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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 | "- ", |
84 | "Pitch Term ", |
84 | "Pitch Term ", |
85 | "Roll Term ", |
85 | "Roll Term ", |
86 | "Yaw Term ", |
86 | "Yaw Term ", |
87 | "Throttle Term ", //15 |
87 | "Throttle Term ", //15 |
88 | "- ", |
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 | compassHeading = ((Heading_t *)pRxData)->heading; |
452 | magneticHeading = ((Heading_t *)pRxData)->heading; |
452 | // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
453 | // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
453 | break; |
454 | break; |
454 | #endif |
455 | #endif |
455 | case 't': // motor test |
456 | case 't': // motor test |
456 | if (rxDataLen > 20) { |
457 | if (rxDataLen > 20) { |
457 | memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
458 | memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
458 | } else { |
459 | } else { |
459 | memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
460 | memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
460 | } |
461 | } |
461 | motorTestActive = 255; |
462 | motorTestActive = 255; |
462 | externalControlActive = 255; |
463 | externalControlActive = 255; |
463 | break; |
464 | break; |
464 | 465 | ||
465 | case 'n':// "Get Mixer Table |
466 | case 'n':// "Get Mixer Table |
466 | while (!txd_complete) |
467 | while (!txd_complete) |
467 | ; // wait for previous frame to be sent |
468 | ; // wait for previous frame to be sent |
468 | sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
469 | sendOutData('N', FC_ADDRESS, 1, (uint8_t *) &mixerMatrix, sizeof(mixerMatrix)); |
469 | break; |
470 | break; |
470 | 471 | ||
471 | case 'm':// "Set Mixer Table |
472 | case 'm':// "Set Mixer Table |
472 | if (pRxData[0] == EEMIXER_REVISION) { |
473 | if (pRxData[0] == EEMIXER_REVISION) { |
473 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
474 | memcpy(&mixerMatrix, (uint8_t*) pRxData, sizeof(mixerMatrix)); |
474 | mixerMatrix_writeToEEProm(); |
475 | mixerMatrix_writeToEEProm(); |
475 | while (!txd_complete) |
476 | while (!txd_complete) |
476 | ; // wait for previous frame to be sent |
477 | ; // wait for previous frame to be sent |
477 | tempchar[0] = 1; |
478 | tempchar[0] = 1; |
478 | } else { |
479 | } else { |
479 | tempchar[0] = 0; |
480 | tempchar[0] = 0; |
480 | } |
481 | } |
481 | sendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
482 | sendOutData('M', FC_ADDRESS, 1, &tempchar, 1); |
482 | break; |
483 | break; |
483 | 484 | ||
484 | case 'p': // get PPM channels |
485 | case 'p': // get PPM channels |
485 | request_PPMChannels = TRUE; |
486 | request_PPMChannels = TRUE; |
486 | break; |
487 | break; |
487 | 488 | ||
488 | case 'q':// request settings |
489 | case 'q':// request settings |
489 | if (pRxData[0] == 0xFF) { |
490 | if (pRxData[0] == 0xFF) { |
490 | pRxData[0] = getParamByte(PID_ACTIVE_SET); |
491 | pRxData[0] = getParamByte(PID_ACTIVE_SET); |
491 | } |
492 | } |
492 | // limit settings range |
493 | // limit settings range |
493 | if (pRxData[0] < 1) |
494 | if (pRxData[0] < 1) |
494 | pRxData[0] = 1; // limit to 1 |
495 | pRxData[0] = 1; // limit to 1 |
495 | else if (pRxData[0] > 5) |
496 | else if (pRxData[0] > 5) |
496 | pRxData[0] = 5; // limit to 5 |
497 | pRxData[0] = 5; // limit to 5 |
497 | // load requested parameter set |
498 | // load requested parameter set |
498 | paramSet_readFromEEProm(pRxData[0]); |
499 | paramSet_readFromEEProm(pRxData[0]); |
499 | tempchar[0] = pRxData[0]; |
500 | tempchar[0] = pRxData[0]; |
500 | tempchar[1] = EEPARAM_REVISION; |
501 | tempchar[1] = EEPARAM_REVISION; |
501 | tempchar[2] = sizeof(staticParams); |
502 | tempchar[2] = sizeof(staticParams); |
502 | while (!txd_complete) |
503 | while (!txd_complete) |
503 | ; // wait for previous frame to be sent |
504 | ; // wait for previous frame to be sent |
504 | sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
505 | sendOutData('Q', FC_ADDRESS, 2, &tempchar, 3, (uint8_t *) &staticParams, sizeof(staticParams)); |
505 | break; |
506 | break; |
506 | 507 | ||
507 | case 's': // save settings |
508 | case 's': // save settings |
508 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
509 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
509 | { |
510 | { |
510 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
