WebSVN - FlightCtrl - Diff - Rev 2515 and 2516



unsigned volatile char SioTmp = 0;
unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;   // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];

 
unsigned char *pRxData = 0;

 
unsigned char PcZugriff = 100;
unsigned char MotorTest[16];
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
unsigned char ConfirmFrame;
unsigned char ExternalControlTimeout = 0;
struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternalControl;
struct str_VersionInfo VersionInfo;
struct str_WinkelOut WinkelOut;

struct str_Data3D Data3D;

                case FC_ADDRESS: // FC special commands
                switch(RxdBuffer[2])
                {
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
 
                                        break;
                        case 't':// Motortest
                                if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
                                else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
                                        PC_MotortestActive = 240;

                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        break;
                        // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
                        case 'K':// Kompasswert
                                        memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
 
                                        break;
                        case 'a':// Texte der Analogwerte
                                        DebugTextAnforderung = pRxData[0];
                                        if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
                                        PcZugriff = 255;
                                        break;
                        case 'b':
                                        if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is guilty
                                         {
                                          memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl));
                                          ConfirmFrame = ExternalControl.Frame;
                                          ExternalControlTimeout = 100; // 2 seconds timeout
                                         }
                                        break;
                        case 'c': // Poll the 3D-Data
                    if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
                                        Intervall3D = pRxData[0] * 10;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);

                Debug_OK("Version gesendet");
        }

 
        if(GetExternalControl && UebertragungAbgeschlossen)           // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
        {
                SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl));
                GetExternalControl = 0;
        }
    if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
         {

          else SendRedundantMotor[0] = 0;
          if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80;
      SendRedundantMotor[i+1] = Motor[i].SetPoint;
     }
         SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1);
        Kompass_Timer = SetDelay(25);
  }    
#endif

 
#ifdef DEBUG                                                                                                                    // only include functions if DEBUG is defined

Rev 2515	Rev 2516
Line 82...	Line 82...
82	unsigned volatile char SioTmp = 0;	82	unsigned volatile char SioTmp = 0;
83	unsigned volatile char NeuerDatensatzEmpfangen = 0;	83	unsigned volatile char NeuerDatensatzEmpfangen = 0;
84	unsigned volatile char NeueKoordinateEmpfangen = 0;	84	unsigned volatile char NeueKoordinateEmpfangen = 0;
85	unsigned volatile char UebertragungAbgeschlossen = 1;	85	unsigned volatile char UebertragungAbgeschlossen = 1;
86	unsigned volatile char CntCrcError = 0;	86	unsigned volatile char CntCrcError = 0;
87	unsigned volatile char AnzahlEmpfangsBytes = 0;	87	unsigned volatile char AnzahlEmpfangsBytes = 0; // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge
88	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];	88	unsigned volatile char TxdBuffer[MAX_SENDE_BUFF];
89	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];	89	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
Line 90...	Line 90...
90		90
91	unsigned char *pRxData = 0;	91	unsigned char *pRxData = 0;
Line 96...	Line 96...
96		96
97	unsigned char PcZugriff = 100;	97	unsigned char PcZugriff = 100;
98	unsigned char MotorTest[16];	98	unsigned char MotorTest[16];
99	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl	99	unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl
-		100	unsigned char ConfirmFrame;
100	unsigned char ConfirmFrame;	101	unsigned char ExternalControlTimeout = 0;
101	struct str_DebugOut DebugOut;	102	struct str_DebugOut DebugOut;
102	struct str_ExternControl ExternControl;	103	struct str_ExternControl ExternalControl;
103	struct str_VersionInfo VersionInfo;	104	struct str_VersionInfo VersionInfo;
104	struct str_WinkelOut WinkelOut;	105	struct str_WinkelOut WinkelOut;
Line 105...	Line 106...
105	struct str_Data3D Data3D;	106	struct str_Data3D Data3D;
Line 369...	Line 370...
369	case FC_ADDRESS: // FC special commands	370	case FC_ADDRESS: // FC special commands
370	switch(RxdBuffer[2])	371	switch(RxdBuffer[2])
371	{	372	{
372	case 'K':// Kompasswert	373	case 'K':// Kompasswert
373	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));	374	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));
374	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;	-
375	break;	375	break;
376	case 't':// Motortest	376	case 't':// Motortest
377	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));	377	if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest));
378	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);	378	else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4);
379	PC_MotortestActive = 240;	379	PC_MotortestActive = 240;
Line 609...	Line 609...
609	AboTimeOut = SetDelay(ABO_TIMEOUT);	609	AboTimeOut = SetDelay(ABO_TIMEOUT);
610	break;	610	break;
611	// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address	611	// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address
612	case 'K':// Kompasswert	612	case 'K':// Kompasswert
613	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));	613	memcpy((unsigned char )&KompassValue , (unsigned char )pRxData, sizeof(KompassValue));
614	// KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180;	-
615	break;	614	break;
616	case 'a':// Texte der Analogwerte	615	case 'a':// Texte der Analogwerte
617	DebugTextAnforderung = pRxData[0];	616	DebugTextAnforderung = pRxData[0];
618	if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;	617	if (DebugTextAnforderung > 31) DebugTextAnforderung = 31;
619	PcZugriff = 255;	618	PcZugriff = 255;
620	break;	619	break;
621	case 'b':	620	case 'b':
-		621	if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is guilty
-		622	{
622	memcpy((unsigned char )&ExternControl, (unsigned char )pRxData, sizeof(ExternControl));	623	memcpy((unsigned char )&ExternalControl, (unsigned char )pRxData, sizeof(ExternalControl));
623	ConfirmFrame = ExternControl.Frame;	624	ConfirmFrame = ExternalControl.Frame;
-		625	ExternalControlTimeout = 100; // 2 seconds timeout
624	PcZugriff = 255;	626	}
625	break;	627	break;
626	case 'c': // Poll the 3D-Data	628	case 'c': // Poll the 3D-Data
627	if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}	629	if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);}
628	Intervall3D = pRxData[0] * 10;	630	Intervall3D = pRxData[0] * 10;
629	AboTimeOut = SetDelay(ABO_TIMEOUT);	631	AboTimeOut = SetDelay(ABO_TIMEOUT);
Line 787...	Line 789...
787	Debug_OK("Version gesendet");	789	Debug_OK("Version gesendet");
788	}	790	}
Line 789...	Line 791...
789		791
790	if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen	792	if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
791	{	793	{
792	SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl));	794	SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl));
793	GetExternalControl = 0;	795	GetExternalControl = 0;
794	}	796	}
795	if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) \|\| DebugDataAnforderung) && UebertragungAbgeschlossen)	797	if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) \|\| DebugDataAnforderung) && UebertragungAbgeschlossen)
796	{	798	{
Line 858...	Line 860...
858	else SendRedundantMotor[0] = 0;	860	else SendRedundantMotor[0] = 0;
859	if(PC_MotortestActive) SendRedundantMotor[0] \|= 0x80;	861	if(PC_MotortestActive) SendRedundantMotor[0] \|= 0x80;
860	SendRedundantMotor[i+1] = Motor[i].SetPoint;	862	SendRedundantMotor[i+1] = Motor[i].SetPoint;
861	}	863	}
862	SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1);	864	SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1);
-		865	Kompass_Timer = SetDelay(25);
863	}	866	}
864	#endif	867	#endif
Line 865...	Line 868...
865		868
866	#ifdef DEBUG // only include functions if DEBUG is defined	869	#ifdef DEBUG // only include functions if DEBUG is defined

Subversion Repositories FlightCtrl

(root)/tags/V2.10c/uart.c @ 2702 - Rev 2515 → 2516