WebSVN - FlightCtrl - Diff - Rev 2075 and 2079 - /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"
#include "commands.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
 
uint8_t requestedDebugLabel = 255;
 
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_PPMChannels = FALSE;
uint8_t request_motorTest = FALSE;
uint8_t request_variables = FALSE;
uint8_t request_OSD = FALSE;
 
/*
#define request_verInfo         (1<<0)
#define request_externalControl (1<<1)
#define request_display         (1<<3)
#define request_display1        (1<<4)
#define request_debugData       (1<<5)
#define request_data3D          (1<<6)
#define request_PPMChannels     (1<<7)
#define request_motorTest       (1<<8)
#define request_variables       (1<<9)
#define request_OSD             (1<<10)
*/
 
//uint16_t request = 0;
 
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;
 
Data3D_t data3D;
 
uint16_t debugData_timer;
uint16_t data3D_timer;
uint16_t OSD_timer;
uint16_t debugData_interval = 0; // in 1ms
uint16_t data3D_interval = 0; // in 1ms
uint16_t OSD_interval = 0;
 
#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
                "PitchTerm       ",
                "RollTerm        ",
                "ThrottleTerm    ",
                "YawTerm         ",
                "heightP         ", //10
                "heightI         ",
        "heightD         ",
                "heightErr/10    ",
                "controlActivity ",
                "accVector       ", //15
                "NaviMode        ",
                "NaviStatus      ",
        "NaviStickP      ",
                "NaviStickR      ",
                "control act wghd", //20
                "acc vector wghd ",
                "Height[dm]      ",
                "dHeight         ",
                "acc vector      ",
                "EFT             ", //25
                "naviPitch       ",
                "naviRoll        ",
                "i part contrib  ",
                "Acc Z           ",
                "Height D        ", //30
                "GPS vert accura "
  };
 
/****************************************************************/
/*              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
        }
        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 >> 6);
        txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);
        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) && (pRxData[2] == sizeof(staticParams))) // check for setting to be in range and version of settings
                                {
                                        memcpy(&staticParams, (uint8_t*) &pRxData[3], sizeof(staticParams));
                                        paramSet_writeToEEProm(pRxData[0]);
                                        setActiveParamSet(pRxData[0]);
                                        configuration_paramSetDidChange();
                                        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
                        requestedDebugLabel = pRxData[0];
                        if (requestedDebugLabel > 31)
                                requestedDebugLabel = 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 'o':// request for OSD data (FC style)
                  OSD_interval = (uint16_t) pRxData[0] * 10;
                  if (OSD_interval > 0)
                    request_OSD = 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 (requestedDebugLabel != 0xFF && txd_complete) { // Texte f�r die Analogdaten
                uint8_t label[16]; // local sram buffer
                memcpy_P(label, ANALOG_LABEL[requestedDebugLabel], 16); // read lable from flash to sram buffer
                sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &requestedDebugLabel,
                                sizeof(requestedDebugLabel), label, 16);
                requestedDebugLabel = 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) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
                data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
                data3D.heading = (int16_t) (heading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1 deg
                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)(attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // approx. 0.1 deg
                toMk3Mag.attitude[1] = (int16_t)(attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // 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;
        }
 
        if (((OSD_interval && checkDelay(OSD_timer)) || request_OSD) && txd_complete) {
