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Rev 1378 | Rev 1550 | ||
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Line 4... | Line 4... | ||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | #include <stdarg.h> |
7 | #include <stdarg.h> |
8 | #include <string.h> |
8 | #include <string.h> |
- | 9 | #include <avr/pgmspace.h> |
|
9 | #include "main.h" |
10 | #include "main.h" |
10 | #include "uart.h" |
11 | #include "uart.h" |
- | 12 | #include "libfc.h" |
|
Line 11... | Line 13... | ||
11 | 13 | ||
12 | 14 | ||
13 | #define FC_ADDRESS 1 |
15 | #define FC_ADDRESS 1 |
Line -... | Line 16... | ||
- | 16 | #define NC_ADDRESS 2 |
|
- | 17 | #define MK3MAG_ADDRESS 3 |
|
- | 18 | ||
14 | #define NC_ADDRESS 2 |
19 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
15 | #define MK3MAG_ADDRESS 3 |
20 | #define MAX_SENDE_BUFF 160 |
16 | 21 | #define MAX_EMPFANGS_BUFF 160 |
|
17 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
- | |
18 | unsigned char DisplayLine = 0; |
- | |
19 | unsigned volatile char SioTmp = 0; |
- | |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
22 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
23 | unsigned char DisplayLine = 0; |
22 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
24 | unsigned volatile char SioTmp = 0; |
23 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
25 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
24 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
26 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
- | 27 | unsigned volatile char UebertragungAbgeschlossen = 1; |
|
- | 28 | unsigned volatile char CntCrcError = 0; |
|
- | 29 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
|
25 | unsigned volatile char UebertragungAbgeschlossen = 1; |
30 | unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
26 | unsigned volatile char CntCrcError = 0; |
31 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
32 | |
28 | unsigned char *pRxData = 0; |
33 | unsigned char *pRxData = 0; |
Line 39... | Line 44... | ||
39 | struct str_ExternControl ExternControl; |
44 | struct str_ExternControl ExternControl; |
40 | struct str_VersionInfo VersionInfo; |
45 | struct str_VersionInfo VersionInfo; |
41 | struct str_WinkelOut WinkelOut; |
46 | struct str_WinkelOut WinkelOut; |
42 | struct str_Data3D Data3D; |
47 | struct str_Data3D Data3D; |
Line 43... | Line 48... | ||
43 | 48 | ||
44 | int Debug_Timer,Kompass_Timer,Timer3D; |
49 | int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
- | 50 | unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
|
Line 45... | Line 51... | ||
45 | unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
51 | unsigned int AboTimeOut = 0; |
46 | 52 | ||
47 | const unsigned char ANALOG_TEXT[32][16] = |
53 | const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
48 | { |
54 | { |
49 | //1234567890123456 |
55 | //1234567890123456 |
50 | "AngleNick ", //0 |
56 | "AngleNick ", //0 |
51 | "AngleRoll ", |
57 | "AngleRoll ", |
52 | "AccNick ", |
58 | "AccNick ", |
53 | "AccRoll ", |
59 | "AccRoll ", |
54 | "GyroGier ", |
60 | "YawGyro ", |
55 | "Hight Value ", //5 |
61 | "Height Value ", //5 |
56 | "AccZ ", |
62 | "AccZ ", |
57 | "Gas ", |
63 | "Gas ", |
58 | "Compass Value ", |
64 | "Compass Value ", |
59 | "Voltage ", |
65 | "Voltage [0.1V] ", |
60 | "Empfang ", //10 |
66 | "Receiver Level ", //10 |
61 | "Gyro Kompass ", |
67 | "Gyro Compass ", |
62 | "Motor Front ", |
68 | "Motor 1 ", |
63 | "Motor Rear ", |
69 | "Motor 2 ", |
64 | "Motor Left ", |
70 | "Motor 3 ", |
65 | "Motor Right ", //15 |
71 | "Motor 4 ", //15 |
66 | " ", |
72 | " ", |
67 | " ", |
73 | " ", |
68 | "VarioMeter ", |
74 | "VarioMeter ", |
69 | "MK3Mag CalState ", |
75 | "MK3Mag CalState ", |
70 | "Servo ", //20 |
76 | "Servo ", //20 |
71 | "Hoovergas ", |
77 | "Hovergas ", |
72 | " ", |
78 | "Current [0.1A] ", |
73 | " ", |
79 | "Capacity [mAh] ", |
74 | " ", |
80 | " ", |
75 | " ", //25 |
81 | " ", //25 |
76 | " ", |
82 | " ", |
77 | " ", |
83 | " ", |
78 | "I2C-Error ", |
84 | "I2C-Error ", |
79 | " ",// "Navi Serial Data", |
