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Line 7... | Line 7... | ||
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" |
Line -... | Line 11... | ||
- | 11 | ||
- | 12 | ||
- | 13 | #define FC_ADDRESS 1 |
|
- | 14 | #define NC_ADDRESS 2 |
|
- | 15 | #define MK3MAG_ADDRESS 3 |
|
11 | 16 | ||
12 | 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; |
13 | unsigned char DisplayLine = 0; |
18 | unsigned char DisplayLine = 0; |
14 | unsigned volatile char SioTmp = 0; |
19 | unsigned volatile char SioTmp = 0; |
15 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
Line 278... | Line 283... | ||
278 | // -------------------------------------------------------------------------- |
283 | // -------------------------------------------------------------------------- |
279 | void BearbeiteRxDaten(void) |
284 | void BearbeiteRxDaten(void) |
280 | { |
285 | { |
281 | if(!NeuerDatensatzEmpfangen) return; |
286 | if(!NeuerDatensatzEmpfangen) return; |
Line -... | Line 287... | ||
- | 287 | ||
- | 288 | switch(RxdBuffer[1]) // check for Slave Address |
|
- | 289 | { |
|
282 | 290 | case FC_ADDRESS: // FC special commands |
|
- | 291 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
|
- | 292 | switch(RxdBuffer[2]) |
|
- | 293 | { |
|
- | 294 | case 'K':// Kompasswert |
|
- | 295 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
- | 296 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
- | 297 | break; |
|
- | 298 | ||
- | 299 | case 't':// Motortest |
|
- | 300 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
- | 301 | while(!UebertragungAbgeschlossen); |
|
- | 302 | SendOutData('T', MeineSlaveAdresse, 0); |
|
- | 303 | PcZugriff = 255; |
|
- | 304 | break; |
|
- | 305 | ||
- | 306 | case 'p': // get PPM Channels |
|
- | 307 | GetPPMChannelAnforderung = 1; |
|
- | 308 | break; |
|
- | 309 | ||
- | 310 | case 'q':// "Get"-Anforderung für Settings |
|
- | 311 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
|
- | 312 | if(pRxData[0] == 0xFF) |
|
- | 313 | { |
|
- | 314 | pRxData[0] = GetActiveParamSetNumber(); |
|
- | 315 | } |
|
- | 316 | else // request active parameter set |
|
- | 317 | { |
|
- | 318 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
|
- | 319 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
|
- | 320 | // load requested parameter set |
|
- | 321 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 322 | } |
|
- | 323 | while(!UebertragungAbgeschlossen); |
|
- | 324 | SendOutData('Q', FC_ADDRESS, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 325 | break; |
|
- | 326 | ||
- | 327 | case 's': // Parametersatz speichern |
|
- | 328 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
|
- | 329 | { |
|
- | 330 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
|
- | 331 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 332 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
|
- | 333 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
|
- | 334 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
|
- | 335 | Piep(GetActiveParamSetNumber()); |
|
- | 336 | while(!UebertragungAbgeschlossen); |
|
- | 337 | SendOutData('S', FC_ADDRESS, 1, &pRxData[0], sizeof(unsigned char)); |
|
- | 338 | } |
|
Line 283... | Line -... | ||
283 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
- | |
284 | - | ||
285 | switch(RxdBuffer[2]) |
- | |
286 | { |
- | |
287 | case 'K':// Kompasswert |
- | |
288 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
- | |
289 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
- | |
290 | break; |
- | |
291 | case 'a':// Texte der Analogwerte |
- | |
292 | DebugTextAnforderung = pRxData[0]; |
- | |
293 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
- | |
294 | PcZugriff = 255; |
- | |
295 | break; |
- | |
296 | case 'b': |
- | |
297 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
- | |
298 | ConfirmFrame = ExternControl.Frame; |
- | |
299 | PcZugriff = 255; |
- | |
300 | break; |
- | |
301 | case 'd': // Poll the debug data |
- | |
302 | DebugDataIntervall = pRxData[0] * 10; |
- | |
303 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
- | |
304 | break; |
- | |
305 | - | ||
306 | case 'h':// x-1 Displayzeilen |
- | |
307 | RemoteKeys |= pRxData[0]; |
- | |
308 | if(RemoteKeys) DisplayLine = 0; |
- | |
309 | DebugDisplayAnforderung = 1; |
- | |
310 | break; |
- | |
311 | - | ||
312 | case 'l':// x-1 Displayzeilen |
- | |
313 | MenuePunkt = pRxData[0]; |
- | |
314 | DebugDisplayAnforderung1 = 1; |
- | |
315 | break; |
- | |
316 | case 't':// Motortest |
- | |
317 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
- | |
318 | while(!UebertragungAbgeschlossen); |
- | |
319 | SendOutData('T', MeineSlaveAdresse, 0); |
- | |
320 | PcZugriff = 255; |
- | |
321 | break; |
- | |
322 | case 'v': // Version-Anforderung und Ausbaustufe |
- | |
323 | GetVersionAnforderung = 1; |
- | |
324 | break; |
- | |
325 | case 'g':// |
- | |
326 | GetExternalControl = 1; |
- | |
327 | break; |
- | |
328 | case 'p': // get PPM Channels |
- | |
329 | GetPPMChannelAnforderung = 1; |
- | |
330 | break; |
- | |
331 | case 'q':// "Get"-Anforderung für Settings |
- | |
332 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
- | |
333 | if(pRxData[0] == 0xFF) |
- | |
334 | { |
339 | break; |
335 | pRxData[0] = GetActiveParamSetNumber(); |
340 | |
336 | } |
- | |
337 | else // request active parameter set |
- | |
338 | { |
- | |
339 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
- | |
340 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
- | |
341 | // load requested parameter set |
- | |
342 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
343 | } |
- | |
344 | while(!UebertragungAbgeschlossen); |
- | |
345 | SendOutData('Q', MeineSlaveAdresse, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
346 | break; |
- | |
347 | case 's': // Parametersatz speichern |
- | |
348 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
- | |
349 | { |
- | |
350 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
- | |
351 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
- | |
352 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
- | |
353 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
- | |
354 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
- | |
355 | Piep(GetActiveParamSetNumber()); |
- | |
356 | while(!UebertragungAbgeschlossen); |
- | |
357 | SendOutData('S', MeineSlaveAdresse, 1, &pRxData[0], sizeof(unsigned char)); |
- | |
Line -... | Line 341... | ||
- | 341 | } |
|
- | 342 | break; // case FC_ADDRESS: |
|
- | 343 | ||
358 | } |
344 | default: // any Slave Address |
- | 345 | Decode64(); |
|
- | 346 | switch(RxdBuffer[2]) |
|
- | 347 | { |
|
- | 348 | // 't' comand placed here only for compatibility to BL |
|
- | 349 | case 't':// Motortest |
|
- | 350 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
|
- | 351 | while(!UebertragungAbgeschlossen); |
|
- | 352 | SendOutData('T', MeineSlaveAdresse, 0); |
|
- | 353 | PcZugriff = 255; |
|
- | 354 | break; |
|
- | 355 | // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
|
- | 356 | case 'K':// Kompasswert |
|
- | 357 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
|
- | 358 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
|
- | 359 | break; |
|
359 | break; |
360 | |
- | 361 | case 'a':// Texte der Analogwerte |
|
- | 362 | DebugTextAnforderung = pRxData[0]; |
|
- | 363 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
|
- | 364 | PcZugriff = 255; |
|
- | 365 | break; |
|
- | 366 | ||
- | 367 | case 'b': |
|
- | 368 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
|
- | 369 | ConfirmFrame = ExternControl.Frame; |
|
- | 370 | PcZugriff = 255; |
|
- | 371 | break; |
|
- | 372 | case 'd': // Poll the debug data |
|
- | 373 | DebugDataIntervall = pRxData[0] * 10; |
|
- | 374 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
|
- | 375 | break; |
|
- | 376 | ||
- | 377 | case 'h':// x-1 Displayzeilen |
|
- | 378 | RemoteKeys |= pRxData[0]; |
|
- | 379 | if(RemoteKeys) DisplayLine = 0; |
|
- | 380 | DebugDisplayAnforderung = 1; |
|
- | 381 | break; |
|
- | 382 | ||
- | 383 | case 'l':// x-1 Displayzeilen |
|
- | 384 | MenuePunkt = pRxData[0]; |
|
- | 385 | DebugDisplayAnforderung1 = 1; |
|
- | 386 | break; |
|
- | 387 | case 'v': // Version-Anforderung und Ausbaustufe |
|
- | 388 | GetVersionAnforderung = 1; |
|
- | 389 | break; |
|
- | 390 | ||
- | 391 | case 'g':// |
|
- | 392 | GetExternalControl = 1; |
|
- | 393 | break; |
|
360 | 394 | } |
|
361 | } |
395 | break; // default: |
362 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
396 | } |
363 | NeuerDatensatzEmpfangen = 0; |
397 | NeuerDatensatzEmpfangen = 0; |
Line 409... | Line 443... | ||
409 | //öffnet einen Kanal für printf (STDOUT) |
443 | //öffnet einen Kanal für printf (STDOUT) |
410 | //fdevopen (uart_putchar, 0); |
444 | //fdevopen (uart_putchar, 0); |
411 | //sbi(PORTD,4); |
445 | //sbi(PORTD,4); |
