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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
| 8 | #include <string.h> |
8 | #include <string.h> |
| 9 | #include "main.h" |
9 | #include "main.h" |
| 10 | #include "uart.h" |
10 | #include "uart.h" |
| 11 | 11 | ||
| 12 | 12 | ||
| 13 | #define FC_ADDRESS 1 |
13 | #define FC_ADDRESS 1 |
| 14 | #define NC_ADDRESS 2 |
14 | #define NC_ADDRESS 2 |
| 15 | #define MK3MAG_ADDRESS 3 |
15 | #define MK3MAG_ADDRESS 3 |
| 16 | 16 | ||
| 17 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
17 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 18 | 18 | ||
| 19 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
19 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 20 | unsigned char DisplayLine = 0; |
20 | unsigned char DisplayLine = 0; |
| 21 | unsigned volatile char SioTmp = 0; |
21 | unsigned volatile char SioTmp = 0; |
| 22 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
22 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| 23 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
23 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 24 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
24 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 25 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
25 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 26 | unsigned volatile char UebertragungAbgeschlossen = 1; |
26 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 27 | unsigned volatile char CntCrcError = 0; |
27 | unsigned volatile char CntCrcError = 0; |
| 28 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
28 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 29 | unsigned char *pRxData = 0; |
29 | unsigned char *pRxData = 0; |
| 30 | unsigned char RxDataLen = 0; |
30 | unsigned char RxDataLen = 0; |
| 31 | unsigned volatile char PC_DebugTimeout = 0; |
31 | unsigned volatile char PC_DebugTimeout = 0; |
| 32 | unsigned volatile char PC_MotortestActive = 0; |
32 | unsigned volatile char PC_MotortestActive = 0; |
| 33 | 33 | ||
| 34 | unsigned char DebugTextAnforderung = 255; |
34 | unsigned char DebugTextAnforderung = 255; |
| 35 | unsigned char PcZugriff = 100; |
35 | unsigned char PcZugriff = 100; |
| 36 | unsigned char MotorTest[16]; |
36 | unsigned char MotorTest[16]; |
| 37 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
37 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 38 | unsigned char ConfirmFrame; |
38 | unsigned char ConfirmFrame; |
| 39 | struct str_DebugOut DebugOut; |
39 | struct str_DebugOut DebugOut; |
| 40 | struct str_ExternControl ExternControl; |
40 | struct str_ExternControl ExternControl; |
| 41 | struct str_VersionInfo VersionInfo; |
41 | struct str_VersionInfo VersionInfo; |
| 42 | struct str_WinkelOut WinkelOut; |
42 | struct str_WinkelOut WinkelOut; |
| 43 | struct str_Data3D Data3D; |
43 | struct str_Data3D Data3D; |
| 44 | 44 | ||
| 45 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
45 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 46 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
46 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 47 | unsigned int AboTimeOut = 0; |
47 | unsigned int AboTimeOut = 0; |
| 48 | 48 | ||
| 49 | const unsigned char ANALOG_TEXT[32][16] = |
49 | const unsigned char ANALOG_TEXT[32][16] = |
| 50 | { |
50 | { |
| 51 | //1234567890123456 |
51 | //1234567890123456 |
| 52 | "AngleNick ", //0 |
52 | "AngleNick ", //0 |
| 53 | "AngleRoll ", |
53 | "AngleRoll ", |
| 54 | "AccNick ", |
54 | "AccNick ", |
| 55 | "AccRoll ", |
55 | "AccRoll ", |
| 56 | "GyroGier ", |
56 | "GyroGier ", |
| 57 | "Hight Value ", //5 |
57 | "Hight Value ", //5 |
| 58 | "AccZ ", |
58 | "AccZ ", |
| 59 | "Gas ", |
59 | "Gas ", |
| 60 | "Compass Value ", |
60 | "Compass Value ", |
| 61 | "Voltage ", |
61 | "Voltage ", |
| 62 | "Empfang ", //10 |
62 | "Empfang ", //10 |
| 63 | "Gyro Kompass ", |
63 | "Gyro Kompass ", |
| 64 | "Motor Front ", |
64 | "Motor Front ", |
| 65 | "Motor Rear ", |
65 | "Motor Rear ", |
| 66 | "Motor Left ", |
66 | "Motor Left ", |
| 67 | "Motor Right ", //15 |
67 | "Motor Right ", //15 |
| 68 | " ", |
68 | " ", |
| 69 | " ", |
69 | " ", |
| 70 | "VarioMeter ", |
70 | "VarioMeter ", |
| 71 | "MK3Mag CalState ", |
71 | "MK3Mag CalState ", |
| 72 | "Servo ", //20 |
72 | "Servo ", //20 |
| 73 | "Hoovergas ", |
73 | "Hoovergas ", |
| 74 | " ", |
74 | " ", |
| 75 | " ", |
75 | " ", |
| 76 | " ", |
76 | " ", |
| 77 | " ", //25 |
77 | " ", //25 |
| 78 | " ", |
78 | " ", |
| 79 | " ", |
79 | " ", |
| 80 | "I2C-Error ", |
80 | "I2C-Error ", |
| 81 | " ",// "Navi Serial Data", |
81 | " ",// "Navi Serial Data", |
| 82 | "GPS_Nick ", //30 |
82 | "GPS_Nick ", //30 |
| 83 | "GPS_Roll " |
83 | "GPS_Roll " |
| 84 | }; |
84 | }; |
| 85 | 85 | ||
| 86 | 86 | ||
| 87 | 87 | ||
| 88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 89 | //++ Sende-Part der Datenübertragung |
