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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
42 | // + In case of doubt please contact: info@MikroKopter.de |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
44 | // + clearly linked as origin |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <avr/io.h> |
57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
58 | #include <avr/interrupt.h> |
59 | #include <avr/wdt.h> |
59 | #include <avr/wdt.h> |
60 | #include "main.h" |
60 | #include "main.h" |
61 | #include "uart.h" |
61 | #include "uart.h" |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | #include "twislave.h" |
63 | #include "twislave.h" |
64 | 64 | ||
65 | 65 | ||
66 | #define FALSE 0 |
66 | #define FALSE 0 |
67 | #define TRUE 1 |
67 | #define TRUE 1 |
68 | 68 | ||
69 | #define TXD_BUFFER_LEN 150 |
69 | #define TXD_BUFFER_LEN 100 |
70 | #define RXD_BUFFER_LEN 150 |
70 | #define RXD_BUFFER_LEN 100 |
71 | 71 | ||
72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
72 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
73 | volatile uint8_t rxd_buffer_locked = FALSE; |
73 | volatile uint8_t rxd_buffer_locked = FALSE; |
74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
74 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
75 | volatile uint8_t txd_complete = TRUE; |
75 | volatile uint8_t txd_complete = TRUE; |
76 | volatile uint8_t ReceivedBytes = 0; |
76 | volatile uint8_t ReceivedBytes = 0; |
- | 77 | ||
- | 78 | #define VERSION_INFO 0x01 |
|
- | 79 | #define DEBUG_DATA 0x02 |
|
- | 80 | #define DEBUG_LABEL 0x04 |
|
- | 81 | #define COMPASS_HEADING 0x08 |
|
- | 82 | ||
77 | - | ||
78 | - | ||
79 | - | ||
80 | uint8_t RequestVerInfo = FALSE; |
- | |
81 | uint8_t RequestDebugData = FALSE; |
83 | uint8_t RequestFlags = 0x00; |
82 | uint8_t RequestDebugLabel = FALSE; |
84 | uint8_t RequestDebugLabel = 0; |
83 | uint8_t RequestCompassHeading = FALSE; |
85 | |
84 | 86 | ||
85 | uint8_t MySlaveAddr = 0; |
87 | uint8_t MySlaveAddr = 0; |
86 | - | ||
87 | //unsigned char,DebugGetAnforderung = 0, |
88 | |
88 | 89 | ||
89 | DebugOut_t DebugOut; |
90 | struct DebugOut_t DebugOut; |
90 | ExternData_t ExternData; |
91 | struct ExternData_t ExternData; |
91 | ExternControl_t ExternControl; |
92 | struct ExternControl_t ExternControl; |
92 | VersionInfo_t VersionInfo; |
93 | struct VersionInfo_t VersionInfo; |
93 | 94 | ||
94 | uint16_t Debug_Timer; |
95 | uint16_t Debug_Timer; |
95 | 96 | ||
96 | const uint8_t ANALOG_LABEL[32][16] = |
97 | const uint8_t ANALOG_LABEL[32][16] = |
97 | { |
98 | { |
98 | //1234567890123456 |
99 | //1234567890123456 |
99 | "Magnet X ", //0 |
100 | "Magnet X ", //0 |
100 | "Magnet Y ", |
101 | "Magnet Y ", |
101 | "Magnet Z ", |
102 | "Magnet Z ", |
102 | "Raw X ", |
103 | "Raw X ", |
103 | "Raw Y ", |
104 | "Raw Y ", |
104 | "Raw Z ", //5 |
105 | "Raw Z ", //5 |
105 | "Attitude Nick ", |
106 | "Attitude Nick ", |
106 | "Attitude Roll ", |
107 | "Attitude Roll ", |
107 | "XOffset ", |
108 | "XOffset ", |
108 | "XRange ", |
109 | "XRange ", |
109 | "YOffset ", //10 |
110 | "YOffset ", //10 |
110 | "YRange ", |
111 | "YRange ", |
111 | "ZOffset ", |
112 | "ZOffset ", |
112 | "ZRange ", |
113 | "ZRange ", |
113 | "Calstate ", |
114 | "Calstate ", |
114 | "Heading ", //15 |
115 | "Heading ", //15 |
115 | "User0 ", |
116 | "User0 ", |
116 | "User1 ", |
117 | "User1 ", |
117 | "Analog18 ", |
118 | "Analog18 ", |
118 | "Analog19 ", |
119 | "Analog19 ", |
119 | "Analog20 ", //20 |
120 | "Analog20 ", //20 |
120 | "Analog21 ", |
121 | "Analog21 ", |
121 | "Analog22 ", |
122 | "Analog22 ", |
122 | "Analog23 ", |
123 | "Analog23 ", |
123 | "Analog24 ", |
124 | "Analog24 ", |
124 | "Analog25 ", //25 |
125 | "Analog25 ", //25 |
125 | "Analog26 ", |
126 | "Analog26 ", |
126 | "Analog27 ", |
127 | "Analog27 ", |
127 | "Analog28 ", |
128 | "Analog28 ", |
128 | "Analog29 ", |
129 | "Analog29 ", |
129 | "Analog30 ", //30 |
130 | "Analog30 ", //30 |
130 | "Analog31 " |
131 | "Analog31 " |
131 | }; |
132 | }; |
132 | 133 | ||
