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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line -... | Line 7... | ||
| - | 7 | ||
| - | 8 | #include <avr/io.h> |
|
| - | 9 | #include <avr/interrupt.h> |
|
| - | 10 | #include <avr/wdt.h> |
|
| - | 11 | ||
| 7 | 12 | #include "eeprom.h" |
|
| - | 13 | #include "main.h" |
|
| - | 14 | #include "menu.h" |
|
| 8 | #include "main.h" |
15 | #include "timer0.h" |
| - | 16 | #include "uart.h" |
|
| - | 17 | #include "fc.h" |
|
| - | 18 | #include "_Settings.h" |
|
| - | 19 | #include "rc.h" |
|
| - | 20 | #ifdef USE_KILLAGREG |
|
| - | 21 | #include "ubx.h" |
|
| - | 22 | #endif |
|
| - | 23 | #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
| - | 24 | #include "mk3mag.h" |
|
| - | 25 | #endif |
|
| Line 9... | Line -... | ||
| 9 | #include "uart.h" |
- | |
| 10 | - | ||
| 11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
- | |
| 12 | unsigned volatile char SioTmp = 0; |
- | |
| 13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
- | |
| 14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
- | |
| 15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
- | |
| 16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
- | |
| 17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
- | |
| 18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
- | |
| 19 | unsigned volatile char CntCrcError = 0; |
- | |
| 20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
- | |
| 21 | unsigned volatile char PC_DebugTimeout = 0; |
- | |
| 22 | unsigned char RemotePollDisplayLine = 0; |
- | |
| 23 | unsigned char NurKanalAnforderung = 0; |
- | |
| 24 | unsigned char DebugTextAnforderung = 255; |
- | |
| 25 | unsigned char PcZugriff = 100; |
- | |
| 26 | unsigned char MotorTest[4] = {0,0,0,0}; |
- | |
| 27 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
- | |
| 28 | unsigned char MeineSlaveAdresse; |
- | |
| 29 | unsigned char ConfirmFrame; |
- | |
| 30 | struct str_DebugOut DebugOut; |
- | |
| 31 | struct str_ExternControl ExternControl; |
- | |
| Line -... | Line 26... | ||
| - | 26 | ||
| - | 27 | ||
| - | 28 | ||
| - | 29 | #define FALSE 0 |
|
| - | 30 | #define TRUE 1 |
|
| - | 31 | ||
| - | 32 | //int8_t test __attribute__ ((section (".noinit"))); |
|
| - | 33 | uint8_t RequestVerInfo = FALSE; |
|
| - | 34 | uint8_t RequestExternalControl = FALSE; |
|
| - | 35 | uint8_t RequestDisplay = FALSE; |
|
| - | 36 | uint8_t RequestDebugData = FALSE; |
|
| - | 37 | uint8_t RequestDebugLabel = 255; |
|
| - | 38 | uint8_t RequestChannelOnly = FALSE; |
|
| - | 39 | uint8_t RemotePollDisplayLine = 0; |
|
| - | 40 | ||
| - | 41 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
|
| - | 42 | volatile uint8_t rxd_buffer_locked = FALSE; |
|
| - | 43 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
|
| - | 44 | volatile uint8_t txd_complete = TRUE; |
|
| - | 45 | volatile uint8_t ReceivedBytes = 0; |
|
| - | 46 | ||
| - | 47 | ||
| - | 48 | uint8_t PcAccess = 100; |
|
| - | 49 | uint8_t MotorTest[4] = {0,0,0,0}; |
|
| - | 50 | uint8_t DubWiseKeys[4] = {0,0,0,0}; |
|
| - | 51 | uint8_t MySlaveAddr = 0; |
|
| - | 52 | uint8_t ConfirmFrame; |
|
| - | 53 | ||
| - | 54 | DebugOut_t DebugOut; |
|
| - | 55 | ExternControl_t ExternControl; |
|
| - | 56 | VersionInfo_t VersionInfo; |
|
| - | 57 | ||
| 32 | struct str_VersionInfo VersionInfo; |
58 | int16_t Debug_Timer; |
| - | 59 | ||
| Line -... | Line 60... | ||
| - | 60 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
| 33 | struct str_WinkelOut WinkelOut; |
61 | int16_t Compass_Timer; |
| 34 | 62 | #endif |
|
| 35 | int Debug_Timer,Kompass_Timer; |
63 | |
| 36 | 64 | ||
| 37 | const unsigned char ANALOG_TEXT[32][16] = |
65 | const uint8_t ANALOG_LABEL[32][16] = |
| 38 | { |
66 | { |
| 39 | //1234567890123456 |
67 | //1234567890123456 |
| 40 | "IntegralNick ", //0 |
68 | "IntegralPitch ", //0 |
| 41 | "IntegralRoll ", |
69 | "IntegralRoll ", |
| 42 | "AccNick ", |
