WebSVN - FlightCtrl - Diff - Rev 2427 and 2437


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdarg.h>
#include <string.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "uart.h"
#include "libfc.h"
#include "eeprom.h"
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
#define BL_CTRL_ADDRESS 5
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
#define MAX_SENDE_BUFF     220
#define MAX_EMPFANGS_BUFF  220
 
#define BLPARAM_REVISION 1
#define MASK_SET_PWM_SCALING            0x01
#define MASK_SET_CURRENT_LIMIT          0x02
#define MASK_SET_TEMP_LIMIT                     0x04
#define MASK_SET_CURRENT_SCALING        0x08
#define MASK_SET_BITCONFIG                      0x10
#define MASK_RESET_CAPCOUNTER           0x20
#define MASK_SET_DEFAULT_PARAMS         0x40
#define MASK_SET_SAVE_EEPROM            0x80
 
unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
unsigned char DisplayLine = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
 
unsigned char *pRxData = 0;
unsigned char RxDataLen = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned volatile char PC_MotortestActive = 0;
unsigned char DebugTextAnforderung = 255;
 
unsigned char PcZugriff = 100;
unsigned char MotorTest[16];
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
unsigned char ConfirmFrame;
struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternControl;
struct str_VersionInfo VersionInfo;
struct str_WinkelOut WinkelOut;
struct str_Data3D Data3D;
 
int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
unsigned int AboTimeOut = 0;
unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update      2 = JetiBox-Simulation
 
const unsigned char ANALOG_TEXT[32][16] PROGMEM =
{
   //1234567890123456
    "AngleNick       ", //0
    "AngleRoll       ",
    "AccNick         ",
    "AccRoll         ",
    "YawGyro         ",
    "Altitude [0.1m] ", //5
    "AccZ            ",
    "Gas             ",
    "Compass Value   ",
    "Voltage [0.1V]  ",
    "Receiver Level  ", //10
    "Gyro Compass    ",
    "Motor 1         ",
    "Motor 2         ",
    "Motor 3         ",
    "Motor 4         ", //15
    "16              ",
    "17              ",
    "18              ",
    "19              ",
    "Servo           ", //20
    "Hovergas        ",
    "Current [0.1A]  ",
    "Capacity [mAh]  ",
    "Height Setpoint ",
    "25              ", //25
        "26              ", //"26 CPU OverLoad ",
    "27              ",
    "I2C-Error       ",
    "BL Limit        ",
    "GPS_Nick        ", //30
    "GPS_Roll        "
};
   
       
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_TX_vect)
{
 static unsigned int ptr = 0;
 unsigned char tmp_tx;
 
 if(!UebertragungAbgeschlossen)
  {
   ptr++;                    // die [0] wurde schon gesendet
   tmp_tx = TxdBuffer[ptr];
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
    {
     ptr = 0;
     UebertragungAbgeschlossen = 1;
    }
   UDR0 = tmp_tx;
  }
  else ptr = 0;
}
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ISR(USART0_RX_vect)
{
 static unsigned int crc;
 static unsigned char crc1,crc2,buf_ptr;
 static unsigned char UartState = 0;
 unsigned char CrcOkay = 0;
 
 if (ReceiverUpdateModeActive == 1) {   UDR1 = UDR0; return; }          // 1 = Update      
 if (ReceiverUpdateModeActive == 2) {   RxdBuffer[0] = UDR0; return; }  // 2 = JetiBox-Simulation 
 
 SioTmp = UDR0;
 
 if(buf_ptr >= MAX_SENDE_BUFF)    UartState = 0;
 if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= RxdBuffer[buf_ptr-2];
   crc -= RxdBuffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
         AnzahlEmpfangsBytes = buf_ptr + 1;
     RxdBuffer[buf_ptr] = '\r';
         if(RxdBuffer[2] == 'R' && !MotorenEin)
          {
           LcdClear();
           wdt_enable(WDTO_250MS); // Reset-Commando
           ServoActive = 0;
          }
        }
  }
  else
  switch(UartState)
  {
   case 0:
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
                  buf_ptr = 0;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  RxdBuffer[buf_ptr] = SioTmp;
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
  }
}
 
 
// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
 unsigned int tmpCRC = 0,i;
 for(i = 0; i < wieviele;i++)
  {
   tmpCRC += TxdBuffer[i];
  }
//   if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; 
   tmpCRC %= 4096;
   TxdBuffer[i++] = '=' + tmpCRC / 64;
   TxdBuffer[i++] = '=' + tmpCRC % 64;
   TxdBuffer[i++] = '\r';
  UebertragungAbgeschlossen = 0;
  UDR0 = TxdBuffer[0];
//if(DebugOut.Analog[] < i) DebugOut.Analog[] = i;
}
 
 
// --------------------------------------------------------------------------
void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
{
 va_list ap;
 unsigned int pt = 0;
 unsigned char a,b,c;
 unsigned char ptr = 0;
 
 unsigned char *snd = 0;
 int len = 0;
 
 TxdBuffer[pt++] = '#';                         // Startzeichen
 TxdBuffer[pt++] = 'a' + address;               // Adresse (a=0; b=1,...)
 TxdBuffer[pt++] = cmd;                         // Commando
 
 va_start(ap, BufferAnzahl);
 if(BufferAnzahl)
 {
                snd = va_arg(ap, unsigned char*);
                len = va_arg(ap, int);
                ptr = 0;
                BufferAnzahl--;
 }
 while(len)
  {
        if(len)
        {
           a = snd[ptr++];
           len--;
           if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else a = 0;
        if(len)
        {
                b = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else b = 0;
        if(len)
        {
                c = snd[ptr++];
                len--;
                if((!len) && BufferAnzahl)
                {
                        snd = va_arg(ap, unsigned char*);
                        len = va_arg(ap, int);
                        ptr = 0;
                        BufferAnzahl--;
                }
        }
        else c = 0;
   TxdBuffer[pt++] = '=' + (a >> 2);
   TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   TxdBuffer[pt++] = '=' + ( c & 0x3f);
  }
 va_end(ap);
 AddCRC(pt);
}
 
// --------------------------------------------------------------------------
void Decode64(void)  // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
{
 unsigned char a,b,c,d;
 unsigned char x,y,z;
 unsigned char ptrIn = 3; // start at begin of data block
 unsigned char ptrOut = 3;
 unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers  ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab.
 