85 | " ", // "Navi Serial Data", |
80 | "GPS_Nick ", //30 |
86 | "GPS_Nick ", //30 |
Line 81... | Line -... | ||
81 | "GPS_Roll " |
- | |
82 | }; |
87 | "GPS_Roll " |
83 | 88 | }; |
|
84 | 89 | ||
85 | 90 | ||
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
91 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
87 | //++ Sende-Part der Datenübertragung |
92 | //++ Sende-Part der Datenübertragung |
88 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
93 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
89 | SIGNAL(INT_VEC_TX) |
94 | SIGNAL(INT_VEC_TX) |
90 | { |
95 | { |
91 | static unsigned int ptr = 0; |
96 | static unsigned int ptr = 0; |
92 | unsigned char tmp_tx; |
97 | unsigned char tmp_tx; |
93 | if(!UebertragungAbgeschlossen) |
98 | if(!UebertragungAbgeschlossen) |
94 | { |
99 | { |
95 | ptr++; // die [0] wurde schon gesendet |
100 | ptr++; // die [0] wurde schon gesendet |
96 | tmp_tx = SendeBuffer[ptr]; |
101 | tmp_tx = TxdBuffer[ptr]; |
97 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
102 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
Line 113... | Line 118... | ||
113 | static unsigned char crc1,crc2,buf_ptr; |
118 | static unsigned char crc1,crc2,buf_ptr; |
114 | static unsigned char UartState = 0; |
119 | static unsigned char UartState = 0; |
115 | unsigned char CrcOkay = 0; |
120 | unsigned char CrcOkay = 0; |
Line 116... | Line 121... | ||
116 | 121 | ||
117 | SioTmp = UDR; |
122 | SioTmp = UDR; |
118 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
123 | if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
119 | if(SioTmp == '\r' && UartState == 2) |
124 | if(SioTmp == '\r' && UartState == 2) |
120 | { |
125 | { |
121 | UartState = 0; |
126 | UartState = 0; |
122 | crc -= RxdBuffer[buf_ptr-2]; |
127 | crc -= RxdBuffer[buf_ptr-2]; |
Line 131... | Line 136... | ||
131 | NeuerDatensatzEmpfangen = 1; |
136 | NeuerDatensatzEmpfangen = 1; |
132 | AnzahlEmpfangsBytes = buf_ptr + 1; |
137 | AnzahlEmpfangsBytes = buf_ptr + 1; |
133 | RxdBuffer[buf_ptr] = '\r'; |
138 | RxdBuffer[buf_ptr] = '\r'; |
134 | if(RxdBuffer[2] == 'R') |
139 | if(RxdBuffer[2] == 'R') |
135 | { |
140 | { |
- | 141 | LcdClear(); |
|
136 | wdt_enable(WDTO_250MS); // Reset-Commando |
142 | wdt_enable(WDTO_250MS); // Reset-Commando |
137 | ServoActive = 0; |
143 | ServoActive = 0; |
- | 144 | ||
138 | } |
145 | } |
139 | } |
146 | } |
140 | } |
147 | } |
141 | else |
148 | else |
142 | switch(UartState) |
149 | switch(UartState) |
Line 169... | Line 176... | ||
169 | void AddCRC(unsigned int wieviele) |
176 | void AddCRC(unsigned int wieviele) |
170 | { |
177 | { |
171 | unsigned int tmpCRC = 0,i; |
178 | unsigned int tmpCRC = 0,i; |
172 | for(i = 0; i < wieviele;i++) |
179 | for(i = 0; i < wieviele;i++) |
173 | { |
180 | { |
174 | tmpCRC += SendeBuffer[i]; |
181 | tmpCRC += TxdBuffer[i]; |
175 | } |
182 | } |
176 | tmpCRC %= 4096; |
183 | tmpCRC %= 4096; |
177 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
184 | TxdBuffer[i++] = '=' + tmpCRC / 64; |
178 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
185 | TxdBuffer[i++] = '=' + tmpCRC % 64; |
179 | SendeBuffer[i++] = '\r'; |
186 | TxdBuffer[i++] = '\r'; |
180 | UebertragungAbgeschlossen = 0; |
187 | UebertragungAbgeschlossen = 0; |
181 | UDR = SendeBuffer[0]; |
188 | UDR = TxdBuffer[0]; |
182 | } |
189 | } |
Line 183... | Line 190... | ||
183 | 190 | ||
Line 192... | Line 199... | ||
192 | unsigned char ptr = 0; |
199 | unsigned char ptr = 0; |
Line 193... | Line 200... | ||
193 | 200 | ||
194 | unsigned char *snd = 0; |
201 | unsigned char *snd = 0; |
Line 195... | Line 202... | ||
195 | int len = 0; |
202 | int len = 0; |
196 | 203 | ||
197 | SendeBuffer[pt++] = '#'; // Startzeichen |
204 | TxdBuffer[pt++] = '#'; // Startzeichen |
Line 198... | Line 205... | ||
198 | SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
205 | TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
199 | SendeBuffer[pt++] = cmd; // Commando |
206 | TxdBuffer[pt++] = cmd; // Commando |
200 | 207 | ||
201 | va_start(ap, BufferAnzahl); |
208 | va_start(ap, BufferAnzahl); |
