1; // limit to 1	495	pRxData[0] = 1; // limit to 1
496	else if (pRxData[0] > 5)	496	else if (pRxData[0] > 5)
497	pRxData[0] = 5; // limit to 5	497	pRxData[0] = 5; // limit to 5
498	// load requested parameter set	498	// load requested parameter set
499	paramSet_readFromEEProm(pRxData[0]);	499	paramSet_readFromEEProm(pRxData[0]);

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/uart0.c @ 1816 - Rev 2041 → 2044