70 | "AccPitch ", |
| 43 | "AccRoll ", |
71 | "AccRoll ", |
| 44 | "GyroGier ", |
72 | "GyroYaw ", |
| 45 | "HoehenWert ", //5 |
73 | "ReadingHeight ", //5 |
| 46 | "AccZ ", |
74 | "AccZ ", |
| 47 | "Gas ", |
75 | "Thrust ", |
| 48 | "KompassValue ", |
76 | "CompassHeading ", |
| 49 | "Spannung ", |
77 | "Voltage ", |
| 50 | "Empfang ", //10 |
78 | "Receiver Level ", //10 |
| 51 | "Ersatzkompass ", |
79 | "YawGyroHeading ", |
| 52 | "Motor_Vorne ", |
80 | "Motor_Front ", |
| 53 | "Motor_Hinten ", |
81 | "Motor_Rear ", |
| 54 | "Motor_Links ", |
82 | "Motor_Right ", |
| 55 | "Motor_Rechts ", //15 |
83 | "Motor_Left ", //15 |
| 56 | "Acc_Z ", |
84 | "Acc_Z ", |
| 57 | "Distance ", |
85 | "SPI Error ", |
| 58 | "OsdBar ", |
86 | "SPI Ok ", |
| 59 | "MK3Mag CalState ", |
87 | " ", |
| 60 | "Servo ", //20 |
88 | "Servo ", //20 |
| 61 | "Nick ", |
89 | "Pitch ", |
| 62 | "Roll ", |
90 | "Roll ", |
| 63 | " ", |
91 | " ", |
| 64 | " ", |
92 | " ", |
| 65 | " ", //25 |
93 | " ", //25 |
| 66 | " ", |
94 | " ", |
| 67 | " ", |
95 | " ", |
| 68 | " ", |
96 | " ", |
| Line 69... | Line 97... | ||
| 69 | " ", |
97 | " ", |
| 70 | "GPS_Nick ", //30 |
98 | "GPS_Pitch ", //30 |
| 71 | "GPS_Roll " |
99 | "GPS_Roll " |
| 72 | }; |
100 | }; |
| 73 | 101 | ||
| - | 102 | ||
| - | 103 | ||
| - | 104 | /****************************************************************/ |
|
| - | 105 | /* Initialization of the USART0 */ |
|
| - | 106 | /****************************************************************/ |
|
| - | 107 | void USART0_Init (void) |
|
| - | 108 | { |
|
| - | 109 | uint8_t sreg = SREG; |
|
| - | 110 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
|
| - | 111 | ||
| - | 112 | // disable all interrupts before configuration |
|
| - | 113 | cli(); |
|
| - | 114 | ||
| - | 115 | // disable RX-Interrupt |
|
| - | 116 | UCSR0B &= ~(1 << RXCIE0); |
|
| 74 | 117 | // disable TX-Interrupt |
|
| - | 118 | UCSR0B &= ~(1 << TXCIE0); |
|
| 75 | 119 | ||
| - | 120 | // set direction of RXD0 and TXD0 pins |
|
| 76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
121 | // set RXD0 (PD0) as an input pin |
| - | 122 | PORTD |= (1 << PORTD0); |
|
| - | 123 | DDRD &= ~(1 << DDD0); |
|
| - | 124 | // set TXD0 (PD1) as an output pin |
|
| 77 | //++ Sende-Part der Datenübertragung |
125 | PORTD |= (1 << PORTD1); |
| 78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
126 | DDRD |= (1 << DDD1); |
| - | 127 | ||
| 79 | SIGNAL(INT_VEC_TX) |
128 | // USART0 Baud Rate Register |
| - | 129 | // set clock divider |
|
| - | 130 | UBRR0H = (uint8_t)(ubrr >> 8); |
|
| 80 | { |
131 | UBRR0L = (uint8_t)ubrr; |
| - | 132 | ||
| - | 133 | // USART0 Control and Status Register A, B, C |
|
| - | 134 | ||
| 81 | static unsigned int ptr = 0; |
135 | // enable double speed operation in |
| - | 136 | UCSR0A |= (1 << U2X0); |
|
| - | 137 | // enable receiver and transmitter in |
|
| 82 | unsigned char tmp_tx; |
138 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| 83 | if(!UebertragungAbgeschlossen) |
139 | // set asynchronous mode |
| 84 | { |
140 | UCSR0C &= ~(1 << UMSEL01); |
| - | 141 | UCSR0C &= ~(1 << UMSEL00); |
|
| - | 142 | // no parity |
|
| 85 | ptr++; // die [0] wurde schon gesendet |
143 | UCSR0C &= ~(1 << UPM01); |
| - | 144 | UCSR0C &= ~(1 << UPM00); |
|
| - | 145 | // 1 stop bit |
|
| - | 146 | UCSR0C &= ~(1 << USBS0); |
|
| - | 147 | // 8-bit |
|
| - | 148 | UCSR0B &= ~(1 << UCSZ02); |
|
| - | 149 | UCSR0C |= (1 << UCSZ01); |
|
| - | 150 | UCSR0C |= (1 << UCSZ00); |
|
| - | 151 | ||
| - | 152 | // flush receive buffer |
|
| - | 153 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
|
| - | 154 | ||
| - | 155 | // enable interrupts at the end |
|
| - | 156 | // enable RX-Interrupt |
|
| - | 157 | UCSR0B |= (1 << RXCIE0); |
|
| - | 158 | // enable TX-Interrupt |
|
| - | 159 | UCSR0B |= (1 << TXCIE0); |
|
| - | 160 | ||
| - | 161 | rxd_buffer_locked = FALSE; |
|
| 86 | tmp_tx = SendeBuffer[ptr]; |
