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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 | - | ||
| 34 | typedef struct |
- | |
| 35 | { |
- | |
| 36 | unsigned char Revision; // revision of parameter structure |
- | |
| 37 | unsigned char Address; // target address |
- | |
| 38 | unsigned char PwmScaling; // maximum value of pwm setpoint |
- | |
| 39 | unsigned char CurrentLimit; // current limit in 1A steps |
- | |
| 40 | unsigned char TemperatureLimit; // in °C |
- | |
| 41 | unsigned char CurrentScaling; // scaling factor for current measurement |
- | |
| 42 | unsigned char BitConfig; // see defines above |
- | |
| 43 | unsigned char SetMask; // filter for active paramters |
- | |
| 44 | unsigned char Checksum; // checksum for parameter sturcture |
- | |
| 45 | } __attribute__((packed)) BLParameter_t; |
- | |
| 46 | - | ||
| 47 | 33 | ||
| 48 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
34 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| 49 | unsigned char DisplayLine = 0; |
35 | unsigned char DisplayLine = 0; |
| 50 | unsigned volatile char SioTmp = 0; |
36 | unsigned volatile char SioTmp = 0; |
| 51 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
37 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 52 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
38 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
| 53 | unsigned volatile char UebertragungAbgeschlossen = 1; |
39 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 54 | unsigned volatile char CntCrcError = 0; |
40 | unsigned volatile char CntCrcError = 0; |
| 55 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
41 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
| 56 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
42 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| 57 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
43 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 58 | 44 | ||
| 59 | unsigned char *pRxData = 0; |
45 | unsigned char *pRxData = 0; |
| 60 | unsigned char RxDataLen = 0; |
46 | unsigned char RxDataLen = 0; |
| 61 | unsigned volatile char PC_DebugTimeout = 0; |
47 | unsigned volatile char PC_DebugTimeout = 0; |
| 62 | unsigned volatile char PC_MotortestActive = 0; |
48 | unsigned volatile char PC_MotortestActive = 0; |
| 63 | unsigned char DebugTextAnforderung = 255; |
49 | unsigned char DebugTextAnforderung = 255; |
| 64 | 50 | ||
| 65 | unsigned char PcZugriff = 100; |
51 | unsigned char PcZugriff = 100; |
| 66 | unsigned char MotorTest[16]; |
52 | unsigned char MotorTest[16]; |
| 67 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
53 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| 68 | unsigned char ConfirmFrame; |
54 | unsigned char ConfirmFrame; |
| 69 | struct str_DebugOut DebugOut; |
55 | struct str_DebugOut DebugOut; |
| 70 | struct str_ExternControl ExternControl; |
56 | struct str_ExternControl ExternControl; |
| 71 | struct str_VersionInfo VersionInfo; |
57 | struct str_VersionInfo VersionInfo; |
| 72 | struct str_WinkelOut WinkelOut; |
58 | struct str_WinkelOut WinkelOut; |
| 73 | struct str_Data3D Data3D; |
59 | struct str_Data3D Data3D; |
| 74 | 60 | ||
| 75 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
61 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| 76 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
62 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| 77 | unsigned int AboTimeOut = 0; |
63 | unsigned int AboTimeOut = 0; |
| 78 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
64 | unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
| 79 | 65 | ||
| 80 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
66 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| 81 | { |
67 | { |
| 82 | //1234567890123456 |
68 | //1234567890123456 |
| 83 | "AngleNick ", //0 |
69 | "AngleNick ", //0 |
| 84 | "AngleRoll ", |
70 | "AngleRoll ", |
| 85 | "AccNick ", |
71 | "AccNick ", |
| 86 | "AccRoll ", |
72 | "AccRoll ", |
| 87 | "YawGyro ", |
73 | "YawGyro ", |
| 88 | "Height Value ", //5 |
74 | "Height Value ", //5 |
| 89 | "AccZ ", |
75 | "AccZ ", |
| 90 | "Gas ", |
76 | "Gas ", |
| 91 | "Compass Value ", |
77 | "Compass Value ", |
| 92 | "Voltage [0.1V] ", |
78 | "Voltage [0.1V] ", |
| 93 | "Receiver Level ", //10 |
79 | "Receiver Level ", //10 |
| 94 | "Gyro Compass ", |
80 | "Gyro Compass ", |
| 95 | "Motor 1 ", |
81 | "Motor 1 ", |
| 96 | "Motor 2 ", |
82 | "Motor 2 ", |
| 97 | "Motor 3 ", |
83 | "Motor 3 ", |
| 98 | "Motor 4 ", //15 |
84 | "Motor 4 ", //15 |
| 99 | "16 ", |
85 | "16 ", |
| 100 | "17 ", |
86 | "17 ", |
| 101 | "18 ", |
87 | "18 ", |
| 102 | "19 ", |
88 | "19 ", |
| 103 | "Servo ", //20 |
89 | "Servo ", //20 |
| 104 | "Hovergas ", |
90 | "Hovergas ", |
| 105 | "Current [0.1A] ", |
91 | "Current [0.1A] ", |
| 106 | "Capacity [mAh] ", |
92 | "Capacity [mAh] ", |
| 107 | "Height Setpoint ", |
93 | "Height Setpoint ", |
| 108 | "25 ", //25 |
94 | "25 ", //25 |
| 109 | "26 ", //"26 CPU OverLoad ", |
95 | "26 ", //"26 CPU OverLoad ", |
| 110 | "Compass Setpoint", |
96 | "Compass Setpoint", |
| 111 | "I2C-Error ", |
97 | "I2C-Error ", |
| 112 | "BL Limit ", |
98 | "BL Limit ", |
| 113 | "GPS_Nick ", //30 |
99 | "GPS_Nick ", //30 |
| 114 | "GPS_Roll " |
100 | "GPS_Roll " |
| 115 | }; |
101 | }; |
| 116 | 102 | ||
| 117 | 103 | ||
| 118 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
104 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 119 | //++ Sende-Part der Datenübertragung |
105 | //++ Sende-Part der Datenübertragung |
| 120 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
106 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 121 | ISR(USART0_TX_vect) |
107 | ISR(USART0_TX_vect) |
| 122 | { |
108 | { |
| 123 | static unsigned int ptr = 0; |
109 | static unsigned int ptr = 0; |
| 124 | unsigned char tmp_tx; |
110 | unsigned char tmp_tx; |
| 125 | 111 | ||
| 126 | if(!UebertragungAbgeschlossen) |
112 | if(!UebertragungAbgeschlossen) |
| 127 | { |
113 | { |
| 128 | ptr++; // die [0] wurde schon gesendet |