Line 245... | Line 252... | ||
245 | ptr = 0; |
252 | ptr = 0; |
246 | BufferAnzahl--; |
253 | BufferAnzahl--; |
247 | } |
254 | } |
248 | } |
255 | } |
249 | else c = 0; |
256 | else c = 0; |
250 | SendeBuffer[pt++] = '=' + (a >> 2); |
257 | TxdBuffer[pt++] = '=' + (a >> 2); |
251 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
258 | TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
252 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
259 | TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
253 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
260 | TxdBuffer[pt++] = '=' + ( c & 0x3f); |
254 | } |
261 | } |
255 | va_end(ap); |
262 | va_end(ap); |
256 | AddCRC(pt); |
263 | AddCRC(pt); |
257 | } |
264 | } |
Line 258... | Line -... | ||
258 | - | ||
259 | 265 | ||
260 | // -------------------------------------------------------------------------- |
266 | // -------------------------------------------------------------------------- |
261 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
267 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
262 | { |
268 | { |
263 | unsigned char a,b,c,d; |
269 | unsigned char a,b,c,d; |
Line 294... | Line 300... | ||
294 | unsigned char tempchar1, tempchar2; |
300 | unsigned char tempchar1, tempchar2; |
295 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
301 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
296 | switch(RxdBuffer[1]-'a') // check for Slave Address |
302 | switch(RxdBuffer[1]-'a') // check for Slave Address |
297 | { |
303 | { |
298 | case FC_ADDRESS: // FC special commands |
304 | case FC_ADDRESS: // FC special commands |
299 | - | ||
300 | switch(RxdBuffer[2]) |
305 | switch(RxdBuffer[2]) |
301 | { |
306 | { |
302 | case 'K':// Kompasswert |
307 | case 'K':// Kompasswert |
303 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
308 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
304 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
309 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
Line 318... | Line 323... | ||
318 | break; |
323 | break; |
Line 319... | Line 324... | ||
319 | 324 | ||
320 | case 'm':// "Write Mixer |
325 | case 'm':// "Write Mixer |
321 | while(!UebertragungAbgeschlossen); |
326 | while(!UebertragungAbgeschlossen); |
322 | if(pRxData[0] == MIXER_REVISION) |
327 | if(pRxData[0] == MIXER_REVISION) |
323 | { |
328 | { |
324 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
329 | memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
325 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
330 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
326 | tempchar1 = 1; |
331 | tempchar1 = 1; |
327 | } |
332 | } |
328 | else tempchar1 = 0; |
333 | else tempchar1 = 0; |
329 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
334 | SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
Line 330... | Line 335... | ||
330 | break; |
335 | break; |
331 | 336 | ||
- | 337 | case 'p': // get PPM Channels |
|
332 | case 'p': // get PPM Channels |
338 | GetPPMChannelAnforderung = 1; |
Line 333... | Line 339... | ||
333 | GetPPMChannelAnforderung = 1; |
339 | PcZugriff = 255; |
334 | break; |
340 | break; |
335 | 341 | ||
Line 358... | Line 364... | ||
358 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
364 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
359 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
365 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
360 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
366 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
361 | SetActiveParamSetNumber(pRxData[0]); |
367 | SetActiveParamSetNumber(pRxData[0]); |
362 | tempchar1 = GetActiveParamSetNumber(); |
368 | tempchar1 = GetActiveParamSetNumber(); |
363 | LipoDetection(0); |
- | |
364 | Piep(tempchar1,110); |
- | |
365 | } |
369 | } |
366 | else |
370 | else |
367 | { |
371 | { |
368 | tempchar1 = 0; // mark in response an invlid setting |
372 | tempchar1 = 0; // mark in response an invlid setting |
369 | } |
373 | } |
370 | while(!UebertragungAbgeschlossen); |
374 | while(!UebertragungAbgeschlossen); |