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[ptrIn++] - '=';
 
   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;
 
   if(len--) RxdBuffer[ptrOut++] = x; else break;
   if(len--) RxdBuffer[ptrOut++] = y; else break;
   if(len--) RxdBuffer[ptrOut++] = z;   else break;
  }
        pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
        RxDataLen = ptrOut - 3;  // wie viele Bytes wurden dekodiert?
 
}
 
// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
 if(!NeuerDatensatzEmpfangen) return;
 
        unsigned char tempchar1, tempchar2;
        Decode64(); // dekodiere datenblock im Empfangsbuffer
        switch(RxdBuffer[1]-'a') // check for Slave Address
        {
                case FC_ADDRESS: // FC special commands
                switch(RxdBuffer[2])
                {
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
//                                      KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
                                        break;
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        PC_MotortestActive = 240;
                                        //while(!UebertragungAbgeschlossen);
                                        //SendOutData('T', MeineSlaveAdresse, 0);
                                        PcZugriff = 255;
                                        break;
 
                        case 'n':// "Get Mixer
                                        while(!UebertragungAbgeschlossen);
                    SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
                                        Debug("Mixer lesen");
                                        break;
 
                        case 'm':// "Write Mixer
                    if(pRxData[0] == EEMIXER_REVISION)
                                        {
                       memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
                       MixerTable_WriteToEEProm();
                                           tempchar1 = 1;
                                           VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
                                        }
                    else
                    {
                                                tempchar1 = 0;
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        break;
 
                        case 'p': // get PPM Channels
                                        GetPPMChannelAnforderung = 1;
                                        PcZugriff = 255;
                                        break;
 
                        case 'q':// "Get"-Anforderung für Settings
                                        // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
                                   if(!MotorenEin)
                                   {
                                        if((10 <= pRxData[0]) && (pRxData[0] < 20))
                                        {
                                                tempchar1 = pRxData[0] - 10;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 1);
                                        }
                                        else if((20 <= pRxData[0]) && (pRxData[0] < 30))
                                        {
                                                tempchar1 = pRxData[0] - 20;
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                SetDefaultParameter(tempchar1, 0);
                                        }
                                        else
                                        {
                                                tempchar1 = pRxData[0];
                                                if(tempchar1 == 0xFF)
                                                {
                                                        tempchar1 = GetActiveParamSet();
                                                }
                                                if(tempchar1< 1) tempchar1 = 1; // limit to 1
                                                else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
                                                // load requested parameter set
                                                ParamSet_ReadFromEEProm(tempchar1);
                                        }
                                        LipoDetection(0);
                                   } else tempchar1 = GetActiveParamSet();     
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
                                        Debug("Lese Setting %d", tempchar1);
                                        break;
 
                        case 's': // Parametersatz speichern
                                        if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range
                                        {
                                                memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
                                                ParamSet_WriteToEEProm(pRxData[0]);
                                                Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
                                                Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
                                                tempchar1 = GetActiveParamSet();
                                        }
                                        else
                                        {
                                                tempchar1 = 0; // mark in response an invlid setting
                                        }
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin)
                                         {
                                          Piep(tempchar1,110);
                                          LipoDetection(0);
                                         }
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'f': // auf anderen Parametersatz umschalten
                                        if(MotorenEin) break;
                                if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
                                        tempchar1 = GetActiveParamSet();
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
                                        if(!MotorenEin)
                                         {
                                          Piep(tempchar1,110);
                                          LipoDetection(0);
                                         }
                                        LIBFC_ReceiverInit(EE_Parameter.Receiver);
                                        break;
                        case 'y':// serial Potis
                                        for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1];
                                        break;
                        case 'u': // request BL parameter
                                Debug("Reading BL %d", pRxData[0]);
                                // try to read BL configuration
                                tempchar2 = I2C_ReadBLConfig(pRxData[0]);
                                if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                else tempchar1 = 0;
                                while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
                                break;
                        case 'w': // write BL parameter
                                Debug("Writing BL %d", pRxData[0]);
                                if(RxDataLen >= 1+sizeof(BLConfig_t))
                                {
                                        memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
                                        tempchar2 = I2C_WriteBLConfig(pRxData[0]);
                                        if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
                                        else tempchar1 = 0; // indicate error
                                        while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
                                        SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2));
                                }
                                break;
                        case 'j':
                                if(MotorenEin) break;
                                tempchar1 = LIBFC_GetCPUType();
                                if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P))
                                {
                                        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1);
 
                                        cli();
 
                                        // UART0 & UART1 disable RX and TX-Interrupt
                                        UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0));
                                        UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1));
 
                                        // UART0 & UART1 disable receiver and transmitter
                                        UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0));
                                        UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1));
 
                                        // UART0 & UART1 flush receive buffer explicit
                                        while ( UCSR1A & (1<<RXC1) ) UDR1;
                                        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
 
                                        if(pRxData[0] == 1) ReceiverUpdateModeActive = 2;
                                        else
                                        {           // Jeti or HoTT update
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                                if(pRxData[0] == 100)   ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1);  // HoTT
//#endif
                                                ReceiverUpdateModeActive = 1;
                                                // UART0 & UART1 set baudrate
                                                UBRR1H = (uint8_t)(ubrr>>8);
                                                UBRR1L = (uint8_t)ubrr;
                                                UBRR0H = UBRR1H;
                                                UBRR0L = UBRR1L;
                                                // UART1 no parity
                                                UCSR1C &= ~(1 << UPM11);
                                                UCSR1C &= ~(1 << UPM10);
                                                // UART1 8-bit
                                                UCSR1B &= ~(1 << UCSZ12);
                                                UCSR1C |= (1 << UCSZ11);
                                                UCSR1C |= (1 << UCSZ10);
                                        }
                                        // UART0 & UART1 1 stop bit
                                        UCSR1C &= ~(1 << USBS1);
                                        UCSR0C &= ~(1 << USBS0);
                                        // UART1 clear 9th bit
                                        UCSR1B &= ~(1<<TXB81);
                                        // enable receiver and transmitter for UART0 and UART1
                                        UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
                                        UCSR1B |= (1 << TXEN1) | (1 << RXEN1);
                                        // enable RX-Interrupt for UART0 and UART1
                                        UCSR0B |= (1 << RXCIE0);
                                        UCSR1B |= (1 << RXCIE1);
                                        // disable other Interrupts
                                        TIMSK0 = 0;
                                        TIMSK1 = 0;
                                        TIMSK2 = 0;
 