133 | 134 | ||
134 | /****************************************************************/ |
135 | /****************************************************************/ |
135 | /* Initialization of the USART0 */ |
136 | /* Initialization of the USART0 */ |
136 | /****************************************************************/ |
137 | /****************************************************************/ |
137 | void USART0_Init (void) |
138 | void USART0_Init (void) |
138 | { |
139 | { |
139 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
140 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
140 | 141 | ||
141 | // disable all interrupts before configuration |
142 | // disable all interrupts before configuration |
142 | cli(); |
143 | cli(); |
143 | 144 | ||
144 | // disable RX-Interrupt |
145 | // disable RX-Interrupt |
145 | UCSR0B &= ~(1 << RXCIE0); |
146 | UCSR0B &= ~(1 << RXCIE0); |
146 | // disable TX-Interrupt |
147 | // disable TX-Interrupt |
147 | UCSR0B &= ~(1 << TXCIE0); |
148 | UCSR0B &= ~(1 << TXCIE0); |
148 | 149 | ||
149 | // set direction of RXD0 and TXD0 pins |
150 | // set direction of RXD0 and TXD0 pins |
150 | 151 | ||
151 | // set RXD0 (PD0) as an input pin tristate |
152 | // set RXD0 (PD0) as an input pin tristate |
152 | DDRD &= ~(1 << DDD0); |
153 | DDRD &= ~(1 << DDD0); |
153 | PORTD &= ~(1 << PORTD0); |
154 | PORTD &= ~(1 << PORTD0); |
154 | // set TXD0 (PD1) as an output pin |
155 | // set TXD0 (PD1) as an output pin |
155 | DDRD |= (1 << DDD1); |
156 | DDRD |= (1 << DDD1); |
156 | PORTD &= ~(1 << PORTD1); |
157 | PORTD &= ~(1 << PORTD1); |
157 | 158 | ||
158 | 159 | ||
159 | // USART0 Baud Rate Register |
160 | // USART0 Baud Rate Register |
160 | // set clock divider |
161 | // set clock divider |
161 | UBRR0H = (uint8_t)(ubrr >> 8); |
162 | UBRR0H = (uint8_t)(ubrr >> 8); |
162 | UBRR0L = (uint8_t)ubrr; |
163 | UBRR0L = (uint8_t)ubrr; |
163 | 164 | ||
164 | // USART0 Control and Status Register A, B, C |
165 | // USART0 Control and Status Register A, B, C |
165 | 166 | ||
166 | // enable double speed operation |
167 | // enable double speed operation |
167 | UCSR0A |= (1 << U2X0); |
168 | UCSR0A |= (1 << U2X0); |
168 | 169 | ||
169 | // set asynchronous mode |
170 | // set asynchronous mode |
170 | UCSR0C &= ~(1 << UMSEL01); |
171 | UCSR0C &= ~(1 << UMSEL01); |
171 | UCSR0C &= ~(1 << UMSEL00); |
172 | UCSR0C &= ~(1 << UMSEL00); |
172 | // no parity |
173 | // no parity |
173 | UCSR0C &= ~(1 << UPM01); |
174 | UCSR0C &= ~(1 << UPM01); |
174 | UCSR0C &= ~(1 << UPM00); |
175 | UCSR0C &= ~(1 << UPM00); |
175 | // 1 stop bit |
176 | // 1 stop bit |
176 | UCSR0C &= ~(1 << USBS0); |
177 | UCSR0C &= ~(1 << USBS0); |
177 | // 8-bit |
178 | // 8-bit |
178 | UCSR0B &= ~(1 << UCSZ02); |
179 | UCSR0B &= ~(1 << UCSZ02); |
179 | UCSR0C |= (1 << UCSZ01); |
180 | UCSR0C |= (1 << UCSZ01); |
180 | UCSR0C |= (1 << UCSZ00); |
181 | UCSR0C |= (1 << UCSZ00); |
181 | 182 | ||
182 | // enable receiver and transmitter |
183 | // enable receiver and transmitter |
183 | UCSR0B |= (1 << RXEN0); |
184 | UCSR0B |= (1 << RXEN0); |
184 | UCSR0B |= (1 << TXEN0); |
185 | UCSR0B |= (1 << TXEN0); |
185 | 186 | ||
186 | // flush receive buffer |
187 | // flush receive buffer |
187 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
188 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
188 | 189 | ||
189 | // enable RX-Interrupt |
190 | // enable RX-Interrupt |
190 | UCSR0B |= (1 << RXCIE0); |
191 | UCSR0B |= (1 << RXCIE0); |
191 | // enable TX-Interrupt |
192 | // enable TX-Interrupt |
192 | UCSR0B |= (1 << TXCIE0); |
193 | UCSR0B |= (1 << TXCIE0); |
193 | 194 | ||
194 | rxd_buffer_locked = FALSE; |
195 | rxd_buffer_locked = FALSE; |
195 | txd_complete = TRUE; |
196 | txd_complete = TRUE; |
196 | 197 | ||
197 | 198 | ||
198 | VersionInfo.Major = VERSION_MAJOR; |
199 | VersionInfo.Major = VERSION_MAJOR; |
199 | VersionInfo.Minor = VERSION_MINOR; |
200 | VersionInfo.Minor = VERSION_MINOR; |
200 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
201 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