89 | //++ Sende-Part der Datenübertragung |
| 90 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
90 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 91 | SIGNAL(INT_VEC_TX) |
91 | SIGNAL(INT_VEC_TX) |
| 92 | { |
92 | { |
| 93 | static unsigned int ptr = 0; |
93 | static unsigned int ptr = 0; |
| 94 | unsigned char tmp_tx; |
94 | unsigned char tmp_tx; |
| 95 | if(!UebertragungAbgeschlossen) |
95 | if(!UebertragungAbgeschlossen) |
| 96 | { |
96 | { |
| 97 | ptr++; // die [0] wurde schon gesendet |
97 | ptr++; // die [0] wurde schon gesendet |
| 98 | tmp_tx = SendeBuffer[ptr]; |
98 | tmp_tx = SendeBuffer[ptr]; |
| 99 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
99 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 100 | { |
100 | { |
| 101 | ptr = 0; |
101 | ptr = 0; |
| 102 | UebertragungAbgeschlossen = 1; |
102 | UebertragungAbgeschlossen = 1; |
| 103 | } |
103 | } |
| 104 | UDR = tmp_tx; |
104 | UDR = tmp_tx; |
| 105 | } |
105 | } |
| 106 | else ptr = 0; |
106 | else ptr = 0; |
| 107 | } |
107 | } |
| 108 | 108 | ||
| 109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
109 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 110 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
110 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 111 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
111 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 112 | SIGNAL(INT_VEC_RX) |
112 | SIGNAL(INT_VEC_RX) |
| 113 | { |
113 | { |
| 114 | static unsigned int crc; |
114 | static unsigned int crc; |
| 115 | static unsigned char crc1,crc2,buf_ptr; |
115 | static unsigned char crc1,crc2,buf_ptr; |
| 116 | static unsigned char UartState = 0; |
116 | static unsigned char UartState = 0; |
| 117 | unsigned char CrcOkay = 0; |
117 | unsigned char CrcOkay = 0; |
| 118 | 118 | ||
| 119 | SioTmp = UDR; |
119 | SioTmp = UDR; |
| 120 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
120 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| 121 | if(SioTmp == '\r' && UartState == 2) |
121 | if(SioTmp == '\r' && UartState == 2) |
| 122 | { |
122 | { |
| 123 | UartState = 0; |
123 | UartState = 0; |
| 124 | crc -= RxdBuffer[buf_ptr-2]; |
124 | crc -= RxdBuffer[buf_ptr-2]; |
| 125 | crc -= RxdBuffer[buf_ptr-1]; |
125 | crc -= RxdBuffer[buf_ptr-1]; |
| 126 | crc %= 4096; |
126 | crc %= 4096; |
| 127 | crc1 = '=' + crc / 64; |
127 | crc1 = '=' + crc / 64; |
| 128 | crc2 = '=' + crc % 64; |
128 | crc2 = '=' + crc % 64; |
| 129 | CrcOkay = 0; |
129 | CrcOkay = 0; |
| 130 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
130 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 131 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
131 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 132 | { |
132 | { |
| 133 | NeuerDatensatzEmpfangen = 1; |
133 | NeuerDatensatzEmpfangen = 1; |
| 134 | AnzahlEmpfangsBytes = buf_ptr + 1; |
134 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 135 | RxdBuffer[buf_ptr] = '\r'; |
135 | RxdBuffer[buf_ptr] = '\r'; |
| 136 | if(RxdBuffer[2] == 'R') |
136 | if(RxdBuffer[2] == 'R') |
| 137 | { |
137 | { |
| 138 | wdt_enable(WDTO_250MS); // Reset-Commando |
138 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 139 | ServoActive = 0; |
139 | ServoActive = 0; |
| 140 | } |
140 | } |
| 141 | } |
141 | } |
| 142 | } |
142 | } |
| 143 | else |
143 | else |
| 144 | switch(UartState) |
144 | switch(UartState) |
| 145 | { |
145 | { |
| 146 | case 0: |
146 | case 0: |
| 147 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
147 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 148 | buf_ptr = 0; |
148 | buf_ptr = 0; |
| 149 | RxdBuffer[buf_ptr++] = SioTmp; |
149 | RxdBuffer[buf_ptr++] = SioTmp; |
| 150 | crc = SioTmp; |
150 | crc = SioTmp; |
| 151 | break; |
151 | break; |
| 152 | case 1: // Adresse auswerten |
152 | case 1: // Adresse auswerten |
| 153 | UartState++; |
153 | UartState++; |
| 154 | RxdBuffer[buf_ptr++] = SioTmp; |
154 | RxdBuffer[buf_ptr++] = SioTmp; |
| 155 | crc += SioTmp; |
155 | crc += SioTmp; |
| 156 | break; |
156 | break; |
| 157 | case 2: // Eingangsdaten sammeln |
157 | case 2: // Eingangsdaten sammeln |
| 158 | RxdBuffer[buf_ptr] = SioTmp; |
158 | RxdBuffer[buf_ptr] = SioTmp; |
| 159 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
159 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 160 | else UartState = 0; |
160 | else UartState = 0; |
| 161 | crc += SioTmp; |
161 | crc += SioTmp; |
| 162 | break; |
162 | break; |
| 163 | default: |
163 | default: |
| 164 | UartState = 0; |
164 | UartState = 0; |
| 165 | break; |
165 | break; |
| 166 | } |
166 | } |
| 167 | } |
167 | } |
| 168 | 168 | ||
| 169 | 169 | ||
| 170 | // -------------------------------------------------------------------------- |
170 | // -------------------------------------------------------------------------- |