114 | ptr++; // die [0] wurde schon gesendet |
| 129 | tmp_tx = TxdBuffer[ptr]; |
115 | tmp_tx = TxdBuffer[ptr]; |
| 130 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
116 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| 131 | { |
117 | { |
| 132 | ptr = 0; |
118 | ptr = 0; |
| 133 | UebertragungAbgeschlossen = 1; |
119 | UebertragungAbgeschlossen = 1; |
| 134 | } |
120 | } |
| 135 | UDR0 = tmp_tx; |
121 | UDR0 = tmp_tx; |
| 136 | } |
122 | } |
| 137 | else ptr = 0; |
123 | else ptr = 0; |
| 138 | } |
124 | } |
| 139 | 125 | ||
| 140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
126 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 141 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
127 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| 142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
128 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 143 | ISR(USART0_RX_vect) |
129 | ISR(USART0_RX_vect) |
| 144 | { |
130 | { |
| 145 | static unsigned int crc; |
131 | static unsigned int crc; |
| 146 | static unsigned char crc1,crc2,buf_ptr; |
132 | static unsigned char crc1,crc2,buf_ptr; |
| 147 | static unsigned char UartState = 0; |
133 | static unsigned char UartState = 0; |
| 148 | unsigned char CrcOkay = 0; |
134 | unsigned char CrcOkay = 0; |
| 149 | 135 | ||
| 150 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
136 | if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
| 151 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
137 | if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
| 152 | 138 | ||
| 153 | SioTmp = UDR0; |
139 | SioTmp = UDR0; |
| 154 | 140 | ||
| 155 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
141 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| 156 | if(SioTmp == '\r' && UartState == 2) |
142 | if(SioTmp == '\r' && UartState == 2) |
| 157 | { |
143 | { |
| 158 | UartState = 0; |
144 | UartState = 0; |
| 159 | crc -= RxdBuffer[buf_ptr-2]; |
145 | crc -= RxdBuffer[buf_ptr-2]; |
| 160 | crc -= RxdBuffer[buf_ptr-1]; |
146 | crc -= RxdBuffer[buf_ptr-1]; |
| 161 | crc %= 4096; |
147 | crc %= 4096; |
| 162 | crc1 = '=' + crc / 64; |
148 | crc1 = '=' + crc / 64; |
| 163 | crc2 = '=' + crc % 64; |
149 | crc2 = '=' + crc % 64; |
| 164 | CrcOkay = 0; |
150 | CrcOkay = 0; |
| 165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
151 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| 166 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
152 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| 167 | { |
153 | { |
| 168 | NeuerDatensatzEmpfangen = 1; |
154 | NeuerDatensatzEmpfangen = 1; |
| 169 | AnzahlEmpfangsBytes = buf_ptr + 1; |
155 | AnzahlEmpfangsBytes = buf_ptr + 1; |
| 170 | RxdBuffer[buf_ptr] = '\r'; |
156 | RxdBuffer[buf_ptr] = '\r'; |
| 171 | if(RxdBuffer[2] == 'R') |
157 | if(RxdBuffer[2] == 'R') |
| 172 | { |
158 | { |
| 173 | LcdClear(); |
159 | LcdClear(); |
| 174 | wdt_enable(WDTO_250MS); // Reset-Commando |
160 | wdt_enable(WDTO_250MS); // Reset-Commando |
| 175 | ServoActive = 0; |
161 | ServoActive = 0; |
| 176 | } |
162 | } |
| 177 | 163 | ||
| 178 | } |
164 | } |
| 179 | } |
165 | } |
| 180 | else |
166 | else |
| 181 | switch(UartState) |
167 | switch(UartState) |
| 182 | { |
168 | { |
| 183 | case 0: |
169 | case 0: |
| 184 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
170 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| 185 | buf_ptr = 0; |
171 | buf_ptr = 0; |
| 186 | RxdBuffer[buf_ptr++] = SioTmp; |
172 | RxdBuffer[buf_ptr++] = SioTmp; |
| 187 | crc = SioTmp; |
173 | crc = SioTmp; |
| 188 | break; |
174 | break; |
| 189 | case 1: // Adresse auswerten |
175 | case 1: // Adresse auswerten |
| 190 | UartState++; |
176 | UartState++; |
| 191 | RxdBuffer[buf_ptr++] = SioTmp; |
177 | RxdBuffer[buf_ptr++] = SioTmp; |
| 192 | crc += SioTmp; |
178 | crc += SioTmp; |
| 193 | break; |
179 | break; |
| 194 | case 2: // Eingangsdaten sammeln |
180 | case 2: // Eingangsdaten sammeln |
| 195 | RxdBuffer[buf_ptr] = SioTmp; |
181 | RxdBuffer[buf_ptr] = SioTmp; |
| 196 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
182 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| 197 | else UartState = 0; |
183 | else UartState = 0; |
| 198 | crc += SioTmp; |
184 | crc += SioTmp; |
| 199 | break; |
185 | break; |
| 200 | default: |
186 | default: |
| 201 | UartState = 0; |
187 | UartState = 0; |
| 202 | break; |
188 | break; |
| 203 | } |
189 | } |
| 204 | } |
190 | } |
| 205 | 191 | ||
| 206 | 192 | ||
| 207 | // -------------------------------------------------------------------------- |
193 | // -------------------------------------------------------------------------- |
| 208 | void AddCRC(unsigned int wieviele) |
194 | void AddCRC(unsigned int wieviele) |
| 209 | { |
195 | { |
| 210 | unsigned int tmpCRC = 0,i; |
196 | unsigned int tmpCRC = 0,i; |
| 211 | for(i = 0; i < wieviele;i++) |
197 | for(i = 0; i < wieviele;i++) |
| 212 | { |
198 | { |
| 213 | tmpCRC += TxdBuffer[i]; |
199 | tmpCRC += TxdBuffer[i]; |
| 214 | } |
200 | } |
| 215 | tmpCRC %= 4096; |
201 | tmpCRC %= 4096; |
| 216 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
202 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
| 217 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
203 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
| 218 | TxdBuffer[i++] = '\r'; |
204 | TxdBuffer[i++] = '\r'; |
| 219 | UebertragungAbgeschlossen = 0; |
205 | UebertragungAbgeschlossen = 0; |
| 220 | UDR0 = TxdBuffer[0]; |
206 | UDR0 = TxdBuffer[0]; |
| 221 | } |
207 | } |
| 222 | 208 | ||
| 223 | 209 | ||
| 224 | 210 | ||
| 225 | // -------------------------------------------------------------------------- |
211 | // -------------------------------------------------------------------------- |
| 226 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
212 | void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| 227 | { |
213 | { |
| 228 | va_list ap; |
214 | va_list ap; |
| 229 | unsigned int pt = 0; |
215 | unsigned int pt = 0; |
| 230 | unsigned char a,b,c; |