201 | 202 | ||
202 | 203 | ||
203 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
204 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
204 | uart_putchar ('\n'); |
205 | uart_putchar ('\n'); |
205 | uart_putchar ('C'); |
206 | uart_putchar ('C'); |
206 | uart_putchar ('P'); |
207 | uart_putchar ('P'); |
207 | uart_putchar (':'); |
208 | uart_putchar (':'); |
208 | uart_putchar ('V'); |
209 | uart_putchar ('V'); |
209 | uart_putchar (0x30 + VERSION_MAJOR); |
210 | uart_putchar (0x30 + VERSION_MAJOR); |
210 | uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); |
211 | uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); |
211 | uart_putchar (0x30 + VERSION_MINOR%10); |
212 | uart_putchar (0x30 + VERSION_MINOR%10); |
212 | uart_putchar ('\n'); |
213 | uart_putchar ('\n'); |
213 | } |
214 | } |
214 | 215 | ||
215 | // --------------------------------------------------------------------------------- |
216 | // --------------------------------------------------------------------------------- |
216 | void USART0_EnableTXD(void) |
217 | void USART0_EnableTXD(void) |
217 | { |
218 | { |
218 | DDRD |= (1<<DDD1); // set TXD pin as output |
219 | DDRD |= (1<<DDD1); // set TXD pin as output |
219 | PORTD &= ~(1 << PORTD1); |
220 | PORTD &= ~(1 << PORTD1); |
220 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
221 | UCSR0B |= (1 << TXEN0); // enable TX in USART |
221 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
222 | UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt |
222 | } |
223 | } |
223 | 224 | ||
224 | // --------------------------------------------------------------------------------- |
225 | // --------------------------------------------------------------------------------- |
225 | void USART0_DisableTXD(void) |
226 | void USART0_DisableTXD(void) |
226 | { |
227 | { |
227 | while(!txd_complete){ }; |
228 | while(!txd_complete){ }; |
228 | 229 | ||
229 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
230 | UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
230 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
231 | UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
231 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
232 | DDRD &= ~(1<<DDD1); // set TXD pin as input |
232 | PORTD &= ~(1 << PORTD1); |
233 | PORTD &= ~(1 << PORTD1); |
233 | } |
234 | } |
234 | 235 | ||
235 | /****************************************************************/ |
236 | /****************************************************************/ |
236 | /* USART0 transmitter ISR */ |
237 | /* USART0 transmitter ISR */ |
237 | /****************************************************************/ |
238 | /****************************************************************/ |
238 | ISR(USART_TX_vect) |
239 | ISR(USART_TX_vect) |
239 | { |
240 | { |
240 | static uint16_t ptr_txd_buffer = 0; |
241 | static uint16_t ptr_txd_buffer = 0; |
241 | uint8_t tmp_tx; |
242 | uint8_t tmp_tx; |
242 | if(!txd_complete) // transmission not completed |
243 | if(!txd_complete) // transmission not completed |
243 | { |
244 | { |
244 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
245 | ptr_txd_buffer++; // die [0] wurde schon gesendet |
245 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
246 | tmp_tx = txd_buffer[ptr_txd_buffer]; |
246 | // if terminating character or end of txd buffer was reached |
247 | // if terminating character or end of txd buffer was reached |
247 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
248 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
248 | { |
249 | { |
249 | ptr_txd_buffer = 0; // reset txd pointer |
250 | ptr_txd_buffer = 0; // reset txd pointer |
250 | txd_complete = TRUE; // stop transmission |
251 | txd_complete = TRUE; // stop transmission |
251 | } |
252 | } |
252 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
253 | UDR0 = tmp_tx; // send current byte will trigger this ISR again |
253 | } |
254 | } |
254 | // transmission completed |
255 | // transmission completed |