| 171 | void AddCRC(unsigned int wieviele) |
171 | void AddCRC(unsigned int wieviele) |
| 172 | { |
172 | { |
| 173 | unsigned int tmpCRC = 0,i; |
173 | unsigned int tmpCRC = 0,i; |
| 174 | for(i = 0; i < wieviele;i++) |
174 | for(i = 0; i < wieviele;i++) |
| 175 | { |
175 | { |
| 176 | tmpCRC += SendeBuffer[i]; |
176 | tmpCRC += SendeBuffer[i]; |
| 177 | } |
177 | } |
| 178 | tmpCRC %= 4096; |
178 | tmpCRC %= 4096; |
| 179 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
179 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
| 180 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
180 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
| 181 | SendeBuffer[i++] = '\r'; |
181 | SendeBuffer[i++] = '\r'; |
| 182 | UebertragungAbgeschlossen = 0; |
182 | UebertragungAbgeschlossen = 0; |
| 183 | UDR = SendeBuffer[0]; |
183 | UDR = SendeBuffer[0]; |
| 184 | } |
184 | } |
| 185 | 185 | ||
| 186 | 186 | ||
| 187 | 187 | ||
| 188 | // -------------------------------------------------------------------------- |
188 | // -------------------------------------------------------------------------- |
| 189 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
189 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 190 | { |
190 | { |
| 191 | va_list ap; |
191 | va_list ap; |
| 192 | unsigned int pt = 0; |
192 | unsigned int pt = 0; |
| 193 | unsigned char a,b,c; |
193 | unsigned char a,b,c; |
| 194 | unsigned char ptr = 0; |
194 | unsigned char ptr = 0; |
| 195 | 195 | ||
| 196 | unsigned char *snd = 0; |
196 | unsigned char *snd = 0; |
| 197 | int len = 0; |
197 | int len = 0; |
| 198 | 198 | ||
| 199 | SendeBuffer[pt++] = '#'; // Startzeichen |
199 | SendeBuffer[pt++] = '#'; // Startzeichen |
| 200 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
200 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 201 | SendeBuffer[pt++] = cmd; // Commando |
201 | SendeBuffer[pt++] = cmd; // Commando |
| 202 | 202 | ||
| 203 | va_start(ap, BufferAnzahl); |
203 | va_start(ap, BufferAnzahl); |
| 204 | if(BufferAnzahl) |
204 | if(BufferAnzahl) |
| 205 | { |
205 | { |
| 206 | snd = va_arg(ap, unsigned char*); |
206 | snd = va_arg(ap, unsigned char*); |
| 207 | len = va_arg(ap, int); |
207 | len = va_arg(ap, int); |
| 208 | ptr = 0; |
208 | ptr = 0; |
| 209 | BufferAnzahl--; |
209 | BufferAnzahl--; |
| 210 | } |
210 | } |
| 211 | while(len) |
211 | while(len) |
| 212 | { |
212 | { |
| 213 | if(len) |
213 | if(len) |
| 214 | { |
214 | { |
| 215 | a = snd[ptr++]; |
215 | a = snd[ptr++]; |
| 216 | len--; |
216 | len--; |
| 217 | if((!len) && BufferAnzahl) |
217 | if((!len) && BufferAnzahl) |
| 218 | { |
218 | { |
| 219 | snd = va_arg(ap, unsigned char*); |
219 | snd = va_arg(ap, unsigned char*); |
| 220 | len = va_arg(ap, int); |
220 | len = va_arg(ap, int); |
| 221 | ptr = 0; |
221 | ptr = 0; |
| 222 | BufferAnzahl--; |
222 | BufferAnzahl--; |
| 223 | } |
223 | } |
| 224 | } |
224 | } |
| 225 | else a = 0; |
225 | else a = 0; |
| 226 | if(len) |
226 | if(len) |
| 227 | { |
227 | { |
| 228 | b = snd[ptr++]; |
228 | b = snd[ptr++]; |
| 229 | len--; |
229 | len--; |
| 230 | if((!len) && BufferAnzahl) |
230 | if((!len) && BufferAnzahl) |
| 231 | { |
231 | { |
| 232 | snd = va_arg(ap, unsigned char*); |
232 | snd = va_arg(ap, unsigned char*); |
| 233 | len = va_arg(ap, int); |
233 | len = va_arg(ap, int); |
| 234 | ptr = 0; |
234 | ptr = 0; |
| 235 | BufferAnzahl--; |
235 | BufferAnzahl--; |
| 236 | } |
236 | } |
| 237 | } |
237 | } |
| 238 | else b = 0; |
238 | else b = 0; |
| 239 | if(len) |
239 | if(len) |
| 240 | { |
240 | { |
| 241 | c = snd[ptr++]; |
241 | c = snd[ptr++]; |
| 242 | len--; |
242 | len--; |
| 243 | if((!len) && BufferAnzahl) |
243 | if((!len) && BufferAnzahl) |
| 244 | { |
244 | { |
| 245 | snd = va_arg(ap, unsigned char*); |
245 | snd = va_arg(ap, unsigned char*); |
| 246 | len = va_arg(ap, int); |
246 | len = va_arg(ap, int); |
| 247 | ptr = 0; |
247 | ptr = 0; |
| 248 | BufferAnzahl--; |
248 | BufferAnzahl--; |
| 249 | } |
249 | } |
| 250 | } |
250 | } |
| 251 | else c = 0; |
251 | else c = 0; |
| 252 | SendeBuffer[pt++] = '=' + (a >> 2); |
252 | SendeBuffer[pt++] = '=' + (a >> 2); |
| 253 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
253 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 254 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
254 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 255 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
255 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| 256 | } |
256 | } |
| 257 | va_end(ap); |
257 | va_end(ap); |
| 258 | AddCRC(pt); |
258 | AddCRC(pt); |
| 259 | } |
259 | } |
| 260 | 260 | ||
| 261 | 261 | ||
| 262 | // -------------------------------------------------------------------------- |
262 | // -------------------------------------------------------------------------- |
