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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + only for non-profit use
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "rc.h"
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#include "rc.h"
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#define FALSE   0
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#define FALSE   0
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-
 
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#define TRUE    1
-
 
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#define TRUE    1
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//int8_t test __attribute__ ((section (".noinit")));
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uint8_t DebugGetAnforderung = 0, DebugDisplayAnforderung = 0, DebugDataAnforderung = 0, GetVersionAnforderung = 0;
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uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0;
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27
 
26
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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uint8_t NurKanalAnforderung = 0;
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uint8_t NurKanalAnforderung = 0;
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uint8_t DebugTextAnforderung = 255;
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uint8_t DebugTextAnforderung = 255;
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uint8_t PcAccess = 100;
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uint8_t PcAccess = 100;
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uint8_t MotorTest[4] = {0,0,0,0};
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uint8_t MotorTest[4] = {0,0,0,0};
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uint8_t DubWiseKeys[4] = {0,0,0,0};
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uint8_t DubWiseKeys[4] = {0,0,0,0};
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uint8_t MySlaveAddr;
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uint8_t MySlaveAddr = 0;
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uint8_t ConfirmFrame;
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uint8_t ConfirmFrame;
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DebugOut_t              DebugOut;
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DebugOut_t              DebugOut;
42
ExternControl_t ExternControl;
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ExternControl_t ExternControl;
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                        {   // checksum valid
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                        {   // checksum valid
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                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
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                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
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                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
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                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
219
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
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                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
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                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
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                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
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                                if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando
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                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
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                        }
224
                        }
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                        else
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                        else
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                        {       // checksum invalid
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                        {       // checksum invalid
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                                rxd_buffer_locked = FALSE; // unlock rxd buffer
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                                rxd_buffer_locked = FALSE; // unlock rxd buffer
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                        }
228
                        }
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}
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}
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// --------------------------------------------------------------------------
259
// --------------------------------------------------------------------------
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void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len)
260
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
259
{
261
{
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        uint16_t pt = 0;
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        uint16_t pt = 0;
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        uint8_t a,b,c;
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        uint8_t a,b,c;
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        uint8_t ptr = 0;
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        uint8_t ptr = 0;
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        txd_buffer[pt++] = '#';         // Start character
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        txd_buffer[pt++] = '#';         // Start character
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        txd_buffer[pt++] = modul;       // Address (a=0; b=1,...)
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        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
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        AddCRC(pt); // add checksum after data block and initates the transmission
280
        AddCRC(pt); // add checksum after data block and initates the transmission
279
}
281
}
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282
// --------------------------------------------------------------------------
284
// --------------------------------------------------------------------------
283
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)  // Wohin mit den Daten; Wie lang; Wo im rxd_buffer
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void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
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{
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{
285
        uint8_t a,b,c,d;
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        uint8_t a,b,c,d;
286
        uint8_t ptr = 0;
288
        uint8_t ptr = 0;
287
        uint8_t x,y,z;
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        uint8_t x,y,z;
288
        while(len)
290
        while(len)
289
        {
291
        {
290
                a = rxd_buffer[ptrIn++] - '=';
292
                a = rxd_buffer[ptrIn++] - '=';
291
                b = rxd_buffer[ptrIn++] - '=';
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                b = rxd_buffer[ptrIn++] - '=';
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                c = rxd_buffer[ptrIn++] - '=';
294
                c = rxd_buffer[ptrIn++] - '=';
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                d = rxd_buffer[ptrIn++] - '=';
295
                d = rxd_buffer[ptrIn++] - '=';
294
                if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden
296
                if(ptrIn > max - 2) break;
295
 