162 | txd_complete = TRUE; |
| - | 163 | ||
| 87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
164 | Debug_Timer = SetDelay(200); |
| 88 | { |
165 | |
| Line 89... | Line 166... | ||
| 89 | ptr = 0; |
166 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| 90 | UebertragungAbgeschlossen = 1; |
167 | Compass_Timer = SetDelay(220); |
| 91 | } |
168 | #endif |
| 92 | UDR = tmp_tx; |
169 | |
| 93 | } |
170 | // restore global interrupt flags |
| 94 | else ptr = 0; |
171 | SREG = sreg; |
| - | 172 | } |
|
| - | 173 | ||
| - | 174 | /****************************************************************/ |
|
| - | 175 | /* USART0 transmitter ISR */ |
|
| 95 | } |
176 | /****************************************************************/ |
| - | 177 | ISR(USART0_TX_vect) |
|
| - | 178 | { |
|
| - | 179 | static uint16_t ptr_txd_buffer = 0; |
|
| 96 | 180 | uint8_t tmp_tx; |
|
| - | 181 | if(!txd_complete) // transmission not completed |
|
| - | 182 | { |
|
| - | 183 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
|
| - | 184 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
|
| - | 185 | // if terminating character or end of txd buffer was reached |
|
| 97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
186 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| - | 187 | { |
|
| 98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
188 | ptr_txd_buffer = 0; // reset txd pointer |
| 99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
189 | txd_complete = 1; // stop transmission |
| 100 | SIGNAL(INT_VEC_RX) |
190 | } |
| - | 191 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
|
| 101 | { |
192 | } |
| 102 | static unsigned int crc; |
193 | // transmission completed |
| 103 | static unsigned char crc1,crc2,buf_ptr; |
194 | else ptr_txd_buffer = 0; |
| 104 | static unsigned char UartState = 0; |
195 | } |
| 105 | unsigned char CrcOkay = 0; |
196 | |
| 106 | 197 | /****************************************************************/ |
|
| - | 198 | /* USART0 receiver ISR */ |
|
| 107 | SioTmp = UDR; |
199 | /****************************************************************/ |
| - | 200 | ISR(USART0_RX_vect) |
|
| 108 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
201 | { |
| 109 | if(SioTmp == '\r' && UartState == 2) |
- | |
| 110 | { |
202 | static uint16_t crc; |
| 111 | UartState = 0; |
203 | static uint8_t ptr_rxd_buffer = 0; |
| - | 204 | uint8_t crc1, crc2; |
|
| - | 205 | uint8_t c; |
|
| 112 | crc -= RxdBuffer[buf_ptr-2]; |
206 | |
| 113 | crc -= RxdBuffer[buf_ptr-1]; |
207 | c = UDR0; // catch the received byte |
| - | 208 | ||
| 114 | crc %= 4096; |
209 | #ifdef USE_KILLAGREG |
| - | 210 | // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
|
| - | 211 | // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
|
| - | 212 | #if defined (__AVR_ATmega644P__) |
|
| 115 | crc1 = '=' + crc / 64; |
213 | if(BoardRelease == 10) ubx_parser(c); |
| 116 | crc2 = '=' + crc % 64; |
214 | #else |
| 117 | CrcOkay = 0; |
215 | ubx_parser(c); |
| - | 216 | #endif |
|
| - | 217 | #endif // USE_KILLAGREG |
|
| 118 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
218 | |
| 119 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
219 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| - | 220 | ||
| - | 221 | // the rxd buffer is unlocked |
|
| - | 222 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
|
| 120 | { |
223 | { |
| 121 | NeuerDatensatzEmpfangen = 1; |
224 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| 122 | AnzahlEmpfangsBytes = buf_ptr; |
225 | crc = c; // init crc |
| 123 | RxdBuffer[buf_ptr] = '\r'; |
226 | } |
| - | 227 | #if 0 |
|
| 124 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
228 | else if (ptr_rxd_buffer == 1) // handle address |
| - | 229 | { |
|
| 125 | } |
230 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| 126 | } |
231 | crc += c; // update crc |
| - | 232 | } |
|
| 127 | else |
233 | #endif |