          int32_t height = analog_getHeight();
          data3D.anglePitch = (int16_t) (attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
          data3D.angleRoll = (int16_t) (attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1 deg
          data3D.heading = (int16_t) (heading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1 deg
          sendOutData('O', FC_ADDRESS, 4, (uint8_t*)&data3D, sizeof(data3D), (uint8_t*)&GPSInfo, sizeof(GPSInfo), (uint8_t*)&height, sizeof(height), (uint8_t*)UBat, sizeof(UBat));
          OSD_timer = setDelay(OSD_interval);
          request_OSD = FALSE;
        }
}
 

Rev 2075	Rev 2079
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	#include "commands.h"	16	#include "commands.h"
17		17
18	#ifdef USE_DIRECT_GPS	18	#ifdef USE_DIRECT_GPS
19	#include "mk3mag.h"	19	#include "mk3mag.h"
20	#endif	20	#endif
21		21
22	#define FC_ADDRESS 1	22	#define FC_ADDRESS 1
23	#define NC_ADDRESS 2	23	#define NC_ADDRESS 2
24	#define MK3MAG_ADDRESS 3	24	#define MK3MAG_ADDRESS 3
25		25
26	#define FALSE 0	26	#define FALSE 0
27	#define TRUE 1	27	#define TRUE 1
28		28
29	uint8_t requestedDebugLabel = 255;	29	uint8_t requestedDebugLabel = 255;
30		30
31	uint8_t request_verInfo = FALSE;	31	uint8_t request_verInfo = FALSE;
32	uint8_t request_externalControl = FALSE;	32	uint8_t request_externalControl = FALSE;
33	uint8_t request_display = FALSE;	33	uint8_t request_display = FALSE;
34	uint8_t request_display1 = FALSE;	34	uint8_t request_display1 = FALSE;
35	uint8_t request_debugData = FALSE;	35	uint8_t request_debugData = FALSE;
36	uint8_t request_data3D = FALSE;	36	uint8_t request_data3D = FALSE;
37	uint8_t request_PPMChannels = FALSE;	37	uint8_t request_PPMChannels = FALSE;
38	uint8_t request_motorTest = FALSE;	38	uint8_t request_motorTest = FALSE;
39	uint8_t request_variables = FALSE;	39	uint8_t request_variables = FALSE;
40	uint8_t request_OSD = FALSE;	40	uint8_t request_OSD = FALSE;
41		41
42	/*	42	/*
43	#define request_verInfo (1<<0)	43	#define request_verInfo (1<<0)
44	#define request_externalControl (1<<1)	44	#define request_externalControl (1<<1)
45	#define request_display (1<<3)	45	#define request_display (1<<3)
46	#define request_display1 (1<<4)	46	#define request_display1 (1<<4)
47	#define request_debugData (1<<5)	47	#define request_debugData (1<<5)
48	#define request_data3D (1<<6)	48	#define request_data3D (1<<6)
49	#define request_PPMChannels (1<<7)	49	#define request_PPMChannels (1<<7)
50	#define request_motorTest (1<<8)	50	#define request_motorTest (1<<8)
51	#define request_variables (1<<9)	51	#define request_variables (1<<9)
52	#define request_OSD (1<<10)	52	#define request_OSD (1<<10)
53	*/	53	*/
54		54
55	//uint16_t request = 0;	55	//uint16_t request = 0;
56		56
57	uint8_t displayLine = 0;	57	uint8_t displayLine = 0;
58		58
59	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	59	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
60	volatile uint8_t rxd_buffer_locked = FALSE;	60	volatile uint8_t rxd_buffer_locked = FALSE;
61	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	61	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
62	volatile uint8_t txd_complete = TRUE;	62	volatile uint8_t txd_complete = TRUE;
63	volatile uint8_t receivedBytes = 0;	63	volatile uint8_t receivedBytes = 0;
64	volatile uint8_t *pRxData = 0;	64	volatile uint8_t *pRxData = 0;
65	volatile uint8_t rxDataLen = 0;	65	volatile uint8_t rxDataLen = 0;
66		66
67	uint8_t motorTestActive = 0;	67	uint8_t motorTestActive = 0;
68	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };	68	uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
69	uint8_t confirmFrame;	69	uint8_t confirmFrame;
70		70
71	typedef struct {	71	typedef struct {
72	int16_t heading;	72	int16_t heading;
73	}__attribute__((packed)) Heading_t;	73	}__attribute__((packed)) Heading_t;
74		74
75	Data3D_t data3D;	75	Data3D_t data3D;
76		76
77	uint16_t debugData_timer;	77	uint16_t debugData_timer;
78	uint16_t data3D_timer;	78	uint16_t data3D_timer;
79	uint16_t OSD_timer;	79	uint16_t OSD_timer;
80	uint16_t debugData_interval = 0; // in 1ms	80	uint16_t debugData_interval = 0; // in 1ms
81	uint16_t data3D_interval = 0; // in 1ms	81	uint16_t data3D_interval = 0; // in 1ms
82	uint16_t OSD_interval = 0;	82	uint16_t OSD_interval = 0;
83		83
84	#ifdef USE_DIRECT_GPS	84	#ifdef USE_DIRECT_GPS
85	int16_t toMk3MagTimer;	85	int16_t toMk3MagTimer;
86	#endif	86	#endif
87		87
88	// keep lables in flash to save 512 bytes of sram space	88	// keep lables in flash to save 512 bytes of sram space