255 | else ptr_txd_buffer = 0; |
256 | else ptr_txd_buffer = 0; |
256 | } |
257 | } |
257 | 258 | ||
258 | /****************************************************************/ |
259 | /****************************************************************/ |
259 | /* USART0 receiver ISR */ |
260 | /* USART0 receiver ISR */ |
260 | /****************************************************************/ |
261 | /****************************************************************/ |
261 | ISR(USART_RX_vect) |
262 | ISR(USART_RX_vect) |
262 | { |
263 | { |
263 | static uint16_t crc; |
264 | static uint16_t crc; |
264 | uint8_t crc1, crc2; |
265 | uint8_t crc1, crc2; |
265 | uint8_t c; |
266 | uint8_t c; |
266 | static uint8_t ptr_rxd_buffer = 0; |
267 | static uint8_t ptr_rxd_buffer = 0; |
267 | 268 | ||
268 | c = UDR0; // catch the received byte |
269 | c = UDR0; // catch the received byte |
269 | 270 | ||
270 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
271 | if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
271 | 272 | ||
272 | // the rxd buffer is unlocked |
273 | // the rxd buffer is unlocked |
273 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
274 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
274 | { |
275 | { |
275 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
276 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
276 | crc = c; // init crc |
277 | crc = c; // init crc |
277 | } |
278 | } |
278 | #if 0 |
279 | #if 0 |
279 | else if (ptr_rxd_buffer == 1) // handle address |
280 | else if (ptr_rxd_buffer == 1) // handle address |
280 | { |
281 | { |
281 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
282 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
282 | crc += c; // update crc |
283 | crc += c; // update crc |
283 | } |
284 | } |
284 | #endif |
285 | #endif |
285 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
286 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
286 | { |
287 | { |
287 | if(c != '\r') // no termination character |
288 | if(c != '\r') // no termination character |
288 | { |
289 | { |
289 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
290 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
290 | crc += c; // update crc |
291 | crc += c; // update crc |
291 | } |
292 | } |
292 | else // termination character was received |
293 | else // termination character was received |
293 | { |
294 | { |
294 | // the last 2 bytes are no subject for checksum calculation |
295 | // the last 2 bytes are no subject for checksum calculation |
295 | // they are the checksum itself |
296 | // they are the checksum itself |
296 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
297 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
297 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
298 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
298 | // calculate checksum from transmitted data |
299 | // calculate checksum from transmitted data |
299 | crc %= 4096; |
300 | crc %= 4096; |
300 | crc1 = '=' + crc / 64; |
301 | crc1 = '=' + crc / 64; |
301 | crc2 = '=' + crc % 64; |
302 | crc2 = '=' + crc % 64; |
302 | // compare checksum to transmitted checksum bytes |
303 | // compare checksum to transmitted checksum bytes |
303 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
304 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
304 | { // checksum valid |
305 | { // checksum valid |
305 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
306 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
306 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
307 | ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
307 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
308 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
308 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
309 | // if 2nd byte is an 'R' enable watchdog that will result in an reset |
309 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
310 | if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
310 | } |
311 | } |
311 | else |