371 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
375 | SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
- | 376 | if(!MotorenEin) Piep(tempchar1,110); |
|
- | 377 | LipoDetection(0); |
|
- | 378 | LIBFC_ReceiverInit(); |
|
- | 379 | break; |
|
- | 380 | case 'f': // auf anderen Parametersatz umschalten |
|
- | 381 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) SetActiveParamSetNumber(pRxData[0]); |
|
- | 382 | tempchar1 = pRxData[0]; |
|
- | 383 | ReadParameterSet(tempchar1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
|
- | 384 | while(!UebertragungAbgeschlossen); |
|
- | 385 | SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
|
- | 386 | if(!MotorenEin) Piep(tempchar1,110); |
|
- | 387 | LipoDetection(0); |
|
- | 388 | LIBFC_ReceiverInit(); |
|
- | 389 | break; |
|
- | 390 | case 'y':// serial Potis |
|
- | 391 | PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
|
- | 392 | PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
|
- | 393 | PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
|
372 | break; |
394 | break; |
Line 373... | Line 395... | ||
373 | 395 | ||
Line 374... | Line 396... | ||
374 | } // case FC_ADDRESS: |
396 | } // case FC_ADDRESS: |
Line 402... | Line 424... | ||
402 | PcZugriff = 255; |
424 | PcZugriff = 255; |
403 | break; |
425 | break; |
404 | case 'c': // Poll the 3D-Data |
426 | case 'c': // Poll the 3D-Data |
405 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
427 | if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
406 | Intervall3D = pRxData[0] * 10; |
428 | Intervall3D = pRxData[0] * 10; |
- | 429 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
407 | break; |
430 | break; |
408 | case 'd': // Poll the debug data |
431 | case 'd': // Poll the debug data |
- | 432 | PcZugriff = 255; |
|
409 | DebugDataIntervall = pRxData[0] * 10; |
433 | DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
410 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
434 | if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
- | 435 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
411 | break; |
436 | break; |
Line 412... | Line 437... | ||
412 | 437 | ||
413 | case 'h':// x-1 Displayzeilen |
438 | case 'h':// x-1 Displayzeilen |
- | 439 | PcZugriff = 255; |
|
- | 440 | if((pRxData[0] & 0x80) == 0x00) // old format |
|
- | 441 | { |
|
- | 442 | DisplayLine = 2; |
|
- | 443 | Display_Interval = 0; |
|
- | 444 | } |
|
- | 445 | else // new format |
|
414 | PcZugriff = 255; |
446 | { |
- | 447 | RemoteKeys |= ~pRxData[0]; |
|
415 | RemoteKeys |= pRxData[0]; |
448 | Display_Interval = (unsigned int)pRxData[1] * 10; |
- | 449 | DisplayLine = 4; |
|
- | 450 | AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
416 | if(RemoteKeys) DisplayLine = 0; |
451 | } |
417 | DebugDisplayAnforderung = 1; |
452 | DebugDisplayAnforderung = 1; |
Line 418... | Line 453... | ||
418 | break; |
453 | break; |
419 | 454 | ||
Line 437... | Line 472... | ||
437 | RxDataLen = 0; |
472 | RxDataLen = 0; |
438 | } |
473 | } |
Line 439... | Line 474... | ||
439 | 474 | ||
440 | //############################################################################ |
475 | //############################################################################ |
441 | //Routine für die Serielle Ausgabe |
476 | //Routine für die Serielle Ausgabe |
442 | int uart_putchar (char c) |
477 | void uart_putchar (char c) |
443 | //############################################################################ |
478 | //############################################################################ |
444 | { |
- | |
445 | if (c == '\n') |
479 | { |
446 | uart_putchar('\r'); |
480 | //if (c == '\n') uart_putchar('\r'); |
447 | //Warten solange bis Zeichen gesendet wurde |
481 | //Warten solange bis Zeichen gesendet wurde |
448 | loop_until_bit_is_set(USR, UDRE); |
482 | loop_until_bit_is_set(USR, UDRE); |
449 | //Ausgabe des Zeichens |
483 | //Ausgabe des Zeichens |
450 | UDR = c; |
- | |
451 | - | ||
452 | return (0); |
484 | UDR = c; |
Line 453... | Line -... | ||
453 | } |
- | |
454 | - | ||