297
 
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326
                        break;
328
                        break;
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                case 'c': // extern control with debug request
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                case 'c': // extern control with debug request
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                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
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                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes);
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                        RemoteButtons |= ExternControl.RemoteButtons;
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                        RemoteButtons |= ExternControl.RemoteButtons;
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                        ConfirmFrame = ExternControl.Frame;
332
                        ConfirmFrame = ExternControl.Frame;
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                        DebugDataAnforderung = 1;
333
                        DebugDataRequest = 1;
332
                        break;
334
                        break;
333
                case 'h':// x-1 display columns
335
                case 'h':// x-1 display columns
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                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
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                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
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                        RemoteButtons |= tmp_char_arr2[0];
337
                        RemoteButtons |= tmp_char_arr2[0];
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                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1;
338
                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1;
337
                        else NurKanalAnforderung = 0; // keine Displaydaten
339
                        else NurKanalAnforderung = 0; // keine Displaydaten
338
                        DebugDisplayAnforderung = 1;
340
                        DebugDisplayRequest = 1;
339
                        break;
341
                        break;
340
                case 't':// motor test
342
                case 't':// motor test
341
                        Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
343
                        Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes);
342
                        break;
344
                        break;
343
                case 'k':// keys from DubWise
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                case 'k':// keys from DubWise
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                        Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
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                        Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes);
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                        ConfirmFrame = DubWiseKeys[3];
347
                        ConfirmFrame = DubWiseKeys[3];
346
                        break;
348
                        break;
347
                case 'v': // get version and board release
349
                case 'v': // get version and board release
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                        GetVersionAnforderung = 1;
350
                        GetVersionRequest = 1;
349
                        break;
351
                        break;
350
                case 'g':// get debug data
352
                case 'g':// get debug data
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                        DebugGetAnforderung = 1;
353
                        DebugGetRequest = 1;
352
                        break;
354
                        break;
353
                case 'q':// get settings
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                case 'q':// get settings
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                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
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                        Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes);
355
                        if(tmp_char_arr2[0] != 0xff)
357
                        if(tmp_char_arr2[0] != 0xff)
356
                        {
358
                        {
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402
void TransmitTxData(void)
404
void TransmitTxData(void)
403
{
405
{
404
 static int16_t Debug_Timer = 0;
406
 static int16_t Debug_Timer = 0;
405
 if(!txd_complete) return;
407
 if(!txd_complete) return;
Line 406... Line 408...
406
 
408
 
407
   if(DebugGetAnforderung && txd_complete)            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
409
   if(DebugGetRequest && txd_complete)        // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
408
   {
410
   {
409
      SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
411
      SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
410
          DebugGetAnforderung = 0;
412
          DebugGetRequest = 0;
Line 411... Line 413...
411
   }
413
   }
412
 
414
 
413
    if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && txd_complete)
415
    if((CheckDelay(Debug_Timer) || DebugDataRequest) && txd_complete)
414
         {
416
         {
415
          SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
417
          SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
416
          DebugDataAnforderung = 0;
418
          DebugDataRequest = 0;
417
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
419
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
418
         }
420
         }
419
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
421
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
Line 428... Line 430...
428
      txd_buffer[2] = '\r';
430
      txd_buffer[2] = '\r';
429
      txd_complete = 0;
431
      txd_complete = 0;
430
      ConfirmFrame = 0;
432
      ConfirmFrame = 0;
431
      UDR0 = txd_buffer[0];
433
      UDR0 = txd_buffer[0];
432
     }
434
     }
433
     if(DebugDisplayAnforderung && txd_complete)
435
     if(DebugDisplayRequest && txd_complete)
434
         {
436
         {
435
      LCD_PrintMenu();
437
      LCD_PrintMenu();
436
          DebugDisplayAnforderung = 0;
438
          DebugDisplayRequest = 0;
437
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
439
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
438
      {
440
      {
439
       SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
441
       SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
440
       RemotePollDisplayLine = -1;
442
       RemotePollDisplayLine = -1;
441
      }
443
      }
442
      else  SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
444
      else  SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
443
         }
445
         }
444
    if(GetVersionAnforderung && txd_complete)
446
    if(GetVersionRequest && txd_complete)
445
     {
447
     {
446
      SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
448
      SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
447
          GetVersionAnforderung = 0;
449
          GetVersionRequest = 0;
448
     }
450
     }
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