WebSVN - FlightCtrl - Diff - Rev 1761 and 1765


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdarg.h>
#include <string.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "uart.h"
#include "libfc.h"
#include "eeprom.h"
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define BL_CTRL_ADDRESS 5
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
#define MAX_SENDE_BUFF     170
#define MAX_EMPFANGS_BUFF  170
 
#define BLPARAM_REVISION 1
#define MASK_SET_PWM_SCALING            0x01
#define MASK_SET_CURRENT_LIMIT          0x02
#define MASK_SET_TEMP_LIMIT                     0x04
#define MASK_SET_CURRENT_SCALING        0x08
#define MASK_SET_BITCONFIG                      0x10
#define MASK_RESET_CAPCOUNTER           0x20
#define MASK_SET_DEFAULT_PARAMS         0x40
#define MASK_SET_SAVE_EEPROM            0x80
 
typedef struct
{
        unsigned char Revision;                 // revision of parameter structure
        unsigned char Address;                  // target address
        unsigned char PwmScaling;               // maximum value of pwm setpoint
        unsigned char CurrentLimit;             // current limit in 1A steps
        unsigned char TemperatureLimit; // in °C
        unsigned char CurrentScaling;   // scaling factor for current measurement
        unsigned char BitConfig;                // see defines above
        unsigned char SetMask;                  // filter for active paramters
        unsigned char Checksum;                 // checksum for parameter sturcture
}  __attribute__((packed)) BLParameter_t;
 
 
unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
unsigned char DisplayLine = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
 
unsigned char *pRxData = 0;
unsigned char RxDataLen = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned volatile char PC_MotortestActive = 0;
unsigned char DebugTextAnforderung = 255;
 
unsigned char PcZugriff = 100;
unsigned char MotorTest[16];
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
unsigned char ConfirmFrame;
struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternControl;
struct str_VersionInfo VersionInfo;
struct str_WinkelOut WinkelOut;
struct str_Data3D Data3D;
 
int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
unsigned int AboTimeOut = 0;
 
const unsigned char ANALOG_TEXT[32][16] PROGMEM =
{
   //1234567890123456
    "AngleNick       ", //0
    "AngleRoll       ",
    "AccNick         ",
    "AccRoll         ",
    "YawGyro         ",
    "Height Value    ", //5
    "AccZ            ",
    "Gas             ",
    "Compass Value   ",
    "Voltage [0.1V]  ",
    "Receiver Level  ", //10
    "Gyro Compass    ",
    "Motor 1         ",
    "Motor 2         ",
    "Motor 3         ",
    "Motor 4         ", //15
    "16              ",
    "17              ",
    "18              ",
    "19              ",
    "Servo           ", //20
    "Hovergas        ",
    "Current [0.1A]  ",
    "Capacity [mAh]  ",
    "24              ",
    "25              ", //25
    "26              ",
    "27              ",
    "I2C-Error       ",
    "BL Limit        ",
    "GPS_Nick        ", //30
    "GPS_Roll        "
};
 
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_TX_vect)
{
 static unsigned int ptr = 0;
 unsigned char tmp_tx;
 if(!UebertragungAbgeschlossen)
  {
   ptr++;                    // die [0] wurde schon gesendet
   tmp_tx = TxdBuffer[ptr];
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
    {
     ptr = 0;
     UebertragungAbgeschlossen = 1;
    }
   UDR0 = tmp_tx;
  }
  else ptr = 0;
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_RX_vect)
{
 static unsigned int crc;
 static unsigned char crc1,crc2,buf_ptr;
 static unsigned char UartState = 0;
 unsigned char CrcOkay = 0;
 
 SioTmp = UDR0;
 if(buf_ptr >= MAX_SENDE_BUFF)    UartState = 0;
 if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= RxdBuffer[buf_ptr-2];
   crc -= RxdBuffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
         AnzahlEmpfangsBytes = buf_ptr + 1;
     RxdBuffer[buf_ptr] = '\r';
         if(RxdBuffer[2] == 'R')
          {
           LcdClear();
           wdt_enable(WDTO_250MS); // Reset-Commando
           ServoActive = 0;
 
          }
        }
  }
  else
  switch(UartState)
  {
   case 0:
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
                  buf_ptr = 0;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  RxdBuffer[buf_ptr] = SioTmp;
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
  }
}
 
 
// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
 unsigned int tmpCRC = 0,i;
 for(i = 0; i < wieviele;i++)
  {
   tmpCRC += TxdBuffer[i];
  }
   tmpCRC %= 4096;
   TxdBuffer[i++] = '=' + tmpCRC / 64;
   TxdBuffer[i++] = '=' + tmpCRC % 64;
   TxdBuffer[i++] = '\r';
  UebertragungAbgeschlossen = 0;
  UDR0 = TxdBuffer[0];
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
{
 va_list ap;
 unsigned int pt = 0;
 unsigned char a,b,c;
 unsigned char ptr = 0;
 
 unsigned char *snd = 0;
 int len = 0;
 
 TxdBuffer[pt++] = '#';                         // Startzeichen
 TxdBuffer[pt++] = 'a' + address;               // Adresse (a=0; b=1,...)
 TxdBuffer[pt++] = cmd;                         // Commando
 
 va_start(ap, BufferAnzahl);
 if(BufferAnzahl)
 {
                snd = va_arg(ap, unsigned char*);
                len = va_arg(ap, int);
                ptr = 0;
                BufferAnzahl--;
 }
 while(len)
  {
        if(len)
        {
           a = snd[ptr++];
           len--;
           if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else a = 0;
        if(len)
        {
                b = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else b = 0;
        if(len)
        {
                c = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else c = 0;
   TxdBuffer[pt++] = '=' + (a >> 2);
   TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   TxdBuffer[pt++] = '=' + ( c & 0x3f);
  }
 va_end(ap);
 AddCRC(pt);
}
 
// --------------------------------------------------------------------------
void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
{
 unsigned char a,b,c,d;
 unsigned char x,y,z;
 unsigned char ptrIn = 3; // start at begin of data block
 unsigned char ptrOut = 3;
 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.
 