                                        sei();
                                }
                                break;
 
                } // case FC_ADDRESS:
 
                default: // any Slave Address
 
                switch(RxdBuffer[2])
                {
#ifdef REDUNDANT_FC_SLAVE
                static unsigned int clear_I;
                        case '?':// Serielle Antwort eines BL-Reglers
                                        tempchar1 = RxdBuffer[1] - ('a'+11);
                                        if(tempchar1 >= MAX_MOTORS) break;
                                        memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t));
                                        if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--;
                                        if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH;
                                        GRN_FLASH;
                                        if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD)
                                        {
                                        ROT_ON;
                                         if(clear_I == 0)
                                          {
 
                                                SummeNick = 0;
                                                SummeRoll = 0;
                                                Mess_Integral_Gier = 0;
                                          }    
                                         clear_I = 500;
                                        }
 
//DebugOut.Analog[16] = RedundantMotor[tempchar1].BitSate;
//DebugOut.Analog[17]++;
//DebugOut.Analog[18] = tempchar1;
                                        break;
#endif
                        // 't' comand placed here only for compatibility to BL
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        while(!UebertragungAbgeschlossen);
                                        SendOutData('T', MeineSlaveAdresse, 0);
                                        PC_MotortestActive = 250;
                                        PcZugriff = 255;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
//                                      KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
                                        break;
                        case 'a':// Texte der Analogwerte
                                        DebugTextAnforderung = pRxData[0];
                                        if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
                                        PcZugriff = 255;
                                        break;
                        case 'b':
                                        memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl));
                                        ConfirmFrame = ExternControl.Frame;
                                        PcZugriff = 255;
                                        break;
                        case 'c': // Poll the 3D-Data
                    if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
                                        Intervall3D = pRxData[0] * 10;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        case 'd': // Poll the debug data
                                        PcZugriff = 255;
                                        DebugDataIntervall = (unsigned int)pRxData[0] * 10;
                                        if(DebugDataIntervall > 0) DebugDataAnforderung = 1;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
 
                        case 'h':// x-1 Displayzeilen
                                PcZugriff = 255;
                                if((pRxData[0] & 0x80) == 0x00) // old format
                                        {
                                                DisplayLine = 2;
                                                Display_Interval = 0;
                                        }
                                        else // new format
                                        {
                                                RemoteKeys |= ~pRxData[0];
                                                Display_Interval = (unsigned int)pRxData[1] * 10;
                                                DisplayLine = 4;
                                                AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        }
                                        DebugDisplayAnforderung = 1;
                                        break;
 
                        case 'l':// x-1 Displayzeilen
                                PcZugriff = 255;
                                        MenuePunkt = pRxData[0];
                                        DebugDisplayAnforderung1 = 1;
                                        break;
                        case 'v': // Version-Anforderung und Ausbaustufe
                                        GetVersionAnforderung = 1;
                                        break;
 
                        case 'g'://
                                        GetExternalControl = 1;
                                        break;
 
                        default:
                                //unsupported command received
                                break;
                }
                break; // default:
        }
        NeuerDatensatzEmpfangen = 0;
        pRxData = 0;
        RxDataLen = 0;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
void uart_putchar (char c)
//############################################################################
{
        //Warten solange bis Zeichen gesendet wurde
        loop_until_bit_is_set(UCSR0A, UDRE0);
        //Ausgabe des Zeichens
        UDR0 = c;
}
 
 
//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
        unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1);
 
        //Enable TXEN im Register UCR TX-Data Enable & RX Enable
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
    // UART Double Speed (U2X)
        UCSR0A |= (1 << U2X0);
        // RX-Interrupt Freigabe
        UCSR0B |= (1 << RXCIE0);
        // TX-Interrupt Freigabe
        UCSR0B |= (1 << TXCIE0);
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        Debug_Timer = SetDelay(DebugDataIntervall);
        Kompass_Timer = SetDelay(220);
 
        VersionInfo.SWMajor = VERSION_MAJOR;
        VersionInfo.SWMinor = VERSION_MINOR;
        VersionInfo.SWPatch = VERSION_PATCH;
        VersionInfo.ProtoMajor  = VERSION_SERIAL_MAJOR;
        VersionInfo.reserved1  = 0;
        VersionInfo.reserved2  = 0;
    VersionInfo.HWMajor = PlatinenVersion;
        pRxData = 0;
        RxDataLen = 0;
}
 
//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
       
        if(!UebertragungAbgeschlossen) return;
 
        if(CheckDelay(AboTimeOut))
        {
                Display_Interval = 0;
                DebugDataIntervall = 0;
                Intervall3D = 0;
        }
 
        if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen)
        {
                if(DisplayLine > 3)// new format
                {
                        Menu();
                        SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80);
                }
                else // old format
                {
                        LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
                        SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
                        if(DisplayLine++ > 3) DisplayLine = 0;
                }
                Display_Timer = SetDelay(Display_Interval);
                DebugDisplayAnforderung = 0;
        }
        if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen)
        {
                Menu();
                SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff));
                DebugDisplayAnforderung1 = 0;
        }
        if(GetVersionAnforderung && UebertragungAbgeschlossen)
        {
                SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo));
                GetVersionAnforderung = 0;
                Debug_OK("Version gesendet");
        }
 
