WebSVN - Projects - Diff - Rev 759 and 765


 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <stdarg.h>
#include <string.h>
 
#include "main.h"
#include "menu.h"
#include "timer0.h"
#include "uart0.h"
#include "ubx.h"
#include "printf_P.h"
 
 
#define FC_ADDRESS 1
#define NC_ADDRESS 2
#define MK3MAG_ADDRESS 3
 
#define FM_ADDRESS 10 // FOLLOW ME
 
#define FALSE   0
#define TRUE    1
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
 
//int8_t test __attribute__ ((section (".noinit")));
uint8_t Request_VerInfo                 = FALSE;
uint8_t Request_Display                 = FALSE;
uint8_t Request_Display1                = FALSE;
uint8_t Request_ExternalControl = FALSE;
uint8_t Request_DebugData               = FALSE;
uint8_t Request_DebugLabel              = 255;
uint8_t Request_SendFollowMe    = FALSE;
uint8_t DisplayLine = 0;
uint8_t DisplayKeys = 0;
 
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t ReceivedBytes = 0;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 0;
 
uint8_t PcAccess = 100;
uint16_t AboTimeOut = 0;
 
ExternControl_t ExternControl;
DebugOut_t              DebugOut;
UART_VersionInfo_t      UART_VersionInfo;
 
uint16_t DebugData_Timer;
uint16_t DebugData_Interval = 0; // in 1ms
uint16_t Display_Timer;
uint16_t Display_Interval = 0;
 
Waypoint_t FollowMe;
 
// keep lables in flash to save 512 bytes of sram space
const prog_uint8_t ANALOG_LABEL[32][16] =
{
   //1234567890123456
    "Analog_Ch0      ", //0
    "Analog_Ch1      ",
    "Analog_Ch2      ",
    "Analog_Ch3      ",
    "Analog_Ch4      ",
    "Analog_Ch5      ", //5
    "Analog_Ch6      ",
    "Analog_Ch7      ",
    "UBat            ",
    "SysState        ",
    "Debug10         ", //10
    "Debug11         ",
    "Debug12         ",
    "Debug13         ",
    "Debug14         ",
    "Debug15         ", //15
        "Zellenzahl      ",
    "PowerOn         ",
    "Debug18         ",
    "Debug19         ",
    "Debug20         ", //20
    "Debug21         ",
    "Debug22         ",
    "Debug23         ",
    "Debug24         ",
    "Debug25         ", //25
    "Debug26         ",
    "Debug27         ",
    "Debug28         ",
    "Debug29         ",
    "Debug30         ", //30
    "Debug31         "
};
 
 
 
/****************************************************************/
/*              Initialization of the USART0                    */
/****************************************************************/
void USART0_Init (void)
{
        uint8_t sreg = SREG;
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
 
        // disable all interrupts before configuration
        cli();
 
        // disable RX-Interrupt
        UCSR0B &= ~(1 << RXCIE0);
        // disable TX-Interrupt
        UCSR0B &= ~(1 << TXCIE0);
 
        // set direction of RXD0 and TXD0 pins
        // set RXD0 (PD0) as an input pin
        PORTD |= (1 << PORTD0);
        DDRD &= ~(1 << DDD0);
        // set TXD0 (PD1) as an output pin
        PORTD |= (1 << PORTD1);
        DDRD |=  (1 << DDD1);
 
        // USART0 Baud Rate Register
        // set clock divider
        UBRR0H = (uint8_t)(ubrr >> 8);
        UBRR0L = (uint8_t)ubrr;
 
        // USART0 Control and Status Register A, B, C
 
        // enable double speed operation in
        UCSR0A |= (1 << U2X0);
        // enable receiver and transmitter in
        UCSR0B = (1 << TXEN0) | (1 << RXEN0);
        // set asynchronous mode
        UCSR0C &= ~(1 << UMSEL01);
        UCSR0C &= ~(1 << UMSEL00);
        // no parity
        UCSR0C &= ~(1 << UPM01);
        UCSR0C &= ~(1 << UPM00);
        // 1 stop bit
        UCSR0C &= ~(1 << USBS0);
        // 8-bit
        UCSR0B &= ~(1 << UCSZ02);
        UCSR0C |=  (1 << UCSZ01);
        UCSR0C |=  (1 << UCSZ00);
 
                // flush receive buffer
        while ( UCSR0A & (1<<RXC0) ) UDR0;
 
        // enable interrupts at the end
        // enable RX-Interrupt
        UCSR0B |= (1 << RXCIE0);
        // enable TX-Interrupt
        UCSR0B |= (1 << TXCIE0);
 