455 | // -------------------------------------------------------------------------- |
- | |
456 | void WriteProgramData(unsigned int pos, unsigned char wert) |
- | |
457 | { |
- | |
458 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
- | |
459 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
- | |
Line 460... | Line 485... | ||
460 | // Buffer[pos] = wert; |
485 | } |
461 | } |
486 | |
462 | 487 | ||
463 | //############################################################################ |
488 | //############################################################################ |
Line 495... | Line 520... | ||
495 | } |
520 | } |
Line 496... | Line 521... | ||
496 | 521 | ||
497 | //--------------------------------------------------------------------------------------------- |
522 | //--------------------------------------------------------------------------------------------- |
498 | void DatenUebertragung(void) |
523 | void DatenUebertragung(void) |
499 | { |
524 | { |
Line 500... | Line 525... | ||
500 | if(!UebertragungAbgeschlossen) return; |
525 | if(!UebertragungAbgeschlossen) return; |
501 | 526 | ||
- | 527 | if(CheckDelay(AboTimeOut)) |
|
- | 528 | { |
|
- | 529 | Display_Interval = 0; |
|
- | 530 | DebugDataIntervall = 0; |
|
- | 531 | Intervall3D = 0; |
|
- | 532 | } |
|
- | 533 | ||
- | 534 | if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
|
- | 535 | { |
|
502 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
536 | if(DisplayLine > 3)// new format |
503 | { |
537 | { |
- | 538 | Menu(); |
|
504 | Menu(); |
539 | SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
- | 540 | } |
|
- | 541 | else // old format |
|
- | 542 | { |
|
505 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
543 | LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
- | 544 | SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
|
- | 545 | if(DisplayLine++ > 3) DisplayLine = 0; |
|
506 | DisplayLine++; |
546 | } |
507 | if(DisplayLine >= 4) DisplayLine = 0; |
547 | Display_Timer = SetDelay(Display_Interval); |
508 | DebugDisplayAnforderung = 0; |
548 | DebugDisplayAnforderung = 0; |
509 | } |
549 | } |
510 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
550 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
Line 534... | Line 574... | ||
534 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
574 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
535 | Kompass_Timer = SetDelay(99); |
575 | Kompass_Timer = SetDelay(99); |
536 | } |
576 | } |
537 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
577 | if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
538 | { |
578 | { |
539 | //if(Poti3 > 64) |
579 | //if(Poti3 > 64) |
540 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
580 | SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
541 | DebugDataAnforderung = 0; |
581 | DebugDataAnforderung = 0; |
542 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
582 | if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
543 | } |
583 | } |
544 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
584 | if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
Line 549... | Line 589... | ||
549 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
589 | SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
550 | Timer3D = SetDelay(Intervall3D); |
590 | Timer3D = SetDelay(Intervall3D); |
551 | } |
591 | } |
552 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
592 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
553 | { |
593 | { |
- | 594 | unsigned char label[16]; // local sram buffer |
|
- | 595 | memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
|
554 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
596 | SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
555 | DebugTextAnforderung = 255; |
597 | DebugTextAnforderung = 255; |
556 | } |
598 | } |
557 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
599 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
558 | { |
600 | { |
559 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
601 | SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |