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| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | 65 | ||
| Line -... | Line 66... | ||
| - | 66 | #define FALSE 0 |
|
| 66 | #define FALSE 0 |
67 | #define TRUE 1 |
| 67 | #define TRUE 1 |
68 | |
| Line 68... | Line 69... | ||
| 68 | 69 | // keep buffers as small as possible |
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| 69 | #define TXD_BUFFER_LEN 100 |
70 | #define TXD_BUFFER_LEN 100 |
| 70 | #define RXD_BUFFER_LEN 100 |
71 | #define RXD_BUFFER_LEN 30 |
| 71 | 72 | ||
| Line 81... | Line 82... | ||
| 81 | #define COMPASS_HEADING 0x08 |
82 | #define COMPASS_HEADING 0x08 |
| Line 82... | Line 83... | ||
| 82 | 83 | ||
| 83 | uint8_t RequestFlags = 0x00; |
84 | uint8_t RequestFlags = 0x00; |
| Line -... | Line 85... | ||
| - | 85 | uint8_t RequestDebugLabel = 0; |
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| - | 86 | ||
| Line 84... | Line 87... | ||
| 84 | uint8_t RequestDebugLabel = 0; |
87 | uint8_t PC_Connected = 0; |
| Line 85... | Line 88... | ||
| 85 | 88 | uint8_t FC_Connected = 0; |
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| Line 135... | Line 138... | ||
| 135 | /****************************************************************/ |
138 | /****************************************************************/ |
| 136 | /* Initialization of the USART0 */ |
139 | /* Initialization of the USART0 */ |
| 137 | /****************************************************************/ |
140 | /****************************************************************/ |
| 138 | void USART0_Init (void) |
141 | void USART0_Init (void) |
| 139 | { |
142 | { |
| 140 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
143 | uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
| Line 141... | Line 144... | ||
| 141 | 144 | ||
| 142 | // disable all interrupts before configuration |
145 | // disable all interrupts before configuration |
| Line 143... | Line 146... | ||
| 143 | cli(); |
146 | cli(); |
| Line 200... | Line 203... | ||
| 200 | VersionInfo.Minor = VERSION_MINOR; |
203 | VersionInfo.Minor = VERSION_MINOR; |
| 201 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
204 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| Line 202... | Line 205... | ||
| 202 | 205 | ||
| 203 | 206 | ||
| 204 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
207 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
| 205 | uart_putchar ('\n'); |
208 | USART0_putchar ('\n'); |
| 206 | uart_putchar ('C'); |
209 | USART0_putchar ('C'); |
| 207 | uart_putchar ('P'); |
210 | USART0_putchar ('P'); |
| 208 | uart_putchar (':'); |
211 | USART0_putchar (':'); |
| - | 212 | USART0_putchar ('V'); |
|
| 209 | uart_putchar ('V'); |
213 | USART0_putchar (0x30 + VERSION_MAJOR); |
| 210 | uart_putchar (0x30 + VERSION_MAJOR); |
214 | USART0_putchar ('.'); |
| 211 | uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); |
215 | USART0_putchar (0x30 + VERSION_MINOR/10); |
| 212 | uart_putchar (0x30 + VERSION_MINOR%10); |
216 | USART0_putchar (0x30 + VERSION_MINOR%10); |
| Line 213... | Line 217... | ||
| 213 | uart_putchar ('\n'); |
217 | USART0_putchar ('\n'); |
| 214 | } |
218 | } |
| 215 | 219 | ||
| Line 391... | Line 395... | ||
| 391 | } |
395 | } |
| 392 | } |
396 | } |
| Line 393... | Line 397... | ||
| 393 | 397 | ||
| 394 | 398 | ||
| 395 | // -------------------------------------------------------------------------- |
399 | // -------------------------------------------------------------------------- |
| 396 | int uart_putchar (int8_t c) |
400 | int16_t USART0_putchar (int8_t c) |
| 397 | { |
401 | { |
| 398 | // if tx is not enabled return immediatly |
402 | // if tx is not enabled return immediatly |
| 399 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
403 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
| 400 | if (c == '\n') uart_putchar('\r'); |
404 | if (c == '\n') USART0_putchar('\r'); |
| 401 | // wait until previous character was send |
405 | // wait until previous character was send |
| 402 | loop_until_bit_is_set(UCSR0A, UDRE0); |
406 | loop_until_bit_is_set(UCSR0A, UDRE0); |
| 403 | // send character |
407 | // send character |
| Line 416... | Line 420... | ||
| 416 | 420 | ||
| 417 | switch(rxd_buffer[2]) |
421 | switch(rxd_buffer[2]) |
| 418 | { |
422 | { |
| 419 | case 'w':// Attitude |
423 | case 'w':// Attitude |
| 420 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
- | |
| 421 | I2C_WriteAttitude.Nick = ExternData.Attitude[NICK]; |
- | |
| 422 | I2C_WriteAttitude.Nick = ExternData.Attitude[ROLL]; |
- | |
| 423 | AttitudeSource = ATTITUDE_SOURCE_UART; |
424 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| - | 425 | RequestFlags |= COMPASS_HEADING; |
|
| - | 426 | AttitudeSource = ATTITUDE_SOURCE_UART; |
|
| - | 427 | Orientation = ExternData.Orientation; |
|
| 424 | RequestFlags |= COMPASS_HEADING; |
428 | FC_Connected = 255; |
| Line 425... | Line 429... | ||
| 425 | break; |
429 | break; |
| 426 | 430 | ||
| 427 | case 'b': // extern control |
431 | case 'b': // extern control |
| Line 508... | Line 512... | ||
| 508 | { |
512 | { |
| 509 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
513 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
| 510 | RequestFlags &= ~COMPASS_HEADING; |
514 | RequestFlags &= ~COMPASS_HEADING; |
| 511 | } |
515 | } |
| 512 | } |
516 | } |
| - | 517 | ||
| - | 518 | ||
| - | 519 | void USART0_Print(int8_t *msg) |
|
| - | 520 | { |
|
| - | 521 | uint8_t i = 0; |
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| - | 522 | while(msg[i] != 0) |
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| - | 523 | { |
|
| - | 524 | USART0_putchar(msg[i++]); |
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| - | 525 | } |
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| - | 526 | } |
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