89	const prog_uint8_t ANALOG_LABEL[32][16] = {	89	const prog_uint8_t ANALOG_LABEL[32][16] = {
90	//1234567890123456	90	//1234567890123456
91	"AnglePitch ", //0	91	"AnglePitch ", //0
92	"AngleRoll ",	92	"AngleRoll ",
93	"AngleYaw ",	93	"AngleYaw ",
94	"GyroPitch ",	94	"GyroPitch ",
95	"GyroRoll ",	95	"GyroRoll ",
96	"GyroYaw ", //5	96	"GyroYaw ", //5
97	"PitchTerm ",	97	"PitchTerm ",
98	"RollTerm ",	98	"RollTerm ",
99	"ThrottleTerm ",	99	"ThrottleTerm ",
100	"YawTerm ",	100	"YawTerm ",
101	"heightP ", //10	101	"heightP ", //10
102	"heightI ",	102	"heightI ",
103	"heightD ",	103	"heightD ",
104	"heightErr/10 ",	104	"heightErr/10 ",
105	"controlActivity ",	105	"controlActivity ",
106	"accVector ", //15	106	"accVector ", //15
107	"NaviMode ",	107	"NaviMode ",
108	"NaviStatus ",	108	"NaviStatus ",
109	"NaviStickP ",	109	"NaviStickP ",
110	"NaviStickR ",	110	"NaviStickR ",
111	"control act wghd", //20	111	"control act wghd", //20
112	"acc vector wghd ",	112	"acc vector wghd ",
113	"Height[dm] ",	113	"Height[dm] ",
114	"dHeight ",	114	"dHeight ",
115	"acc vector ",	115	"acc vector ",
116	"EFT ", //25	116	"EFT ", //25
117	"naviPitch ",	117	"naviPitch ",
118	"naviRoll ",	118	"naviRoll ",
119	"i part contrib ",	119	"i part contrib ",
120	"Acc Z ",	120	"Acc Z ",
121	"Height D ", //30	121	"Height D ", //30
122	"targetHeight/100"	122	"GPS vert accura "
123	};	123	};
124		124
125	/****************************************************************/	125	/****************************************************************/
126	/* Initialization of the USART0 */	126	/* Initialization of the USART0 */
127	/****************************************************************/	127	/****************************************************************/
128	void usart0_init(void) {	128	void usart0_init(void) {
129	uint8_t sreg = SREG;	129	uint8_t sreg = SREG;
130	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);	130	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1);
131		131
132	// disable all interrupts before configuration	132	// disable all interrupts before configuration
133	cli();	133	cli();
134		134
135	// disable RX-Interrupt	135	// disable RX-Interrupt
136	UCSR0B &= ~(1 << RXCIE0);	136	UCSR0B &= ~(1 << RXCIE0);
137	// disable TX-Interrupt	137	// disable TX-Interrupt
138	UCSR0B &= ~(1 << TXCIE0);	138	UCSR0B &= ~(1 << TXCIE0);
139		139
140	// set direction of RXD0 and TXD0 pins	140	// set direction of RXD0 and TXD0 pins
141	// set RXD0 (PD0) as an input pin	141	// set RXD0 (PD0) as an input pin
142	PORTD \|= (1 << PORTD0);	142	PORTD \|= (1 << PORTD0);
143	DDRD &= ~(1 << DDD0);	143	DDRD &= ~(1 << DDD0);
144	// set TXD0 (PD1) as an output pin	144	// set TXD0 (PD1) as an output pin
145	PORTD \|= (1 << PORTD1);	145	PORTD \|= (1 << PORTD1);
146	DDRD \|= (1 << DDD1);	146	DDRD \|= (1 << DDD1);
147		147
148	// USART0 Baud Rate Register	148	// USART0 Baud Rate Register
149	// set clock divider	149	// set clock divider
150	UBRR0H = (uint8_t) (ubrr >> 8);	150	UBRR0H = (uint8_t) (ubrr >> 8);
151	UBRR0L = (uint8_t) ubrr;	151	UBRR0L = (uint8_t) ubrr;
152		152
153	// USART0 Control and Status Register A, B, C	153	// USART0 Control and Status Register A, B, C
154		154
155	// enable double speed operation in	155	// enable double speed operation in
156	UCSR0A \|= (1 << U2X0);	156	UCSR0A \|= (1 << U2X0);
157	// enable receiver and transmitter in	157	// enable receiver and transmitter in
158	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	158	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
159	// set asynchronous mode	159	// set asynchronous mode
160	UCSR0C &= ~(1 << UMSEL01);	160	UCSR0C &= ~(1 << UMSEL01);
161	UCSR0C &= ~(1 << UMSEL00);	161	UCSR0C &= ~(1 << UMSEL00);
162	// no parity	162	// no parity
163	UCSR0C &= ~(1 << UPM01);	163	UCSR0C &= ~(1 << UPM01);
164	UCSR0C &= ~(1 << UPM00);	164	UCSR0C &= ~(1 << UPM00);
165	// 1 stop bit	165	// 1 stop bit
166	UCSR0C &= ~(1 << USBS0);	166	UCSR0C &= ~(1 << USBS0);
167	// 8-bit	167	// 8-bit
168	UCSR0B &= ~(1 << UCSZ02);	168	UCSR0B &= ~(1 << UCSZ02);
169	UCSR0C \|= (1 << UCSZ01);	169	UCSR0C \|= (1 << UCSZ01);
170	UCSR0C \|= (1 << UCSZ00);	170	UCSR0C \|= (1 << UCSZ00);
171		171
172	// flush receive buffer	172	// flush receive buffer
173	while (UCSR0A & (1 << RXC0))	173	while (UCSR0A & (1 << RXC0))
174	UDR0;	174	UDR0;
175		175
176	// enable interrupts at the end	176	// enable interrupts at the end
177	// enable RX-Interrupt	177	// enable RX-Interrupt
178	UCSR0B \|= (1 << RXCIE0);	178	UCSR0B \|= (1 << RXCIE0);
