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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 <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 | unsigned volatile char JetiUpdateModeActive = 0; |
78 | unsigned volatile char JetiUpdateModeActive = 0; |
79 | 79 | ||
80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
81 | { |
81 | { |
82 | //1234567890123456 |
82 | //1234567890123456 |
83 | "AngleNick ", //0 |
83 | "AngleNick ", //0 |
84 | "AngleRoll ", |
84 | "AngleRoll ", |
85 | "AccNick ", |
85 | "AccNick ", |
86 | "AccRoll ", |
86 | "AccRoll ", |
87 | "YawGyro ", |
87 | "YawGyro ", |
88 | "Height Value ", //5 |
88 | "Height Value ", //5 |
89 | "AccZ ", |
89 | "AccZ ", |
90 | "Gas ", |
90 | "Gas ", |
91 | "Compass Value ", |
91 | "Compass Value ", |
92 | "Voltage [0.1V] ", |
92 | "Voltage [0.1V] ", |
93 | "Receiver Level ", //10 |
93 | "Receiver Level ", //10 |
94 | "Gyro Compass ", |
94 | "Gyro Compass ", |
95 | "Motor 1 ", |
95 | "Motor 1 ", |
96 | "Motor 2 ", |
96 | "Motor 2 ", |
97 | "Motor 3 ", |
97 | "Motor 3 ", |
98 | "Motor 4 ", //15 |
98 | "Motor 4 ", //15 |
99 | "16 ", |
99 | "16 ", |
100 | "17 ", |
100 | "17 ", |
101 | "18 ", |
101 | "18 ", |
102 | "19 ", |
102 | "19 ", |
103 | "Servo ", //20 |
103 | "Servo ", //20 |
104 | "Hovergas ", |
104 | "Hovergas ", |
105 | "Current [0.1A] ", |
105 | "Current [0.1A] ", |
106 | "Capacity [mAh] ", |
106 | "Capacity [mAh] ", |
107 | "24 ", |
107 | "24 ", |
108 | "25 ", //25 |
108 | "25 ", //25 |
109 | "26 ", |
109 | "26 ", |
110 | "27 ", |
110 | "27 ", |
111 | "I2C-Error ", |
111 | "I2C-Error ", |
112 | "BL Limit ", |
112 | "BL Limit ", |
113 | "GPS_Nick ", //30 |
113 | "GPS_Nick ", //30 |
114 | "GPS_Roll " |
114 | "GPS_Roll " |
115 | }; |
115 | }; |
116 | 116 | ||
117 | 117 | ||
118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
119 | //++ Sende-Part der Datenübertragung |
119 | //++ Sende-Part der Datenübertragung |
120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
121 | ISR(USART0_TX_vect) |
121 | ISR(USART0_TX_vect) |
122 | { |
122 | { |
123 | static unsigned int ptr = 0; |
123 | static unsigned int ptr = 0; |
124 | unsigned char tmp_tx; |
124 | unsigned char tmp_tx; |
125 | 125 | ||
126 | if(!UebertragungAbgeschlossen) |
126 | if(!UebertragungAbgeschlossen) |
127 | { |
127 | { |
128 | ptr++; // die [0] wurde schon gesendet |
128 | ptr++; // die [0] wurde schon gesendet |
129 | tmp_tx = TxdBuffer[ptr]; |
129 | tmp_tx = TxdBuffer[ptr]; |
130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
131 | { |
131 | { |
132 | ptr = 0; |
132 | ptr = 0; |
133 | UebertragungAbgeschlossen = 1; |
133 | UebertragungAbgeschlossen = 1; |
134 | } |
134 | } |
135 | UDR0 = tmp_tx; |
135 | UDR0 = tmp_tx; |
136 | } |
136 | } |
137 | else ptr = 0; |
137 | else ptr = 0; |
138 | } |
138 | } |
139 | 139 | ||
140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | ISR(USART0_RX_vect) |
143 | ISR(USART0_RX_vect) |
144 | { |
144 | { |
145 | static unsigned int crc; |
145 | static unsigned int crc; |
146 | static unsigned char crc1,crc2,buf_ptr; |
146 | static unsigned char crc1,crc2,buf_ptr; |
147 | static unsigned char UartState = 0; |
147 | static unsigned char UartState = 0; |
148 | unsigned char CrcOkay = 0; |
148 | unsigned char CrcOkay = 0; |
149 | 149 | ||
- | 150 | if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
|
150 | if (JetiUpdateModeActive) { UDR1 = UDR0; return; } |
151 | if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
151 | 152 | ||
152 | SioTmp = UDR0; |
153 | SioTmp = UDR0; |
153 | - | ||
154 | - | ||
155 | 154 | ||
156 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
157 | if(SioTmp == '\r' && UartState == 2) |
156 | if(SioTmp == '\r' && UartState == 2) |
158 | { |
157 | { |
159 | UartState = 0; |
158 | UartState = 0; |
160 | crc -= RxdBuffer[buf_ptr-2]; |
159 | crc -= RxdBuffer[buf_ptr-2]; |
161 | crc -= RxdBuffer[buf_ptr-1]; |
160 | crc -= RxdBuffer[buf_ptr-1]; |
162 | crc %= 4096; |
161 | crc %= 4096; |
163 | crc1 = '=' + crc / 64; |
162 | crc1 = '=' + crc / 64; |
164 | crc2 = '=' + crc % 64; |
163 | crc2 = '=' + crc % 64; |
165 | CrcOkay = 0; |
164 | CrcOkay = 0; |
166 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
167 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
168 | { |
167 | { |
169 | NeuerDatensatzEmpfangen = 1; |
168 | NeuerDatensatzEmpfangen = 1; |
170 | AnzahlEmpfangsBytes = buf_ptr + 1; |
169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
171 | RxdBuffer[buf_ptr] = '\r'; |
170 | RxdBuffer[buf_ptr] = '\r'; |
172 | if(RxdBuffer[2] == 'R') |
171 | if(RxdBuffer[2] == 'R') |
173 | { |
172 | { |
174 | LcdClear(); |
173 | LcdClear(); |
175 | wdt_enable(WDTO_250MS); // Reset-Commando |
174 | wdt_enable(WDTO_250MS); // Reset-Commando |
176 | ServoActive = 0; |
175 | ServoActive = 0; |
177 | } |
176 | } |
178 | 177 | ||
179 | } |
178 | } |
180 | } |
179 | } |
181 | else |
180 | else |
182 | switch(UartState) |
181 | switch(UartState) |
183 | { |
182 | { |
184 | case 0: |
183 | case 0: |
185 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
186 | buf_ptr = 0; |
185 | buf_ptr = 0; |
187 | RxdBuffer[buf_ptr++] = SioTmp; |
186 | RxdBuffer[buf_ptr++] = SioTmp; |
188 | crc = SioTmp; |
187 | crc = SioTmp; |
189 | break; |
188 | break; |
190 | case 1: // Adresse auswerten |
189 | case 1: // Adresse auswerten |
191 | UartState++; |
190 | UartState++; |
192 | RxdBuffer[buf_ptr++] = SioTmp; |
191 | RxdBuffer[buf_ptr++] = SioTmp; |
193 | crc += SioTmp; |
192 | crc += SioTmp; |
194 | break; |
193 | break; |
195 | case 2: // Eingangsdaten sammeln |
194 | case 2: // Eingangsdaten sammeln |
196 | RxdBuffer[buf_ptr] = SioTmp; |
195 | RxdBuffer[buf_ptr] = SioTmp; |
197 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
198 | else UartState = 0; |
197 | else UartState = 0; |
199 | crc += SioTmp; |
198 | crc += SioTmp; |
200 | break; |
199 | break; |
201 | default: |
200 | default: |
202 | UartState = 0; |
201 | UartState = 0; |
203 | break; |
202 | break; |
204 | } |
203 | } |
205 | } |
204 | } |
206 | 205 | ||
207 | 206 | ||
208 | // -------------------------------------------------------------------------- |
207 | // -------------------------------------------------------------------------- |
209 | void AddCRC(unsigned int wieviele) |
208 | void AddCRC(unsigned int wieviele) |
210 | { |
209 | { |
211 | unsigned int tmpCRC = 0,i; |
210 | unsigned int tmpCRC = 0,i; |
212 | for(i = 0; i < wieviele;i++) |
211 | for(i = 0; i < wieviele;i++) |
213 | { |
212 | { |
214 | tmpCRC += TxdBuffer[i]; |
213 | tmpCRC += TxdBuffer[i]; |
215 | } |
214 | } |
216 | tmpCRC %= 4096; |
215 | tmpCRC %= 4096; |
217 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
218 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
219 | TxdBuffer[i++] = '\r'; |
218 | TxdBuffer[i++] = '\r'; |
220 | UebertragungAbgeschlossen = 0; |
219 | UebertragungAbgeschlossen = 0; |
221 | UDR0 = TxdBuffer[0]; |
220 | UDR0 = TxdBuffer[0]; |
222 | } |
221 | } |
223 | 222 | ||
224 | 223 | ||
225 | 224 | ||
226 | // -------------------------------------------------------------------------- |
225 | // -------------------------------------------------------------------------- |
227 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
228 | { |
227 | { |
229 | va_list ap; |
228 | va_list ap; |
230 | unsigned int pt = 0; |
229 | unsigned int pt = 0; |
231 | unsigned char a,b,c; |
230 | unsigned char a,b,c; |
232 | unsigned char ptr = 0; |
231 | unsigned char ptr = 0; |
233 | 232 | ||
234 | unsigned char *snd = 0; |
233 | unsigned char *snd = 0; |
235 | int len = 0; |
234 | int len = 0; |
236 | 235 | ||
237 | TxdBuffer[pt++] = '#'; // Startzeichen |
236 | TxdBuffer[pt++] = '#'; // Startzeichen |
238 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
239 | TxdBuffer[pt++] = cmd; // Commando |
238 | TxdBuffer[pt++] = cmd; // Commando |
240 | 239 | ||
241 | va_start(ap, BufferAnzahl); |
240 | va_start(ap, BufferAnzahl); |
242 | if(BufferAnzahl) |
241 | if(BufferAnzahl) |
243 | { |
242 | { |
244 | snd = va_arg(ap, unsigned char*); |
243 | snd = va_arg(ap, unsigned char*); |
245 | len = va_arg(ap, int); |
244 | len = va_arg(ap, int); |
246 | ptr = 0; |
245 | ptr = 0; |
247 | BufferAnzahl--; |
246 | BufferAnzahl--; |
248 | } |
247 | } |
249 | while(len) |
248 | while(len) |
250 | { |
249 | { |
251 | if(len) |
250 | if(len) |
252 | { |
251 | { |
253 | a = snd[ptr++]; |
252 | a = snd[ptr++]; |
254 | len--; |
253 | len--; |
255 | if((!len) && BufferAnzahl) |
254 | if((!len) && BufferAnzahl) |
256 | { |
255 | { |
257 | snd = va_arg(ap, unsigned char*); |
256 | snd = va_arg(ap, unsigned char*); |
258 | len = va_arg(ap, int); |
257 | len = va_arg(ap, int); |
259 | ptr = 0; |
258 | ptr = 0; |
260 | BufferAnzahl--; |
259 | BufferAnzahl--; |
261 | } |
260 | } |
262 | } |
261 | } |
263 | else a = 0; |
262 | else a = 0; |
264 | if(len) |
263 | if(len) |
265 | { |
264 | { |
266 | b = snd[ptr++]; |
265 | b = snd[ptr++]; |
267 | len--; |
266 | len--; |
268 | if((!len) && BufferAnzahl) |
267 | if((!len) && BufferAnzahl) |
269 | { |
268 | { |
270 | snd = va_arg(ap, unsigned char*); |
269 | snd = va_arg(ap, unsigned char*); |
271 | len = va_arg(ap, int); |
270 | len = va_arg(ap, int); |
272 | ptr = 0; |
271 | ptr = 0; |
273 | BufferAnzahl--; |
272 | BufferAnzahl--; |
274 | } |
273 | } |
275 | } |
274 | } |
276 | else b = 0; |
275 | else b = 0; |
277 | if(len) |
276 | if(len) |
278 | { |
277 | { |
279 | c = snd[ptr++]; |
278 | c = snd[ptr++]; |
280 | len--; |
279 | len--; |
281 | if((!len) && BufferAnzahl) |
280 | if((!len) && BufferAnzahl) |
282 | { |
281 | { |
283 | snd = va_arg(ap, unsigned char*); |
282 | snd = va_arg(ap, unsigned char*); |
284 | len = va_arg(ap, int); |