| - | 234 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
|
| - | 235 | { |
|
| 128 | switch(UartState) |
236 | if(c != '\r') // no termination character |
| 129 | { |
237 | { |
| 130 | case 0: |
238 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| - | 239 | crc += c; // update crc |
|
| 131 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
240 | } |
| - | 241 | else // termination character was received |
|
| 132 | buf_ptr = 0; |
242 | { |
| 133 | RxdBuffer[buf_ptr++] = SioTmp; |
243 | // the last 2 bytes are no subject for checksum calculation |
| - | 244 | // they are the checksum itself |
|
| 134 | crc = SioTmp; |
245 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| 135 | break; |
246 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| - | 247 | // calculate checksum from transmitted data |
|
| - | 248 | crc %= 4096; |
|
| - | 249 | crc1 = '=' + crc / 64; |
|
| - | 250 | crc2 = '=' + crc % 64; |
|
| - | 251 | // compare checksum to transmitted checksum bytes |
|
| 136 | case 1: // Adresse auswerten |
252 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| 137 | UartState++; |
253 | { // checksum valid |
| - | 254 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
|
| 138 | RxdBuffer[buf_ptr++] = SioTmp; |
255 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
| - | 256 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
|
| 139 | crc += SioTmp; |
257 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| - | 258 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
|
| 140 | break; |
259 | } |
| - | 260 | else |
|
| 141 | case 2: // Eingangsdaten sammeln |
261 | { // checksum invalid |
| - | 262 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
|
| 142 | RxdBuffer[buf_ptr] = SioTmp; |
263 | } |
| - | 264 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
|
| 143 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
265 | } |
| Line 144... | Line 266... | ||
| 144 | else UartState = 0; |
266 | } |
| 145 | crc += SioTmp; |
267 | else // rxd buffer overrun |
| 146 | break; |
268 | { |
| 147 | default: |
269 | ptr_rxd_buffer = 0; // reset rxd buffer |
| 148 | UartState = 0; |
270 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
| 149 | break; |
271 | } |
| 150 | } |
272 | |
| 151 | } |
273 | } |
| 152 | 274 | ||
| 153 | 275 | ||
| 154 | // -------------------------------------------------------------------------- |
276 | // -------------------------------------------------------------------------- |
| 155 | void AddCRC(unsigned int wieviele) |
277 | void AddCRC(uint16_t datalen) |
| 156 | { |
278 | { |
| 157 | unsigned int tmpCRC = 0,i; |
279 | uint16_t tmpCRC = 0, i; |
| 158 | for(i = 0; i < wieviele;i++) |
280 | for(i = 0; i < datalen; i++) |
| Line 159... | Line 281... | ||
| 159 | { |
281 | { |
| 160 | tmpCRC += SendeBuffer[i]; |
282 | tmpCRC += txd_buffer[i]; |
| 161 | } |
283 | } |
| 162 | tmpCRC %= 4096; |
284 | tmpCRC %= 4096; |
| 163 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
285 | txd_buffer[i++] = '=' + tmpCRC / 64; |
| 164 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
286 | txd_buffer[i++] = '=' + tmpCRC % 64; |
| 165 | SendeBuffer[i++] = '\r'; |
287 | txd_buffer[i++] = '\r'; |
| 166 | UebertragungAbgeschlossen = 0; |
288 | txd_complete = FALSE; |
| 167 | UDR = SendeBuffer[0]; |
289 | UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| 168 | } |
290 | } |
| 169 | 291 | ||
| 170 | 292 | ||
| 171 | 293 | ||
| 172 | // -------------------------------------------------------------------------- |
294 | // -------------------------------------------------------------------------- |
| 173 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
295 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| 174 | { |
296 | { |
| 175 | unsigned int pt = 0; |
297 | uint16_t pt = 0; |
| 176 | unsigned char a,b,c; |
298 | uint8_t a,b,c; |
| 177 | unsigned char ptr = 0; |
299 | uint8_t ptr = 0; |
| 178 | 300 | ||
| 179 | SendeBuffer[pt++] = '#'; // Startzeichen |
301 | txd_buffer[pt++] = '#'; // Start character |
| 180 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
302 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| 181 | SendeBuffer[pt++] = cmd; // Commando |
303 | txd_buffer[pt++] = cmd; // Command |
| Line 182... | Line 304... | ||
| 182 | 304 | ||
| 183 | while(len) |
305 | while(len) |
| 184 | { |
306 | { |
| 185 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
307 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
| 186 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
308 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
| 187 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
309 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
| 188 | SendeBuffer[pt++] = '=' + (a >> 2); |
310 | txd_buffer[pt++] = '=' + (a >> 2); |
| 189 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
311 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| 190 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
312 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| 191 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
313 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
| 192 | } |
314 | } |
| 193 | AddCRC(pt); |
315 | AddCRC(pt); // add checksum after data block and initates the transmission |
| 194 | } |
316 | } |
| 195 | 317 | ||
| 196 | 318 | ||
| 197 | // -------------------------------------------------------------------------- |
319 | // -------------------------------------------------------------------------- |
| 198 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
320 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| 199 | { |
321 | { |
| 200 | unsigned char a,b,c,d; |
322 | uint8_t a,b,c,d; |
| 201 | unsigned char ptr = 0; |
323 | uint8_t ptr = 0; |
| 202 | unsigned char x,y,z; |
324 | uint8_t x,y,z; |
| 203 | while(len) |
325 | while(len) |
| 204 | { |
- | |
| 205 | a = RxdBuffer[ptrIn++] - '='; |
326 | { |
| Line -... | Line 327... | ||
| - | 327 | a = rxd_buffer[ptrIn++] - '='; |
|
| 206 | b = RxdBuffer[ptrIn++] - '='; |
328 | b = rxd_buffer[ptrIn++] - '='; |
| 207 | c = RxdBuffer[ptrIn++] - '='; |
329 | c = rxd_buffer[ptrIn++] - '='; |
| 208 | d = RxdBuffer[ptrIn++] - '='; |
330 | d = rxd_buffer[ptrIn++] - '='; |
| - | 331 | if(ptrIn > max - 2) break; |
|
| 209 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
332 | |
| Line 210... | Line 333... | ||
| 210 | 333 | x = (a << 2) | (b >> 4); |
|
| 211 | x = (a << 2) | (b >> 4); |
334 | y = ((b & 0x0f) << 4) | (c >> 2); |
| 212 | y = ((b & 0x0f) << 4) | (c >> 2); |
335 | z = ((c & 0x03) << 6) | d; |
| 213 | z = ((c & 0x03) << 6) | d; |
336 | |
| 214 | - | ||
| 215 | if(len--) ptrOut[ptr++] = x; else break; |
- | |
| 216 | if(len--) ptrOut[ptr++] = y; else break; |
- | |
| - | 337 | if(len--) ptrOut[ptr++] = x; else break; |
|
| - | 338 | if(len--) ptrOut[ptr++] = y; else break; |
|
| 217 | if(len--) ptrOut[ptr++] = z; else break; |
339 | if(len--) ptrOut[ptr++] = z; else break; |
| 218 | } |
340 | } |
| - | 341 | } |
|
| 219 | 342 | ||
| 220 | } |
343 | |
| 221 | 344 | // -------------------------------------------------------------------------- |
|
| 222 | // -------------------------------------------------------------------------- |
345 | void USART0_ProcessRxData(void) |
| 223 | void BearbeiteRxDaten(void) |
346 | { |
| - | 347 | // if data in the rxd buffer are not locked immediately return |
|
| 224 | { |
348 | if(!rxd_buffer_locked) return; |
| 225 | if(!NeuerDatensatzEmpfangen) return; |
349 | |
| 226 | 350 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
|
| 227 | unsigned int tmp_int_arr1[1]; |
351 | uint16_t tmp_int_arr1[1]; // local int buffer |
| 228 | // unsigned int tmp_int_arr2[2]; |
352 | #endif |
| 229 | // unsigned int tmp_int_arr3[3]; |
353 | uint8_t tmp_char_arr2[2]; // local char buffer |
| 230 | unsigned char tmp_char_arr2[2]; |
354 | |