| 263 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
263 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 264 | { |
264 | { |
| 265 | unsigned char a,b,c,d; |
265 | unsigned char a,b,c,d; |
| 266 | unsigned char x,y,z; |
266 | unsigned char x,y,z; |
| 267 | unsigned char ptrIn = 3; // start at begin of data block |
267 | unsigned char ptrIn = 3; // start at begin of data block |
| 268 | unsigned char ptrOut = 3; |
268 | unsigned char ptrOut = 3; |
| 269 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
269 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| 270 | 270 | ||
| 271 | while(len) |
271 | while(len) |
| 272 | { |
272 | { |
| 273 | a = RxdBuffer[ptrIn++] - '='; |
273 | a = RxdBuffer[ptrIn++] - '='; |
| 274 | b = RxdBuffer[ptrIn++] - '='; |
274 | b = RxdBuffer[ptrIn++] - '='; |
| 275 | c = RxdBuffer[ptrIn++] - '='; |
275 | c = RxdBuffer[ptrIn++] - '='; |
| 276 | d = RxdBuffer[ptrIn++] - '='; |
276 | d = RxdBuffer[ptrIn++] - '='; |
| 277 | 277 | ||
| 278 | x = (a << 2) | (b >> 4); |
278 | x = (a << 2) | (b >> 4); |
| 279 | y = ((b & 0x0f) << 4) | (c >> 2); |
279 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 280 | z = ((c & 0x03) << 6) | d; |
280 | z = ((c & 0x03) << 6) | d; |
| 281 | 281 | ||
| 282 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
282 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 283 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
283 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 284 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
284 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 285 | } |
285 | } |
| 286 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
286 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 287 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
287 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 288 | 288 | ||
| 289 | } |
289 | } |
| 290 | 290 | ||
| 291 | // -------------------------------------------------------------------------- |
291 | // -------------------------------------------------------------------------- |
| 292 | void BearbeiteRxDaten(void) |
292 | void BearbeiteRxDaten(void) |
| 293 | { |
293 | { |
| 294 | if(!NeuerDatensatzEmpfangen) return; |
294 | if(!NeuerDatensatzEmpfangen) return; |
| 295 | 295 | ||
| 296 | unsigned char tempchar1, tempchar2; |
296 | unsigned char tempchar1, tempchar2; |
| 297 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
297 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 298 | switch(RxdBuffer[1]-'a') // check for Slave Address |
298 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 299 | { |
299 | { |
| 300 | case FC_ADDRESS: // FC special commands |
300 | case FC_ADDRESS: // FC special commands |
| 301 | switch(RxdBuffer[2]) |
301 | switch(RxdBuffer[2]) |
| 302 | { |
302 | { |
| 303 | case 'K':// Kompasswert |
303 | case 'K':// Kompasswert |
| 304 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
304 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 305 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
305 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 306 | break; |
306 | break; |
| 307 | case 't':// Motortest |
307 | case 't':// Motortest |
| 308 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
308 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 309 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
309 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 310 | PC_MotortestActive = 240; |
310 | PC_MotortestActive = 240; |
| 311 | //while(!UebertragungAbgeschlossen); |
311 | //while(!UebertragungAbgeschlossen); |
| 312 | //SendOutData('T', MeineSlaveAdresse, 0); |
312 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 313 | PcZugriff = 255; |
313 | PcZugriff = 255; |
| 314 | break; |
314 | break; |
| 315 | 315 | ||
| 316 | case 'n':// "Get Mixer |
316 | case 'n':// "Get Mixer |
| 317 | while(!UebertragungAbgeschlossen); |
317 | while(!UebertragungAbgeschlossen); |
| 318 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
318 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer,sizeof(Mixer)); |
| 319 | break; |
319 | break; |
| 320 | 320 | ||
| 321 | case 'm':// "Write Mixer |
321 | case 'm':// "Write Mixer |
| 322 | while(!UebertragungAbgeschlossen); |
322 | while(!UebertragungAbgeschlossen); |
| 323 | if(pRxData[0] == MIXER_REVISION) |
323 | if(pRxData[0] == MIXER_REVISION) |
| 324 | { |
324 | { |
| 325 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
325 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
| 326 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
326 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| 327 | tempchar1 = 1; |
327 | tempchar1 = 1; |
| 328 | } |
328 | } |
| 329 | else tempchar1 = 0; |
329 | else tempchar1 = 0; |
| 330 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
330 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 331 | break; |