216 | unsigned char a,b,c; |
| 231 | unsigned char ptr = 0; |
217 | unsigned char ptr = 0; |
| 232 | 218 | ||
| 233 | unsigned char *snd = 0; |
219 | unsigned char *snd = 0; |
| 234 | int len = 0; |
220 | int len = 0; |
| 235 | 221 | ||
| 236 | TxdBuffer[pt++] = '#'; // Startzeichen |
222 | TxdBuffer[pt++] = '#'; // Startzeichen |
| 237 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
223 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| 238 | TxdBuffer[pt++] = cmd; // Commando |
224 | TxdBuffer[pt++] = cmd; // Commando |
| 239 | 225 | ||
| 240 | va_start(ap, BufferAnzahl); |
226 | va_start(ap, BufferAnzahl); |
| 241 | if(BufferAnzahl) |
227 | if(BufferAnzahl) |
| 242 | { |
228 | { |
| 243 | snd = va_arg(ap, unsigned char*); |
229 | snd = va_arg(ap, unsigned char*); |
| 244 | len = va_arg(ap, int); |
230 | len = va_arg(ap, int); |
| 245 | ptr = 0; |
231 | ptr = 0; |
| 246 | BufferAnzahl--; |
232 | BufferAnzahl--; |
| 247 | } |
233 | } |
| 248 | while(len) |
234 | while(len) |
| 249 | { |
235 | { |
| 250 | if(len) |
236 | if(len) |
| 251 | { |
237 | { |
| 252 | a = snd[ptr++]; |
238 | a = snd[ptr++]; |
| 253 | len--; |
239 | len--; |
| 254 | if((!len) && BufferAnzahl) |
240 | if((!len) && BufferAnzahl) |
| 255 | { |
241 | { |
| 256 | snd = va_arg(ap, unsigned char*); |
242 | snd = va_arg(ap, unsigned char*); |
| 257 | len = va_arg(ap, int); |
243 | len = va_arg(ap, int); |
| 258 | ptr = 0; |
244 | ptr = 0; |
| 259 | BufferAnzahl--; |
245 | BufferAnzahl--; |
| 260 | } |
246 | } |
| 261 | } |
247 | } |
| 262 | else a = 0; |
248 | else a = 0; |
| 263 | if(len) |
249 | if(len) |
| 264 | { |
250 | { |
| 265 | b = snd[ptr++]; |
251 | b = snd[ptr++]; |
| 266 | len--; |
252 | len--; |
| 267 | if((!len) && BufferAnzahl) |
253 | if((!len) && BufferAnzahl) |
| 268 | { |
254 | { |
| 269 | snd = va_arg(ap, unsigned char*); |
255 | snd = va_arg(ap, unsigned char*); |
| 270 | len = va_arg(ap, int); |
256 | len = va_arg(ap, int); |
| 271 | ptr = 0; |
257 | ptr = 0; |
| 272 | BufferAnzahl--; |
258 | BufferAnzahl--; |
| 273 | } |
259 | } |
| 274 | } |
260 | } |
| 275 | else b = 0; |
261 | else b = 0; |
| 276 | if(len) |
262 | if(len) |
| 277 | { |
263 | { |
| 278 | c = snd[ptr++]; |
264 | c = snd[ptr++]; |
| 279 | len--; |
265 | len--; |
| 280 | if((!len) && BufferAnzahl) |
266 | if((!len) && BufferAnzahl) |
| 281 | { |
267 | { |
| 282 | snd = va_arg(ap, unsigned char*); |
268 | snd = va_arg(ap, unsigned char*); |
| 283 | len = va_arg(ap, int); |
269 | len = va_arg(ap, int); |
| 284 | ptr = 0; |
270 | ptr = 0; |
| 285 | BufferAnzahl--; |
271 | BufferAnzahl--; |
| 286 | } |
272 | } |
| 287 | } |
273 | } |
| 288 | else c = 0; |
274 | else c = 0; |
| 289 | TxdBuffer[pt++] = '=' + (a >> 2); |
275 | TxdBuffer[pt++] = '=' + (a >> 2); |
| 290 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
276 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 291 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
277 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 292 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
278 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 293 | } |
279 | } |
| 294 | va_end(ap); |
280 | va_end(ap); |
| 295 | AddCRC(pt); |
281 | AddCRC(pt); |
| 296 | } |
282 | } |
| 297 | 283 | ||
| 298 | // -------------------------------------------------------------------------- |
284 | // -------------------------------------------------------------------------- |
| 299 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
285 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 300 | { |
286 | { |
| 301 | unsigned char a,b,c,d; |
287 | unsigned char a,b,c,d; |
| 302 | unsigned char x,y,z; |
288 | unsigned char x,y,z; |
| 303 | unsigned char ptrIn = 3; // start at begin of data block |
289 | unsigned char ptrIn = 3; // start at begin of data block |
| 304 | unsigned char ptrOut = 3; |
290 | unsigned char ptrOut = 3; |
| 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. |
291 | 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. |
| 306 | 292 | ||
| 307 | while(len) |
293 | while(len) |
| 308 | { |
294 | { |
| 309 | a = RxdBuffer[ptrIn++] - '='; |
295 | a = RxdBuffer[ptrIn++] - '='; |
| 310 | b = RxdBuffer[ptrIn++] - '='; |
296 | b = RxdBuffer[ptrIn++] - '='; |
| 311 | c = RxdBuffer[ptrIn++] - '='; |
297 | c = RxdBuffer[ptrIn++] - '='; |
| 312 | d = RxdBuffer[ptrIn++] - '='; |
298 | d = RxdBuffer[ptrIn++] - '='; |
| 313 | 299 | ||
| 314 | x = (a << 2) | (b >> 4); |
300 | x = (a << 2) | (b >> 4); |
| 315 | y = ((b & 0x0f) << 4) | (c >> 2); |
301 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 316 | z = ((c & 0x03) << 6) | d; |
302 | z = ((c & 0x03) << 6) | d; |
| 317 | 303 | ||
| 318 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
304 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
| 319 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
305 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
| 320 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
306 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
| 321 | } |
307 | } |
| 322 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
308 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| 323 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
309 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| 324 | 310 | ||
| 325 | } |
311 | } |
| 326 | 312 | ||
| 327 | // -------------------------------------------------------------------------- |
313 | // -------------------------------------------------------------------------- |
| 328 | void BearbeiteRxDaten(void) |
314 | void BearbeiteRxDaten(void) |
| 329 | { |
315 | { |
| 330 | if(!NeuerDatensatzEmpfangen) return; |
316 | if(!NeuerDatensatzEmpfangen) return; |
| 331 | 317 | ||
| 332 | unsigned char tempchar1, tempchar2; |
318 | unsigned char tempchar1, tempchar2; |
| 333 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
319 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
| 334 | switch(RxdBuffer[1]-'a') // check for Slave Address |
320 | switch(RxdBuffer[1]-'a') // check for Slave Address |
| 335 | { |
321 | { |
| 336 | case FC_ADDRESS: // FC special commands |
322 | case FC_ADDRESS: // FC special commands |
| 337 | switch(RxdBuffer[2]) |
323 | switch(RxdBuffer[2]) |
| 338 | { |
324 | { |
| 339 | case 'K':// Kompasswert |
325 | case 'K':// Kompasswert |
| 340 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
326 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 341 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
327 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 342 | break; |
328 | break; |
| 343 | case 't':// Motortest |
329 | case 't':// Motortest |
| 344 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
330 | if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 345 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
331 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 346 | PC_MotortestActive = 240; |
332 | PC_MotortestActive = 240; |
| 347 | //while(!UebertragungAbgeschlossen); |
333 | //while(!UebertragungAbgeschlossen); |
| 348 | //SendOutData('T', MeineSlaveAdresse, 0); |
334 | //SendOutData('T', MeineSlaveAdresse, 0); |
| 349 | PcZugriff = 255; |
335 | PcZugriff = 255; |
| 350 | break; |
336 | break; |
| 351 | 337 | ||
| 352 | case 'n':// "Get Mixer |
338 | case 'n':// "Get Mixer |
| 353 | while(!UebertragungAbgeschlossen); |
339 | while(!UebertragungAbgeschlossen); |
| 354 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
340 | SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| 355 | Debug("Mixer lesen"); |
341 | Debug("Mixer lesen"); |
| 356 | break; |
342 | break; |
| 357 | 343 | ||
| 358 | case 'm':// "Write Mixer |
344 | case 'm':// "Write Mixer |
| 359 | if(pRxData[0] == EEMIXER_REVISION) |
345 | if(pRxData[0] == EEMIXER_REVISION) |
| 360 | { |
346 | { |
| 361 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
347 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| 362 | MixerTable_WriteToEEProm(); |
348 | MixerTable_WriteToEEProm(); |
| 363 | tempchar1 = 1; |
349 | tempchar1 = 1; |
| 364 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
350 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| 365 | } |
351 | } |
| 366 | else |
352 | else |
| 367 | { |
353 | { |
| 368 | tempchar1 = 0; |
354 | tempchar1 = 0; |
| 369 | } |
355 | } |
| 370 | while(!UebertragungAbgeschlossen); |
356 | while(!UebertragungAbgeschlossen); |
| 371 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
357 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 372 | break; |
358 | break; |
| 373 | 359 | ||
| 374 | case 'p': // get PPM Channels |
360 | case 'p': // get PPM Channels |
| 375 | GetPPMChannelAnforderung = 1; |
361 | GetPPMChannelAnforderung = 1; |
| 376 | PcZugriff = 255; |
362 | PcZugriff = 255; |
| 377 | break; |
363 | break; |
| 378 | 364 | ||
| 379 | case 'q':// "Get"-Anforderung für Settings |
365 | case 'q':// "Get"-Anforderung für Settings |
| 380 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
366 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 381 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
367 | if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| 382 | { |
368 | { |
| 383 | tempchar1 = pRxData[0] - 10; |
369 | tempchar1 = pRxData[0] - 10; |
| 384 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
370 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 385 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
371 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 386 | SetDefaultParameter(tempchar1, 1); |
372 | SetDefaultParameter(tempchar1, 1); |
| 387 | } |
373 | } |
| 388 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
374 | else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| 389 | { |
375 | { |
| 390 | tempchar1 = pRxData[0] - 20; |
376 | tempchar1 = pRxData[0] - 20; |
| 391 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
377 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 392 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
378 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 393 | SetDefaultParameter(tempchar1, 0); |
379 | SetDefaultParameter(tempchar1, 0); |
| 394 | } |
380 | } |
| 395 | else |
381 | else |
| 396 | { |
382 | { |
| 397 | tempchar1 = pRxData[0]; |
383 | tempchar1 = pRxData[0]; |
| 398 | if(tempchar1 == 0xFF) |
384 | if(tempchar1 == 0xFF) |
| 399 | { |
385 | { |
| 400 | tempchar1 = GetActiveParamSet(); |
386 | tempchar1 = GetActiveParamSet(); |
| 401 | } |
387 | } |
| 402 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
388 | if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| 403 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
389 | else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| 404 | // load requested parameter set |
390 | // load requested parameter set |
| 405 | ParamSet_ReadFromEEProm(tempchar1); |
391 | ParamSet_ReadFromEEProm(tempchar1); |
| 406 | } |
392 | } |
| 407 | while(!UebertragungAbgeschlossen); |
393 | while(!UebertragungAbgeschlossen); |
| 408 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
394 | SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| 409 | Debug("Lese Setting %d", tempchar1); |
395 | Debug("Lese Setting %d", tempchar1); |
| 410 | 396 | ||
| 411 | break; |
397 | break; |
| 412 | 398 | ||
| 413 | case 's': // Parametersatz speichern |
399 | case 's': // Parametersatz speichern |
| 414 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
400 | if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| 415 | { |
401 | { |
| 416 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
402 | memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| 417 | ParamSet_WriteToEEProm(pRxData[0]); |
403 | ParamSet_WriteToEEProm(pRxData[0]); |
| 418 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
404 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 419 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
405 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 420 | tempchar1 = GetActiveParamSet(); |
406 | tempchar1 = GetActiveParamSet(); |
| 421 | } |
407 | } |
| 422 | else |
408 | else |
| 423 | { |
409 | { |