312 | else |
312 | { // checksum invalid |
313 | { // checksum invalid |
313 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
314 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
314 | } |
315 | } |
315 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
316 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
316 | } |
317 | } |
317 | } |
318 | } |
318 | else // rxd buffer overrun |
319 | else // rxd buffer overrun |
319 | { |
320 | { |
320 | ptr_rxd_buffer = 0; // reset rxd buffer |
321 | ptr_rxd_buffer = 0; // reset rxd buffer |
321 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
322 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
322 | } |
323 | } |
323 | } |
324 | } |
324 | 325 | ||
325 | 326 | ||
326 | // -------------------------------------------------------------------------- |
327 | // -------------------------------------------------------------------------- |
327 | void AddCRC(uint16_t datalen) |
328 | void AddCRC(uint16_t datalen) |
328 | { |
329 | { |
329 | uint16_t tmpCRC = 0, i; |
330 | uint16_t tmpCRC = 0, i; |
330 | for(i = 0; i < datalen; i++) |
331 | for(i = 0; i < datalen; i++) |
331 | { |
332 | { |
332 | tmpCRC += txd_buffer[i]; |
333 | tmpCRC += txd_buffer[i]; |
333 | } |
334 | } |
334 | tmpCRC %= 4096; |
335 | tmpCRC %= 4096; |
335 | txd_buffer[i++] = '=' + tmpCRC / 64; |
336 | txd_buffer[i++] = '=' + tmpCRC / 64; |
336 | txd_buffer[i++] = '=' + tmpCRC % 64; |
337 | txd_buffer[i++] = '=' + tmpCRC % 64; |
337 | txd_buffer[i++] = '\r'; |
338 | txd_buffer[i++] = '\r'; |
338 | txd_complete = FALSE; |
339 | txd_complete = FALSE; |
339 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
340 | UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
340 | } |
341 | } |
341 | 342 | ||
342 | 343 | ||
343 | 344 | ||
344 | // -------------------------------------------------------------------------- |
345 | // -------------------------------------------------------------------------- |
345 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
346 | void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
346 | { |
347 | { |
347 | uint16_t pt = 0; |
348 | uint16_t pt = 0; |
348 | uint8_t a,b,c; |
349 | uint8_t a,b,c; |
349 | uint8_t ptr = 0; |
350 | uint8_t ptr = 0; |
350 | 351 | ||
351 | txd_buffer[pt++] = '#'; // Start character |
352 | txd_buffer[pt++] = '#'; // Start character |
352 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
353 | txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
353 | txd_buffer[pt++] = cmd; // Command |
354 | txd_buffer[pt++] = cmd; // Command |
354 | 355 | ||
355 | while(len) |
356 | while(len) |
356 | { |
357 | { |
357 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
358 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
358 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
359 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
359 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
360 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
360 | txd_buffer[pt++] = '=' + (a >> 2); |
361 | txd_buffer[pt++] = '=' + (a >> 2); |
361 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
362 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
362 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
363 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
363 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
364 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
364 | } |
365 | } |
365 | AddCRC(pt); // add checksum after data block and initates the transmission |
366 | AddCRC(pt); // add checksum after data block and initates the transmission |
366 | } |
367 | } |
367 | 368 | ||
368 | 369 | ||
369 | // -------------------------------------------------------------------------- |
370 | // -------------------------------------------------------------------------- |
370 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
371 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
371 | { |
372 | { |
372 | uint8_t a,b,c,d; |
373 | uint8_t a,b,c,d; |
373 | uint8_t ptr = 0; |
