WebSVN - FlightCtrl - Diff - Rev 1635 and 1645 - /branches/dongfang_FC

 uint8_t Request_Display                 = FALSE;
 uint8_t Request_Display1                = FALSE;
 uint8_t Request_DebugData               = FALSE;
 uint8_t Request_Data3D                  = FALSE;
 uint8_t Request_DebugLabel              = 255;
-uint8_t Request_PPMChannels             = FALSE;
+uint8_t Request_PPMChannels     = FALSE;
 uint8_t Request_MotorTest               = FALSE;
 uint8_t DisplayLine = 0;
 volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
 const prog_uint8_t ANALOG_LABEL[32][16] = {
     //1234567890123456
     "AnglePitch      ", //0
     "AngleRoll       ",
     "AngleYaw        ",
-    "GyroPitch       ",
+    "GyroPitch(AC)   ",
-    "GyroRoll        ",
+    "GyroRoll(AC)    ",
-    "GyroYaw         ", //5
+    "GyroYaw(AC)     ", //5
-    "ControlPitch    ",
+    "Pitch_Raw       ",
-    "ControlRoll     ",
+    "HiResPitch_PID  ",
-    "ControlYaw      ",
+    "PitchGyroOffset ",
-    "SetPointYaw     ",
+    "Roll_Raw        ",
-    "YawRateIFactor  ", //10
+    "HiResRoll_PID   ", //10
-    "Gyro I Factor   ",
+    "rollGyroOffset  ",
-    "                ",
+    "Pressure range  ",
-    "                ",
+    "Pressure A/D    ",
-    "R/C Var 4       ",
+    "Pressure Value  ",
-    "User Param 4    ", //15
+    "Press. rangewidz", //15
-    "RCQuality       ",
+    "Press. init A/D ",
     "Ext. Quality    ",
     "Looping         ",
     "throttleTerm    ",
     "pitchTerm       ", //20
     "rollTerm        ",
   };
 /****************************************************************/
 /*              Initialization of the USART0                    */
 /****************************************************************/
-void USART0_Init (void) {
+void usart0_Init (void) {
   uint8_t sreg = SREG;
   uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
   pRxData = &rxd_buffer[3];
   RxDataLen = ptrOut - 3;
+}
 // --------------------------------------------------------------------------
-void USART0_ProcessRxData(void) {
+void usart0_ProcessRxData(void) {
   // if data in the rxd buffer are not locked immediately return
   if(!rxd_buffer_locked) return;
   pRxData = 0;
   RxDataLen = 0;
   rxd_buffer_locked = FALSE;
+}
-//############################################################################
+/************************************************************************/
-//Routine für die Serielle Ausgabe
+/* Routine für die Serielle Ausgabe                                     */
-//############################################################################
+/************************************************************************/
 int16_t uart_putchar (int8_t c) {
   if (c == '\n')
     uart_putchar('\r');
   // wait until previous character was send
   UDR0 = c;
   return (0);
+}
 //---------------------------------------------------------------------------------------------
-void USART0_TransmitTxData(void) {
+void usart0_TransmitTxData(void) {
   if(!txd_complete) return;
   if(Request_VerInfo && txd_complete) {
     LCD_PrintMenu();
     SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));
     Request_Display1 = FALSE;
+  }
   if(Request_DebugLabel != 0xFF) { // Texte für die Analogdaten
     uint8_t label[16]; // local sram buffer
     memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer
     SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16);
     Request_DebugLabel = 0xFF;
   }
   if(ConfirmFrame && txd_complete) {   // Datensatz ohne CRC bestätigen
     SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame));
     ConfirmFrame = 0;
     Request_DebugData = FALSE;
+  }
   if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) {
     SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D));
-    Data3D.AngleNick = (int16_t)((10 * pitchAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
+    Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
-    Data3D.AngleRoll = (int16_t)((10 * rollAngle) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
+    Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
     Data3D.Heading   = (int16_t)((10 * yawGyroHeading)   / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
     Data3D_Timer = SetDelay(Data3D_Interval);
     Request_Data3D = FALSE;
     Request_ExternalControl = FALSE;
+  }
 #ifdef USE_MK3MAG
   if((CheckDelay(Compass_Timer)) && txd_complete) {
-    ToMk3Mag.Attitude[0] = (int16_t)((10 * pitchAngle) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
+    ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
-    ToMk3Mag.Attitude[1] = (int16_t)((10 * rollAngle) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
+    ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCH_ROLL);  // approx. 0.1 deg
     ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0];
     ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1];
     ToMk3Mag.CalState = CompassCalState;
     SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag));

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/uart0.c - Rev 1635 → 1645