| 424 | tempchar1 = 0; // mark in response an invlid setting |
410 | tempchar1 = 0; // mark in response an invlid setting |
| 425 | } |
411 | } |
| 426 | while(!UebertragungAbgeschlossen); |
412 | while(!UebertragungAbgeschlossen); |
| 427 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
413 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 428 | if(!MotorenEin) Piep(tempchar1,110); |
414 | if(!MotorenEin) Piep(tempchar1,110); |
| 429 | LipoDetection(0); |
415 | LipoDetection(0); |
| 430 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
416 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 431 | break; |
417 | break; |
| 432 | case 'f': // auf anderen Parametersatz umschalten |
418 | case 'f': // auf anderen Parametersatz umschalten |
| 433 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
419 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| 434 | tempchar1 = GetActiveParamSet(); |
420 | tempchar1 = GetActiveParamSet(); |
| 435 | while(!UebertragungAbgeschlossen); |
421 | while(!UebertragungAbgeschlossen); |
| 436 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
422 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 437 | if(!MotorenEin) Piep(tempchar1,110); |
423 | if(!MotorenEin) Piep(tempchar1,110); |
| 438 | LipoDetection(0); |
424 | LipoDetection(0); |
| 439 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
425 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 440 | break; |
426 | break; |
| 441 | case 'y':// serial Potis |
427 | case 'y':// serial Potis |
| 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]; |
428 | 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]; |
| 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]; |
429 | 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]; |
| 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]; |
430 | 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]; |
| 445 | break; |
431 | break; |
| 446 | 432 | ||
| 447 | case 'u': // request BL parameter |
433 | case 'u': // request BL parameter |
| 448 | Debug("Reading BL %d", pRxData[0]); |
434 | Debug("Reading BL %d", pRxData[0]); |
| 449 | // try to read BL configuration |
435 | // try to read BL configuration |
| 450 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
436 | tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| 451 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
437 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 452 | else tempchar1 = 0; |
438 | else tempchar1 = 0; |
| 453 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
439 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 454 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
440 | SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| 455 | break; |
441 | break; |
| 456 | 442 | ||
| 457 | case 'w': // write BL parameter |
443 | case 'w': // write BL parameter |
| 458 | Debug("Writing BL %d", pRxData[0]); |
444 | Debug("Writing BL %d", pRxData[0]); |
| 459 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
445 | if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| 460 | { |
446 | { |
| 461 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
447 | memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| 462 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
448 | tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| 463 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
449 | if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| 464 | else tempchar1 = 0; // indicate error |
450 | else tempchar1 = 0; // indicate error |
| 465 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
451 | while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| 466 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
452 | SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| 467 | } |
453 | } |
| 468 | break; |
454 | break; |
| 469 | case 'j': |
455 | case 'j': |
| 470 | if(MotorenEin) break; |
456 | if(MotorenEin) break; |
| 471 | tempchar1 = LIBFC_GetCPUType(); |
457 | tempchar1 = LIBFC_GetCPUType(); |
| 472 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
458 | if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| 473 | { |
459 | { |
| 474 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
460 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| 475 | 461 | ||
| 476 | cli(); |
462 | cli(); |
| 477 | 463 | ||
| 478 | // UART0 & UART1 disable RX and TX-Interrupt |
464 | // UART0 & UART1 disable RX and TX-Interrupt |
| 479 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
465 | UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| 480 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
466 | UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| 481 | 467 | ||
| 482 | // UART0 & UART1 disable receiver and transmitter |
468 | // UART0 & UART1 disable receiver and transmitter |
| 483 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
469 | UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| 484 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
470 | UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| 485 | 471 | ||
| 486 | // UART0 & UART1 flush receive buffer explicit |
472 | // UART0 & UART1 flush receive buffer explicit |
| 487 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
473 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
| 488 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
474 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
| 489 | 475 | ||
| 490 | 476 | ||
| 491 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
477 | if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
| 492 | else |
478 | else |
| 493 | { // Jeti or HoTT update |
479 | { // Jeti or HoTT update |
| 494 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
480 | //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 495 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
481 | if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
| 496 | //#endif |
482 | //#endif |
| 497 | ReceiverUpdateModeActive = 1; |
483 | ReceiverUpdateModeActive = 1; |