374 | uint8_t ptr = 0; |
374 | uint8_t x,y,z; |
375 | uint8_t x,y,z; |
375 | while(len) |
376 | while(len) |
376 | { |
377 | { |
377 | a = rxd_buffer[ptrIn++] - '='; |
378 | a = rxd_buffer[ptrIn++] - '='; |
378 | b = rxd_buffer[ptrIn++] - '='; |
379 | b = rxd_buffer[ptrIn++] - '='; |
379 | c = rxd_buffer[ptrIn++] - '='; |
380 | c = rxd_buffer[ptrIn++] - '='; |
380 | d = rxd_buffer[ptrIn++] - '='; |
381 | d = rxd_buffer[ptrIn++] - '='; |
381 | if(ptrIn > max - 2) break; |
382 | if(ptrIn > max - 2) break; |
382 | 383 | ||
383 | x = (a << 2) | (b >> 4); |
384 | x = (a << 2) | (b >> 4); |
384 | y = ((b & 0x0f) << 4) | (c >> 2); |
385 | y = ((b & 0x0f) << 4) | (c >> 2); |
385 | z = ((c & 0x03) << 6) | d; |
386 | z = ((c & 0x03) << 6) | d; |
386 | 387 | ||
387 | if(len--) ptrOut[ptr++] = x; else break; |
388 | if(len--) ptrOut[ptr++] = x; else break; |
388 | if(len--) ptrOut[ptr++] = y; else break; |
389 | if(len--) ptrOut[ptr++] = y; else break; |
389 | if(len--) ptrOut[ptr++] = z; else break; |
390 | if(len--) ptrOut[ptr++] = z; else break; |
390 | } |
391 | } |
391 | } |
392 | } |
392 | 393 | ||
393 | 394 | ||
394 | // -------------------------------------------------------------------------- |
395 | // -------------------------------------------------------------------------- |
395 | int uart_putchar (int8_t c) |
396 | int uart_putchar (int8_t c) |
396 | { |
397 | { |
397 | // if tx is not enabled return immediatly |
398 | // if tx is not enabled return immediatly |
398 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
399 | if(!(UCSR0B & (1 << TXEN0))) return (0); |
399 | if (c == '\n') uart_putchar('\r'); |
400 | if (c == '\n') uart_putchar('\r'); |
400 | // wait until previous character was send |
401 | // wait until previous character was send |
401 | loop_until_bit_is_set(UCSR0A, UDRE0); |
402 | loop_until_bit_is_set(UCSR0A, UDRE0); |
402 | // send character |
403 | // send character |
403 | UDR0 = c; |
404 | UDR0 = c; |
404 | return (0); |
405 | return (0); |
405 | } |
406 | } |
406 | 407 | ||
407 | 408 | ||
408 | // -------------------------------------------------------------------------- |
409 | // -------------------------------------------------------------------------- |
409 | void USART0_ProcessRxData(void) |
410 | void USART0_ProcessRxData(void) |
410 | { |
411 | { |
411 | // if data in the rxd buffer are not locked immediately return |
412 | // if data in the rxd buffer are not locked immediately return |
412 | if(!rxd_buffer_locked) return; |
413 | if(!rxd_buffer_locked) return; |
413 | 414 | ||
414 | uint8_t tmp_char_arr2[2]; // local char buffer |
415 | uint8_t tmp_char_arr2[2]; // local char buffer |
415 | 416 | ||
416 | switch(rxd_buffer[2]) |
417 | switch(rxd_buffer[2]) |
417 | { |
418 | { |
418 | case 'w':// Attitude |
419 | case 'w':// Attitude |
419 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
420 | Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
420 | RequestCompassHeading = TRUE; |
421 | RequestFlags |= COMPASS_HEADING; |
421 | break; |
422 | break; |
422 | 423 | ||
423 | case 'b': // extern control |
424 | case 'b': // extern control |
424 | case 'c': // extern control with debug request |
425 | case 'c': // extern control with debug request |
425 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
426 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
426 | #define KEY1 0x01 |
427 | #define KEY1 0x01 |
427 | #define KEY2 0x02 |
428 | #define KEY2 0x02 |
428 | #define KEY3 0x04 |
429 | #define KEY3 0x04 |
429 | #define KEY4 0x08 |
430 | #define KEY4 0x08 |
430 | #define KEY5 0x10 |
431 | #define KEY5 0x10 |
431 | // use right arrow at display for switching the calstate |
432 | // use right arrow at display for switching the calstate |
432 | if(ExternControl.RemoteButtons & KEY2) |
433 | if(ExternControl.RemoteButtons & KEY2) |
433 | { |
434 | { |
434 | ExternData.CalState++; |
435 | ExternData.CalState++; |
435 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
436 | if(ExternData.CalState == 6) ExternData.CalState = 0; |