        if(GetExternalControl && UebertragungAbgeschlossen)           // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
        {
                SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl));
                GetExternalControl = 0;
        }
    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
         {
                  CopyDebugValues();
          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
          DebugDataAnforderung = 0;
          if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
         }
    if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
         {
                  Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                  Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
          Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR);
                  Data3D.Centroid[0] = SummeNick >> 9;
                  Data3D.Centroid[1] = SummeRoll >> 9;
                  Data3D.Centroid[2] = Mess_Integral_Gier >> 9;
          SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D));
          Timer3D = SetDelay(Intervall3D);
         }
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
     {
                unsigned char label[16]; // local sram buffer
                memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra
      SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16);
      DebugTextAnforderung = 255;
         }
     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz bestätigen
         {
                SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
        ConfirmFrame = 0;
     }
     if(GetPPMChannelAnforderung && UebertragungAbgeschlossen)
     {
                 SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in));
                 GetPPMChannelAnforderung = 0;
         }
#ifndef REDUNDANT_FC_SLAVE
    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)
         {
          if(!NaviDataOkay)  // no external compass needed
                   {
                    WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                    WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
                    WinkelOut.UserParameter[0] = Parameter_UserParam1;
                    WinkelOut.UserParameter[1] = Parameter_UserParam2;
                    SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut));
                   }   
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
          if(JustMK3MagConnected) Kompass_Timer = SetDelay(99);
                  else Kompass_Timer = SetDelay(999);
         }
#endif
 
#ifdef REDUNDANT_FC_SLAVE
  if(UebertragungAbgeschlossen || MotorenEin)
  {
    static unsigned char who;
    unsigned char SendRedundantMotor[MAX_MOTORS], i;
    who = (who+1) % RequiredMotors;
    for(i=0; i<RequiredMotors; i++)
     {
          SendRedundantMotor[0] = who+1;
          if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80;
      SendRedundantMotor[i+1] = Motor[i].SetPoint;
     }
         SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1);
  }    
#endif
 
#ifdef DEBUG                                                                                                                    // only include functions if DEBUG is defined
     if(SendDebugOutput && UebertragungAbgeschlossen)
     {
                 SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug));
                 SendDebugOutput = 0;
         }
#endif
}
 
 
 

