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| Rev 22 | Rev 23 | ||
|---|---|---|---|
| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | 65 | ||
| Line 66... | Line 66... | ||
| 66 | #define FALSE 0 |
66 | #define FALSE 0 |
| 67 | #define TRUE 1 |
67 | #define TRUE 1 |
| Line 68... | Line 68... | ||
| 68 | 68 | ||
| 69 | #define TXD_BUFFER_LEN 150 |
69 | #define TXD_BUFFER_LEN 100 |
| 70 | #define RXD_BUFFER_LEN 150 |
70 | #define RXD_BUFFER_LEN 100 |
| 71 | 71 | ||
| 72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| Line -... | Line 73... | ||
| - | 73 | volatile uint8_t rxd_buffer_locked = FALSE; |
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| - | 74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
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| - | 75 | volatile uint8_t txd_complete = TRUE; |
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| - | 76 | volatile uint8_t ReceivedBytes = 0; |
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| Line -... | Line 77... | ||
| - | 77 | ||
| - | 78 | #define VERSION_INFO 0x01 |
|
| Line 73... | Line -... | ||
| 73 | volatile uint8_t rxd_buffer_locked = FALSE; |
- | |
| 74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
- | |
| 75 | volatile uint8_t txd_complete = TRUE; |
- | |
| 76 | volatile uint8_t ReceivedBytes = 0; |
- | |
| Line 77... | Line 79... | ||
| 77 | 79 | #define DEBUG_DATA 0x02 |
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| Line 78... | Line -... | ||
| 78 | - | ||
| Line 79... | Line 80... | ||
| 79 | 80 | #define DEBUG_LABEL 0x04 |
|
| 80 | uint8_t RequestVerInfo = FALSE; |
81 | #define COMPASS_HEADING 0x08 |
| 81 | uint8_t RequestDebugData = FALSE; |
82 | |
| 82 | uint8_t RequestDebugLabel = FALSE; |
83 | uint8_t RequestFlags = 0x00; |
| Line 83... | Line 84... | ||
| 83 | uint8_t RequestCompassHeading = FALSE; |
84 | uint8_t RequestDebugLabel = 0; |
| Line 84... | Line 85... | ||
| 84 | 85 | ||
| 85 | uint8_t MySlaveAddr = 0; |
86 | |
| Line 415... | Line 416... | ||
| 415 | 416 | ||
| 416 | switch(rxd_buffer[2]) |
417 | switch(rxd_buffer[2]) |
| 417 | { |
418 | { |
| 418 | case 'w':// Attitude |
419 | case 'w':// Attitude |
| 419 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
420 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| 420 | RequestCompassHeading = TRUE; |
421 | RequestFlags |= COMPASS_HEADING; |
| Line 421... | Line 422... | ||
| 421 | break; |
422 | break; |
| 422 | 423 | ||
| 423 | case 'b': // extern control |
424 | case 'b': // extern control |
| Line 442... | Line 443... | ||
| 442 | case 'h':// x-1 display columns |
443 | case 'h':// x-1 display columns |
| 443 | PC_Connected = 255; |
444 | PC_Connected = 255; |
| 444 | break; |
445 | break; |
| Line 445... | Line 446... | ||
| 445 | 446 | ||
| 446 | case 'v': // get version and board release |
447 | case 'v': // get version and board release |
| 447 | RequestVerInfo = TRUE; |
448 | RequestFlags |= VERSION_INFO; |
| 448 | PC_Connected = 255; |
449 | PC_Connected = 255; |
| Line 449... | Line 450... | ||
| 449 | break; |
450 | break; |
| 450 | 451 | ||
| 451 | case 'a':// Labels of the Analog Debug outputs |
452 | case 'a':// Labels of the Analog Debug outputs |
| - | 453 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
|
| 452 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
454 | RequestDebugLabel = tmp_char_arr2[0]; |
| 453 | RequestDebugLabel = tmp_char_arr2[0]; |
455 | RequestFlags |= DEBUG_LABEL; |
| Line 454... | Line 456... | ||
| 454 | PC_Connected = 255; |
456 | PC_Connected = 255; |
| 455 | break; |
457 | break; |
| 456 | 458 | ||
| 457 | case 'g':// get debug data |
459 | case 'g':// get debug data |
| 458 | RequestDebugData = TRUE; |
460 | RequestFlags |= DEBUG_DATA; |
| 459 | PC_Connected = 255; |
461 | PC_Connected = 255; |
| 460 | break; |
462 | break; |
| Line 470... | Line 472... | ||
| 470 | { |
472 | { |
| 471 | if(!(UCSR0B & (1 << TXEN0))) return; |
473 | if(!(UCSR0B & (1 << TXEN0))) return; |
| Line 472... | Line 474... | ||
| 472 | 474 | ||
| Line 473... | Line 475... | ||
| 473 | if(!txd_complete) return; |
475 | if(!txd_complete) return; |
| 474 | 476 | ||
| 475 | if(CheckDelay(Debug_Timer) && txd_complete) |
477 | if(CheckDelay(Debug_Timer)) |
| 476 | { |
478 | { |
| 477 | SetDebugValues(); |
479 | SetDebugValues(); |
| 478 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
480 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| Line 479... | Line 481... | ||
| 479 | Debug_Timer = SetDelay(250); |
481 | Debug_Timer = SetDelay(250); |
| 480 | } |
482 | } |
| 481 | 483 | ||
| 482 | if(RequestDebugLabel != 255) |
484 | if(RequestFlags & DEBUG_LABEL) |
| - | 485 | { |
|
| 483 | { |
486 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| Line 484... | Line 487... | ||
| 484 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
487 | RequestDebugLabel = 255; |
| 485 | RequestDebugLabel = 255; |
488 | RequestFlags &= ~DEBUG_LABEL; |
| 486 | } |
489 | } |
| 487 | 490 | ||
| 488 | if(RequestVerInfo && txd_complete) |
491 | if(RequestFlags & VERSION_INFO) |
| Line 489... | Line 492... | ||
| 489 | { |
492 | { |
| 490 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
493 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
| 491 | RequestVerInfo = FALSE; |
494 | RequestFlags &= ~VERSION_INFO; |
| 492 | } |
495 | } |
| 493 | 496 | ||
| 494 | if(RequestDebugData && txd_complete) |
497 | if(RequestFlags & DEBUG_DATA) |
| Line 495... | Line 498... | ||
| 495 | { |
498 | { |
| 496 | SetDebugValues(); |
499 | SetDebugValues(); |
| 497 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
500 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| 498 | RequestDebugData = FALSE; |
501 | RequestFlags &= ~DEBUG_DATA; |
| 499 | } |
502 | } |
| 500 | 503 | ||