436 | } |
437 | } |
437 | ExternData.Attitude[0] = ExternControl.Par1; |
438 | ExternData.Attitude[0] = ExternControl.Par1; |
438 | ExternData.Attitude[1] = ExternControl.Par2; |
439 | ExternData.Attitude[1] = ExternControl.Par2; |
439 | PC_Connected = 255; |
440 | PC_Connected = 255; |
440 | break; |
441 | break; |
441 | 442 | ||
442 | case 'h':// x-1 display columns |
443 | case 'h':// x-1 display columns |
443 | PC_Connected = 255; |
444 | PC_Connected = 255; |
444 | break; |
445 | break; |
445 | 446 | ||
446 | case 'v': // get version and board release |
447 | case 'v': // get version and board release |
447 | RequestVerInfo = TRUE; |
448 | RequestFlags |= VERSION_INFO; |
448 | PC_Connected = 255; |
449 | PC_Connected = 255; |
449 | break; |
450 | break; |
450 | 451 | ||
451 | case 'a':// Labels of the Analog Debug outputs |
452 | case 'a':// Labels of the Analog Debug outputs |
452 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
453 | Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
453 | RequestDebugLabel = tmp_char_arr2[0]; |
454 | RequestDebugLabel = tmp_char_arr2[0]; |
- | 455 | RequestFlags |= DEBUG_LABEL; |
|
454 | PC_Connected = 255; |
456 | PC_Connected = 255; |
455 | break; |
457 | break; |
456 | 458 | ||
457 | case 'g':// get debug data |
459 | case 'g':// get debug data |
458 | RequestDebugData = TRUE; |
460 | RequestFlags |= DEBUG_DATA; |
459 | PC_Connected = 255; |
461 | PC_Connected = 255; |
460 | break; |
462 | break; |
461 | } |
463 | } |
462 | // unlock the rxd buffer after processing |
464 | // unlock the rxd buffer after processing |
463 | rxd_buffer_locked = FALSE; |
465 | rxd_buffer_locked = FALSE; |
464 | } |
466 | } |
465 | 467 | ||
466 | 468 | ||
467 | 469 | ||
468 | //--------------------------------------------------------------------------------------------- |
470 | //--------------------------------------------------------------------------------------------- |
469 | void USART0_TransmitTxData(void) |
471 | void USART0_TransmitTxData(void) |
470 | { |
472 | { |
471 | if(!(UCSR0B & (1 << TXEN0))) return; |
473 | if(!(UCSR0B & (1 << TXEN0))) return; |
472 | 474 | ||
473 | if(!txd_complete) return; |
475 | if(!txd_complete) return; |
474 | 476 | ||
475 | if(CheckDelay(Debug_Timer) && txd_complete) |
477 | if(CheckDelay(Debug_Timer)) |
476 | { |
478 | { |
477 | SetDebugValues(); |
479 | SetDebugValues(); |
478 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
480 | SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
479 | Debug_Timer = SetDelay(250); |
481 | Debug_Timer = SetDelay(250); |
480 | } |
482 | } |
481 | 483 | ||
482 | if(RequestDebugLabel != 255) |
484 | if(RequestFlags & DEBUG_LABEL) |
483 | { |
485 | { |
484 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
486 | SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
485 | RequestDebugLabel = 255; |
487 | RequestDebugLabel = 255; |
- | 488 | RequestFlags &= ~DEBUG_LABEL; |
|
486 | } |
489 | } |
487 | 490 | ||
488 | if(RequestVerInfo && txd_complete) |
491 | if(RequestFlags & VERSION_INFO) |
489 | { |
492 | { |
490 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
493 | SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
491 | RequestVerInfo = FALSE; |
494 | RequestFlags &= ~VERSION_INFO; |
492 | } |
495 | } |
493 | 496 | ||
494 | if(RequestDebugData && txd_complete) |
497 | if(RequestFlags & DEBUG_DATA) |
495 | { |
498 | { |
496 | SetDebugValues(); |
499 | SetDebugValues(); |
497 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
500 | SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
498 | RequestDebugData = FALSE; |
501 | RequestFlags &= ~DEBUG_DATA; |
499 | } |
502 | } |
500 | 503 | ||
501 | if(RequestCompassHeading && txd_complete) |
504 | if(RequestFlags & COMPASS_HEADING) |
502 | { |
505 | { |
503 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
506 | SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
504 | RequestCompassHeading = FALSE; |
507 | RequestFlags &= ~COMPASS_HEADING; |
505 | } |
508 | } |
506 | } |
509 | } |
507 | 510 |