| 231 | // unsigned char tmp_char_arr3[3]; |
355 | |
| 232 | // unsigned char tmp_char_arr4[4]; |
356 | switch(rxd_buffer[2]) |
| 233 | //if(!MotorenEin) |
357 | { |
| 234 | switch(RxdBuffer[2]) |
358 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| 235 | { |
359 | case 'K':// Compass value |
| 236 | case 'K':// Kompasswert |
360 | Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| 237 | Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes); |
361 | CompassHeading = tmp_int_arr1[0]; |
| 238 | KompassValue = tmp_int_arr1[0]; |
362 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| 239 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
363 | break; |
| 240 | break; |
364 | #endif |
| 241 | case 'a':// Texte der Analogwerte |
365 | case 'a':// Labels of the Analog Debug outputs |
| 242 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
366 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
| 243 | DebugTextAnforderung = tmp_char_arr2[0]; |
367 | RequestDebugLabel = tmp_char_arr2[0]; |
| 244 | PcZugriff = 255; |
368 | PcAccess = 255; |
| - | 369 | break; |
|
| 245 | break; |
370 | case 'b': // extern control |
| 246 | case 'b': |
371 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
| 247 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
372 | RemoteButtons |= ExternControl.RemoteButtons; |
| 248 | RemoteTasten |= ExternControl.RemoteTasten; |
373 | ConfirmFrame = ExternControl.Frame; |
| 249 | ConfirmFrame = ExternControl.Frame; |
374 | break; |
| 250 | break; |
375 | case 'c': // extern control with debug request |
| 251 | case 'c': |
376 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
| 252 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
377 | RemoteButtons |= ExternControl.RemoteButtons; |
| 253 | RemoteTasten |= ExternControl.RemoteTasten; |
378 | ConfirmFrame = ExternControl.Frame; |
| 254 | ConfirmFrame = ExternControl.Frame; |
379 | RequestDebugData = TRUE; |
| 255 | DebugDataAnforderung = 1; |
380 | PcAccess = 255; |
| 256 | PcZugriff = 255; |
381 | break; |
| 257 | break; |
382 | case 'h':// x-1 display columns |
| 258 | case 'h':// x-1 Displayzeilen |
383 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| 259 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
384 | RemoteButtons |= tmp_char_arr2[0]; |
| 260 | RemoteTasten |= tmp_char_arr2[0]; |
- | |
| 261 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
385 | if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE; |
| 262 | DebugDisplayAnforderung = 1; |
386 | else RequestChannelOnly = FALSE; // keine Displaydaten |
| 263 | break; |
387 | RequestDisplay = TRUE; |
| 264 | case 't':// Motortest |
- | |
| 265 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
388 | break; |
| 266 | PcZugriff = 255; |
389 | case 't':// motor test |
| 267 | break; |
390 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
| 268 | case 'k':// Keys von DubWise |
391 | PcAccess = 255; |
| 269 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
392 | break; |
| - | 393 | case 'k':// keys from DubWise |
|
| 270 | ConfirmFrame = DubWiseKeys[3]; |
394 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
| 271 | PcZugriff = 255; |
395 | ConfirmFrame = DubWiseKeys[3]; |
| 272 | break; |
396 | PcAccess = 255; |
| 273 | case 'v': // Version-Anforderung und Ausbaustufe |
397 | break; |
| 274 | GetVersionAnforderung = 1; |
398 | case 'v': // get version and board release |
| 275 | break; |
399 | RequestVerInfo = TRUE; |
| 276 | case 'g':// "Get"-Anforderung für Debug-Daten |
400 | break; |
| 277 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
401 | case 'g':// get external control data |
| 278 | DebugGetAnforderung = 1; |
402 | RequestExternalControl = TRUE; |
| 279 | break; |
403 | break; |
| 280 | case 'q':// "Get"-Anforderung für Settings |
404 | case 'q':// get settings |
| 281 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