| 498 | // UART0 & UART1 set baudrate |
484 | // UART0 & UART1 set baudrate |
| 499 | UBRR1H = (uint8_t)(ubrr>>8); |
485 | UBRR1H = (uint8_t)(ubrr>>8); |
| 500 | UBRR1L = (uint8_t)ubrr; |
486 | UBRR1L = (uint8_t)ubrr; |
| 501 | UBRR0H = UBRR1H; |
487 | UBRR0H = UBRR1H; |
| 502 | UBRR0L = UBRR1L; |
488 | UBRR0L = UBRR1L; |
| 503 | // UART1 no parity |
489 | // UART1 no parity |
| 504 | UCSR1C &= ~(1 << UPM11); |
490 | UCSR1C &= ~(1 << UPM11); |
| 505 | UCSR1C &= ~(1 << UPM10); |
491 | UCSR1C &= ~(1 << UPM10); |
| 506 | // UART1 8-bit |
492 | // UART1 8-bit |
| 507 | UCSR1B &= ~(1 << UCSZ12); |
493 | UCSR1B &= ~(1 << UCSZ12); |
| 508 | UCSR1C |= (1 << UCSZ11); |
494 | UCSR1C |= (1 << UCSZ11); |
| 509 | UCSR1C |= (1 << UCSZ10); |
495 | UCSR1C |= (1 << UCSZ10); |
| 510 | } |
496 | } |
| 511 | // UART0 & UART1 1 stop bit |
497 | // UART0 & UART1 1 stop bit |
| 512 | UCSR1C &= ~(1 << USBS1); |
498 | UCSR1C &= ~(1 << USBS1); |
| 513 | UCSR0C &= ~(1 << USBS0); |
499 | UCSR0C &= ~(1 << USBS0); |
| 514 | // UART1 clear 9th bit |
500 | // UART1 clear 9th bit |
| 515 | UCSR1B &= ~(1<<TXB81); |
501 | UCSR1B &= ~(1<<TXB81); |
| 516 | // enable receiver and transmitter for UART0 and UART1 |
502 | // enable receiver and transmitter for UART0 and UART1 |
| 517 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
503 | UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| 518 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
504 | UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| 519 | // enable RX-Interrupt for UART0 and UART1 |
505 | // enable RX-Interrupt for UART0 and UART1 |
| 520 | UCSR0B |= (1 << RXCIE0); |
506 | UCSR0B |= (1 << RXCIE0); |
| 521 | UCSR1B |= (1 << RXCIE1); |
507 | UCSR1B |= (1 << RXCIE1); |
| 522 | // disable other Interrupts |
508 | // disable other Interrupts |
| 523 | TIMSK0 = 0; |
509 | TIMSK0 = 0; |
| 524 | TIMSK1 = 0; |
510 | TIMSK1 = 0; |
| 525 | TIMSK2 = 0; |
511 | TIMSK2 = 0; |
| 526 | 512 | ||
| 527 | sei(); |
513 | sei(); |
| 528 | } |
514 | } |
| 529 | break; |
515 | break; |
| 530 | 516 | ||
| 531 | } // case FC_ADDRESS: |
517 | } // case FC_ADDRESS: |
| 532 | 518 | ||
| 533 | default: // any Slave Address |
519 | default: // any Slave Address |
| 534 | 520 | ||
| 535 | switch(RxdBuffer[2]) |
521 | switch(RxdBuffer[2]) |
| 536 | { |
522 | { |
| 537 | // 't' comand placed here only for compatibility to BL |
523 | // 't' comand placed here only for compatibility to BL |
| 538 | case 't':// Motortest |
524 | case 't':// Motortest |
| 539 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
525 | if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| 540 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
526 | else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| 541 | while(!UebertragungAbgeschlossen); |
527 | while(!UebertragungAbgeschlossen); |
| 542 | SendOutData('T', MeineSlaveAdresse, 0); |
528 | SendOutData('T', MeineSlaveAdresse, 0); |
| 543 | PC_MotortestActive = 250; |
529 | PC_MotortestActive = 250; |
| 544 | PcZugriff = 255; |
530 | PcZugriff = 255; |
| 545 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
531 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 546 | break; |
532 | break; |
| 547 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
533 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| 548 | case 'K':// Kompasswert |
534 | case 'K':// Kompasswert |
| 549 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
535 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| 550 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
536 | // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| 551 | break; |
537 | break; |
| 552 | case 'a':// Texte der Analogwerte |
538 | case 'a':// Texte der Analogwerte |
| 553 | DebugTextAnforderung = pRxData[0]; |
539 | DebugTextAnforderung = pRxData[0]; |
| 554 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
540 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| 555 | PcZugriff = 255; |
541 | PcZugriff = 255; |
| 556 | break; |
542 | break; |
| 557 | case 'b': |
543 | case 'b': |
| 558 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
544 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| 559 | ConfirmFrame = ExternControl.Frame; |
545 | ConfirmFrame = ExternControl.Frame; |
| 560 | PcZugriff = 255; |
546 | PcZugriff = 255; |
| 561 | break; |
547 | break; |
| 562 | case 'c': // Poll the 3D-Data |
548 | case 'c': // Poll the 3D-Data |
| 563 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
549 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| 564 | Intervall3D = pRxData[0] * 10; |
550 | Intervall3D = pRxData[0] * 10; |
| 565 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
551 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 566 | break; |
552 | break; |
| 567 | case 'd': // Poll the debug data |
553 | case 'd': // Poll the debug data |
| 568 | PcZugriff = 255; |
554 | PcZugriff = 255; |
| 569 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
555 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| 570 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
556 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| 571 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
557 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 572 | break; |
558 | break; |
| 573 | 559 | ||
| 574 | case 'h':// x-1 Displayzeilen |
560 | case 'h':// x-1 Displayzeilen |
| 575 | PcZugriff = 255; |
561 | PcZugriff = 255; |
| 576 | if((pRxData[0] & 0x80) == 0x00) // old format |
562 | if((pRxData[0] & 0x80) == 0x00) // old format |
| 577 | { |
563 | { |
| 578 | DisplayLine = 2; |
564 | DisplayLine = 2; |
| 579 | Display_Interval = 0; |
565 | Display_Interval = 0; |
| 580 | } |
566 | } |
| 581 | else // new format |
567 | else // new format |
| 582 | { |
568 | { |
| 583 | RemoteKeys |= ~pRxData[0]; |
569 | RemoteKeys |= ~pRxData[0]; |
| 584 | Display_Interval = (unsigned int)pRxData[1] * 10; |
570 | Display_Interval = (unsigned int)pRxData[1] * 10; |
| 585 | DisplayLine = 4; |
571 | DisplayLine = 4; |
