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#define FALSE   0
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#define FALSE   0
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#define TRUE    1
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#define TRUE    1
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#define TXD_BUFFER_LEN  100
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#define TXD_BUFFER_LEN  150
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#define RXD_BUFFER_LEN  100
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#define RXD_BUFFER_LEN  150
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volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
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volatile uint8_t rxd_buffer_locked = FALSE;
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volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
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volatile uint8_t rxd_buffer_locked = FALSE;
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volatile uint8_t txd_complete = TRUE;
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volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
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volatile uint8_t ReceivedBytes = 0;
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volatile uint8_t txd_complete = TRUE;
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volatile uint8_t ReceivedBytes = 0;
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    "YOffset         ", //10
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    "YOffset         ", //10
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    "YRange          ",
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    "YRange          ",
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    "ZOffset         ",
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    "ZOffset         ",
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    "ZRange          ",
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    "ZRange          ",
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    "Calstate        ",
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    "Calstate        ",
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    "Heading Request ", //15
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    "Heading         ", //15
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    "User0           ",
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    "User0           ",
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    "User1           ",
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    "User1           ",
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    "Analog18        ",
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    "Analog18        ",
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    "Analog19        ",
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    "Analog19        ",
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    "Analog20        ", //20
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    "Analog20        ", //20
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        UBRR0H = (uint8_t)(ubrr >> 8);
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        UBRR0H = (uint8_t)(ubrr >> 8);
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        UBRR0L = (uint8_t)ubrr;
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        UBRR0L = (uint8_t)ubrr;
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        // USART0 Control and Status Register A, B, C
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        // USART0 Control and Status Register A, B, C
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        // enable double speed operation in
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        // enable double speed operation
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        UCSR0A |= (1 << U2X0);
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        UCSR0A |= (1 << U2X0);
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        // enable receiver and transmitter in
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        // enable receiver and transmitter
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        UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
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        UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
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        // set asynchronous mode
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        // set asynchronous mode
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        UCSR0C &= ~(1 << UMSEL01);
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        UCSR0C &= ~(1 << UMSEL01);
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        VersionInfo.Major = VERSION_MAJOR;
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        VersionInfo.Major = VERSION_MAJOR;
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        VersionInfo.Minor = VERSION_MINOR;
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        VersionInfo.Minor = VERSION_MINOR;
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    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
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    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
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    // Version beim Start ausgeben (nicht schön, aber geht... )
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        // Version beim Start ausgeben (nicht schön, aber geht... )
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        uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':');
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        uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':');
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        uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10);
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        uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10);
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    uart_putchar ('\n');
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    uart_putchar ('\n');
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}
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}
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// ---------------------------------------------------------------------------------
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// ---------------------------------------------------------------------------------
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void USART0_EnableTXD(void)
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void USART0_EnableTXD(void)
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{
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{
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        //if(!(UCSR0B & (1 << TXEN0))) return;
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        DDRD |= (1<<DDD1);              // set TXD pin as output
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        DDRD |= (1<<DDD1);              // set TXD pin as output
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        UCSR0B |= (1 << TXEN0);         // enable TX in USART
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        UCSR0B |= (1 << TXEN0);         // enable TX in USART
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}
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}
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// ---------------------------------------------------------------------------------
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void USART0_DisableTXD(void)
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{
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// ---------------------------------------------------------------------------------
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        //if((UCSR0B & (1 << TXEN0))) return;
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void USART0_DisableTXD(void)
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        while(!txd_complete){ };
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{
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                tmp_tx = txd_buffer[ptr_txd_buffer];
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                tmp_tx = txd_buffer[ptr_txd_buffer];
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                // if terminating character or end of txd buffer was reached
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                // if terminating character or end of txd buffer was reached
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                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
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                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
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                {
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                {
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                        ptr_txd_buffer = 0; // reset txd pointer
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                        ptr_txd_buffer = 0; // reset txd pointer
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                        txd_complete = 1; // stop transmission
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                        txd_complete = TRUE; // stop transmission
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                }
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                }
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                UDR0 = tmp_tx; // send current byte will trigger this ISR again
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                UDR0 = tmp_tx; // send current byte will trigger this ISR again
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        }
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        }
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        // transmission completed
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        // transmission completed
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        else ptr_txd_buffer = 0;
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        else ptr_txd_buffer = 0;
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/*               USART0 receiver ISR                            */
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/*               USART0 receiver ISR                            */
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/****************************************************************/
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/****************************************************************/
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ISR(USART_RX_vect)
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ISR(USART_RX_vect)
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{
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{
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        static uint16_t crc;
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        static uint16_t crc;
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        static uint8_t ptr_rxd_buffer = 0;
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        uint8_t crc1, crc2;
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        uint8_t crc1, crc2;
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        uint8_t c;
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        uint8_t c;
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        static uint8_t ptr_rxd_buffer = 0;
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        c = UDR0;  // catch the received byte
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        c = UDR0;  // catch the received byte
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        }
385
        }
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}
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}
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// --------------------------------------------------------------------------
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// --------------------------------------------------------------------------
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int16_t uart_putchar (int8_t c)
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int uart_putchar (int8_t c)
385
{
391
{
386
        // if tx is not enabled return immediatly
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        // if tx is not enabled return immediatly
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        if(!(UCSR0B & (1 << TXEN0))) return (0);
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        if(!(UCSR0B & (1 << TXEN0))) return (0);
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        switch(rxd_buffer[2])
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        switch(rxd_buffer[2])
406
        {
412
        {
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           case 'w':// Attitude
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           case 'w':// Attitude
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                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
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                        DebugOut.Analog[15]++;
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                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
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                        RequestCompassHeading = TRUE;
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                        RequestCompassHeading = TRUE;
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                        break;
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                        break;
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417
 
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                case 'b': // extern control
418
                case 'b': // extern control
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                case 'c': // extern control with debug request
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                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
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421
                        #define KEY1    0x01
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                        #define KEY2    0x02
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                        #define KEY3    0x04
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                        #define KEY4    0x08
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                        #define KEY5    0x10
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426
                        // use right arrow at display for switching the calstate
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                        if(ExternControl.RemoteButtons & KEY2)
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                        {
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429
                                ExternData.CalState++;
414
                case 'c': // extern control with debug request
430
                                if(ExternData.CalState == 6) ExternData.CalState = 0;
415
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
431
                        }
-
 
432
                        ExternData.Attitude[0] = ExternControl.Par1;
416
                        ExternData.Attitude[0] = ExternControl.Par1;
433
            ExternData.Attitude[1] = ExternControl.Par2;
Line 417... Line 434...
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            ExternData.Attitude[1] = ExternControl.Par2;
434
            PC_Connected = 255;
418
                        break;
435
                        break;
419
 
436