405 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| 282 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
406 | while(!txd_complete); |
| 283 | while(!UebertragungAbgeschlossen); |
407 | if(tmp_char_arr2[0] != 0xff) |
| 284 | if(tmp_char_arr2[0] != 0xff) |
- | |
| 285 | { |
408 | { |
| 286 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
409 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
| 287 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
410 | // load requested parameter set |
| 288 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
411 | ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
| 289 | } |
412 | SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| 290 | else |
413 | } |
| 291 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
414 | else // send active parameter set |
| 292 | 415 | SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
|
| 293 | break; |
416 | |
| 294 | 417 | break; |
|
| 295 | case 'l': |
418 | |
| Line 296... | Line 419... | ||
| 296 | case 'm': |
419 | case 'l': |
| 297 | case 'n': |
420 | case 'm': |
| 298 | case 'o': |
421 | case 'n': |
| 299 | case 'p': // Parametersatz speichern |
422 | case 'o': |
| 300 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
423 | case 'p': // save parameterset |
| 301 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
424 | Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
| 302 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
425 | ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
| 303 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
426 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 304 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
427 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| 305 | Piep(GetActiveParamSetNumber()); |
428 | Beep(GetActiveParamSet()); |
| 306 | break; |
429 | break; |
| 307 | - | ||
| 308 | 430 | ||
| 309 | } |
431 | |
| Line 310... | Line -... | ||
| 310 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
- | |
| 311 | NeuerDatensatzEmpfangen = 0; |
- | |
| 312 | } |
- | |
| 313 | - | ||
| 314 | //############################################################################ |
- | |
| 315 | //Routine für die Serielle Ausgabe |
- | |
| 316 | int uart_putchar (char c) |
- | |
| Line 317... | Line 432... | ||
| 317 | //############################################################################ |
432 | } |
| 318 | { |
- | |
| 319 | if (c == '\n') |
433 | // unlock the rxd buffer after processing |
| 320 | uart_putchar('\r'); |
- | |
| 321 | //Warten solange bis Zeichen gesendet wurde |
434 | rxd_buffer_locked = FALSE; |
| 322 | loop_until_bit_is_set(USR, UDRE); |
435 | } |
| Line 323... | Line -... | ||
| 323 | //Ausgabe des Zeichens |
- | |
| 324 | UDR = c; |
436 | |
| 325 | 437 | //############################################################################ |
|
| 326 | return (0); |
438 | //Routine für die Serielle Ausgabe |
| 327 | } |
- | |
| 328 | 439 | int16_t uart_putchar (int8_t c) |
|
| 329 | // -------------------------------------------------------------------------- |
440 | //############################################################################ |
| 330 | void WriteProgramData(unsigned int pos, unsigned char wert) |
441 | { |
| 331 | { |
442 | if (c == '\n') |
| 332 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
443 | uart_putchar('\r'); |
| 333 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
444 | // wait until previous character was send |
| - | 445 | loop_until_bit_is_set(UCSR0A, UDRE0); |
|
| - | 446 | //Ausgabe des Zeichens |
|
| 334 | // Buffer[pos] = wert; |
447 | UDR0 = c; |
| 335 | } |
448 | return (0); |
| 336 | 449 | } |
|
| - | 450 | ||
| - | 451 | ||
| 337 | //############################################################################ |
452 | //--------------------------------------------------------------------------------------------- |
| 338 | //INstallation der Seriellen Schnittstelle |