511 | if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
511 | { |
512 | { |
512 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
513 | memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
513 | paramSet_writeToEEProm(pRxData[0]); |
514 | paramSet_writeToEEProm(pRxData[0]); |
514 | tempchar[0] = getActiveParamSet(); |
515 | tempchar[0] = getActiveParamSet(); |
515 | beepNumber(tempchar[0]); |
516 | beepNumber(tempchar[0]); |
516 | } else { |
517 | } else { |
517 | tempchar[0] = 0; //indicate bad data |
518 | tempchar[0] = 0; //indicate bad data |
518 | } |
519 | } |
519 | while (!txd_complete) |
520 | while (!txd_complete) |
520 | ; // wait for previous frame to be sent |
521 | ; // wait for previous frame to be sent |
521 | sendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
522 | sendOutData('S', FC_ADDRESS, 1, &tempchar, 1); |
522 | } |
523 | } |
523 | break; |
524 | break; |
524 | 525 | ||
525 | default: |
526 | default: |
526 | //unsupported command received |
527 | //unsupported command received |
527 | break; |
528 | break; |
528 | } // case FC_ADDRESS: |
529 | } // case FC_ADDRESS: |
529 | 530 | ||
530 | default: // any Slave Address |
531 | default: // any Slave Address |
531 | switch (rxd_buffer[2]) { |
532 | switch (rxd_buffer[2]) { |
532 | case 'a':// request for labels of the analog debug outputs |
533 | case 'a':// request for labels of the analog debug outputs |
533 | request_debugLabel = pRxData[0]; |
534 | request_debugLabel = pRxData[0]; |
534 | if (request_debugLabel > 31) |
535 | if (request_debugLabel > 31) |
535 | request_debugLabel = 31; |
536 | request_debugLabel = 31; |
536 | break; |
537 | break; |
537 | 538 | ||
538 | case 'b': // submit extern control |
539 | case 'b': // submit extern control |
539 | memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
540 | memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
540 | confirmFrame = externalControl.frame; |
541 | confirmFrame = externalControl.frame; |
541 | externalControlActive = 255; |
542 | externalControlActive = 255; |
542 | break; |
543 | break; |
543 | 544 | ||
544 | case 'h':// request for display columns |
545 | case 'h':// request for display columns |
545 | remoteKeys |= pRxData[0]; |
546 | remoteKeys |= pRxData[0]; |
546 | if (remoteKeys) |
547 | if (remoteKeys) |
547 | displayLine = 0; |
548 | displayLine = 0; |
548 | request_display = TRUE; |
549 | request_display = TRUE; |
549 | break; |
550 | break; |
550 | 551 | ||
551 | case 'l':// request for display columns |
552 | case 'l':// request for display columns |
552 | menuItem = pRxData[0]; |
553 | menuItem = pRxData[0]; |
553 | request_display1 = TRUE; |
554 | request_display1 = TRUE; |
554 | break; |
555 | break; |
555 | 556 | ||
556 | case 'v': // request for version and board release |
557 | case 'v': // request for version and board release |
557 | request_verInfo = TRUE; |
558 | request_verInfo = TRUE; |
558 | break; |
559 | break; |
559 | 560 | ||
560 | case 'x': |
561 | case 'x': |
561 | request_variables = TRUE; |
562 | request_variables = TRUE; |
562 | break; |
563 | break; |
563 | 564 | ||
564 | case 'g':// get external control data |
565 | case 'g':// get external control data |
565 | request_externalControl = TRUE; |
566 | request_externalControl = TRUE; |
566 | break; |
567 | break; |
567 | 568 | ||
568 | case 'd': // request for the debug data |
569 | case 'd': // request for the debug data |
569 | debugData_interval = (uint16_t) pRxData[0] * 10; |
570 | debugData_interval = (uint16_t) pRxData[0] * 10; |
570 | if (debugData_interval > 0) |
571 | if (debugData_interval > 0) |
571 | request_debugData = TRUE; |
572 | request_debugData = TRUE; |
572 | break; |
573 | break; |
573 | 574 | ||
574 | case 'c': // request for the 3D data |
575 | case 'c': // request for the 3D data |
575 | data3D_interval = (uint16_t) pRxData[0] * 10; |
576 | data3D_interval = (uint16_t) pRxData[0] * 10; |
576 | if (data3D_interval > 0) |
577 | if (data3D_interval > 0) |
577 | request_data3D = TRUE; |
578 | request_data3D = TRUE; |
578 | break; |
579 | break; |
579 | 580 | ||
580 | default: |
581 | default: |
581 | //unsupported command received |
582 | //unsupported command received |
582 | break; |
583 | break; |
583 | } |
584 | } |
584 | break; // default: |
585 | break; // default: |
585 | } |
586 | } |