Rev 2427	Rev 2437
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + www.MikroKopter.com	2	// + www.MikroKopter.com
3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4	// + Software Nutzungsbedingungen (english version: see below)	4	// + Software Nutzungsbedingungen (english version: see below)
5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
19	// + des Mitverschuldens offen.	19	// + des Mitverschuldens offen.
20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Software LICENSING TERMS	29	// + Software LICENSING TERMS
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34	// + The Software may only be used with the Licensor's products.	34	// + The Software may only be used with the Licensor's products.
35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37	// + agreement shall be the property of the Licensor.	37	// + agreement shall be the property of the Licensor.
38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39	// + features that can be used to identify the program may not be altered or defaced by the customer.	39	// + features that can be used to identify the program may not be altered or defaced by the customer.
40	// + The customer shall be responsible for taking reasonable precautions	40	// + The customer shall be responsible for taking reasonable precautions
41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50	// + #### END OF LICENSING TERMS ####	50	// + #### END OF LICENSING TERMS ####
51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53	#include <stdarg.h>	53	#include <stdarg.h>
54	#include <string.h>	54	#include <string.h>
55	#include <avr/pgmspace.h>	55	#include <avr/pgmspace.h>
56	#include "main.h"	56	#include "main.h"
57	#include "uart.h"	57	#include "uart.h"
58	#include "libfc.h"	58	#include "libfc.h"
59	#include "eeprom.h"	59	#include "eeprom.h"
60		60
61	#define FC_ADDRESS 1	61	#define FC_ADDRESS 1
62	#define NC_ADDRESS 2	62	#define NC_ADDRESS 2
63	#define MK3MAG_ADDRESS 3	63	#define MK3MAG_ADDRESS 3
64	#define BL_CTRL_ADDRESS 5	64	#define BL_CTRL_ADDRESS 5
65		65
66	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds	66	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
67	#define MAX_SENDE_BUFF 220	67	#define MAX_SENDE_BUFF 220
68	#define MAX_EMPFANGS_BUFF 220	68	#define MAX_EMPFANGS_BUFF 220
69		69
70	#define BLPARAM_REVISION 1	70	#define BLPARAM_REVISION 1
71	#define MASK_SET_PWM_SCALING 0x01	71	#define MASK_SET_PWM_SCALING 0x01
72	#define MASK_SET_CURRENT_LIMIT 0x02	72	#define MASK_SET_CURRENT_LIMIT 0x02
73	#define MASK_SET_TEMP_LIMIT 0x04	73	#define MASK_SET_TEMP_LIMIT 0x04
74	#define MASK_SET_CURRENT_SCALING 0x08	74	#define MASK_SET_CURRENT_SCALING 0x08
75	#define MASK_SET_BITCONFIG 0x10	75	#define MASK_SET_BITCONFIG 0x10
76	#define MASK_RESET_CAPCOUNTER 0x20	76	#define MASK_RESET_CAPCOUNTER 0x20
77	#define MASK_SET_DEFAULT_PARAMS 0x40	77	#define MASK_SET_DEFAULT_PARAMS 0x40
78	#define MASK_SET_SAVE_EEPROM 0x80	78	#define MASK_SET_SAVE_EEPROM 0x80
79		79
80	unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;	80	unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
81	unsigned char DisplayLine = 0;	81	unsigned char DisplayLine = 0;
82	unsigned volatile char SioTmp = 0;	82	unsigned volatile char SioTmp = 0;
83	unsigned volatile char NeuerDatensatzEmpfangen = 0;	83	unsigned volatile char NeuerDatensatzEmpfangen = 0;
84	unsigned volatile char NeueKoordinateEmpfangen = 0;	84	unsigned volatile char NeueKoordinateEmpfangen = 0;
85	unsigned volatile char UebertragungAbgeschlossen = 1;	85	unsigned volatile char UebertragungAbgeschlossen = 1;
86	unsigned volatile char CntCrcError = 0;	86	unsigned volatile char CntCrcError = 0;
87	unsigned volatile char AnzahlEmpfangsBytes = 0;	87	unsigned volatile char AnzahlEmpfangsBytes = 0;
88	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];	88	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
89	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];	89	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
90		90
91	unsigned char *pRxData = 0;	91	unsigned char *pRxData = 0;
92	unsigned char RxDataLen = 0;	92	unsigned char RxDataLen = 0;
93	unsigned volatile char PC_DebugTimeout = 0;	93	unsigned volatile char PC_DebugTimeout = 0;
94	unsigned volatile char PC_MotortestActive = 0;	94	unsigned volatile char PC_MotortestActive = 0;
95	unsigned char DebugTextAnforderung = 255;	95	unsigned char DebugTextAnforderung = 255;
96		96
97	unsigned char PcZugriff = 100;	97	unsigned char PcZugriff = 100;
98	unsigned char MotorTest[16];	98	unsigned char MotorTest[16];
99	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl	99	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
100	unsigned char ConfirmFrame;	100	unsigned char ConfirmFrame;
101	struct str_DebugOut DebugOut;	101	struct str_DebugOut DebugOut;
102	struct str_ExternControl ExternControl;	102	struct str_ExternControl ExternControl;
103	struct str_VersionInfo VersionInfo;	103	struct str_VersionInfo VersionInfo;
104	struct str_WinkelOut WinkelOut;	104	struct str_WinkelOut WinkelOut;
105	struct str_Data3D Data3D;	105	struct str_Data3D Data3D;
106		106
107	int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;	107	int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D;
108	unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;	108	unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0;
109	unsigned int AboTimeOut = 0;	109	unsigned int AboTimeOut = 0;
110	unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation	110	unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation
111		111
112	const unsigned char ANALOG_TEXT[32][16] PROGMEM =	112	const unsigned char ANALOG_TEXT[32][16] PROGMEM =
113	{	113	{
114	//1234567890123456	114	//1234567890123456
115	"AngleNick ", //0	115	"AngleNick ", //0
116	"AngleRoll ",	116	"AngleRoll ",
117	"AccNick ",	117	"AccNick ",
118	"AccRoll ",	118	"AccRoll ",
119	"YawGyro ",	119	"YawGyro ",
120	"Altitude [0.1m] ", //5	120	"Altitude [0.1m] ", //5
121	"AccZ ",	121	"AccZ ",
122	"Gas ",	122	"Gas ",
123	"Compass Value ",	123	"Compass Value ",
124	"Voltage [0.1V] ",	124	"Voltage [0.1V] ",
125	"Receiver Level ", //10	125	"Receiver Level ", //10
126	"Gyro Compass ",	126	"Gyro Compass ",
127	"Motor 1 ",	127	"Motor 1 ",
128	"Motor 2 ",	128	"Motor 2 ",
129	"Motor 3 ",	129	"Motor 3 ",
130	"Motor 4 ", //15	130	"Motor 4 ", //15
131	"16 ",	131	"16 ",
132	"17 ",	132	"17 ",
133	"18 ",	133	"18 ",
134	"19 ",	134	"19 ",
135	"Servo ", //20	135	"Servo ", //20
136	"Hovergas ",	136	"Hovergas ",
137	"Current [0.1A] ",	137	"Current [0.1A] ",
138	"Capacity [mAh] ",	138	"Capacity [mAh] ",
139	"Height Setpoint ",	139	"Height Setpoint ",