        // initialize the debug timer
        DebugData_Timer = SetDelay(DebugData_Interval);
 
        // unlock rxd_buffer
        rxd_buffer_locked = FALSE;
        pRxData = 0;
        RxDataLen = 0;
 
        // no bytes to send
        txd_complete = TRUE;
 
        UART_VersionInfo.SWMajor = VERSION_MAJOR;
        UART_VersionInfo.SWMinor = VERSION_MINOR;
        UART_VersionInfo.SWPatch = VERSION_PATCH;
        UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
        UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
        // restore global interrupt flags
    SREG = sreg;
        sei();
    printf("\r\n UART0 init...ok");
}
 
/****************************************************************/
/*               USART0 transmitter ISR                         */
/****************************************************************/
ISR(USART0_TX_vect)
{
        static uint16_t ptr_txd_buffer = 0;
        uint8_t tmp_tx;
        if(!txd_complete) // transmission not completed
        {
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
                tmp_tx = txd_buffer[ptr_txd_buffer];
                // if terminating character or end of txd buffer was reached
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
                {
                        ptr_txd_buffer = 0; // reset txd pointer
                        txd_complete = 1; // stop transmission
                }
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
        }
        // transmission completed
        else ptr_txd_buffer = 0;
}
 
/****************************************************************/
/*               USART0 receiver ISR                            */
/****************************************************************/
ISR(USART0_RX_vect)
{
        static uint16_t crc;
        static uint8_t ptr_rxd_buffer = 0;
        uint8_t crc1, crc2;
        uint8_t c;
 
        c = UDR0;  // catch the received byte
 
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
 
        // the rxd buffer is unlocked
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
                crc = c; // init crc
        }
        #if 0
        else if (ptr_rxd_buffer == 1) // handle address
        {
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                crc += c; // update crc
        }
        #endif
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
        {
                if(c != '\r') // no termination character
                {
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
                        crc += c; // update crc
                }
                else // termination character was received
                {
                        // the last 2 bytes are no subject for checksum calculation
                        // they are the checksum itself
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
                        // calculate checksum from transmitted data
                        crc %= 4096;
                        crc1 = '=' + crc / 64;
                        crc2 = '=' + crc % 64;
                        // compare checksum to transmitted checksum bytes
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
                        {   // checksum valid
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
                                ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
                        }
                        else
                        {       // checksum invalid
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
                        }
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
                }
        }
        else // rxd buffer overrun
        {
                ptr_rxd_buffer = 0; // reset rxd buffer
                rxd_buffer_locked = FALSE; // unlock rxd buffer
        }
 
}
 
 
// --------------------------------------------------------------------------
void AddCRC(uint16_t datalen)
{
        uint16_t tmpCRC = 0, i;
        for(i = 0; i < datalen; i++)
        {
                tmpCRC += txd_buffer[i];
        }
        tmpCRC %= 4096;
        txd_buffer[i++] = '=' + tmpCRC / 64;
        txd_buffer[i++] = '=' + tmpCRC % 64;
        txd_buffer[i++] = '\r';
        txd_complete = FALSE;
        UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
}
 
 
 
// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
{
        va_list ap;
        uint16_t pt = 0;
        uint8_t a,b,c;
        uint8_t ptr = 0;
 
        uint8_t *pdata = 0;
        int len = 0;
 
        txd_buffer[pt++] = '#';                 // Start character
        txd_buffer[pt++] = 'a' + addr;  // Address (a=0; b=1,...)
        txd_buffer[pt++] = cmd;                 // Command
 
        va_start(ap, numofbuffers);
        if(numofbuffers)
        {
                pdata = va_arg(ap, uint8_t*);
                len = va_arg(ap, int);
                ptr = 0;
                numofbuffers--;
        }
 
        while(len)
        {
                if(len)
                {
                        a = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                else a = 0;
                if(len)
                {
                        b = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                else b = 0;
                if(len)
                {
                        c = pdata[ptr++];
                        len--;
                        if((!len) && numofbuffers)
                        {
                                pdata = va_arg(ap, uint8_t*);
                                len = va_arg(ap, int);
                                ptr = 0;
                                numofbuffers--;
                        }
                }
                else c = 0;
                txd_buffer[pt++] = '=' + (a >> 2);
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
                txd_buffer[pt++] = '=' + ( c & 0x3f);
        }
        va_end(ap);
        AddCRC(pt); // add checksum after data block and initates the transmission
}
 
 
// --------------------------------------------------------------------------
void Decode64(void)
{
        uint8_t a,b,c,d;
        uint8_t x,y,z;
        uint8_t ptrIn = 3;
        uint8_t ptrOut = 3;
        uint8_t len = ReceivedBytes - 6;
 
        while(len)
        {
                a = rxd_buffer[ptrIn++] - '=';
                b = rxd_buffer[ptrIn++] - '=';
                c = rxd_buffer[ptrIn++] - '=';
                d = rxd_buffer[ptrIn++] - '=';
                //if(ptrIn > ReceivedBytes - 3) break;
 
                x = (a << 2) | (b >> 4);
                y = ((b & 0x0f) << 4) | (c >> 2);
                z = ((c & 0x03) << 6) | d;
 
                if(len--) rxd_buffer[ptrOut++] = x; else break;
                if(len--) rxd_buffer[ptrOut++] = y; else break;
                if(len--) rxd_buffer[ptrOut++] = z; else break;
        }
        pRxData = &rxd_buffer[3];
        RxDataLen = ptrOut - 3;
}
 
 
// --------------------------------------------------------------------------
void USART0_ProcessRxData(void)
{
        // if data in the rxd buffer are not locked immediately return
        if(!rxd_buffer_locked) return;
 
        Decode64(); // decode data block in rxd_buffer
 
 
        switch(rxd_buffer[1] - 'a')
        {
                case FM_ADDRESS:
 
                        switch(rxd_buffer[2])
                        {
                                default:
                                        //unsupported command received
                                        break;
                        } // case FC_ADDRESS:
 
                default: // any Slave Address
 
                switch(rxd_buffer[2])
                        {
                                case 'a':// request for labels of the analog debug outputs
                                        Request_DebugLabel = pRxData[0];
                                        if(Request_DebugLabel > 31) Request_DebugLabel = 31;
                                        PcAccess = 255;
                                        break;
 
                                case 'h':// request for display columns
                                        PcAccess = 255;
                                        if((pRxData[0] & 0x80) == 0x00) // old format
                                        {
                                                DisplayLine = 2;
                                                Display_Interval = 0;
                                        }
                                        else // new format
                                        {
                                                DisplayKeys |= ~pRxData[0];
                                                Display_Interval = (uint16_t) pRxData[1] * 10;
                                                DisplayLine = 4;
                                                AboTimeOut = SetDelay(ABO_TIMEOUT);
                                        }
                                        Request_Display = TRUE;
                                        break;
 
                                case 'l':// request for display columns
                                        PcAccess = 255;
                                        MenuItem = pRxData[0];
                                        Request_Display1 = TRUE;
                                break;
 
                                case 'v': // request for version and board release
                                        Request_VerInfo = TRUE;
                                        break;
 
                                case 'd': // request for the debug data
                                        DebugData_Interval = (uint16_t) pRxData[0] * 10;
                                        if(DebugData_Interval > 0) Request_DebugData = TRUE;
                                        AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
 
                                case 'g':// get external control data
                                        Request_ExternalControl = TRUE;
                                        break;
 
                                default:
                                        //unsupported command received
                                        break;
                }
                break; // default:
        }
        // unlock the rxd buffer after processing
        pRxData = 0;
        RxDataLen = 0;
        rxd_buffer_locked = FALSE;
}
 
//############################################################################
//Routine für die Serielle Ausgabe
int16_t uart_putchar (int8_t c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
        // wait until previous character was send
        loop_until_bit_is_set(UCSR0A, UDRE0);
        // send character
        UDR0 = c;
        return (0);
}
 
 
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
        if(!txd_complete) return;
 
        if(CheckDelay(AboTimeOut))
        {
                Display_Interval = 0;
                DebugData_Interval = 0;
        }
 
        if(Request_VerInfo && txd_complete)
        {
                SendOutData('V', FM_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
                Request_VerInfo = FALSE;
        }
        else if( (((Display_Interval > 0) && CheckDelay(Display_Timer)) || Request_Display) && txd_complete)
        {
                if(DisplayLine > 3)// new format
                {
                        Menu_Update(DisplayKeys);
                        DisplayKeys = 0;
                        SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, sizeof(DisplayBuff));
                }
                else // old format
                {
                        LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!");
                        SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20);
                        if(DisplayLine++ > 3) DisplayLine = 0;
                }
                Display_Timer = SetDelay(Display_Interval);
                Request_Display = FALSE;
        }
        else if(Request_Display1 && txd_complete)
        {
                Menu_Update(0);
                SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff));
                Request_Display1 = FALSE;
        }
        else 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', FM_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16);
                Request_DebugLabel = 0xFF;
        }
        else if(Request_ExternalControl && txd_complete)
        {
                SendOutData('G', FM_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl));
                Request_ExternalControl = FALSE;
        }
        else if( (((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete)
        {
                SendOutData('D', FM_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut));
                DebugData_Timer = SetDelay(DebugData_Interval);
                Request_DebugData = FALSE;
    }
        else if(Request_SendFollowMe && txd_complete)
        {
                SendOutData('s', NC_ADDRESS, 1, (uint8_t *)&FollowMe, sizeof(FollowMe));
                FollowMe.Position.Status = PROCESSED;
                Request_SendFollowMe = FALSE;
        }
}
 