412 | Debug_Timer = SetDelay(DebugDataIntervall); |
446 | Debug_Timer = SetDelay(DebugDataIntervall); |
413 | Kompass_Timer = SetDelay(220); |
447 | Kompass_Timer = SetDelay(220); |
414 | MeineSlaveAdresse = 1; // Flight-Ctrl |
- | |
Line 415... | Line 448... | ||
415 | 448 | ||
416 | VersionInfo.Major = VERSION_MAJOR; |
449 | VersionInfo.Major = VERSION_MAJOR; |
417 | VersionInfo.Minor = VERSION_MINOR; |
450 | VersionInfo.Minor = VERSION_MINOR; |
418 | VersionInfo.Patch = VERSION_PATCH; |
451 | VersionInfo.Patch = VERSION_PATCH; |
Line 437... | Line 470... | ||
437 | { |
470 | { |
438 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
471 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
439 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
472 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
440 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
473 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
441 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
474 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
442 | SendOutData('k',MeineSlaveAdresse, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
475 | SendOutData('w', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
443 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
476 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
444 | Kompass_Timer = SetDelay(99); |
477 | Kompass_Timer = SetDelay(99); |
445 | } |
478 | } |
446 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
479 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
447 | { |
480 | { |
448 | SendOutData('D',MeineSlaveAdresse, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
481 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
449 | DebugDataAnforderung = 0; |
482 | DebugDataAnforderung = 0; |
450 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
483 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
451 | } |
484 | } |
452 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
485 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
453 | { |
486 | { |
454 | SendOutData('A', MeineSlaveAdresse, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
487 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
455 | DebugTextAnforderung = 255; |
488 | DebugTextAnforderung = 255; |
456 | } |
489 | } |
457 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
490 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
458 | { |
491 | { |
459 | SendOutData('B', MeineSlaveAdresse, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
492 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
460 | ConfirmFrame = 0; |
493 | ConfirmFrame = 0; |
461 | } |
494 | } |
Line 462... | Line 495... | ||
462 | 495 | ||
463 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
496 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
464 | { |
497 | { |
465 | Menu(); |
498 | Menu(); |
466 | SendOutData('H',MeineSlaveAdresse, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
499 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
467 | DisplayLine++; |
500 | DisplayLine++; |
468 | if(DisplayLine >= 4) DisplayLine = 0; |
501 | if(DisplayLine >= 4) DisplayLine = 0; |
469 | DebugDisplayAnforderung = 0; |
502 | DebugDisplayAnforderung = 0; |
470 | } |
503 | } |
471 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
504 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
472 | { |
505 | { |
473 | Menu(); |
506 | Menu(); |
474 | SendOutData('L',MeineSlaveAdresse, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
507 | SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
475 | DebugDisplayAnforderung1 = 0; |
508 | DebugDisplayAnforderung1 = 0; |
476 | } |
509 | } |
477 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
510 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
478 | { |
511 | { |
479 | SendOutData('V',MeineSlaveAdresse, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
512 | SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
480 | GetVersionAnforderung = 0; |
513 | GetVersionAnforderung = 0; |
481 | } |
514 | } |
482 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
515 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
483 | { |
516 | { |
484 | SendOutData('P',MeineSlaveAdresse, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
517 | SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
485 | GetPPMChannelAnforderung = 0; |
518 | GetPPMChannelAnforderung = 0; |
Line 486... | Line 519... | ||
486 | } |
519 | } |