140	"25 ", //25	140	"25 ", //25
141	"26 ", //"26 CPU OverLoad ",	141	"26 ", //"26 CPU OverLoad ",
142	"Compass Setpoint",	142	"27 ",
143	"I2C-Error ",	143	"I2C-Error ",
144	"BL Limit ",	144	"BL Limit ",
145	"GPS_Nick ", //30	145	"GPS_Nick ", //30
146	"GPS_Roll "	146	"GPS_Roll "
147	};	147	};
148		148
149		149
150	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	150	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
151	//++ Sende-Part der Datenübertragung	151	//++ Sende-Part der Datenübertragung
152	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	152	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
153	ISR(USART0_TX_vect)	153	ISR(USART0_TX_vect)
154	{	154	{
155	static unsigned int ptr = 0;	155	static unsigned int ptr = 0;
156	unsigned char tmp_tx;	156	unsigned char tmp_tx;
157		157
158	if(!UebertragungAbgeschlossen)	158	if(!UebertragungAbgeschlossen)
159	{	159	{
160	ptr++; // die [0] wurde schon gesendet	160	ptr++; // die [0] wurde schon gesendet
161	tmp_tx = TxdBuffer[ptr];	161	tmp_tx = TxdBuffer[ptr];
162	if((tmp_tx == '\r') \|\| (ptr == MAX_SENDE_BUFF))	162	if((tmp_tx == '\r') \|\| (ptr == MAX_SENDE_BUFF))
163	{	163	{
164	ptr = 0;	164	ptr = 0;
165	UebertragungAbgeschlossen = 1;	165	UebertragungAbgeschlossen = 1;
166	}	166	}
167	UDR0 = tmp_tx;	167	UDR0 = tmp_tx;
168	}	168	}
169	else ptr = 0;	169	else ptr = 0;
170	}	170	}
171		171
172	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	172	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173	//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung	173	//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
174	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	174	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
175	ISR(USART0_RX_vect)	175	ISR(USART0_RX_vect)
176	{	176	{
177	static unsigned int crc;	177	static unsigned int crc;
178	static unsigned char crc1,crc2,buf_ptr;	178	static unsigned char crc1,crc2,buf_ptr;
179	static unsigned char UartState = 0;	179	static unsigned char UartState = 0;
180	unsigned char CrcOkay = 0;	180	unsigned char CrcOkay = 0;
181		181
182	if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update	182	if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update
183	if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation	183	if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation
184		184
185	SioTmp = UDR0;	185	SioTmp = UDR0;
186		186
187	if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0;	187	if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0;
188	if(SioTmp == '\r' && UartState == 2)	188	if(SioTmp == '\r' && UartState == 2)
189	{	189	{
190	UartState = 0;	190	UartState = 0;
191	crc -= RxdBuffer[buf_ptr-2];	191	crc -= RxdBuffer[buf_ptr-2];
192	crc -= RxdBuffer[buf_ptr-1];	192	crc -= RxdBuffer[buf_ptr-1];
193	crc %= 4096;	193	crc %= 4096;
194	crc1 = '=' + crc / 64;	194	crc1 = '=' + crc / 64;
195	crc2 = '=' + crc % 64;	195	crc2 = '=' + crc % 64;
196	CrcOkay = 0;	196	CrcOkay = 0;
197	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};	197	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
198	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet	198	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
199	{	199	{
200	NeuerDatensatzEmpfangen = 1;	200	NeuerDatensatzEmpfangen = 1;
201	AnzahlEmpfangsBytes = buf_ptr + 1;	201	AnzahlEmpfangsBytes = buf_ptr + 1;
202	RxdBuffer[buf_ptr] = '\r';	202	RxdBuffer[buf_ptr] = '\r';
203	if(RxdBuffer[2] == 'R' && !MotorenEin)	203	if(RxdBuffer[2] == 'R' && !MotorenEin)
204	{	204	{
205	LcdClear();	205	LcdClear();
206	wdt_enable(WDTO_250MS); // Reset-Commando	206	wdt_enable(WDTO_250MS); // Reset-Commando
207	ServoActive = 0;	207	ServoActive = 0;
208	}	208	}
209	}	209	}
210	}	210	}
211	else	211	else
212	switch(UartState)	212	switch(UartState)
213	{	213	{
214	case 0:	214	case 0:
215	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet	215	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
216	buf_ptr = 0;	216	buf_ptr = 0;
217	RxdBuffer[buf_ptr++] = SioTmp;	217	RxdBuffer[buf_ptr++] = SioTmp;
218	crc = SioTmp;	218	crc = SioTmp;
219	break;	219	break;
220	case 1: // Adresse auswerten	220	case 1: // Adresse auswerten
221	UartState++;	221	UartState++;
222	RxdBuffer[buf_ptr++] = SioTmp;	222	RxdBuffer[buf_ptr++] = SioTmp;
223	crc += SioTmp;	223	crc += SioTmp;
224	break;	224	break;
225	case 2: // Eingangsdaten sammeln	225	case 2: // Eingangsdaten sammeln
226	RxdBuffer[buf_ptr] = SioTmp;	226	RxdBuffer[buf_ptr] = SioTmp;
227	if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;	227	if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
228	else UartState = 0;	228	else UartState = 0;
229	crc += SioTmp;	229	crc += SioTmp;
230	break;	230	break;
231	default:	231	default:
232	UartState = 0;	232	UartState = 0;
233	break;	233	break;
234	}	234	}
235	}	235	}
236		236
237		237
238	// --------------------------------------------------------------------------	238	// --------------------------------------------------------------------------
239	void AddCRC(unsigned int wieviele)	239	void AddCRC(unsigned int wieviele)
240	{	240	{
241	unsigned int tmpCRC = 0,i;	241	unsigned int tmpCRC = 0,i;
242	for(i = 0; i < wieviele;i++)	242	for(i = 0; i < wieviele;i++)
243	{	243	{
244	tmpCRC += TxdBuffer[i];	244	tmpCRC += TxdBuffer[i];
245	}	245	}
246	// if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11;	246	// if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11;
247	tmpCRC %= 4096;	247	tmpCRC %= 4096;
248	TxdBuffer[i++] = '=' + tmpCRC / 64;	248	TxdBuffer[i++] = '=' + tmpCRC / 64;
249	TxdBuffer[i++] = '=' + tmpCRC % 64;	249	TxdBuffer[i++] = '=' + tmpCRC % 64;
250	TxdBuffer[i++] = '\r';	250	TxdBuffer[i++] = '\r';
251	UebertragungAbgeschlossen = 0;	251	UebertragungAbgeschlossen = 0;
252	UDR0 = TxdBuffer[0];	252	UDR0 = TxdBuffer[0];
253	//if(DebugOut.Analog[] < i) DebugOut.Analog[] = i;	253	//if(DebugOut.Analog[] < i) DebugOut.Analog[] = i;
254	}	254	}
255		255
256		256
257	// --------------------------------------------------------------------------	257	// --------------------------------------------------------------------------
258	void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)	258	void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len)
259	{	259	{
260	va_list ap;	260	va_list ap;
261	unsigned int pt = 0;	261	unsigned int pt = 0;
262	unsigned char a,b,c;	262	unsigned char a,b,c;
263	unsigned char ptr = 0;	263	unsigned char ptr = 0;
264		264
265	unsigned char *snd = 0;	265	unsigned char *snd = 0;
266	int len = 0;	266	int len = 0;
267		267
268	TxdBuffer[pt++] = '#'; // Startzeichen	268	TxdBuffer[pt++] = '#'; // Startzeichen