| 586 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
572 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 587 | } |
573 | } |
| 588 | DebugDisplayAnforderung = 1; |
574 | DebugDisplayAnforderung = 1; |
| 589 | break; |
575 | break; |
| 590 | 576 | ||
| 591 | case 'l':// x-1 Displayzeilen |
577 | case 'l':// x-1 Displayzeilen |
| 592 | PcZugriff = 255; |
578 | PcZugriff = 255; |
| 593 | MenuePunkt = pRxData[0]; |
579 | MenuePunkt = pRxData[0]; |
| 594 | DebugDisplayAnforderung1 = 1; |
580 | DebugDisplayAnforderung1 = 1; |
| 595 | break; |
581 | break; |
| 596 | case 'v': // Version-Anforderung und Ausbaustufe |
582 | case 'v': // Version-Anforderung und Ausbaustufe |
| 597 | GetVersionAnforderung = 1; |
583 | GetVersionAnforderung = 1; |
| 598 | break; |
584 | break; |
| 599 | 585 | ||
| 600 | case 'g':// |
586 | case 'g':// |
| 601 | GetExternalControl = 1; |
587 | GetExternalControl = 1; |
| 602 | break; |
588 | break; |
| 603 | 589 | ||
| 604 | default: |
590 | default: |
| 605 | //unsupported command received |
591 | //unsupported command received |
| 606 | break; |
592 | break; |
| 607 | } |
593 | } |
| 608 | break; // default: |
594 | break; // default: |
| 609 | } |
595 | } |
| 610 | NeuerDatensatzEmpfangen = 0; |
596 | NeuerDatensatzEmpfangen = 0; |
| 611 | pRxData = 0; |
597 | pRxData = 0; |
| 612 | RxDataLen = 0; |
598 | RxDataLen = 0; |
| 613 | } |
599 | } |
| 614 | 600 | ||
| 615 | //############################################################################ |
601 | //############################################################################ |
| 616 | //Routine für die Serielle Ausgabe |
602 | //Routine für die Serielle Ausgabe |
| 617 | void uart_putchar (char c) |
603 | void uart_putchar (char c) |
| 618 | //############################################################################ |
604 | //############################################################################ |
| 619 | { |
605 | { |
| 620 | //Warten solange bis Zeichen gesendet wurde |
606 | //Warten solange bis Zeichen gesendet wurde |
| 621 | loop_until_bit_is_set(UCSR0A, UDRE0); |
607 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 622 | //Ausgabe des Zeichens |
608 | //Ausgabe des Zeichens |
| 623 | UDR0 = c; |
609 | UDR0 = c; |
| 624 | } |
610 | } |
| 625 | 611 | ||
| 626 | 612 | ||
| 627 | //############################################################################ |
613 | //############################################################################ |
| 628 | //INstallation der Seriellen Schnittstelle |
614 | //INstallation der Seriellen Schnittstelle |
| 629 | void UART_Init (void) |
615 | void UART_Init (void) |
| 630 | //############################################################################ |
616 | //############################################################################ |
| 631 | { |
617 | { |
| 632 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
618 | unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| 633 | 619 | ||
| 634 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
620 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| 635 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
621 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 636 | // UART Double Speed (U2X) |
622 | // UART Double Speed (U2X) |
| 637 | UCSR0A |= (1 << U2X0); |
623 | UCSR0A |= (1 << U2X0); |
| 638 | // RX-Interrupt Freigabe |
624 | // RX-Interrupt Freigabe |
| 639 | UCSR0B |= (1 << RXCIE0); |
625 | UCSR0B |= (1 << RXCIE0); |
| 640 | // TX-Interrupt Freigabe |
626 | // TX-Interrupt Freigabe |
| 641 | UCSR0B |= (1 << TXCIE0); |
627 | UCSR0B |= (1 << TXCIE0); |
| 642 | // USART0 Baud Rate Register |
628 | // USART0 Baud Rate Register |
| 643 | // set clock divider |
629 | // set clock divider |
| 644 | UBRR0H = (uint8_t)(ubrr >> 8); |
630 | UBRR0H = (uint8_t)(ubrr >> 8); |
| 645 | UBRR0L = (uint8_t)ubrr; |
631 | UBRR0L = (uint8_t)ubrr; |
| 646 | 632 | ||
| 647 | Debug_Timer = SetDelay(DebugDataIntervall); |
633 | Debug_Timer = SetDelay(DebugDataIntervall); |
| 648 | Kompass_Timer = SetDelay(220); |
634 | Kompass_Timer = SetDelay(220); |
| 649 | 635 | ||
| 650 | VersionInfo.SWMajor = VERSION_MAJOR; |
636 | VersionInfo.SWMajor = VERSION_MAJOR; |
| 651 | VersionInfo.SWMinor = VERSION_MINOR; |
637 | VersionInfo.SWMinor = VERSION_MINOR; |
| 652 | VersionInfo.SWPatch = VERSION_PATCH; |
638 | VersionInfo.SWPatch = VERSION_PATCH; |
| 653 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
639 | VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 654 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
640 | VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 655 | 641 | ||
| 656 | pRxData = 0; |
642 | pRxData = 0; |
| 657 | RxDataLen = 0; |
643 | RxDataLen = 0; |
| 658 | } |
644 | } |
| 659 | 645 | ||
| 660 | //--------------------------------------------------------------------------------------------- |
646 | //--------------------------------------------------------------------------------------------- |
| 661 | void DatenUebertragung(void) |
647 | void DatenUebertragung(void) |
| 662 | { |
648 | { |
| 663 | if(!UebertragungAbgeschlossen) return; |
649 | if(!UebertragungAbgeschlossen) return; |
| 664 | 650 | ||
| 665 | if(CheckDelay(AboTimeOut)) |
651 | if(CheckDelay(AboTimeOut)) |
| 666 | { |
652 | { |
| 667 | Display_Interval = 0; |
653 | Display_Interval = 0; |
| 668 | DebugDataIntervall = 0; |
654 | DebugDataIntervall = 0; |
| 669 | Intervall3D = 0; |
655 | Intervall3D = 0; |
| 670 | } |
656 | } |
| 671 | 657 | ||
| 672 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
658 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| 673 | { |
659 | { |
| 674 | if(DisplayLine > 3)// new format |
660 | if(DisplayLine > 3)// new format |
| 675 | { |
661 | { |
| 676 | Menu(); |
662 | Menu(); |
| 677 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
663 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| 678 | } |
664 | } |
| 679 | else // old format |
665 | else // old format |
| 680 | { |
666 | { |
| 681 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