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[ptrIn++] - '=';
 
   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;
 
   if(len--) RxdBuffer[ptrOut++] = x; else break;
   if(len--) RxdBuffer[ptrOut++] = y; else break;
   if(len--) RxdBuffer[ptrOut++] = z;   else break;
  }
        pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
        RxDataLen = ptrOut - 3;  // wie viele Bytes wurden dekodiert?
 
}
 
// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
 if(!NeuerDatensatzEmpfangen) return;
 
        unsigned char tempchar1, tempchar2;
        Decode64(); // dekodiere datenblock im Empfangsbuffer
        switch(RxdBuffer[1]-'a') // check for Slave Address
        {
                case FC_ADDRESS: // FC special commands
                switch(RxdBuffer[2])
                {
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
                                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
                                        break;
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        PC_MotortestActive = 240;
                                        //while(!UebertragungAbgeschlossen);
                                        //SendOutData('T', MeineSlaveAdresse, 0);
                                        PcZugriff = 255;
                                        break;
 
                        case 'n':// "Get Mixer
                                        while(!UebertragungAbgeschlossen);
                    SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
                                        Debug("Mixer lesen");
                                        break;
 
                        case 'm':// "Write Mixer
                    if(pRxData[0] == EEMIXER_REVISION)
                                        {
                       memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
                       MixerTable_WriteToEEProm();
                                           tempchar1 = 1;
                                           VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
                                        }
                    else
                    {
                                                tempchar1 = 0;
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        break;
 
                        case 'p': // get PPM Channels
                                        GetPPMChannelAnforderung = 1;
                                        PcZugriff = 255;
                                        break;
 
                        case 'q':// "Get"-Anforderung für Settings
                                        // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
                                        if((10 <= pRxData[0]) && (pRxData[0] < 20))
                                        {
                                                tempchar1 = pRxData[0] - 10;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 1);
                                        }
                                        else if((20 <= pRxData[0]) && (pRxData[0] < 30))
                                        {
                                                tempchar1 = pRxData[0] - 20;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 0);
                                        }
                                        else
                                        {
                                                tempchar1 = pRxData[0];
                                                if(tempchar1 == 0xFF)
                                                {
                                                        tempchar1 = GetActiveParamSet();
                                                }
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                // load requested parameter set
                                                ParamSet_ReadFromEEProm(tempchar1);
                                        }
                                        tempchar1 = pRxData[0];
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
                                        Debug("Lese Setting %d", tempchar1);
 
                                        break;
 
                        case 's': // Parametersatz speichern
                                        if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range
                                        {
                                                memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
                                                ParamSet_WriteToEEProm(pRxData[0]);
                                                Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
                                                Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
                                                tempchar1 = GetActiveParamSet();
                                        }
                                        else
                                        {
                                                tempchar1 = 0; // mark in response an invlid setting
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin) Piep(tempchar1,110);
                                        LipoDetection(0);
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'f': // auf anderen Parametersatz umschalten
                                if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
                                        tempchar1 = GetActiveParamSet();
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin) Piep(tempchar1,110);
                                        LipoDetection(0);
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'y':// serial Potis
                                        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];
                                        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];
                                        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];
                                        break;
 
                        case 'u': // request BL parameter
                                Debug("Reading BL %d", pRxData[0]);
                                // try to read BL configuration
                                tempchar2 = I2C_ReadBLConfig(pRxData[0]);
                                if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                else tempchar1 = 0;
                                while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
                                break;
 
                        case 'w': // write BL parameter
                                Debug("Writing BL %d", pRxData[0]);
                                if(RxDataLen >= 1+sizeof(BLConfig_t))
                                {
                                        memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
                                        tempchar2 = I2C_WriteBLConfig(pRxData[0]);
                                        if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                        else tempchar1 = 0; // indicate error
                                        while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                        SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));
                                }
                                break;
 
                } // case FC_ADDRESS:
 
                default: // any Slave Address
 
                switch(RxdBuffer[2])
                {
                        // 't' comand placed here only for compatibility to BL
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('T', MeineSlaveAdresse, 0);
                                        PC_MotortestActive = 250;
                                        PcZugriff = 255;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
                                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
                                        break;
                        case 'a':// Texte der Analogwerte
                                        DebugTextAnforderung = pRxData[0];
                                        if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
                                        PcZugriff = 255;
                                        break;
                        case 'b':
                                        memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl));
                                        ConfirmFrame = ExternControl.Frame;
                                        PcZugriff = 255;
                                        break;
                        case 'c': // Poll the 3D-Data
                    if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
                                        Intervall3D = pRxData[0] * 10;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        case 'd': // Poll the debug data
                                        PcZugriff = 255;
                                        DebugDataIntervall = (unsigned int)pRxData[0] * 10;
                                        if(DebugDataIntervall > 0) DebugDataAnforderung = 1;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
 
                        case 'h':// x-1 Displayzeilen
                                PcZugriff = 255;
                                if((pRxData[0] & 0x80) == 0x00) // old format
                                        {
                                                DisplayLine = 2;
                                                Display_Interval = 0;
                                        }
                                        else // new format
                                        {
                                                RemoteKeys |= ~pRxData[0];
                                                Display_Interval = (unsigned int)pRxData[1] * 10;
                                                DisplayLine = 4;
                                                AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        }
                                        DebugDisplayAnforderung = 1;
                                        break;
 
                        case 'l':// x-1 Displayzeilen
                                PcZugriff = 255;
                                        MenuePunkt = pRxData[0];
                                        DebugDisplayAnforderung1 = 1;
                                        break;
                        case 'v': // Version-Anforderung und Ausbaustufe
                                        GetVersionAnforderung = 1;
                                        break;
 
                        case 'g'://
                                        GetExternalControl = 1;
                                        break;
 
                        default:
                                //unsupported command received
                                break;
                }
                break; // default:
        }
        NeuerDatensatzEmpfangen = 0;
        pRxData = 0;
        RxDataLen = 0;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
void uart_putchar (char c)
//############################################################################
{
        //Warten solange bis Zeichen gesendet wurde
        loop_until_bit_is_set(UCSR0A, UDRE0);
        //Ausgabe des Zeichens
        UDR0 = c;
}
 
 
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
        unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1);
 
        //Enable TXEN im Register UCR TX-Data Enable & RX Enable
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
    // UART Double Speed (U2X)
        UCSR0A |= (1 << U2X0);
        // RX-Interrupt Freigabe
        UCSR0B |= (1 << RXCIE0);
        // TX-Interrupt Freigabe
        UCSR0B |= (1 << TXCIE0);
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        Debug_Timer = SetDelay(DebugDataIntervall);
        Kompass_Timer = SetDelay(220);
 
        VersionInfo.SWMajor = VERSION_MAJOR;
        VersionInfo.SWMinor = VERSION_MINOR;
        VersionInfo.SWPatch = VERSION_PATCH;
        VersionInfo.ProtoMajor  = VERSION_SERIAL_MAJOR;
        VersionInfo.ProtoMinor  = VERSION_SERIAL_MINOR;
 
        pRxData = 0;
        RxDataLen = 0;
}
 
//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
        if(!UebertragungAbgeschlossen) return;
 
        if(CheckDelay(AboTimeOut))
        {
                Display_Interval = 0;
                DebugDataIntervall = 0;
                Intervall3D = 0;
        }
 
        if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen)
        {
                if(DisplayLine > 3)// new format
                {
                        Menu();
                        SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80);
                }
                else // old format
                {
                        LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
                        SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
                        if(DisplayLine++ > 3) DisplayLine = 0;
                }
                Display_Timer = SetDelay(Display_Interval);
                DebugDisplayAnforderung = 0;
        }
        if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen)
        {
                Menu();
                SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff));
                DebugDisplayAnforderung1 = 0;
        }
        if(GetVersionAnforderung && UebertragungAbgeschlossen)
        {
                SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo));
                GetVersionAnforderung = 0;
                Debug_OK("Version gesendet");
        }
 
        if(GetExternalControl && UebertragungAbgeschlossen)           // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
        {
                SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl));
                GetExternalControl = 0;
        }
    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
         {
                  WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
          SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
          Kompass_Timer = SetDelay(99);
         }
    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
         {
                  CopyDebugValues();
          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
          DebugDataAnforderung = 0;
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
         }
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
         {
                  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
                  Data3D.Centroid[0] = SummeNick >> 9;
                  Data3D.Centroid[1] = SummeRoll >> 9;
                  Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
          SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
          Timer3D = SetDelay(Intervall3D);
         }
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
     {
                unsigned char label[16]; // local sram buffer
                memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra
      SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16);
      DebugTextAnforderung = 255;
         }
     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz bestätigen
         {
                SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
        ConfirmFrame = 0;
     }
 
     if(GetPPMChannelAnforderung && UebertragungAbgeschlossen)
     {
                 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
                 GetPPMChannelAnforderung = 0;
         }
 
#ifdef DEBUG                                                                                                                    // only include functions if DEBUG is defined
     if(SendDebugOutput && UebertragungAbgeschlossen)
     {
                 SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug));
                 SendDebugOutput = 0;
         }
#endif
 
}
 
 
 

Rev 1761	Rev 1765
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 <avr/pgmspace.h>	9	#include <avr/pgmspace.h>
10	#include "main.h"	10	#include "main.h"
11	#include "uart.h"	11	#include "uart.h"
12	#include "libfc.h"	12	#include "libfc.h"
13	#include "eeprom.h"	13	#include "eeprom.h"
14		14
15	#define FC_ADDRESS 1	15	#define FC_ADDRESS 1
16	#define NC_ADDRESS 2	16	#define NC_ADDRESS 2
17	#define MK3MAG_ADDRESS 3	17	#define MK3MAG_ADDRESS 3
18	#define BL_CTRL_ADDRESS 5	18	#define BL_CTRL_ADDRESS 5
19		19
20	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds	20	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
21	#define MAX_SENDE_BUFF 170	21	#define MAX_SENDE_BUFF 170
22	#define MAX_EMPFANGS_BUFF 170	22	#define MAX_EMPFANGS_BUFF 170
23		23
24	#define BLPARAM_REVISION 1	24	#define BLPARAM_REVISION 1
25	#define MASK_SET_PWM_SCALING 0x01	25	#define MASK_SET_PWM_SCALING 0x01
26	#define MASK_SET_CURRENT_LIMIT 0x02	26	#define MASK_SET_CURRENT_LIMIT 0x02
27	#define MASK_SET_TEMP_LIMIT 0x04	27	#define MASK_SET_TEMP_LIMIT 0x04
28	#define MASK_SET_CURRENT_SCALING 0x08	28	#define MASK_SET_CURRENT_SCALING 0x08
29	#define MASK_SET_BITCONFIG 0x10	29	#define MASK_SET_BITCONFIG 0x10
30	#define MASK_RESET_CAPCOUNTER 0x20	30	#define MASK_RESET_CAPCOUNTER 0x20
31	#define MASK_SET_DEFAULT_PARAMS 0x40	31	#define MASK_SET_DEFAULT_PARAMS 0x40
32	#define MASK_SET_SAVE_EEPROM 0x80	32	#define MASK_SET_SAVE_EEPROM 0x80
33		33
34	typedef struct	34	typedef struct
35	{	35	{
36	unsigned char Revision; // revision of parameter structure	36	unsigned char Revision; // revision of parameter structure
37	unsigned char Address; // target address	37	unsigned char Address; // target address
38	unsigned char PwmScaling; // maximum value of pwm setpoint	38	unsigned char PwmScaling; // maximum value of pwm setpoint
39	unsigned char CurrentLimit; // current limit in 1A steps	39	unsigned char CurrentLimit; // current limit in 1A steps
40	unsigned char TemperatureLimit; // in °C	40	unsigned char TemperatureLimit; // in °C
41	unsigned char CurrentScaling; // scaling factor for current measurement	41	unsigned char CurrentScaling; // scaling factor for current measurement
42	unsigned char BitConfig; // see defines above	42	unsigned char BitConfig; // see defines above
43	unsigned char SetMask; // filter for active paramters	43	unsigned char SetMask; // filter for active paramters
44	unsigned char Checksum; // checksum for parameter sturcture	44	unsigned char Checksum; // checksum for parameter sturcture
45	} __attribute__((packed)) BLParameter_t;	45	} __attribute__((packed)) BLParameter_t;
46		46
47		47
48	unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;	48	unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
49	unsigned char DisplayLine = 0;	49	unsigned char DisplayLine = 0;
50	unsigned volatile char SioTmp = 0;	50	unsigned volatile char SioTmp = 0;
51	unsigned volatile char NeuerDatensatzEmpfangen = 0;	51	unsigned volatile char NeuerDatensatzEmpfangen = 0;
52	unsigned volatile char NeueKoordinateEmpfangen = 0;	52	unsigned volatile char NeueKoordinateEmpfangen = 0;
53	unsigned volatile char UebertragungAbgeschlossen = 1;	53	unsigned volatile char UebertragungAbgeschlossen = 1;
54	unsigned volatile char CntCrcError = 0;	54	unsigned volatile char CntCrcError = 0;
55	unsigned volatile char AnzahlEmpfangsBytes = 0;	55	unsigned volatile char AnzahlEmpfangsBytes = 0;
56	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];	56	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
57	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];	57	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
58		58
59	unsigned char *pRxData = 0;	59	unsigned char *pRxData = 0;
60	unsigned char RxDataLen = 0;	60	unsigned char RxDataLen = 0;
61	unsigned volatile char PC_DebugTimeout = 0;	61	unsigned volatile char PC_DebugTimeout = 0;
62	unsigned volatile char PC_MotortestActive = 0;	62	unsigned volatile char PC_MotortestActive = 0;
63	unsigned char DebugTextAnforderung = 255;	63	unsigned char DebugTextAnforderung = 255;
64		64
65	unsigned char PcZugriff = 100;	65	unsigned char PcZugriff = 100;
66	unsigned char MotorTest[16];	66	unsigned char MotorTest[16];
67	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl	67	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
68	unsigned char ConfirmFrame;	68	unsigned char ConfirmFrame;
69	struct str_DebugOut DebugOut;	69	struct str_DebugOut DebugOut;
70	struct str_ExternControl ExternControl;	70	struct str_ExternControl ExternControl;
71	struct str_VersionInfo VersionInfo;	71	struct str_VersionInfo VersionInfo;
72	struct str_WinkelOut WinkelOut;	72	struct str_WinkelOut WinkelOut;
73	struct str_Data3D Data3D;	73	struct str_Data3D Data3D;
74		74
75	int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;	75	int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
76	unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;	76	unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
77	unsigned int AboTimeOut = 0;	77	unsigned int AboTimeOut = 0;
78		78
79	const unsigned char ANALOG_TEXT[32][16] PROGMEM =	79	const unsigned char ANALOG_TEXT[32][16] PROGMEM =
80	{	80	{
81	//1234567890123456	81	//1234567890123456
82	"AngleNick ", //0	82	"AngleNick ", //0
83	"AngleRoll ",	83	"AngleRoll ",
84	"AccNick ",	84	"AccNick ",
85	"AccRoll ",	85	"AccRoll ",
86	"YawGyro ",	86	"YawGyro ",
87	"Height Value ", //5	87	"Height Value ", //5
88	"AccZ ",	88	"AccZ ",
89	"Gas ",	89	"Gas ",
90	"Compass Value ",	90	"Compass Value ",
91	"Voltage [0.1V] ",	91	"Voltage [0.1V] ",
92	"Receiver Level ", //10	92	"Receiver Level ", //10
93	"Gyro Compass ",	93	"Gyro Compass ",
94	"Motor 1 ",	94	"Motor 1 ",
95	"Motor 2 ",	95	"Motor 2 ",
96	"Motor 3 ",	96	"Motor 3 ",
97	"Motor 4 ", //15	97	"Motor 4 ", //15
98	"16 ",	98	"16 ",
99	"17 ",	99	"17 ",
100	"18 ",	100	"18 ",
101	"19 ",	101	"19 ",
102	"Servo ", //20	102	"Servo ", //20
103	"Hovergas ",	103	"Hovergas ",
104	"Current [0.1A] ",	104	"Current [0.1A] ",
105	"Capacity [mAh] ",	105	"Capacity [mAh] ",
106	"24 ",	106	"24 ",
107	"25 ", //25	107	"25 ", //25
108	"26 ",	108	"26 ",
109	"27 ",	109	"27 ",
110	"I2C-Error ",	110	"I2C-Error ",
111	"BL Limit ",	111	"BL Limit ",
112	"GPS_Nick ", //30	112	"GPS_Nick ", //30
113	"GPS_Roll "	113	"GPS_Roll "
114	};	114	};
115		115
116		116
117	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	117	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
118	//++ Sende-Part der Datenübertragung	118	//++ Sende-Part der Datenübertragung
119	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	119	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
120	ISR(USART0_TX_vect)	120	ISR(USART0_TX_vect)
121	{	121	{
122	static unsigned int ptr = 0;	122	static unsigned int ptr = 0;
123	unsigned char tmp_tx;	123	unsigned char tmp_tx;
124	if(!UebertragungAbgeschlossen)	124	if(!UebertragungAbgeschlossen)
125	{	125	{
126	ptr++; // die [0] wurde schon gesendet	126	ptr++; // die [0] wurde schon gesendet
127	tmp_tx = TxdBuffer[ptr];	127	tmp_tx = TxdBuffer[ptr];
128	if((tmp_tx == '\r') \|\| (ptr == MAX_SENDE_BUFF))	128	if((tmp_tx == '\r') \|\| (ptr == MAX_SENDE_BUFF))
129	{	129	{
130	ptr = 0;	130	ptr = 0;
131	UebertragungAbgeschlossen = 1;	131	UebertragungAbgeschlossen = 1;
132	}	132	}
133	UDR0 = tmp_tx;	133	UDR0 = tmp_tx;
134	}	134	}
135	else ptr = 0;	135	else ptr = 0;
136	}	136	}
137		137
138	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	138	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
139	//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung	139	//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
140	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	140	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
141	ISR(USART0_RX_vect)	141	ISR(USART0_RX_vect)
142	{	142	{
143	static unsigned int crc;	143	static unsigned int crc;
144	static unsigned char crc1,crc2,buf_ptr;	144	static unsigned char crc1,crc2,buf_ptr;
145	static unsigned char UartState = 0;	145	static unsigned char UartState = 0;
146	unsigned char CrcOkay = 0;	146	unsigned char CrcOkay = 0;
147		147
148	SioTmp = UDR0;	148	SioTmp = UDR0;
149	if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0;	149	if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0;
150	if(SioTmp == '\r' && UartState == 2)	150	if(SioTmp == '\r' && UartState == 2)
151	{	151	{
152	UartState = 0;	152	UartState = 0;
153	crc -= RxdBuffer[buf_ptr-2];	153	crc -= RxdBuffer[buf_ptr-2];
154	crc -= RxdBuffer[buf_ptr-1];	154	crc -= RxdBuffer[buf_ptr-1];
155	crc %= 4096;	155	crc %= 4096;
156	crc1 = '=' + crc / 64;	156	crc1 = '=' + crc / 64;
157	crc2 = '=' + crc % 64;	157	crc2 = '=' + crc % 64;
158	CrcOkay = 0;	158	CrcOkay = 0;
159	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};	159	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
160	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet	160	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
161	{	161	{
162	NeuerDatensatzEmpfangen = 1;	162	NeuerDatensatzEmpfangen = 1;
163	AnzahlEmpfangsBytes = buf_ptr + 1;	163	AnzahlEmpfangsBytes = buf_ptr + 1;
164	RxdBuffer[buf_ptr] = '\r';	164	RxdBuffer[buf_ptr] = '\r';
165	if(RxdBuffer[2] == 'R')	165	if(RxdBuffer[2] == 'R')
166	{	166	{
167	LcdClear();	167	LcdClear();
168	wdt_enable(WDTO_250MS); // Reset-Commando	168	wdt_enable(WDTO_250MS); // Reset-Commando
169	ServoActive = 0;	169	ServoActive = 0;
170		170
171	}	171	}
172	}	172	}
173	}	173	}
174	else	174	else
175	switch(UartState)	175	switch(UartState)
176	{	176	{
177	case 0:	177	case 0:
178	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet	178	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
179	buf_ptr = 0;	179	buf_ptr = 0;
180	RxdBuffer[buf_ptr++] = SioTmp;	180	RxdBuffer[buf_ptr++] = SioTmp;
181	crc = SioTmp;	181	crc = SioTmp;
182	break;	182	break;
183	case 1: // Adresse auswerten	183	case 1: // Adresse auswerten
184	UartState++;	184	UartState++;
185	RxdBuffer[buf_ptr++] = SioTmp;	185	RxdBuffer[buf_ptr++] = SioTmp;
186	crc += SioTmp;	186	crc += SioTmp;
187	break;	187	break;
188	case 2: // Eingangsdaten sammeln	188	case 2: // Eingangsdaten sammeln
189	RxdBuffer[buf_ptr] = SioTmp;	189	RxdBuffer[buf_ptr] = SioTmp;
190	if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;	190	if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
191	else UartState = 0;	191	else UartState = 0;
192	crc += SioTmp;	192	crc += SioTmp;
193	break;	193	break;
194	default:	194	default:
195	UartState = 0;	195	UartState = 0;
196	break;	196	break;
197	}	197	}
198	}	198	}
199		199
200		200
201	// --------------------------------------------------------------------------	201	// --------------------------------------------------------------------------
202	void AddCRC(unsigned int wieviele)	202	void AddCRC(unsigned int wieviele)
203	{	203	{
204	unsigned int tmpCRC = 0,i;	204	unsigned int tmpCRC = 0,i;
205	for(i = 0; i < wieviele;i++)	205	for(i = 0; i < wieviele;i++)
206	{	206	{
207	tmpCRC += TxdBuffer[i];	207	tmpCRC += TxdBuffer[i];
208	}	208	}
209	tmpCRC %= 4096;	209	tmpCRC %= 4096;
210	TxdBuffer[i++] = '=' + tmpCRC / 64;	210	TxdBuffer[i++] = '=' + tmpCRC / 64;
211	TxdBuffer[i++] = '=' + tmpCRC % 64;	211	TxdBuffer[i++] = '=' + tmpCRC % 64;
212	TxdBuffer[i++] = '\r';	212	TxdBuffer[i++] = '\r';
213	UebertragungAbgeschlossen = 0;	213	UebertragungAbgeschlossen = 0;
214	UDR0 = TxdBuffer[0];	214	UDR0 = TxdBuffer[0];
215	}	215	}
216		216
217		217
218		218
219	// --------------------------------------------------------------------------	219	// --------------------------------------------------------------------------
220	void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)	220	void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
221	{	221	{
222	va_list ap;	222	va_list ap;
223	unsigned int pt = 0;	223	unsigned int pt = 0;
224	unsigned char a,b,c;	224	unsigned char a,b,c;
225	unsigned char ptr = 0;	225	unsigned char ptr = 0;
226		226
227	unsigned char *snd = 0;	227	unsigned char *snd = 0;
228	int len = 0;	228	int len = 0;
229		229
230	TxdBuffer[pt++] = '#'; // Startzeichen	230	TxdBuffer[pt++] = '#'; // Startzeichen
231	TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...)	231	TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...)
232	TxdBuffer[pt++] = cmd; // Commando	232	TxdBuffer[pt++] = cmd; // Commando
233		233
234	va_start(ap, BufferAnzahl);	234	va_start(ap, BufferAnzahl);
235	if(BufferAnzahl)	235	if(BufferAnzahl)
236	{	236	{
237	snd = va_arg(ap, unsigned char*);	237	snd = va_arg(ap, unsigned char*);
238	len = va_arg(ap, int);	238	len = va_arg(ap, int);
239	ptr = 0;	239	ptr = 0;
240	BufferAnzahl--;	240	BufferAnzahl--;
241	}	241	}
242	while(len)	242	while(len)
243	{	243	{
244	if(len)	244	if(len)
245	{	245	{
246	a = snd[ptr++];	246	a = snd[ptr++];
247	len--;	247	len--;
248	if((!len) && BufferAnzahl)	248	if((!len) && BufferAnzahl)
249	{	249	{
250	snd = va_arg(ap, unsigned char*);	250	snd = va_arg(ap, unsigned char*);
251	len = va_arg(ap, int);	251	len = va_arg(ap, int);
252	ptr = 0;	252	ptr = 0;
253	BufferAnzahl--;	253	BufferAnzahl--;
254	}	254	}
255	}	255	}
256	else a = 0;	256	else a = 0;
257	if(len)	257	if(len)
258	{	258	{
259	b = snd[ptr++];	259	b = snd[ptr++];
260	len--;	260	len--;
261	if((!len) && BufferAnzahl)	261	if((!len) && BufferAnzahl)
262	{	262	{
263	snd = va_arg(ap, unsigned char*);	263	snd = va_arg(ap, unsigned char*);
264	len = va_arg(ap, int);	264	len = va_arg(ap, int);
265	ptr = 0;	265	ptr = 0;
266	BufferAnzahl--;	266	BufferAnzahl--;
267	}	267	}
268	}	268	}
269	else b = 0;	269	else b = 0;
270	if(len)	270	if(len)
271	{	271	{
272	c = snd[ptr++];	272	c = snd[ptr++];
273	len--;	273	len--;
274	if((!len) && BufferAnzahl)	274	if((!len) && BufferAnzahl)
275	{	275	{
276	snd = va_arg(ap, unsigned char*);	276	snd = va_arg(ap, unsigned char*);
277	len = va_arg(ap, int);	277	len = va_arg(ap, int);
278	ptr = 0;	278	ptr = 0;
279	BufferAnzahl--;	279	BufferAnzahl--;
280	}	280	}
281	}	281	}
282	else c = 0;	282	else c = 0;
283	TxdBuffer[pt++] = '=' + (a >> 2);	283	TxdBuffer[pt++] = '=' + (a >> 2);
284	TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	284	TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
285	TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	285	TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
286	TxdBuffer[pt++] = '=' + ( c & 0x3f);	286	TxdBuffer[pt++] = '=' + ( c & 0x3f);
287	}	287	}
288	va_end(ap);	288	va_end(ap);
289	AddCRC(pt);	289	AddCRC(pt);
290	}	290	}
291		291
292	// --------------------------------------------------------------------------	292	// --------------------------------------------------------------------------
293	void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.	293	void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
294	{	294	{
295	unsigned char a,b,c,d;	295	unsigned char a,b,c,d;
296	unsigned char x,y,z;	296	unsigned char x,y,z;
297	unsigned char ptrIn = 3; // start at begin of data block	297	unsigned char ptrIn = 3; // start at begin of data block
298	unsigned char ptrOut = 3;	298	unsigned char ptrOut = 3;
299	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.	299	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.
300		300
301	while(len)	301	while(len)
302	{	302	{
303	a = RxdBuffer[ptrIn++] - '=';	303	a = RxdBuffer[ptrIn++] - '=';
304	b = RxdBuffer[ptrIn++] - '=';	304	b = RxdBuffer[ptrIn++] - '=';
305	c = RxdBuffer[ptrIn++] - '=';	305	c = RxdBuffer[ptrIn++] - '=';
306	d = RxdBuffer[ptrIn++] - '=';	306	d = RxdBuffer[ptrIn++] - '=';
307		307
308	x = (a << 2) \| (b >> 4);	308	x = (a << 2) \| (b >> 4);
309	y = ((b & 0x0f) << 4) \| (c >> 2);	309	y = ((b & 0x0f) << 4) \| (c >> 2);
310	z = ((c & 0x03) << 6) \| d;	310	z = ((c & 0x03) << 6) \| d;
311		311
312	if(len--) RxdBuffer[ptrOut++] = x; else break;	312	if(len--) RxdBuffer[ptrOut++] = x; else break;
313	if(len--) RxdBuffer[ptrOut++] = y; else break;	313	if(len--) RxdBuffer[ptrOut++] = y; else break;
314	if(len--) RxdBuffer[ptrOut++] = z; else break;	314	if(len--) RxdBuffer[ptrOut++] = z; else break;
315	}	315	}
316	pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte	316	pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
317	RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert?	317	RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert?
318		318
319	}	319	}
320		320
321	// --------------------------------------------------------------------------	321	// --------------------------------------------------------------------------
322	void BearbeiteRxDaten(void)	322	void BearbeiteRxDaten(void)
323	{	323	{
324	if(!NeuerDatensatzEmpfangen) return;	324	if(!NeuerDatensatzEmpfangen) return;
325		325
326	unsigned char tempchar1, tempchar2;	326	unsigned char tempchar1, tempchar2;
327	Decode64(); // dekodiere datenblock im Empfangsbuffer	327	Decode64(); // dekodiere datenblock im Empfangsbuffer
328	switch(RxdBuffer[1]-'a') // check for Slave Address	328	switch(RxdBuffer[1]-'a') // check for Slave Address
329	{	329	{
330	case FC_ADDRESS: // FC special commands	330	case FC_ADDRESS: // FC special commands
331	switch(RxdBuffer[2])	331	switch(RxdBuffer[2])
332	{	332	{
333	case 'K':// Kompasswert	333	case 'K':// Kompasswert
334	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));	334	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));
335	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	335	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
336	break;	336	break;
337	case 't':// Motortest	337	case 't':// Motortest
338	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));	338	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
339	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);	339	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
340	PC_MotortestActive = 240;	340	PC_MotortestActive = 240;
341	//while(!UebertragungAbgeschlossen);	341	//while(!UebertragungAbgeschlossen);
342	//SendOutData('T', MeineSlaveAdresse, 0);	342	//SendOutData('T', MeineSlaveAdresse, 0);
343	PcZugriff = 255;	343	PcZugriff = 255;
344	break;	344	break;
345		345
346	case 'n':// "Get Mixer	346	case 'n':// "Get Mixer
347	while(!UebertragungAbgeschlossen);	347	while(!UebertragungAbgeschlossen);
348	SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);	348	SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
349	Debug("Mixer lesen");	349	Debug("Mixer lesen");
350	break;	350	break;
351		351
352	case 'm':// "Write Mixer	352	case 'm':// "Write Mixer
353	if(pRxData[0] == EEMIXER_REVISION)	353	if(pRxData[0] == EEMIXER_REVISION)
354	{	354	{
355	memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);	355	memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
356	MixerTable_WriteToEEProm();	356	MixerTable_WriteToEEProm();
357	tempchar1 = 1;	357	tempchar1 = 1;
358	VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR;	358	VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
359	}	359	}
360	else	360	else
361	{	361	{
362	tempchar1 = 0;	362	tempchar1 = 0;
363	}	363	}
364	while(!UebertragungAbgeschlossen);	364	while(!UebertragungAbgeschlossen);
365	SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	365	SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
366	break;	366	break;
367		367
368	case 'p': // get PPM Channels	368	case 'p': // get PPM Channels
369	GetPPMChannelAnforderung = 1;	369	GetPPMChannelAnforderung = 1;
370	PcZugriff = 255;	370	PcZugriff = 255;
371	break;	371	break;
372		372
373	case 'q':// "Get"-Anforderung für Settings	373	case 'q':// "Get"-Anforderung für Settings
374	// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen	374	// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
375	if((10 <= pRxData[0]) && (pRxData[0] < 20))	375	if((10 <= pRxData[0]) && (pRxData[0] < 20))
376	{	376	{
377	tempchar1 = pRxData[0] - 10;	377	tempchar1 = pRxData[0] - 10;
378	if(tempchar1< 1) tempchar1 = 1; // limit to 1	378	if(tempchar1< 1) tempchar1 = 1; // limit to 1
379	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	379	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
380	SetDefaultParameter(tempchar1, 1);	380	SetDefaultParameter(tempchar1, 1);
381	}	381	}
382	else if((20 <= pRxData[0]) && (pRxData[0] < 30))	382	else if((20 <= pRxData[0]) && (pRxData[0] < 30))
383	{	383	{
384	tempchar1 = pRxData[0] - 20;	384	tempchar1 = pRxData[0] - 20;
385	if(tempchar1< 1) tempchar1 = 1; // limit to 1	385	if(tempchar1< 1) tempchar1 = 1; // limit to 1
386	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	386	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
387	SetDefaultParameter(tempchar1, 0);	387	SetDefaultParameter(tempchar1, 0);
388	}	388	}
389	else	389	else
390	{	390	{
391	tempchar1 = pRxData[0];	391	tempchar1 = pRxData[0];
392	if(tempchar1 == 0xFF)	392	if(tempchar1 == 0xFF)
393	{	393	{
394	tempchar1 = GetActiveParamSet();	394	tempchar1 = GetActiveParamSet();
395	}	395	}
396	if(tempchar1< 1) tempchar1 = 1; // limit to 1	396	if(tempchar1< 1) tempchar1 = 1; // limit to 1
397	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	397	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
398	// load requested parameter set	398	// load requested parameter set
399	ParamSet_ReadFromEEProm(tempchar1);	399	ParamSet_ReadFromEEProm(tempchar1);
400	}	400	}
401	tempchar1 = pRxData[0];	401	tempchar1 = pRxData[0];
402	while(!UebertragungAbgeschlossen);	402	while(!UebertragungAbgeschlossen);
403	SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);	403	SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
404	Debug("Lese Setting %d", tempchar1);	404	Debug("Lese Setting %d", tempchar1);
405		405
406	break;	406	break;
407		407
408	case 's': // Parametersatz speichern	408	case 's': // Parametersatz speichern
409	if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range	409	if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range
410	{	410	{
411	memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);	411	memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
412	ParamSet_WriteToEEProm(pRxData[0]);	412	ParamSet_WriteToEEProm(pRxData[0]);
413	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;	413	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
414	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;	414	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
415	tempchar1 = GetActiveParamSet();	415	tempchar1 = GetActiveParamSet();
416	}	416	}
417	else	417	else
418	{	418	{
419	tempchar1 = 0; // mark in response an invlid setting	419	tempchar1 = 0; // mark in response an invlid setting
420	}	420	}
421	while(!UebertragungAbgeschlossen);	421	while(!UebertragungAbgeschlossen);
422	SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	422	SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
423	if(!MotorenEin) Piep(tempchar1,110);	423	if(!MotorenEin) Piep(tempchar1,110);
424	LipoDetection(0);	424	LipoDetection(0);
425	LIBFC_ReceiverInit(EE_Parameter.Receiver);	425	LIBFC_ReceiverInit(EE_Parameter.Receiver);
426	break;	426	break;
427	case 'f': // auf anderen Parametersatz umschalten	427	case 'f': // auf anderen Parametersatz umschalten
428	if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);	428	if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
429	tempchar1 = GetActiveParamSet();	429	tempchar1 = GetActiveParamSet();
430	while(!UebertragungAbgeschlossen);	430	while(!UebertragungAbgeschlossen);
431	SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	431	SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
432	if(!MotorenEin) Piep(tempchar1,110);	432	if(!MotorenEin) Piep(tempchar1,110);
433	LipoDetection(0);	433	LipoDetection(0);
434	LIBFC_ReceiverInit(EE_Parameter.Receiver);	434	LIBFC_ReceiverInit(EE_Parameter.Receiver);
435	break;	435	break;
436	case 'y':// serial Potis	436	case 'y':// serial Potis
437	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];	437	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];
438	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];	438	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];
439	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];	439	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];
440	break;	440	break;
441		441
442	case 'u': // request BL parameter	442	case 'u': // request BL parameter
443	Debug("Reading BL %d", pRxData[0]);	443	Debug("Reading BL %d", pRxData[0]);
444	// try to read BL configuration	444	// try to read BL configuration
445	tempchar2 = I2C_ReadBLConfig(pRxData[0]);	445	tempchar2 = I2C_ReadBLConfig(pRxData[0]);
446	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;	446	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
447	else tempchar1 = 0;	447	else tempchar1 = 0;
448	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent	448	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
449	SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));	449	SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
450	break;	450	break;
451		451
452	case 'w': // write BL parameter	452	case 'w': // write BL parameter
453	Debug("Writing BL %d", pRxData[0]);	453	Debug("Writing BL %d", pRxData[0]);
454	if(RxDataLen >= 1+sizeof(BLConfig_t))	454	if(RxDataLen >= 1+sizeof(BLConfig_t))
455	{	455	{
456	memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));	456	memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
457	tempchar2 = I2C_WriteBLConfig(pRxData[0]);	457	tempchar2 = I2C_WriteBLConfig(pRxData[0]);
458	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;	458	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
459	else tempchar1 = 0; // indicate error	459	else tempchar1 = 0; // indicate error
460	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent	460	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
461	SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));	461	SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));
462	}	462	}
463	break;	463	break;
464		464
465	} // case FC_ADDRESS:	465	} // case FC_ADDRESS:
466		466
467	default: // any Slave Address	467	default: // any Slave Address
468		468
469	switch(RxdBuffer[2])	469	switch(RxdBuffer[2])
470	{	470	{
471	// 't' comand placed here only for compatibility to BL	471	// 't' comand placed here only for compatibility to BL
472	case 't':// Motortest	472	case 't':// Motortest
473	if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));	473	if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
474	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);	474	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
475	while(!UebertragungAbgeschlossen);	475	while(!UebertragungAbgeschlossen);
476	SendOutData('T', MeineSlaveAdresse, 0);	476	SendOutData('T', MeineSlaveAdresse, 0);
477	PC_MotortestActive = 250;	477	PC_MotortestActive = 250;
478	PcZugriff = 255;	478	PcZugriff = 255;
479	AboTimeOut = SetDelay(ABO_TIMEOUT);	479	AboTimeOut = SetDelay(ABO_TIMEOUT);
480	break;	480	break;
481	// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address	481	// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
482	case 'K':// Kompasswert	482	case 'K':// Kompasswert
483	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));	483	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));
484	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;	484	KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
485	break;	485	break;
486	case 'a':// Texte der Analogwerte	486	case 'a':// Texte der Analogwerte
487	DebugTextAnforderung = pRxData[0];	487	DebugTextAnforderung = pRxData[0];
488	if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;	488	if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
489	PcZugriff = 255;	489	PcZugriff = 255;
490	break;	490	break;
491	case 'b':	491	case 'b':
492	memcpy((unsigned char )&ExternControl, (unsigned char )pRxData, sizeof(ExternControl));	492	memcpy((unsigned char )&ExternControl, (unsigned char )pRxData, sizeof(ExternControl));
493	ConfirmFrame = ExternControl.Frame;	493	ConfirmFrame = ExternControl.Frame;
494	PcZugriff = 255;	494	PcZugriff = 255;
495	break;	495	break;
496	case 'c': // Poll the 3D-Data	496	case 'c': // Poll the 3D-Data
497	if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}	497	if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
498	Intervall3D = pRxData[0] * 10;	498	Intervall3D = pRxData[0] * 10;
499	AboTimeOut = SetDelay(ABO_TIMEOUT);	499	AboTimeOut = SetDelay(ABO_TIMEOUT);
500	break;	500	break;

Subversion Repositories FlightCtrl

(root)/tags/V0.86c/uart.c @ 2385 - Rev 1761 → 1765