179	// enable TX-Interrupt	179	// enable TX-Interrupt
180	UCSR0B \|= (1 << TXCIE0);	180	UCSR0B \|= (1 << TXCIE0);
181		181
182	// initialize the debug timer	182	// initialize the debug timer
183	debugData_timer = setDelay(debugData_interval);	183	debugData_timer = setDelay(debugData_interval);
184		184
185	// unlock rxd_buffer	185	// unlock rxd_buffer
186	rxd_buffer_locked = FALSE;	186	rxd_buffer_locked = FALSE;
187	pRxData = 0;	187	pRxData = 0;
188	rxDataLen = 0;	188	rxDataLen = 0;
189		189
190	// no bytes to send	190	// no bytes to send
191	txd_complete = TRUE;	191	txd_complete = TRUE;
192		192
193	#ifdef USE_DIRECT_GPS	193	#ifdef USE_DIRECT_GPS
194	toMk3MagTimer = setDelay(220);	194	toMk3MagTimer = setDelay(220);
195	#endif	195	#endif
196		196
197	versionInfo.SWMajor = VERSION_MAJOR;	197	versionInfo.SWMajor = VERSION_MAJOR;
198	versionInfo.SWMinor = VERSION_MINOR;	198	versionInfo.SWMinor = VERSION_MINOR;
199	versionInfo.SWPatch = VERSION_PATCH;	199	versionInfo.SWPatch = VERSION_PATCH;
200	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;	200	versionInfo.protoMajor = VERSION_SERIAL_MAJOR;
201	versionInfo.protoMinor = VERSION_SERIAL_MINOR;	201	versionInfo.protoMinor = VERSION_SERIAL_MINOR;
202		202
203	// restore global interrupt flags	203	// restore global interrupt flags
204	SREG = sreg;	204	SREG = sreg;
205	}	205	}
206		206
207	/****************************************************************/	207	/****************************************************************/
208	/* USART0 transmitter ISR */	208	/* USART0 transmitter ISR */
209	/****************************************************************/	209	/****************************************************************/
210	ISR(USART0_TX_vect) {	210	ISR(USART0_TX_vect) {
211	static uint16_t ptr_txd_buffer = 0;	211	static uint16_t ptr_txd_buffer = 0;
212	uint8_t tmp_tx;	212	uint8_t tmp_tx;
213	if (!txd_complete) { // transmission not completed	213	if (!txd_complete) { // transmission not completed
214	ptr_txd_buffer++; // die [0] wurde schon gesendet	214	ptr_txd_buffer++; // die [0] wurde schon gesendet
215	tmp_tx = txd_buffer[ptr_txd_buffer];	215	tmp_tx = txd_buffer[ptr_txd_buffer];
216	// if terminating character or end of txd buffer was reached	216	// if terminating character or end of txd buffer was reached
217	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {	217	if ((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN)) {
218	ptr_txd_buffer = 0; // reset txd pointer	218	ptr_txd_buffer = 0; // reset txd pointer
219	txd_complete = 1; // stop transmission	219	txd_complete = 1; // stop transmission
220	}	220	}
221	UDR0 = tmp_tx; // send current byte will trigger this ISR again	221	UDR0 = tmp_tx; // send current byte will trigger this ISR again
222	}	222	}
223	// transmission completed	223	// transmission completed
224	else	224	else
225	ptr_txd_buffer = 0;	225	ptr_txd_buffer = 0;
226	}	226	}
227		227
228	/****************************************************************/	228	/****************************************************************/
229	/* USART0 receiver ISR */	229	/* USART0 receiver ISR */
230	/****************************************************************/	230	/****************************************************************/
231	ISR(USART0_RX_vect) {	231	ISR(USART0_RX_vect) {
232	static uint16_t checksum;	232	static uint16_t checksum;
233	static uint8_t ptr_rxd_buffer = 0;	233	static uint8_t ptr_rxd_buffer = 0;
234	uint8_t checksum1, checksum2;	234	uint8_t checksum1, checksum2;
235	uint8_t c;	235	uint8_t c;
236		236
237	c = UDR0; // catch the received byte	237	c = UDR0; // catch the received byte
238		238
239	if (rxd_buffer_locked)	239	if (rxd_buffer_locked)
240	return; // if rxd buffer is locked immediately return	240	return; // if rxd buffer is locked immediately return
241		241
242	// the rxd buffer is unlocked	242	// the rxd buffer is unlocked
243	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received	243	if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received
244	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	244	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
245	checksum = c; // init checksum	245	checksum = c; // init checksum
246	}	246	}
247	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes	247	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes
248	if (c != '\r') { // no termination character	248	if (c != '\r') { // no termination character
249	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	249	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
250	checksum += c; // update checksum	250	checksum += c; // update checksum
251	} else { // termination character was received	251	} else { // termination character was received
252	// the last 2 bytes are no subject for checksum calculation	252	// the last 2 bytes are no subject for checksum calculation
253	// they are the checksum itself	253	// they are the checksum itself
254	checksum -= rxd_buffer[ptr_rxd_buffer - 2];	254	checksum -= rxd_buffer[ptr_rxd_buffer - 2];
255	checksum -= rxd_buffer[ptr_rxd_buffer - 1];	255	checksum -= rxd_buffer[ptr_rxd_buffer - 1];
256	// calculate checksum from transmitted data	256	// calculate checksum from transmitted data
257	checksum %= 4096;	257	checksum %= 4096;
258	checksum1 = '=' + checksum / 64;	258	checksum1 = '=' + checksum / 64;
259	checksum2 = '=' + checksum % 64;	259	checksum2 = '=' + checksum % 64;
260	// compare checksum to transmitted checksum bytes	260	// compare checksum to transmitted checksum bytes
261	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2	261	if ((checksum1 == rxd_buffer[ptr_rxd_buffer - 2]) && (checksum2
262	== rxd_buffer[ptr_rxd_buffer - 1])) {	262	== rxd_buffer[ptr_rxd_buffer - 1])) {
263	// checksum valid	263	// checksum valid
264	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	264	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
265	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	265	receivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
266	rxd_buffer_locked = TRUE; // lock the rxd buffer	266	rxd_buffer_locked = TRUE; // lock the rxd buffer
267	// if 2nd byte is an 'R' enable watchdog that will result in an reset	267	// if 2nd byte is an 'R' enable watchdog that will result in an reset
268	if (rxd_buffer[2] == 'R') {	268	if (rxd_buffer[2] == 'R') {
269	wdt_enable(WDTO_250MS);	269	wdt_enable(WDTO_250MS);
270	} // Reset-Commando	270	} // Reset-Commando
271	} else { // checksum invalid	271	} else { // checksum invalid
272	rxd_buffer_locked = FALSE; // unlock rxd buffer	272	rxd_buffer_locked = FALSE; // unlock rxd buffer
273	}	273	}
274	ptr_rxd_buffer = 0; // reset rxd buffer pointer	274	ptr_rxd_buffer = 0; // reset rxd buffer pointer
275	}	275	}
276	} else { // rxd buffer overrun	276	} else { // rxd buffer overrun
277	ptr_rxd_buffer = 0; // reset rxd buffer	277	ptr_rxd_buffer = 0; // reset rxd buffer
278	rxd_buffer_locked = FALSE; // unlock rxd buffer	278	rxd_buffer_locked = FALSE; // unlock rxd buffer
279	}	279	}
280	}	280	}
281		281
282	// --------------------------------------------------------------------------	282	// --------------------------------------------------------------------------
283	void addChecksum(uint16_t datalen) {	283	void addChecksum(uint16_t datalen) {
284	uint16_t tmpchecksum = 0, i;	284	uint16_t tmpchecksum = 0, i;
285	for (i = 0; i < datalen; i++) {	285	for (i = 0; i < datalen; i++) {
286	tmpchecksum += txd_buffer[i];	286	tmpchecksum += txd_buffer[i];
287	}	287	}
288	tmpchecksum %= 4096;	288	tmpchecksum %= 4096;
289	txd_buffer[i++] = '=' + (tmpchecksum >> 6);	289	txd_buffer[i++] = '=' + (tmpchecksum >> 6);
290	txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);	290	txd_buffer[i++] = '=' + (tmpchecksum & 0x3F);
291	txd_buffer[i++] = '\r';	291	txd_buffer[i++] = '\r';
292	txd_complete = FALSE;	292	txd_complete = FALSE;
293	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	293	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
294	}	294	}
295		295
296	// --------------------------------------------------------------------------	296	// --------------------------------------------------------------------------
297	// application example:	297	// application example:
298	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);	298	// sendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16);
299	/*	299	/*
300	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	300	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
301	va_list ap;	301	va_list ap;
302	uint16_t txd_bufferIndex = 0;	302	uint16_t txd_bufferIndex = 0;
303	uint8_t *currentBuffer;	303	uint8_t *currentBuffer;
304	uint8_t currentBufferIndex;	304	uint8_t currentBufferIndex;
305	uint16_t lengthOfCurrentBuffer;	305	uint16_t lengthOfCurrentBuffer;
306	uint8_t shift = 0;	306	uint8_t shift = 0;
307		307
308	txd_buffer[txd_bufferIndex++] = '#'; // Start character	308	txd_buffer[txd_bufferIndex++] = '#'; // Start character
309	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)	309	txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...)
310	txd_buffer[txd_bufferIndex++] = cmd; // Command	310	txd_buffer[txd_bufferIndex++] = cmd; // Command
311		311
312	va_start(ap, numofbuffers);	312	va_start(ap, numofbuffers);
313		313
314	while(numofbuffers) {	314	while(numofbuffers) {
315	currentBuffer = va_arg(ap, uint8_t*);	315	currentBuffer = va_arg(ap, uint8_t*);
316	lengthOfCurrentBuffer = va_arg(ap, int);	316	lengthOfCurrentBuffer = va_arg(ap, int);
317	currentBufferIndex = 0;	317	currentBufferIndex = 0;
318	// Encode data: 3 bytes of data are encoded into 4 bytes,	318	// Encode data: 3 bytes of data are encoded into 4 bytes,
319	// where the 2 most significant bits are both 0.	319	// where the 2 most significant bits are both 0.
320	while(currentBufferIndex != lengthOfCurrentBuffer) {	320	while(currentBufferIndex != lengthOfCurrentBuffer) {
321	if (!shift) txd_buffer[txd_bufferIndex] = 0;	321	if (!shift) txd_buffer[txd_bufferIndex] = 0;
322	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);	322	txd_buffer[txd_bufferIndex] \|= currentBuffer[currentBufferIndex] >> (shift + 2);
323	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;	323	txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111;
324	shift += 2;	324	shift += 2;
325	if (shift == 6) { shift=0; txd_bufferIndex++; }	325	if (shift == 6) { shift=0; txd_bufferIndex++; }
326	currentBufferIndex++;	326	currentBufferIndex++;
327	}	327	}
328	}	328	}
329	// If the number of data bytes was not divisible by 3, stuff	329	// If the number of data bytes was not divisible by 3, stuff
330	// with 0 pseudodata until length is again divisible by 3.	330	// with 0 pseudodata until length is again divisible by 3.
331	if (shift == 2) {	331	if (shift == 2) {
332	// We need to stuff with zero bytes at the end.	332	// We need to stuff with zero bytes at the end.
333	txd_buffer[txd_bufferIndex] &= 0b00110000;	333	txd_buffer[txd_bufferIndex] &= 0b00110000;
334	txd_buffer[++txd_bufferIndex] = 0;	334	txd_buffer[++txd_bufferIndex] = 0;
335	shift = 4;	335	shift = 4;
336	}	336	}
337	if (shift == 4) {	337	if (shift == 4) {
338	// We need to stuff with zero bytes at the end.	338	// We need to stuff with zero bytes at the end.
339	txd_buffer[txd_bufferIndex++] &= 0b00111100;	339	txd_buffer[txd_bufferIndex++] &= 0b00111100;
340	txd_buffer[txd_bufferIndex] = 0;	340	txd_buffer[txd_bufferIndex] = 0;
341	}	341	}
342	va_end(ap);	342	va_end(ap);
343	Addchecksum(pt); // add checksum after data block and initates the transmission	343	Addchecksum(pt); // add checksum after data block and initates the transmission
344	}	344	}
345	*/	345	*/
346		346
347	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...	347	void sendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ...