667 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| 682 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
668 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| 683 | if(DisplayLine++ > 3) DisplayLine = 0; |
669 | if(DisplayLine++ > 3) DisplayLine = 0; |
| 684 | } |
670 | } |
| 685 | Display_Timer = SetDelay(Display_Interval); |
671 | Display_Timer = SetDelay(Display_Interval); |
| 686 | DebugDisplayAnforderung = 0; |
672 | DebugDisplayAnforderung = 0; |
| 687 | } |
673 | } |
| 688 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
674 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| 689 | { |
675 | { |
| 690 | Menu(); |
676 | Menu(); |
| 691 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
677 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| 692 | DebugDisplayAnforderung1 = 0; |
678 | DebugDisplayAnforderung1 = 0; |
| 693 | } |
679 | } |
| 694 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
680 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| 695 | { |
681 | { |
| 696 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
682 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| 697 | GetVersionAnforderung = 0; |
683 | GetVersionAnforderung = 0; |
| 698 | Debug_OK("Version gesendet"); |
684 | Debug_OK("Version gesendet"); |
| 699 | } |
685 | } |
| 700 | 686 | ||
| 701 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
687 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| 702 | { |
688 | { |
| 703 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
689 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| 704 | GetExternalControl = 0; |
690 | GetExternalControl = 0; |
| 705 | } |
691 | } |
| 706 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
692 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| 707 | { |
693 | { |
| 708 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
694 | WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 709 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
695 | WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 710 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
696 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| 711 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
697 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| 712 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
698 | SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| 713 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
699 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| 714 | Kompass_Timer = SetDelay(99); |
700 | Kompass_Timer = SetDelay(99); |
| 715 | } |
701 | } |
| 716 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
702 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| 717 | { |
703 | { |
| 718 | CopyDebugValues(); |
704 | CopyDebugValues(); |
| 719 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
705 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| 720 | DebugDataAnforderung = 0; |
706 | DebugDataAnforderung = 0; |
| 721 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
707 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| 722 | } |
708 | } |
| 723 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
709 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| 724 | { |
710 | { |
| 725 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
711 | Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 726 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
712 | Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| 727 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
713 | Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| 728 | Data3D.Centroid[0] = SummeNick >> 9; |
714 | Data3D.Centroid[0] = SummeNick >> 9; |
| 729 | Data3D.Centroid[1] = SummeRoll >> 9; |
715 | Data3D.Centroid[1] = SummeRoll >> 9; |
| 730 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
716 | Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| 731 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
717 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| 732 | Timer3D = SetDelay(Intervall3D); |
718 | Timer3D = SetDelay(Intervall3D); |
| 733 | } |
719 | } |
| 734 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
720 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 735 | { |
721 | { |
| 736 | unsigned char label[16]; // local sram buffer |
722 | unsigned char label[16]; // local sram buffer |
| 737 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
723 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| 738 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
724 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| 739 | DebugTextAnforderung = 255; |
725 | DebugTextAnforderung = 255; |
| 740 | } |
726 | } |
| 741 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
727 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| 742 | { |
728 | { |
| 743 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
729 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| 744 | ConfirmFrame = 0; |
730 | ConfirmFrame = 0; |
| 745 | } |
731 | } |
| 746 | 732 | ||
| 747 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
733 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| 748 | { |
734 | { |
| 749 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
735 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| 750 | GetPPMChannelAnforderung = 0; |
736 | GetPPMChannelAnforderung = 0; |
| 751 | } |
737 | } |
| 752 | 738 | ||
| 753 | #ifdef DEBUG // only include functions if DEBUG is defined |
739 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 754 | if(SendDebugOutput && UebertragungAbgeschlossen) |
740 | if(SendDebugOutput && UebertragungAbgeschlossen) |
| 755 | { |
741 | { |
| 756 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
742 | SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| 757 | SendDebugOutput = 0; |
743 | SendDebugOutput = 0; |
| 758 | } |
744 | } |
| 759 | #endif |
745 | #endif |
| 760 | 746 | ||
| 761 | } |
747 | } |
| 762 | 748 | ||
| 763 | 749 | ||
| 764 | 750 | ||