586 | // unlock the rxd buffer after processing |
587 | // unlock the rxd buffer after processing |
587 | pRxData = 0; |
588 | pRxData = 0; |
588 | rxDataLen = 0; |
589 | rxDataLen = 0; |
589 | rxd_buffer_locked = FALSE; |
590 | rxd_buffer_locked = FALSE; |
590 | } |
591 | } |
591 | 592 | ||
592 | /************************************************************************/ |
593 | /************************************************************************/ |
593 | /* Routine f�r die Serielle Ausgabe */ |
594 | /* Routine f�r die Serielle Ausgabe */ |
594 | /************************************************************************/ |
595 | /************************************************************************/ |
595 | int16_t uart_putchar(int8_t c) { |
596 | int16_t uart_putchar(int8_t c) { |
596 | if (c == '\n') |
597 | if (c == '\n') |
597 | uart_putchar('\r'); |
598 | uart_putchar('\r'); |
598 | // wait until previous character was send |
599 | // wait until previous character was send |
599 | loop_until_bit_is_set(UCSR0A, UDRE0); |
600 | loop_until_bit_is_set(UCSR0A, UDRE0); |
600 | // send character |
601 | // send character |
601 | UDR0 = c; |
602 | UDR0 = c; |
602 | return (0); |
603 | return (0); |
603 | } |
604 | } |
604 | 605 | ||
605 | //--------------------------------------------------------------------------------------------- |
606 | //--------------------------------------------------------------------------------------------- |
606 | void usart0_transmitTxData(void) { |
607 | void usart0_transmitTxData(void) { |
607 | if (!txd_complete) |
608 | if (!txd_complete) |
608 | return; |
609 | return; |
609 | 610 | ||
610 | if (request_verInfo && txd_complete) { |
611 | if (request_verInfo && txd_complete) { |
611 | sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo)); |
612 | sendOutData('V', FC_ADDRESS, 1, (uint8_t *) &versionInfo, sizeof(versionInfo)); |
612 | request_verInfo = FALSE; |
613 | request_verInfo = FALSE; |
613 | } |
614 | } |
614 | 615 | ||
615 | if (request_display && txd_complete) { |
616 | if (request_display && txd_complete) { |
616 | LCD_printMenu(); |
617 | LCD_printMenu(); |
617 | sendOutData('H', FC_ADDRESS, 2, &displayLine, sizeof(displayLine), |
618 | sendOutData('H', FC_ADDRESS, 2, &displayLine, sizeof(displayLine), |
618 | &displayBuff[displayLine * 20], 20); |
619 | &displayBuff[displayLine * 20], 20); |
619 | displayLine++; |
620 | displayLine++; |
620 | if (displayLine >= 4) |
621 | if (displayLine >= 4) |
621 | displayLine = 0; |
622 | displayLine = 0; |
622 | request_display = FALSE; |
623 | request_display = FALSE; |
623 | } |
624 | } |
624 | 625 | ||
625 | if (request_display1 && txd_complete) { |
626 | if (request_display1 && txd_complete) { |
626 | LCD_printMenu(); |
627 | LCD_printMenu(); |
627 | sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem, |
628 | sendOutData('L', FC_ADDRESS, 3, &menuItem, sizeof(menuItem), &maxMenuItem, |
628 | sizeof(maxMenuItem), displayBuff, sizeof(displayBuff)); |
629 | sizeof(maxMenuItem), displayBuff, sizeof(displayBuff)); |
629 | request_display1 = FALSE; |
630 | request_display1 = FALSE; |
630 | } |
631 | } |
631 | 632 | ||
632 | if (request_debugLabel != 0xFF) { // Texte f�r die Analogdaten |
633 | if (request_debugLabel != 0xFF) { // Texte f�r die Analogdaten |
633 | uint8_t label[16]; // local sram buffer |
634 | uint8_t label[16]; // local sram buffer |
634 | memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer |
635 | memcpy_P(label, ANALOG_LABEL[request_debugLabel], 16); // read lable from flash to sram buffer |
635 | sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel, |
636 | sendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_debugLabel, |
636 | sizeof(request_debugLabel), label, 16); |
637 | sizeof(request_debugLabel), label, 16); |
637 | request_debugLabel = 0xFF; |
638 | request_debugLabel = 0xFF; |
638 | } |
639 | } |
639 | 640 | ||
640 | if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen |
641 | if (confirmFrame && txd_complete) { // Datensatz ohne checksum best�tigen |
641 | sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame)); |
642 | sendOutData('B', FC_ADDRESS, 1, (uint8_t*) &confirmFrame, sizeof(confirmFrame)); |
642 | confirmFrame = 0; |
643 | confirmFrame = 0; |
643 | } |
644 | } |
644 | 645 | ||
645 | if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData) |
646 | if (((debugData_interval && checkDelay(debugData_timer)) || request_debugData) |
646 | && txd_complete) { |
647 | && txd_complete) { |
647 | sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
648 | sendOutData('D', FC_ADDRESS, 1, (uint8_t *) &debugOut, sizeof(debugOut)); |
648 | debugData_timer = setDelay(debugData_interval); |
649 | debugData_timer = setDelay(debugData_interval); |
649 | request_debugData = FALSE; |
650 | request_debugData = FALSE; |
650 | } |
651 | } |
651 | 652 | ||
652 | if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
653 | if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D) |
653 | && txd_complete) { |
654 | && txd_complete) { |
654 | sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
655 | sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D)); |
655 | data3D.anglePitch = (int16_t) ((10 * angle[PITCH]) |
656 | data3D.anglePitch = (int16_t) ((10 * angle[PITCH]) |
656 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
657 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
657 | data3D.angleRoll = (int16_t) ((10 * angle[ROLL]) |
658 | data3D.angleRoll = (int16_t) ((10 * angle[ROLL]) |
658 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
659 | / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
659 | data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
660 | data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
660 | data3D_timer = setDelay(data3D_interval); |
661 | data3D_timer = setDelay(data3D_interval); |
661 | request_data3D = FALSE; |
662 | request_data3D = FALSE; |
662 | } |
663 | } |
663 | 664 | ||
664 | if (request_externalControl && txd_complete) { |
665 | if (request_externalControl && txd_complete) { |
665 | sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
666 | sendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
666 | sizeof(externalControl)); |
667 | sizeof(externalControl)); |
667 | request_externalControl = FALSE; |
668 | request_externalControl = FALSE; |
668 | } |
669 | } |
669 | 670 | ||
670 | #ifdef USE_DIRECT_GPS |
671 | #ifdef USE_DIRECT_GPS |
671 | if((checkDelay(toMk3MagTimer)) && txd_complete) { |
672 | if((checkDelay(toMk3MagTimer)) && txd_complete) { |
672 | toMk3Mag.attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
673 | toMk3Mag.attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
673 | toMk3Mag.attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
674 | toMk3Mag.attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
674 | toMk3Mag.userParam[0] = dynamicParams.userParams[0]; |
675 | toMk3Mag.userParam[0] = dynamicParams.userParams[0]; |
675 | toMk3Mag.userParam[1] = dynamicParams.userParams[1]; |
676 | toMk3Mag.userParam[1] = dynamicParams.userParams[1]; |
676 | toMk3Mag.calState = compassCalState; |
677 | toMk3Mag.calState = compassCalState; |
677 | sendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
678 | sendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &toMk3Mag,sizeof(toMk3Mag)); |
678 | // the last state is 5 and should be send only once to avoid multiple flash writing |
679 | // the last state is 5 and should be send only once to avoid multiple flash writing |
679 | if(compassCalState > 4) compassCalState = 0; |
680 | if(compassCalState > 4) compassCalState = 0; |
680 | toMk3MagTimer = setDelay(99); |
681 | toMk3MagTimer = setDelay(99); |
681 | } |
682 | } |
682 | #endif |
683 | #endif |
683 | 684 | ||
684 | if (request_motorTest && txd_complete) { |
685 | if (request_motorTest && txd_complete) { |
685 | sendOutData('T', FC_ADDRESS, 0); |
686 | sendOutData('T', FC_ADDRESS, 0); |
686 | request_motorTest = FALSE; |
687 | request_motorTest = FALSE; |
687 | } |
688 | } |
688 | 689 | ||
689 | if (request_PPMChannels && txd_complete) { |
690 | if (request_PPMChannels && txd_complete) { |
690 | sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
691 | sendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
691 | request_PPMChannels = FALSE; |
692 | request_PPMChannels = FALSE; |
692 | } |
693 | } |
693 | 694 | ||
694 | if (request_variables && txd_complete) { |
695 | if (request_variables && txd_complete) { |
695 | sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
696 | sendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
696 | request_variables = FALSE; |
697 | request_variables = FALSE; |
697 | } |
698 | } |
698 | } |
699 | } |
699 | 700 |