453 | void USART0_TransmitTxData(void) |
| 339 | void UART_Init (void) |
454 | { |
| - | 455 | if(!txd_complete) return; |
|
| Line 340... | Line 456... | ||
| 340 | //############################################################################ |
456 | |
| 341 | { |
- | |
| 342 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
457 | if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| - | 458 | { |
|
| 343 | 459 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
|
| - | 460 | RequestExternalControl = FALSE; |
|
| - | 461 | } |
|
| Line 344... | Line -... | ||
| 344 | UCR=(1 << TXEN) | (1 << RXEN); |
- | |
| 345 | // UART Double Speed (U2X) |
- | |
| 346 | USR |= (1<<U2X); |
- | |
| 347 | // RX-Interrupt Freigabe |
- | |
| 348 | UCSRB |= (1<<RXCIE); |
- | |
| 349 | // TX-Interrupt Freigabe |
- | |
| 350 | UCSRB |= (1<<TXCIE); |
- | |
| 351 | - | ||
| 352 | //Teiler wird gesetzt |
- | |
| 353 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
- | |
| 354 | //UBRR = 33; |
- | |
| 355 | //öffnet einen Kanal für printf (STDOUT) |
- | |
| 356 | //fdevopen (uart_putchar, 0); |
- | |
| 357 | //sbi(PORTD,4); |
- | |
| 358 | Debug_Timer = SetDelay(200); |
- | |
| 359 | Kompass_Timer = SetDelay(220); |
- | |
| 360 | } |
- | |
| 361 | - | ||
| 362 | //--------------------------------------------------------------------------------------------- |
- | |
| 363 | void DatenUebertragung(void) |
- | |
| 364 | { |
- | |
| 365 | if(!UebertragungAbgeschlossen) return; |
- | |
| 366 | - | ||
| 367 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
462 | |
| 368 | { |
463 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| 369 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
464 | if((CheckDelay(Compass_Timer)) && txd_complete) |
| 370 | DebugGetAnforderung = 0; |
465 | { |
| 371 | } |
466 | ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
| 372 | 467 | ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
|
| 373 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
468 | ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| 374 | { |
469 | ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| 375 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
470 | ToMk3Mag.CalState = CompassCalState; |
| 376 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
471 | SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| 377 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
472 | // the last state is 5 and should be send only once to avoid multiple flash writing |
| 378 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
473 | if(CompassCalState > 4) CompassCalState = 0; |
| 379 | SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
474 | Compass_Timer = SetDelay(99); |
| 380 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
475 | } |
| 381 | Kompass_Timer = SetDelay(99); |
476 | #endif |
| 382 | } |
477 | |
| 383 | 478 | if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete) |
|
| 384 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
479 | { |
| 385 | { |
480 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| 386 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
481 | RequestDebugData = FALSE; |
| 387 | DebugDataAnforderung = 0; |
482 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| 388 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
483 | } |
| 389 | } |
484 | |
| 390 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
485 | if(RequestDebugLabel != 255) // Texte für die Analogdaten |
| 391 | { |
486 | { |
| 392 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
487 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| 393 | DebugTextAnforderung = 255; |
488 | RequestDebugLabel = 255; |
| 394 | } |
489 | } |
| 395 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
490 | if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
| 396 | { |
491 | { |
| Line 397... | Line 492... | ||
| 397 | SendeBuffer[0] = '#'; |
492 | txd_buffer[0] = '#'; |