283 | len = va_arg(ap, int); |
285 | ptr = 0; |
284 | ptr = 0; |
286 | BufferAnzahl--; |
285 | BufferAnzahl--; |
287 | } |
286 | } |
288 | } |
287 | } |
289 | else c = 0; |
288 | else c = 0; |
290 | TxdBuffer[pt++] = '=' + (a >> 2); |
289 | TxdBuffer[pt++] = '=' + (a >> 2); |
291 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
292 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
293 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
294 | } |
293 | } |
295 | va_end(ap); |
294 | va_end(ap); |
296 | AddCRC(pt); |
295 | AddCRC(pt); |
297 | } |
296 | } |
298 | 297 | ||
299 | // -------------------------------------------------------------------------- |
298 | // -------------------------------------------------------------------------- |
300 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
301 | { |
300 | { |
302 | unsigned char a,b,c,d; |
301 | unsigned char a,b,c,d; |
303 | unsigned char x,y,z; |
302 | unsigned char x,y,z; |
304 | unsigned char ptrIn = 3; // start at begin of data block |
303 | unsigned char ptrIn = 3; // start at begin of data block |
305 | unsigned char ptrOut = 3; |
304 | unsigned char ptrOut = 3; |
306 | 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. |
305 | 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. |
307 | 306 | ||
308 | while(len) |
307 | while(len) |
309 | { |
308 | { |
310 | a = RxdBuffer[ptrIn++] - '='; |
309 | a = RxdBuffer[ptrIn++] - '='; |
311 | b = RxdBuffer[ptrIn++] - '='; |
310 | b = RxdBuffer[ptrIn++] - '='; |
312 | c = RxdBuffer[ptrIn++] - '='; |
311 | c = RxdBuffer[ptrIn++] - '='; |
313 | d = RxdBuffer[ptrIn++] - '='; |
312 | d = RxdBuffer[ptrIn++] - '='; |
314 | 313 | ||
315 | x = (a << 2) | (b >> 4); |
314 | x = (a << 2) | (b >> 4); |
316 | y = ((b & 0x0f) << 4) | (c >> 2); |
315 | y = ((b & 0x0f) << 4) | (c >> 2); |
317 | z = ((c & 0x03) << 6) | d; |
316 | z = ((c & 0x03) << 6) | d; |
318 | 317 | ||
319 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
320 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
321 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
322 | } |
321 | } |
323 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
324 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
325 | 324 | ||
326 | } |
325 | } |
327 | 326 | ||
328 | // -------------------------------------------------------------------------- |
327 | // -------------------------------------------------------------------------- |
329 | void BearbeiteRxDaten(void) |
328 | void BearbeiteRxDaten(void) |
330 | { |
329 | { |
331 | if(!NeuerDatensatzEmpfangen) return; |
330 | if(!NeuerDatensatzEmpfangen) return; |
332 | 331 | ||
333 | unsigned char tempchar1, tempchar2; |
332 | unsigned char tempchar1, tempchar2; |
334 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
335 | switch(RxdBuffer[1]-'a') // check for Slave Address |
334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
336 | { |
335 | { |
337 | case FC_ADDRESS: // FC special commands |
336 | case FC_ADDRESS: // FC special commands |
338 | switch(RxdBuffer[2]) |
337 | switch(RxdBuffer[2]) |
339 | { |
338 | { |
340 | case 'K':// Kompasswert |
339 | case 'K':// Kompasswert |
341 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
342 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
341 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
343 | break; |
342 | break; |
344 | case 't':// Motortest |
343 | case 't':// Motortest |
345 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
346 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
347 | PC_MotortestActive = 240; |
346 | PC_MotortestActive = 240; |
348 | //while(!UebertragungAbgeschlossen); |
347 | //while(!UebertragungAbgeschlossen); |
349 | //SendOutData('T', MeineSlaveAdresse, 0); |
348 | //SendOutData('T', MeineSlaveAdresse, 0); |
350 | PcZugriff = 255; |
349 | PcZugriff = 255; |
351 | break; |
350 | break; |
352 | 351 | ||
353 | case 'n':// "Get Mixer |
352 | case 'n':// "Get Mixer |
354 | while(!UebertragungAbgeschlossen); |
353 | while(!UebertragungAbgeschlossen); |
355 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
356 | Debug("Mixer lesen"); |
355 | Debug("Mixer lesen"); |
357 | break; |
356 | break; |
358 | 357 | ||
359 | case 'm':// "Write Mixer |
358 | case 'm':// "Write Mixer |
360 | if(pRxData[0] == EEMIXER_REVISION) |
359 | if(pRxData[0] == EEMIXER_REVISION) |
361 | { |
360 | { |
362 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
363 | MixerTable_WriteToEEProm(); |
362 | MixerTable_WriteToEEProm(); |
364 | tempchar1 = 1; |
363 | tempchar1 = 1; |
365 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
366 | } |
365 | } |
367 | else |
366 | else |
368 | { |
367 | { |
369 | tempchar1 = 0; |
368 | tempchar1 = 0; |
370 | } |
369 | } |
371 | while(!UebertragungAbgeschlossen); |
370 | while(!UebertragungAbgeschlossen); |
372 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
373 | break; |
372 | break; |
374 | 373 | ||
375 | case 'p': // get PPM Channels |
374 | case 'p': // get PPM Channels |
376 | GetPPMChannelAnforderung = 1; |
375 | GetPPMChannelAnforderung = 1; |
377 | PcZugriff = 255; |
376 | PcZugriff = 255; |
378 | break; |
377 | break; |
379 | 378 | ||
380 | case 'q':// "Get"-Anforderung für Settings |
379 | case 'q':// "Get"-Anforderung für Settings |
381 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
382 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
383 | { |
382 | { |
384 | tempchar1 = pRxData[0] - 10; |
383 | tempchar1 = pRxData[0] - 10; |
385 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
386 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
387 | SetDefaultParameter(tempchar1, 1); |
386 | SetDefaultParameter(tempchar1, 1); |
388 | } |
387 | } |
389 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
390 | { |
389 | { |
391 | tempchar1 = pRxData[0] - 20; |
390 | tempchar1 = pRxData[0] - 20; |
392 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
393 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
394 | SetDefaultParameter(tempchar1, 0); |
393 | SetDefaultParameter(tempchar1, 0); |
395 | } |
394 | } |
396 | else |
395 | else |
397 | { |
396 | { |
398 | tempchar1 = pRxData[0]; |
397 | tempchar1 = pRxData[0]; |
399 | if(tempchar1 == 0xFF) |
398 | if(tempchar1 == 0xFF) |
400 | { |
399 | { |
401 | tempchar1 = GetActiveParamSet(); |
400 | tempchar1 = GetActiveParamSet(); |
402 | } |
401 | } |
403 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
404 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
405 | // load requested parameter set |
404 | // load requested parameter set |
406 | ParamSet_ReadFromEEProm(tempchar1); |
405 | ParamSet_ReadFromEEProm(tempchar1); |
407 | } |
406 | } |
408 | while(!UebertragungAbgeschlossen); |
407 | while(!UebertragungAbgeschlossen); |
409 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
410 | Debug("Lese Setting %d", tempchar1); |
409 | Debug("Lese Setting %d", tempchar1); |
411 | 410 | ||
412 | break; |
411 | break; |
413 | 412 | ||
414 | case 's': // Parametersatz speichern |
413 | case 's': // Parametersatz speichern |
415 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
416 | { |
415 | { |
417 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
418 | ParamSet_WriteToEEProm(pRxData[0]); |
417 | ParamSet_WriteToEEProm(pRxData[0]); |
419 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
420 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
421 | tempchar1 = GetActiveParamSet(); |
420 | tempchar1 = GetActiveParamSet(); |
422 | } |
421 | } |
423 | else |
422 | else |
424 | { |
423 | { |
425 | tempchar1 = 0; // mark in response an invlid setting |
424 | tempchar1 = 0; // mark in response an invlid setting |
426 | } |
425 | } |
427 | while(!UebertragungAbgeschlossen); |
426 | while(!UebertragungAbgeschlossen); |
428 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
429 | if(!MotorenEin) Piep(tempchar1,110); |
428 | if(!MotorenEin) Piep(tempchar1,110); |
430 | LipoDetection(0); |
429 | LipoDetection(0); |
431 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
432 | break; |
431 | break; |
433 | case 'f': // auf anderen Parametersatz umschalten |
432 | case 'f': // auf anderen Parametersatz umschalten |
434 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
435 | tempchar1 = GetActiveParamSet(); |
434 | tempchar1 = GetActiveParamSet(); |
436 | while(!UebertragungAbgeschlossen); |
435 | while(!UebertragungAbgeschlossen); |
437 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
438 | if(!MotorenEin) Piep(tempchar1,110); |
437 | if(!MotorenEin) Piep(tempchar1,110); |
439 | LipoDetection(0); |
438 | LipoDetection(0); |
440 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
441 | break; |
440 | break; |
442 | case 'y':// serial Potis |
441 | case 'y':// serial Potis |
443 | 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]; |
442 | 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]; |
444 | 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]; |
443 | 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]; |
445 | 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]; |
444 | 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]; |
446 | break; |
445 | break; |
447 | 446 | ||
448 | case 'u': // request BL parameter |
447 | case 'u': // request BL parameter |
449 | Debug("Reading BL %d", pRxData[0]); |
448 | Debug("Reading BL %d", pRxData[0]); |
450 | // try to read BL configuration |
449 | // try to read BL configuration |
451 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
452 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
453 | else tempchar1 = 0; |
452 | else tempchar1 = 0; |
454 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
455 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
456 | break; |
455 | break; |
457 | 456 | ||
458 | case 'w': // write BL parameter |
457 | case 'w': // write BL parameter |
459 | Debug("Writing BL %d", pRxData[0]); |
458 | Debug("Writing BL %d", pRxData[0]); |
460 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
461 | { |
460 | { |
462 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
463 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
464 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
465 | else tempchar1 = 0; // indicate error |
464 | else tempchar1 = 0; // indicate error |
466 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
467 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
468 | } |
467 | } |
469 | break; |
468 | break; |
470 | case 'j': |
469 | case 'j': |
471 | { uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
470 | { uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
472 | - | ||
- | 471 | ||
473 | JetiUpdateModeActive = 1; |
- | |
474 | 472 | ||
- | 473 | ||
- | 474 | cli(); |
|
475 | UBRR1H = (uint8_t)(ubrr>>8); |
475 | |
- | 476 | // disable receiver and transmitter |
|
476 | UBRR1L = (uint8_t)ubrr; |
477 | UCSR0B &= ~(1 << TXEN0); |
477 | 478 | UCSR0B &= ~(1 << RXEN0); |
|
- | 479 | UCSR1B &= ~(1 << TXEN1); |
|
- | 480 | UCSR1B &= ~(1 << RXEN1); |
|
478 | UBRR0H = UBRR1H; |
481 | |
- | 482 | // disable RX-Interrupt |
|
- | 483 | UCSR0B &= ~(1 << RXCIE0); |
|
479 | UBRR0L = UBRR1L; |
484 | UCSR1B &= ~(1 << RXCIE1); |
480 | 485 | // disable TX-Interrupt |
|
481 | UCSR1C &= ~(1 << UPM11); // 0 = parity disabled |
486 | UCSR0B &= ~(1 << TXCIE0); |
482 | UCSR1C &= ~(1 << UPM10); |
487 | UCSR1B &= ~(1 << TXCIE1); |
483 | - | ||
484 | // 1 stop bit |
- | |
485 | UCSR1C &= ~(1 << USBS1); |
- | |
486 | UCSR0C &= ~(1 << USBS0); |
- | |
- | 488 | ||
- | 489 | // flush receive buffer explicit |
|
- | 490 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
|
- | 491 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
|
- | 492 | ||
- | 493 | ||
- | 494 | if (pRxData[0] == 0) |
|
- | 495 | { |
|
- | 496 | UBRR1H = (uint8_t)(ubrr>>8); |
|
- | 497 | UBRR1L = (uint8_t)ubrr; |
|
- | 498 | ||
- | 499 | UBRR0H = UBRR1H; |
|
- | 500 | UBRR0L = UBRR1L; |
|
- | 501 | // 8-bit |
|
- | 502 | UCSR1B &= ~(1 << UCSZ12); |
|
- | 503 | UCSR1C |= (1 << UCSZ11); |
|
- | 504 | UCSR1C |= (1 << UCSZ10); |
|
- | 505 | ||
- | 506 | UCSR1C &= ~(1 << UPM11); // 0 = parity disabled |
|
- | 507 | UCSR1C &= ~(1 << UPM10); |
|
- | 508 | JetiUpdateModeActive = 1; |
|
- | 509 | ||
487 | 510 | ||
- | 511 | } |
|
488 | // 8-bit |
512 | else JetiUpdateModeActive = 2; |
489 | UCSR1B &= ~(1 << UCSZ12); |
513 | |
- | 514 | // 1 stop bit |
|
- | 515 | UCSR1C &= ~(1 << USBS1); |
|
- | 516 | UCSR0C &= ~(1 << USBS0); |
|
- | 517 | ||
- | 518 | UCSR1B &= ~(1<<TXB81); |
|
- | 519 | ||
- | 520 | UCSR1B |= (1 << RXEN1); // enable RX |
|
- | 521 | UCSR0B |= (1 << RXEN0); // enable RX |
|
490 | UCSR1C |= (1 << UCSZ11); |
522 | UCSR1B |= (1 << TXEN1); // enable TX |
491 | UCSR1C |= (1 << UCSZ10); |
523 | UCSR0B |= (1 << TXEN0); // enable TX |
492 | 524 | ||
493 | UCSR0B &= ~(1 << TXCIE0); |
525 | // ensable RX-Interrupt |
494 | UCSR1B &= ~(1 << TXCIE1); |
526 | UCSR0B |= (1 << RXCIE0); |
495 | 527 | UCSR1B |= (1 << RXCIE1); |
|
496 | UCSR1B |= (1 << RXEN1); // enable RX |
528 | |
497 | 529 | ||
498 | TIMSK1 &= ~_BV(ICIE1); // disable other Interrupts |
530 | TIMSK1 &= ~_BV(ICIE1); // disable other Interrupts |
499 | TIMSK2 &= ~(1<<OCIE2A); |
531 | TIMSK2 &= ~(1<<OCIE2A); |
500 | TIMSK0 &= ~_BV(TOIE0); |
532 | TIMSK0 &= ~_BV(TOIE0); |
- | 533 | ||
- | 534 | sei(); |
|
501 | 535 | ||
502 | } |
536 | } |
503 | break; |
537 | break; |
504 | 538 | ||
505 | } // case FC_ADDRESS: |
539 | } // case FC_ADDRESS: |
506 | 540 | ||
507 | default: // any Slave Address |
541 | default: // any Slave Address |
508 | 542 | ||
509 | switch(RxdBuffer[2]) |
543 | switch(RxdBuffer[2]) |
510 | { |
544 | { |
511 | // 't' comand placed here only for compatibility to BL |
545 | // 't' comand placed here only for compatibility to BL |
512 | case 't':// Motortest |
546 | case 't':// Motortest |
513 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
547 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
514 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
548 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
515 | while(!UebertragungAbgeschlossen); |
549 | while(!UebertragungAbgeschlossen); |
516 | SendOutData('T', MeineSlaveAdresse, 0); |
550 | SendOutData('T', MeineSlaveAdresse, 0); |
517 | PC_MotortestActive = 250; |
551 | PC_MotortestActive = 250; |
518 | PcZugriff = 255; |
552 | PcZugriff = 255; |
519 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
553 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
520 | break; |
554 | break; |
521 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
555 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
522 | case 'K':// Kompasswert |
556 | case 'K':// Kompasswert |
523 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
557 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
524 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
558 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
525 | break; |
559 | break; |
526 | case 'a':// Texte der Analogwerte |
560 | case 'a':// Texte der Analogwerte |
527 | DebugTextAnforderung = pRxData[0]; |
561 | DebugTextAnforderung = pRxData[0]; |
528 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
562 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
529 | PcZugriff = 255; |
563 | PcZugriff = 255; |
530 | break; |
564 | break; |
531 | case 'b': |
565 | case 'b': |
532 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
566 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
533 | ConfirmFrame = ExternControl.Frame; |
567 | ConfirmFrame = ExternControl.Frame; |
534 | PcZugriff = 255; |
568 | PcZugriff = 255; |
535 | break; |
569 | break; |
536 | case 'c': // Poll the 3D-Data |
570 | case 'c': // Poll the 3D-Data |
537 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
571 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
538 | Intervall3D = pRxData[0] * 10; |
572 | Intervall3D = pRxData[0] * 10; |
539 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
573 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
540 | break; |
574 | break; |
541 | case 'd': // Poll the debug data |
575 | case 'd': // Poll the debug data |
542 | PcZugriff = 255; |
576 | PcZugriff = 255; |
543 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
577 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
544 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
578 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
545 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
579 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
546 | break; |
580 | break; |
547 | 581 | ||
548 | case 'h':// x-1 Displayzeilen |
582 | case 'h':// x-1 Displayzeilen |
549 | PcZugriff = 255; |
583 | PcZugriff = 255; |
550 | if((pRxData[0] & 0x80) == 0x00) // old format |
584 | if((pRxData[0] & 0x80) == 0x00) // old format |
551 | { |
585 | { |
552 | DisplayLine = 2; |
586 | DisplayLine = 2; |
553 | Display_Interval = 0; |
587 | Display_Interval = 0; |
554 | } |
588 | } |
555 | else // new format |
589 | else // new format |
556 | { |
590 | { |
557 | RemoteKeys |= ~pRxData[0]; |
591 | RemoteKeys |= ~pRxData[0]; |
558 | Display_Interval = (unsigned int)pRxData[1] * 10; |
592 | Display_Interval = (unsigned int)pRxData[1] * 10; |
559 | DisplayLine = 4; |
593 | DisplayLine = 4; |
560 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
594 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
561 | } |
595 | } |
562 | DebugDisplayAnforderung = 1; |
596 | DebugDisplayAnforderung = 1; |
563 | break; |
597 | break; |
564 | 598 | ||
565 | case 'l':// x-1 Displayzeilen |
599 | case 'l':// x-1 Displayzeilen |
566 | PcZugriff = 255; |
600 | PcZugriff = 255; |
567 | MenuePunkt = pRxData[0]; |
601 | MenuePunkt = pRxData[0]; |
568 | DebugDisplayAnforderung1 = 1; |
602 | DebugDisplayAnforderung1 = 1; |
569 | break; |
603 | break; |
570 | case 'v': // Version-Anforderung und Ausbaustufe |
604 | case 'v': // Version-Anforderung und Ausbaustufe |
571 | GetVersionAnforderung = 1; |
605 | GetVersionAnforderung = 1; |
572 | break; |
606 | break; |
573 | 607 | ||
574 | case 'g':// |
608 | case 'g':// |
575 | GetExternalControl = 1; |
609 | GetExternalControl = 1; |
576 | break; |
610 | break; |
577 | 611 | ||
578 | default: |
612 | default: |
579 | //unsupported command received |
613 | //unsupported command received |
580 | break; |
614 | break; |
581 | } |
615 | } |
582 | break; // default: |
616 | break; // default: |
583 | } |
617 | } |
584 | NeuerDatensatzEmpfangen = 0; |
618 | NeuerDatensatzEmpfangen = 0; |
585 | pRxData = 0; |
619 | pRxData = 0; |
586 | RxDataLen = 0; |
620 | RxDataLen = 0; |
587 | } |
621 | } |
588 | 622 | ||
589 | //############################################################################ |
623 | //############################################################################ |
590 | //Routine für die Serielle Ausgabe |
624 | //Routine für die Serielle Ausgabe |
591 | void uart_putchar (char c) |
625 | void uart_putchar (char c) |
592 | //############################################################################ |
626 | //############################################################################ |
593 | { |
627 | { |
594 | //Warten solange bis Zeichen gesendet wurde |
628 | //Warten solange bis Zeichen gesendet wurde |
595 | loop_until_bit_is_set(UCSR0A, UDRE0); |
629 | loop_until_bit_is_set(UCSR0A, UDRE0); |
596 | //Ausgabe des Zeichens |
630 | //Ausgabe des Zeichens |
597 | UDR0 = c; |
631 | UDR0 = c; |
598 | } |
632 | } |
599 | 633 | ||
600 | 634 | ||
601 | //############################################################################ |
635 | //############################################################################ |
602 | //INstallation der Seriellen Schnittstelle |
636 | //INstallation der Seriellen Schnittstelle |
603 | void UART_Init (void) |
637 | void UART_Init (void) |
604 | //############################################################################ |
638 | //############################################################################ |
605 | { |
639 | { |
606 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
640 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
607 | 641 | ||
608 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
642 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
609 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
643 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
610 | // UART Double Speed (U2X) |
644 | // UART Double Speed (U2X) |
611 | UCSR0A |= (1 << U2X0); |
645 | UCSR0A |= (1 << U2X0); |
612 | // RX-Interrupt Freigabe |
646 | // RX-Interrupt Freigabe |
613 | UCSR0B |= (1 << RXCIE0); |
647 | UCSR0B |= (1 << RXCIE0); |
614 | // TX-Interrupt Freigabe |
648 | // TX-Interrupt Freigabe |
615 | UCSR0B |= (1 << TXCIE0); |
649 | UCSR0B |= (1 << TXCIE0); |
616 | // USART0 Baud Rate Register |
650 | // USART0 Baud Rate Register |
617 | // set clock divider |
651 | // set clock divider |
618 | UBRR0H = (uint8_t)(ubrr >> 8); |
652 | UBRR0H = (uint8_t)(ubrr >> 8); |
619 | UBRR0L = (uint8_t)ubrr; |
653 | UBRR0L = (uint8_t)ubrr; |
620 | 654 | ||
621 | Debug_Timer = SetDelay(DebugDataIntervall); |
655 | Debug_Timer = SetDelay(DebugDataIntervall); |
622 | Kompass_Timer = SetDelay(220); |
656 | Kompass_Timer = SetDelay(220); |
623 | 657 | ||
624 | VersionInfo.SWMajor = VERSION_MAJOR; |
658 | VersionInfo.SWMajor = VERSION_MAJOR; |
625 | VersionInfo.SWMinor = VERSION_MINOR; |
659 | VersionInfo.SWMinor = VERSION_MINOR; |
626 | VersionInfo.SWPatch = VERSION_PATCH; |
660 | VersionInfo.SWPatch = VERSION_PATCH; |
627 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
661 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
628 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
662 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
629 | 663 | ||
630 | pRxData = 0; |
664 | pRxData = 0; |
631 | RxDataLen = 0; |
665 | RxDataLen = 0; |
632 | } |
666 | } |
633 | 667 | ||
634 | //--------------------------------------------------------------------------------------------- |
668 | //--------------------------------------------------------------------------------------------- |
635 | void DatenUebertragung(void) |
669 | void DatenUebertragung(void) |
636 | { |
670 | { |
637 | if(!UebertragungAbgeschlossen) return; |
671 | if(!UebertragungAbgeschlossen) return; |
638 | 672 | ||
639 | if(CheckDelay(AboTimeOut)) |
673 | if(CheckDelay(AboTimeOut)) |
640 | { |
674 | { |
641 | Display_Interval = 0; |
675 | Display_Interval = 0; |
642 | DebugDataIntervall = 0; |
676 | DebugDataIntervall = 0; |
643 | Intervall3D = 0; |
677 | Intervall3D = 0; |
644 | } |
678 | } |
645 | 679 | ||
646 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
680 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
647 | { |
681 | { |
648 | if(DisplayLine > 3)// new format |
682 | if(DisplayLine > 3)// new format |
649 | { |
683 | { |
650 | Menu(); |
684 | Menu(); |
651 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
685 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
652 | } |
686 | } |
653 | else // old format |
687 | else // old format |
654 | { |
688 | { |
655 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
689 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
656 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
690 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
657 | if(DisplayLine++ > 3) DisplayLine = 0; |
691 | if(DisplayLine++ > 3) DisplayLine = 0; |
658 | } |
692 | } |
659 | Display_Timer = SetDelay(Display_Interval); |
693 | Display_Timer = SetDelay(Display_Interval); |
660 | DebugDisplayAnforderung = 0; |
694 | DebugDisplayAnforderung = 0; |
661 | } |
695 | } |
662 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
696 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
663 | { |
697 | { |
664 | Menu(); |
698 | Menu(); |
665 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
699 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
666 | DebugDisplayAnforderung1 = 0; |
700 | DebugDisplayAnforderung1 = 0; |
667 | } |
701 | } |
668 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
702 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
669 | { |
703 | { |
670 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
704 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
671 | GetVersionAnforderung = 0; |
705 | GetVersionAnforderung = 0; |
672 | Debug_OK("Version gesendet"); |
706 | Debug_OK("Version gesendet"); |
673 | } |
707 | } |
674 | 708 | ||
675 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
709 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
676 | { |
710 | { |
677 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
711 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
678 | GetExternalControl = 0; |
712 | GetExternalControl = 0; |
679 | } |
713 | } |
680 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
714 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
681 | { |
715 | { |
682 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
716 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
683 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
717 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
684 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
718 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
685 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
719 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
686 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
720 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
687 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
721 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
688 | Kompass_Timer = SetDelay(99); |
722 | Kompass_Timer = SetDelay(99); |
689 | } |
723 | } |
690 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
724 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
691 | { |
725 | { |
692 | CopyDebugValues(); |
726 | CopyDebugValues(); |
693 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
727 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
694 | DebugDataAnforderung = 0; |
728 | DebugDataAnforderung = 0; |
695 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
729 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
696 | } |
730 | } |
697 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
731 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
698 | { |
732 | { |
699 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
733 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
700 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
734 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
701 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
735 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
702 | Data3D.Centroid[0] = SummeNick >> 9; |
736 | Data3D.Centroid[0] = SummeNick >> 9; |
703 | Data3D.Centroid[1] = SummeRoll >> 9; |
737 | Data3D.Centroid[1] = SummeRoll >> 9; |
704 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
738 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
705 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
739 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
706 | Timer3D = SetDelay(Intervall3D); |
740 | Timer3D = SetDelay(Intervall3D); |
707 | } |
741 | } |
708 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
742 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
709 | { |
743 | { |
710 | unsigned char label[16]; // local sram buffer |
744 | unsigned char label[16]; // local sram buffer |
711 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
745 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
712 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
746 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
713 | DebugTextAnforderung = 255; |
747 | DebugTextAnforderung = 255; |
714 | } |
748 | } |
715 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
749 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
716 | { |
750 | { |
717 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
751 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
718 | ConfirmFrame = 0; |
752 | ConfirmFrame = 0; |
719 | } |
753 | } |
720 | 754 | ||
721 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
755 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
722 | { |
756 | { |
723 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
757 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
724 | GetPPMChannelAnforderung = 0; |
758 | GetPPMChannelAnforderung = 0; |
725 | } |
759 | } |
726 | 760 | ||
727 | #ifdef DEBUG // only include functions if DEBUG is defined |
761 | #ifdef DEBUG // only include functions if DEBUG is defined |
728 | if(SendDebugOutput && UebertragungAbgeschlossen) |
762 | if(SendDebugOutput && UebertragungAbgeschlossen) |
729 | { |
763 | { |
730 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
764 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
731 | SendDebugOutput = 0; |
765 | SendDebugOutput = 0; |
732 | } |
766 | } |
733 | #endif |
767 | #endif |
734 | 768 | ||
735 | } |
769 | } |
736 | 770 | ||
737 | 771 | ||
738 | 772 |