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