348	va_list ap;	348	va_list ap;
349	uint16_t pt = 0;	349	uint16_t pt = 0;
350	uint8_t a, b, c;	350	uint8_t a, b, c;
351	uint8_t ptr = 0;	351	uint8_t ptr = 0;
352		352
353	uint8_t *pdata = 0;	353	uint8_t *pdata = 0;
354	int len = 0;	354	int len = 0;
355		355
356	txd_buffer[pt++] = '#'; // Start character	356	txd_buffer[pt++] = '#'; // Start character
357	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	357	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
358	txd_buffer[pt++] = cmd; // Command	358	txd_buffer[pt++] = cmd; // Command
359		359
360	va_start(ap, numofbuffers);	360	va_start(ap, numofbuffers);
361		361
362	if (numofbuffers) {	362	if (numofbuffers) {
363	pdata = va_arg(ap, uint8_t*);	363	pdata = va_arg(ap, uint8_t*);
364	len = va_arg(ap, int);	364	len = va_arg(ap, int);
365	ptr = 0;	365	ptr = 0;
366	numofbuffers--;	366	numofbuffers--;
367	}	367	}
368		368
369	while (len) {	369	while (len) {
370	if (len) {	370	if (len) {
371	a = pdata[ptr++];	371	a = pdata[ptr++];
372	len--;	372	len--;
373	if ((!len) && numofbuffers) {	373	if ((!len) && numofbuffers) {
374	pdata = va_arg(ap, uint8_t*);	374	pdata = va_arg(ap, uint8_t*);
375	len = va_arg(ap, int);	375	len = va_arg(ap, int);
376	ptr = 0;	376	ptr = 0;
377	numofbuffers--;	377	numofbuffers--;
378	}	378	}
379	} else	379	} else
380	a = 0;	380	a = 0;
381	if (len) {	381	if (len) {
382	b = pdata[ptr++];	382	b = pdata[ptr++];
383	len--;	383	len--;
384	if ((!len) && numofbuffers) {	384	if ((!len) && numofbuffers) {
385	pdata = va_arg(ap, uint8_t*);	385	pdata = va_arg(ap, uint8_t*);
386	len = va_arg(ap, int);	386	len = va_arg(ap, int);
387	ptr = 0;	387	ptr = 0;
388	numofbuffers--;	388	numofbuffers--;
389	}	389	}
390	} else	390	} else
391	b = 0;	391	b = 0;
392	if (len) {	392	if (len) {
393	c = pdata[ptr++];	393	c = pdata[ptr++];
394	len--;	394	len--;
395	if ((!len) && numofbuffers) {	395	if ((!len) && numofbuffers) {
396	pdata = va_arg(ap, uint8_t*);	396	pdata = va_arg(ap, uint8_t*);
397	len = va_arg(ap, int);	397	len = va_arg(ap, int);
398	ptr = 0;	398	ptr = 0;
399	numofbuffers--;	399	numofbuffers--;
400	}	400	}
401	} else	401	} else
402	c = 0;	402	c = 0;
403	txd_buffer[pt++] = '=' + (a >> 2);	403	txd_buffer[pt++] = '=' + (a >> 2);
404	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	404	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
405	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	405	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
406	txd_buffer[pt++] = '=' + (c & 0x3f);	406	txd_buffer[pt++] = '=' + (c & 0x3f);
407	}	407	}
408	va_end(ap);	408	va_end(ap);
409	addChecksum(pt); // add checksum after data block and initates the transmission	409	addChecksum(pt); // add checksum after data block and initates the transmission
410	}	410	}
411		411
412	// --------------------------------------------------------------------------	412	// --------------------------------------------------------------------------
413	void decode64(void) {	413	void decode64(void) {
414	uint8_t a, b, c, d;	414	uint8_t a, b, c, d;
415	uint8_t x, y, z;	415	uint8_t x, y, z;
416	uint8_t ptrIn = 3;	416	uint8_t ptrIn = 3;
417	uint8_t ptrOut = 3;	417	uint8_t ptrOut = 3;
418	uint8_t len = receivedBytes - 6;	418	uint8_t len = receivedBytes - 6;
419		419
420	while (len) {	420	while (len) {
421	a = rxd_buffer[ptrIn++] - '=';	421	a = rxd_buffer[ptrIn++] - '=';
422	b = rxd_buffer[ptrIn++] - '=';	422	b = rxd_buffer[ptrIn++] - '=';
423	c = rxd_buffer[ptrIn++] - '=';	423	c = rxd_buffer[ptrIn++] - '=';
424	d = rxd_buffer[ptrIn++] - '=';	424	d = rxd_buffer[ptrIn++] - '=';
425	//if(ptrIn > ReceivedBytes - 3) break;	425	//if(ptrIn > ReceivedBytes - 3) break;
426		426
427	x = (a << 2) \| (b >> 4);	427	x = (a << 2) \| (b >> 4);
428	y = ((b & 0x0f) << 4) \| (c >> 2);	428	y = ((b & 0x0f) << 4) \| (c >> 2);
429	z = ((c & 0x03) << 6) \| d;	429	z = ((c & 0x03) << 6) \| d;
430		430
431	if (len--)	431	if (len--)
432	rxd_buffer[ptrOut++] = x;	432	rxd_buffer[ptrOut++] = x;
433	else	433	else
434	break;	434	break;
435	if (len--)	435	if (len--)
436	rxd_buffer[ptrOut++] = y;	436	rxd_buffer[ptrOut++] = y;
437	else	437	else
438	break;	438	break;
439	if (len--)	439	if (len--)
440	rxd_buffer[ptrOut++] = z;	440	rxd_buffer[ptrOut++] = z;
441	else	441	else
442	break;	442	break;
443	}	443	}
444	pRxData = &rxd_buffer[3];	444	pRxData = &rxd_buffer[3];
445	rxDataLen = ptrOut - 3;	445	rxDataLen = ptrOut - 3;
446	}	446	}
447		447
448	// --------------------------------------------------------------------------	448	// --------------------------------------------------------------------------
449	void usart0_processRxData(void) {	449	void usart0_processRxData(void) {
450	// We control the motorTestActive var from here: Count it down.	450	// We control the motorTestActive var from here: Count it down.
451	if (motorTestActive)	451	if (motorTestActive)
452	motorTestActive--;	452	motorTestActive--;
453	// if data in the rxd buffer are not locked immediately return	453	// if data in the rxd buffer are not locked immediately return
454	if (!rxd_buffer_locked)	454	if (!rxd_buffer_locked)
455	return;	455	return;
456	uint8_t tempchar[3];	456	uint8_t tempchar[3];
457	decode64(); // decode data block in rxd_buffer	457	decode64(); // decode data block in rxd_buffer
458		458
459	switch (rxd_buffer[1] - 'a') {	459	switch (rxd_buffer[1] - 'a') {
460		460
461	case FC_ADDRESS:	461	case FC_ADDRESS:
462	switch (rxd_buffer[2]) {	462	switch (rxd_buffer[2]) {
463	#ifdef USE_DIRECT_GPS	463	#ifdef USE_DIRECT_GPS
464	case 'K':// compass value	464	case 'K':// compass value
465	// What is the point of this - the compass will overwrite this soon?	465	// What is the point of this - the compass will overwrite this soon?
466	magneticHeading = ((Heading_t *)pRxData)->heading;	466	magneticHeading = ((Heading_t *)pRxData)->heading;
467	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;	467	// compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180;
468	break;	468	break;
469	#endif	469	#endif
470	case 't': // motor test	470	case 't': // motor test
471	if (rxDataLen > 20) {	471	if (rxDataLen > 20) {
472	memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));	472	memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest));
473	} else {	473	} else {
474	memcpy(&motorTest[0], (uint8_t*) pRxData, 4);	474	memcpy(&motorTest[0], (uint8_t*) pRxData, 4);
475	}	475	}
476	motorTestActive = 255;	476	motorTestActive = 255;
477	externalControlActive = 255;	477	externalControlActive = 255;
478	break;	478	break;
479		479
480	case 'n':// "Get Mixer Table	480	case 'n':// "Get Mixer Table
481	while (!txd_complete)	481	while (!txd_complete)
482	; // wait for previous frame to be sent	482	; // wait for previous frame to be sent
483	sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));	483	sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix));
484	break;	484	break;
485		485
486	case 'm':// "Set Mixer Table	486	case 'm':// "Set Mixer Table
487	if (pRxData[0] == EEMIXER_REVISION) {	487	if (pRxData[0] == EEMIXER_REVISION) {
488	memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));	488	memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix));
489	mixerMatrix_writeToEEProm();	489	mixerMatrix_writeToEEProm();
490	while (!txd_complete)	490	while (!txd_complete)
491	; // wait for previous frame to be sent	491	; // wait for previous frame to be sent
492	tempchar[0] = 1;	492	tempchar[0] = 1;
493	} else {	493	} else {
494	tempchar[0] = 0;	494	tempchar[0] = 0;
495	}	495	}
496	sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);	496	sendOutData('M', FC_ADDRESS, 1, &tempchar, 1);
497	break;	497	break;
498		498
499	case 'p': // get PPM channels	499	case 'p': // get PPM channels
500	request_PPMChannels = TRUE;	500	request_PPMChannels = TRUE;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/uart0.c - Rev 2075 → 2079