331 | break; |
| 332 | 332 | ||
| 333 | case 'p': // get PPM Channels |
333 | case 'p': // get PPM Channels |
| 334 | GetPPMChannelAnforderung = 1; |
334 | GetPPMChannelAnforderung = 1; |
| 335 | PcZugriff = 255; |
335 | PcZugriff = 255; |
| 336 | break; |
336 | break; |
| 337 | 337 | ||
| 338 | case 'q':// "Get"-Anforderung für Settings |
338 | case 'q':// "Get"-Anforderung für Settings |
| 339 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
339 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 340 | if(pRxData[0] == 0xFF) |
340 | if(pRxData[0] == 0xFF) |
| 341 | { |
341 | { |
| 342 | pRxData[0] = GetActiveParamSetNumber(); |
342 | pRxData[0] = GetActiveParamSetNumber(); |
| 343 | } |
343 | } |
| 344 | // limit settings range |
344 | // limit settings range |
| 345 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
345 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| 346 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
346 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| 347 | // load requested parameter set |
347 | // load requested parameter set |
| 348 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
348 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 349 | 349 | ||
| 350 | while(!UebertragungAbgeschlossen); |
350 | while(!UebertragungAbgeschlossen); |
| 351 | tempchar1 = pRxData[0]; |
351 | tempchar1 = pRxData[0]; |
| 352 | tempchar2 = EE_DATENREVISION; |
352 | tempchar2 = EE_DATENREVISION; |
| 353 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
353 | SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 354 | break; |
354 | break; |
| 355 | 355 | ||
| 356 | case 's': // Parametersatz speichern |
356 | case 's': // Parametersatz speichern |
| 357 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
357 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| 358 | { |
358 | { |
| 359 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
359 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| 360 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
360 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 361 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
361 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 362 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
362 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 363 | SetActiveParamSetNumber(pRxData[0]); |
363 | SetActiveParamSetNumber(pRxData[0]); |
| 364 | tempchar1 = GetActiveParamSetNumber(); |
364 | tempchar1 = GetActiveParamSetNumber(); |
| 365 | } |
365 | } |
| 366 | else |
366 | else |
| 367 | { |
367 | { |
| 368 | tempchar1 = 0; // mark in response an invlid setting |
368 | tempchar1 = 0; // mark in response an invlid setting |
| 369 | } |
369 | } |
| 370 | while(!UebertragungAbgeschlossen); |
370 | while(!UebertragungAbgeschlossen); |
| 371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 372 | if(!MotorenEin) Piep(tempchar1,110); |
372 | if(!MotorenEin) Piep(tempchar1,110); |
| 373 | LipoDetection(0); |
373 | LipoDetection(0); |
| 374 | break; |
374 | break; |
| 375 | case 'f': // auf anderen Parametersatz umschalten |
375 | case 'f': // auf anderen Parametersatz umschalten |
| 376 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
376 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
| 377 | tempchar1 = pRxData[0]; |
377 | tempchar1 = pRxData[0]; |
| 378 | while(!UebertragungAbgeschlossen); |
378 | while(!UebertragungAbgeschlossen); |
| 379 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
379 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 380 | if(!MotorenEin) Piep(tempchar1,110); |
380 | if(!MotorenEin) Piep(tempchar1,110); |
| 381 | LipoDetection(0); |
381 | LipoDetection(0); |
| 382 | break; |
382 | break; |
| 383 | case 'y':// serial Potis |
383 | case 'y':// serial Potis |
| 384 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
384 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
| 385 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
385 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
| 386 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
386 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
| 387 | break; |
387 | break; |
| 388 | 388 | ||
| 389 | } // case FC_ADDRESS: |
389 | } // case FC_ADDRESS: |
| 390 | 390 | ||
| 391 | default: // any Slave Address |
391 | default: // any Slave Address |
| 392 | 392 | ||
| 393 | switch(RxdBuffer[2]) |
393 | switch(RxdBuffer[2]) |
| 394 | { |
394 | { |
| 395 | // 't' comand placed here only for compatibility to BL |
395 | // 't' comand placed here only for compatibility to BL |
| 396 | case 't':// Motortest |
396 | case 't':// Motortest |
| 397 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
397 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 398 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
398 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 399 | while(!UebertragungAbgeschlossen); |
399 | while(!UebertragungAbgeschlossen); |
| 400 | SendOutData('T', MeineSlaveAdresse, 0); |
400 | SendOutData('T', MeineSlaveAdresse, 0); |
| 401 | PC_MotortestActive = 250; |
401 | PC_MotortestActive = 250; |
| 402 | PcZugriff = 255; |
402 | PcZugriff = 255; |
| 403 | break; |
403 | break; |
| 404 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
404 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 405 | case 'K':// Kompasswert |
405 | case 'K':// Kompasswert |
| 406 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
406 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 407 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
407 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 408 | break; |
408 | break; |
| 409 | case 'a':// Texte der Analogwerte |
409 | case 'a':// Texte der Analogwerte |
| 410 | DebugTextAnforderung = pRxData[0]; |
410 | DebugTextAnforderung = pRxData[0]; |
| 411 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
411 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 412 | PcZugriff = 255; |
412 | PcZugriff = 255; |
| 413 | break; |
413 | break; |
| 414 | case 'b': |
414 | case 'b': |
| 415 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
415 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 416 | ConfirmFrame = ExternControl.Frame; |
416 | ConfirmFrame = ExternControl.Frame; |
| 417 | PcZugriff = 255; |
417 | PcZugriff = 255; |
| 418 | break; |
418 | break; |
| 419 | case 'c': // Poll the 3D-Data |
419 | case 'c': // Poll the 3D-Data |
| 420 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
420 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 421 | Intervall3D = pRxData[0] * 10; |
421 | Intervall3D = pRxData[0] * 10; |
| - | 422 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
| 422 | break; |
423 | break; |
| 423 | case 'd': // Poll the debug data |
424 | case 'd': // Poll the debug data |
| 424 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
425 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 425 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
426 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 426 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
427 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 427 | break; |
428 | break; |
| 428 | 429 | ||
| 429 | case 'h':// x-1 Displayzeilen |
430 | case 'h':// x-1 Displayzeilen |
| 430 | PcZugriff = 255; |
431 | PcZugriff = 255; |
| 431 | if((pRxData[0] & 0x80) == 0x00) // old format |
432 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 432 | { |
433 | { |
| 433 | DisplayLine = 2; |
434 | DisplayLine = 2; |
| 434 | Display_Interval = 0; |
435 | Display_Interval = 0; |
| 435 | } |
436 | } |
| 436 | else // new format |
437 | else // new format |
| 437 | { |
438 | { |
| 438 | RemoteKeys |= ~pRxData[0]; |
439 | RemoteKeys |= ~pRxData[0]; |
| 439 | Display_Interval = (unsigned int)pRxData[1] * 10; |
440 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 440 | DisplayLine = 4; |
441 | DisplayLine = 4; |
| 441 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
442 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 442 | } |
443 | } |
| 443 | DebugDisplayAnforderung = 1; |
444 | DebugDisplayAnforderung = 1; |
| 444 | break; |
445 | break; |
| 445 | 446 | ||
| 446 | case 'l':// x-1 Displayzeilen |
447 | case 'l':// x-1 Displayzeilen |
| 447 | PcZugriff = 255; |
448 | PcZugriff = 255; |
| 448 | MenuePunkt = pRxData[0]; |
449 | MenuePunkt = pRxData[0]; |
| 449 | DebugDisplayAnforderung1 = 1; |
450 | DebugDisplayAnforderung1 = 1; |
| 450 | break; |
451 | break; |
| 451 | case 'v': // Version-Anforderung und Ausbaustufe |
452 | case 'v': // Version-Anforderung und Ausbaustufe |
| 452 | GetVersionAnforderung = 1; |
453 | GetVersionAnforderung = 1; |
| 453 | break; |
454 | break; |
| 454 | 455 | ||
| 455 | case 'g':// |
456 | case 'g':// |
| 456 | GetExternalControl = 1; |
457 | GetExternalControl = 1; |
| 457 | break; |
458 | break; |
| 458 | } |
459 | } |
| 459 | break; // default: |
460 | break; // default: |
| 460 | } |
461 | } |
| 461 | NeuerDatensatzEmpfangen = 0; |
462 | NeuerDatensatzEmpfangen = 0; |
| 462 | pRxData = 0; |
463 | pRxData = 0; |
| 463 | RxDataLen = 0; |
464 | RxDataLen = 0; |
| 464 | } |
465 | } |
| 465 | 466 | ||
| 466 | //############################################################################ |
467 | //############################################################################ |
| 467 | //Routine für die Serielle Ausgabe |
468 | //Routine für die Serielle Ausgabe |
| 468 | int uart_putchar (char c) |
469 | int uart_putchar (char c) |
| 469 | //############################################################################ |
470 | //############################################################################ |
| 470 | { |
471 | { |
| 471 | if (c == '\n') |
472 | if (c == '\n') |
| 472 | uart_putchar('\r'); |
473 | uart_putchar('\r'); |
| 473 | //Warten solange bis Zeichen gesendet wurde |
474 | //Warten solange bis Zeichen gesendet wurde |
| 474 | loop_until_bit_is_set(USR, UDRE); |
475 | loop_until_bit_is_set(USR, UDRE); |
| 475 | //Ausgabe des Zeichens |
476 | //Ausgabe des Zeichens |
| 476 | UDR = c; |
477 | UDR = c; |
| 477 | 478 | ||
| 478 | return (0); |
479 | return (0); |
| 479 | } |
480 | } |
| 480 | 481 | ||
| 481 | // -------------------------------------------------------------------------- |
482 | // -------------------------------------------------------------------------- |
| 482 | void WriteProgramData(unsigned int pos, unsigned char wert) |
483 | void WriteProgramData(unsigned int pos, unsigned char wert) |
| 483 | { |
484 | { |
| 484 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
485 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| 485 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
486 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| 486 | // Buffer[pos] = wert; |
487 | // Buffer[pos] = wert; |
| 487 | } |
488 | } |
| 488 | 489 | ||
| 489 | //############################################################################ |
490 | //############################################################################ |
| 490 | //INstallation der Seriellen Schnittstelle |
491 | //INstallation der Seriellen Schnittstelle |
| 491 | void UART_Init (void) |
492 | void UART_Init (void) |
| 492 | //############################################################################ |
493 | //############################################################################ |
| 493 | { |
494 | { |
| 494 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
495 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 495 | 496 | ||
| 496 | UCR=(1 << TXEN) | (1 << RXEN); |
497 | UCR=(1 << TXEN) | (1 << RXEN); |
| 497 | // UART Double Speed (U2X) |
498 | // UART Double Speed (U2X) |
| 498 | USR |= (1<<U2X); |
499 | USR |= (1<<U2X); |
| 499 | // RX-Interrupt Freigabe |
500 | // RX-Interrupt Freigabe |
| 500 | UCSRB |= (1<<RXCIE); |
501 | UCSRB |= (1<<RXCIE); |
| 501 | // TX-Interrupt Freigabe |
502 | // TX-Interrupt Freigabe |
| 502 | UCSRB |= (1<<TXCIE); |
503 | UCSRB |= (1<<TXCIE); |
| 503 | 504 | ||
| 504 | //Teiler wird gesetzt |
505 | //Teiler wird gesetzt |
| 505 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
506 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| 506 | //UBRR = 33; |
507 | //UBRR = 33; |
| 507 | //öffnet einen Kanal für printf (STDOUT) |
508 | //öffnet einen Kanal für printf (STDOUT) |
| 508 | //fdevopen (uart_putchar, 0); |
509 | //fdevopen (uart_putchar, 0); |
| 509 | //sbi(PORTD,4); |
510 | //sbi(PORTD,4); |
| 510 | Debug_Timer = SetDelay(DebugDataIntervall); |
511 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 511 | Kompass_Timer = SetDelay(220); |
512 | Kompass_Timer = SetDelay(220); |
| 512 | 513 | ||
| 513 | VersionInfo.SWMajor = VERSION_MAJOR; |
514 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 514 | VersionInfo.SWMinor = VERSION_MINOR; |
515 | VersionInfo.SWMinor = VERSION_MINOR; |
| 515 | VersionInfo.SWPatch = VERSION_PATCH; |
516 | VersionInfo.SWPatch = VERSION_PATCH; |
| 516 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
517 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 517 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
518 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 518 | 519 | ||
| 519 | pRxData = 0; |
520 | pRxData = 0; |
| 520 | RxDataLen = 0; |
521 | RxDataLen = 0; |
| 521 | } |
522 | } |
| 522 | 523 | ||
| 523 | //--------------------------------------------------------------------------------------------- |
524 | //--------------------------------------------------------------------------------------------- |
| 524 | void DatenUebertragung(void) |
525 | void DatenUebertragung(void) |
| 525 | { |
526 | { |
| 526 | if(!UebertragungAbgeschlossen) return; |
527 | if(!UebertragungAbgeschlossen) return; |
| 527 | 528 | ||
| 528 | if(CheckDelay(AboTimeOut)) |
529 | if(CheckDelay(AboTimeOut)) |
| 529 | { |
530 | { |
| 530 | Display_Interval = 0; |
531 | Display_Interval = 0; |
| 531 | DebugDataIntervall = 0; |
532 | DebugDataIntervall = 0; |
| - | 533 | Intervall3D = 0; |
|
| 532 | } |
534 | } |
| 533 | 535 | ||
| 534 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
536 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 535 | { |
537 | { |
| 536 | if(DisplayLine > 3)// new format |
538 | if(DisplayLine > 3)// new format |
| 537 | { |
539 | { |
| 538 | Menu(); |
540 | Menu(); |
| 539 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
541 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 540 | } |
542 | } |
| 541 | else // old format |
543 | else // old format |
| 542 | { |
544 | { |
| 543 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
545 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 544 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
546 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 545 | if(DisplayLine++ > 3) DisplayLine = 0; |
547 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 546 | } |
548 | } |
| 547 | Display_Timer = SetDelay(Display_Interval); |
549 | Display_Timer = SetDelay(Display_Interval); |
| 548 | DebugDisplayAnforderung = 0; |
550 | DebugDisplayAnforderung = 0; |
| 549 | } |
551 | } |
| 550 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
552 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 551 | { |
553 | { |
| 552 | Menu(); |
554 | Menu(); |
| 553 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
555 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 554 | DebugDisplayAnforderung1 = 0; |
556 | DebugDisplayAnforderung1 = 0; |
| 555 | } |
557 | } |
| 556 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
558 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 557 | { |
559 | { |
| 558 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
560 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 559 | GetVersionAnforderung = 0; |
561 | GetVersionAnforderung = 0; |
| 560 | } |
562 | } |
| 561 | 563 | ||
| 562 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
564 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 563 | { |
565 | { |
| 564 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
566 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 565 | GetExternalControl = 0; |
567 | GetExternalControl = 0; |
| 566 | } |
568 | } |
| 567 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
569 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 568 | { |
570 | { |
| 569 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
571 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 570 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
572 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 571 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
573 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 572 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
574 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 573 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
575 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 574 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
576 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 575 | Kompass_Timer = SetDelay(99); |
577 | Kompass_Timer = SetDelay(99); |
| 576 | } |
578 | } |
| 577 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
579 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 578 | { |
580 | { |
| 579 | //if(Poti3 > 64) |
581 | //if(Poti3 > 64) |
| 580 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
582 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 581 | DebugDataAnforderung = 0; |
583 | DebugDataAnforderung = 0; |
| 582 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
584 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 583 | } |
585 | } |
| 584 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
586 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 585 | { |
587 | { |
| 586 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
588 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 587 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
589 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 588 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
590 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 589 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
591 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 590 | Timer3D = SetDelay(Intervall3D); |
592 | Timer3D = SetDelay(Intervall3D); |
| 591 | } |
593 | } |
| 592 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
594 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 593 | { |
595 | { |
| 594 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
596 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
| 595 | DebugTextAnforderung = 255; |
597 | DebugTextAnforderung = 255; |
| 596 | } |
598 | } |
| 597 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
599 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 598 | { |
600 | { |
| 599 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
601 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 600 | ConfirmFrame = 0; |
602 | ConfirmFrame = 0; |
| 601 | } |
603 | } |
| 602 | 604 | ||
| 603 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
605 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 604 | { |
606 | { |
| 605 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
607 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 606 | GetPPMChannelAnforderung = 0; |
608 | GetPPMChannelAnforderung = 0; |
| 607 | } |
609 | } |
| 608 | 610 | ||
| 609 | } |
611 | } |
| 610 | 612 | ||
| 611 | 613 | ||