269	TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...)	269	TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...)
270	TxdBuffer[pt++] = cmd; // Commando	270	TxdBuffer[pt++] = cmd; // Commando
271		271
272	va_start(ap, BufferAnzahl);	272	va_start(ap, BufferAnzahl);
273	if(BufferAnzahl)	273	if(BufferAnzahl)
274	{	274	{
275	snd = va_arg(ap, unsigned char*);	275	snd = va_arg(ap, unsigned char*);
276	len = va_arg(ap, int);	276	len = va_arg(ap, int);
277	ptr = 0;	277	ptr = 0;
278	BufferAnzahl--;	278	BufferAnzahl--;
279	}	279	}
280	while(len)	280	while(len)
281	{	281	{
282	if(len)	282	if(len)
283	{	283	{
284	a = snd[ptr++];	284	a = snd[ptr++];
285	len--;	285	len--;
286	if((!len) && BufferAnzahl)	286	if((!len) && BufferAnzahl)
287	{	287	{
288	snd = va_arg(ap, unsigned char*);	288	snd = va_arg(ap, unsigned char*);
289	len = va_arg(ap, int);	289	len = va_arg(ap, int);
290	ptr = 0;	290	ptr = 0;
291	BufferAnzahl--;	291	BufferAnzahl--;
292	}	292	}
293	}	293	}
294	else a = 0;	294	else a = 0;
295	if(len)	295	if(len)
296	{	296	{
297	b = snd[ptr++];	297	b = snd[ptr++];
298	len--;	298	len--;
299	if((!len) && BufferAnzahl)	299	if((!len) && BufferAnzahl)
300	{	300	{
301	snd = va_arg(ap, unsigned char*);	301	snd = va_arg(ap, unsigned char*);
302	len = va_arg(ap, int);	302	len = va_arg(ap, int);
303	ptr = 0;	303	ptr = 0;
304	BufferAnzahl--;	304	BufferAnzahl--;
305	}	305	}
306	}	306	}
307	else b = 0;	307	else b = 0;
308	if(len)	308	if(len)
309	{	309	{
310	c = snd[ptr++];	310	c = snd[ptr++];
311	len--;	311	len--;
312	if((!len) && BufferAnzahl)	312	if((!len) && BufferAnzahl)
313	{	313	{
314	snd = va_arg(ap, unsigned char*);	314	snd = va_arg(ap, unsigned char*);
315	len = va_arg(ap, int);	315	len = va_arg(ap, int);
316	ptr = 0;	316	ptr = 0;
317	BufferAnzahl--;	317	BufferAnzahl--;
318	}	318	}
319	}	319	}
320	else c = 0;	320	else c = 0;
321	TxdBuffer[pt++] = '=' + (a >> 2);	321	TxdBuffer[pt++] = '=' + (a >> 2);
322	TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	322	TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
323	TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	323	TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
324	TxdBuffer[pt++] = '=' + ( c & 0x3f);	324	TxdBuffer[pt++] = '=' + ( c & 0x3f);
325	}	325	}
326	va_end(ap);	326	va_end(ap);
327	AddCRC(pt);	327	AddCRC(pt);
328	}	328	}
329		329
330	// --------------------------------------------------------------------------	330	// --------------------------------------------------------------------------
331	void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.	331	void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden.
332	{	332	{
333	unsigned char a,b,c,d;	333	unsigned char a,b,c,d;
334	unsigned char x,y,z;	334	unsigned char x,y,z;
335	unsigned char ptrIn = 3; // start at begin of data block	335	unsigned char ptrIn = 3; // start at begin of data block
336	unsigned char ptrOut = 3;	336	unsigned char ptrOut = 3;
337	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.	337	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.
338		338
339	while(len)	339	while(len)
340	{	340	{
341	a = RxdBuffer[ptrIn++] - '=';	341	a = RxdBuffer[ptrIn++] - '=';
342	b = RxdBuffer[ptrIn++] - '=';	342	b = RxdBuffer[ptrIn++] - '=';
343	c = RxdBuffer[ptrIn++] - '=';	343	c = RxdBuffer[ptrIn++] - '=';
344	d = RxdBuffer[ptrIn++] - '=';	344	d = RxdBuffer[ptrIn++] - '=';
345		345
346	x = (a << 2) \| (b >> 4);	346	x = (a << 2) \| (b >> 4);
347	y = ((b & 0x0f) << 4) \| (c >> 2);	347	y = ((b & 0x0f) << 4) \| (c >> 2);
348	z = ((c & 0x03) << 6) \| d;	348	z = ((c & 0x03) << 6) \| d;
349		349
350	if(len--) RxdBuffer[ptrOut++] = x; else break;	350	if(len--) RxdBuffer[ptrOut++] = x; else break;
351	if(len--) RxdBuffer[ptrOut++] = y; else break;	351	if(len--) RxdBuffer[ptrOut++] = y; else break;
352	if(len--) RxdBuffer[ptrOut++] = z; else break;	352	if(len--) RxdBuffer[ptrOut++] = z; else break;
353	}	353	}
354	pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte	354	pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte
355	RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert?	355	RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert?
356		356
357	}	357	}
358		358
359	// --------------------------------------------------------------------------	359	// --------------------------------------------------------------------------
360	void BearbeiteRxDaten(void)	360	void BearbeiteRxDaten(void)
361	{	361	{
362	if(!NeuerDatensatzEmpfangen) return;	362	if(!NeuerDatensatzEmpfangen) return;
363		363
364	unsigned char tempchar1, tempchar2;	364	unsigned char tempchar1, tempchar2;
365	Decode64(); // dekodiere datenblock im Empfangsbuffer	365	Decode64(); // dekodiere datenblock im Empfangsbuffer
366	switch(RxdBuffer[1]-'a') // check for Slave Address	366	switch(RxdBuffer[1]-'a') // check for Slave Address
367	{	367	{
368	case FC_ADDRESS: // FC special commands	368	case FC_ADDRESS: // FC special commands
369	switch(RxdBuffer[2])	369	switch(RxdBuffer[2])
370	{	370	{
371	case 'K':// Kompasswert	371	case 'K':// Kompasswert
372	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));	372	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));
373	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;	373	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;
374	break;	374	break;
375	case 't':// Motortest	375	case 't':// Motortest
376	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));	376	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
377	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);	377	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
378	PC_MotortestActive = 240;	378	PC_MotortestActive = 240;
379	//while(!UebertragungAbgeschlossen);	379	//while(!UebertragungAbgeschlossen);
380	//SendOutData('T', MeineSlaveAdresse, 0);	380	//SendOutData('T', MeineSlaveAdresse, 0);
381	PcZugriff = 255;	381	PcZugriff = 255;
382	break;	382	break;
383		383
384	case 'n':// "Get Mixer	384	case 'n':// "Get Mixer
385	while(!UebertragungAbgeschlossen);	385	while(!UebertragungAbgeschlossen);
386	SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);	386	SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1);
387	Debug("Mixer lesen");	387	Debug("Mixer lesen");
388	break;	388	break;
389		389
390	case 'm':// "Write Mixer	390	case 'm':// "Write Mixer
391	if(pRxData[0] == EEMIXER_REVISION)	391	if(pRxData[0] == EEMIXER_REVISION)
392	{	392	{
393	memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);	393	memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1);
394	MixerTable_WriteToEEProm();	394	MixerTable_WriteToEEProm();
395	tempchar1 = 1;	395	tempchar1 = 1;
396	VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;	396	VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER;
397	}	397	}
398	else	398	else
399	{	399	{
400	tempchar1 = 0;	400	tempchar1 = 0;
401	}	401	}
402	while(!UebertragungAbgeschlossen);	402	while(!UebertragungAbgeschlossen);
403	SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	403	SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
404	break;	404	break;
405		405
406	case 'p': // get PPM Channels	406	case 'p': // get PPM Channels
407	GetPPMChannelAnforderung = 1;	407	GetPPMChannelAnforderung = 1;
408	PcZugriff = 255;	408	PcZugriff = 255;
409	break;	409	break;
410		410
411	case 'q':// "Get"-Anforderung für Settings	411	case 'q':// "Get"-Anforderung für Settings
412	// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen	412	// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
413	if(!MotorenEin)	413	if(!MotorenEin)
414	{	414	{
415	if((10 <= pRxData[0]) && (pRxData[0] < 20))	415	if((10 <= pRxData[0]) && (pRxData[0] < 20))
416	{	416	{
417	tempchar1 = pRxData[0] - 10;	417	tempchar1 = pRxData[0] - 10;
418	if(tempchar1< 1) tempchar1 = 1; // limit to 1	418	if(tempchar1< 1) tempchar1 = 1; // limit to 1
419	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	419	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
420	SetDefaultParameter(tempchar1, 1);	420	SetDefaultParameter(tempchar1, 1);
421	}	421	}
422	else if((20 <= pRxData[0]) && (pRxData[0] < 30))	422	else if((20 <= pRxData[0]) && (pRxData[0] < 30))
423	{	423	{
424	tempchar1 = pRxData[0] - 20;	424	tempchar1 = pRxData[0] - 20;
425	if(tempchar1< 1) tempchar1 = 1; // limit to 1	425	if(tempchar1< 1) tempchar1 = 1; // limit to 1
426	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	426	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
427	SetDefaultParameter(tempchar1, 0);	427	SetDefaultParameter(tempchar1, 0);
428	}	428	}
429	else	429	else
430	{	430	{
431	tempchar1 = pRxData[0];	431	tempchar1 = pRxData[0];
432	if(tempchar1 == 0xFF)	432	if(tempchar1 == 0xFF)
433	{	433	{
434	tempchar1 = GetActiveParamSet();	434	tempchar1 = GetActiveParamSet();
435	}	435	}
436	if(tempchar1< 1) tempchar1 = 1; // limit to 1	436	if(tempchar1< 1) tempchar1 = 1; // limit to 1
437	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5	437	else if(tempchar1 > 5) tempchar1 = 5; // limit to 5
438	// load requested parameter set	438	// load requested parameter set
439	ParamSet_ReadFromEEProm(tempchar1);	439	ParamSet_ReadFromEEProm(tempchar1);
440	}	440	}
441	LipoDetection(0);	441	LipoDetection(0);
442	} else tempchar1 = GetActiveParamSet();	442	} else tempchar1 = GetActiveParamSet();
443	while(!UebertragungAbgeschlossen);	443	while(!UebertragungAbgeschlossen);
444	SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);	444	SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1);
445	Debug("Lese Setting %d", tempchar1);	445	Debug("Lese Setting %d", tempchar1);
446	break;	446	break;
447		447
448	case 's': // Parametersatz speichern	448	case 's': // Parametersatz speichern
449	if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range	449	if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range
450	{	450	{
451	memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);	451	memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1);
452	ParamSet_WriteToEEProm(pRxData[0]);	452	ParamSet_WriteToEEProm(pRxData[0]);
453	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;	453	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
454	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;	454	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
455	tempchar1 = GetActiveParamSet();	455	tempchar1 = GetActiveParamSet();
456	}	456	}
457	else	457	else
458	{	458	{
459	tempchar1 = 0; // mark in response an invlid setting	459	tempchar1 = 0; // mark in response an invlid setting
460	}	460	}
461	while(!UebertragungAbgeschlossen);	461	while(!UebertragungAbgeschlossen);
462	SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	462	SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
463	if(!MotorenEin)	463	if(!MotorenEin)
464	{	464	{
465	Piep(tempchar1,110);	465	Piep(tempchar1,110);
466	LipoDetection(0);	466	LipoDetection(0);
467	}	467	}
468	LIBFC_ReceiverInit(EE_Parameter.Receiver);	468	LIBFC_ReceiverInit(EE_Parameter.Receiver);
469	break;	469	break;
470	case 'f': // auf anderen Parametersatz umschalten	470	case 'f': // auf anderen Parametersatz umschalten
471	if(MotorenEin) break;	471	if(MotorenEin) break;
472	if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);	472	if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]);
473	tempchar1 = GetActiveParamSet();	473	tempchar1 = GetActiveParamSet();
474	while(!UebertragungAbgeschlossen);	474	while(!UebertragungAbgeschlossen);
475	SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));	475	SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1));
476	if(!MotorenEin)	476	if(!MotorenEin)
477	{	477	{
478	Piep(tempchar1,110);	478	Piep(tempchar1,110);
479	LipoDetection(0);	479	LipoDetection(0);
480	}	480	}
481	LIBFC_ReceiverInit(EE_Parameter.Receiver);	481	LIBFC_ReceiverInit(EE_Parameter.Receiver);
482	break;	482	break;
483	case 'y':// serial Potis	483	case 'y':// serial Potis
484	for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1];	484	for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1];
485	break;	485	break;
486	case 'u': // request BL parameter	486	case 'u': // request BL parameter
487	Debug("Reading BL %d", pRxData[0]);	487	Debug("Reading BL %d", pRxData[0]);
488	// try to read BL configuration	488	// try to read BL configuration
489	tempchar2 = I2C_ReadBLConfig(pRxData[0]);	489	tempchar2 = I2C_ReadBLConfig(pRxData[0]);
490	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;	490	if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
491	else tempchar1 = 0;	491	else tempchar1 = 0;
492	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent	492	while(!UebertragungAbgeschlossen); // wait for previous frame to be sent
493	SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));	493	SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
494	break;	494	break;
495	case 'w': // write BL parameter	495	case 'w': // write BL parameter
496	Debug("Writing BL %d", pRxData[0]);	496	Debug("Writing BL %d", pRxData[0]);
497	if(RxDataLen >= 1+sizeof(BLConfig_t))	497	if(RxDataLen >= 1+sizeof(BLConfig_t))
498	{	498	{
499	memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));	499	memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t));
500	tempchar2 = I2C_WriteBLConfig(pRxData[0]);	500	tempchar2 = I2C_WriteBLConfig(pRxData[0]);

Subversion Repositories FlightCtrl

(root)/tags/V2.06c/uart.c @ 2577 - Rev 2427 → 2437