 

Rev 759	Rev 765
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
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		7
8	#include <avr/io.h>	8	#include <avr/io.h>
9	#include <avr/interrupt.h>	9	#include <avr/interrupt.h>
10	#include <avr/pgmspace.h>	10	#include <avr/pgmspace.h>
11	#include <avr/wdt.h>	11	#include <avr/wdt.h>
12	#include <stdarg.h>	12	#include <stdarg.h>
13	#include <string.h>	13	#include <string.h>
14		14
15	#include "main.h"	15	#include "main.h"
16	#include "menu.h"	16	#include "menu.h"
17	#include "timer0.h"	17	#include "timer0.h"
18	#include "uart0.h"	18	#include "uart0.h"
19	#include "ubx.h"	19	#include "ubx.h"
20	#include "printf_P.h"	20	#include "printf_P.h"
21		21
22		22
23	#define FC_ADDRESS 1	23	#define FC_ADDRESS 1
24	#define NC_ADDRESS 2	24	#define NC_ADDRESS 2
25	#define MK3MAG_ADDRESS 3	25	#define MK3MAG_ADDRESS 3
26		26
27	#define FM_ADDRESS 10 // FOLLOW ME	27	#define FM_ADDRESS 10 // FOLLOW ME
28		28
29	#define FALSE 0	29	#define FALSE 0
30	#define TRUE 1	30	#define TRUE 1
-		31
31		32	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
32		33
33	//int8_t test __attribute__ ((section (".noinit")));	34	//int8_t test __attribute__ ((section (".noinit")));
34	uint8_t Request_VerInfo = FALSE;	35	uint8_t Request_VerInfo = FALSE;
35	uint8_t Request_Display = FALSE;	36	uint8_t Request_Display = FALSE;
36	uint8_t Request_Display1 = FALSE;	37	uint8_t Request_Display1 = FALSE;
37	uint8_t Request_ExternalControl = FALSE;	38	uint8_t Request_ExternalControl = FALSE;
38	uint8_t Request_DebugData = FALSE;	39	uint8_t Request_DebugData = FALSE;
39	uint8_t Request_DebugLabel = 255;	40	uint8_t Request_DebugLabel = 255;
40	uint8_t Request_SendFollowMe = FALSE;	41	uint8_t Request_SendFollowMe = FALSE;
41	uint8_t DisplayLine = 0;	42	uint8_t DisplayLine = 0;
-		43	uint8_t DisplayKeys = 0;
42		44
43	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];	45	volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
44	volatile uint8_t rxd_buffer_locked = FALSE;	46	volatile uint8_t rxd_buffer_locked = FALSE;
45	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];	47	volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
46	volatile uint8_t txd_complete = TRUE;	48	volatile uint8_t txd_complete = TRUE;
47	volatile uint8_t ReceivedBytes = 0;	49	volatile uint8_t ReceivedBytes = 0;
48	volatile uint8_t *pRxData = 0;	50	volatile uint8_t *pRxData = 0;
49	volatile uint8_t RxDataLen = 0;	51	volatile uint8_t RxDataLen = 0;
50		52
51	uint8_t PcAccess = 100;	53	uint8_t PcAccess = 100;
-		54	uint16_t AboTimeOut = 0;
52		55
53	ExternControl_t ExternControl;	56	ExternControl_t ExternControl;
54	DebugOut_t DebugOut;	57	DebugOut_t DebugOut;
55	UART_VersionInfo_t UART_VersionInfo;	58	UART_VersionInfo_t UART_VersionInfo;
56		59
57	uint16_t DebugData_Timer;	60	uint16_t DebugData_Timer;
58	uint16_t DebugData_Interval = 0; // in 1ms	61	uint16_t DebugData_Interval = 0; // in 1ms
59	uint16_t Display_Timer;	62	uint16_t Display_Timer;
60	uint16_t Display_Interval = 0; // in 1 ms	63	uint16_t Display_Interval = 0;
61		64
62	Waypoint_t FollowMe;	65	Waypoint_t FollowMe;
63		66
64	// keep lables in flash to save 512 bytes of sram space	67	// keep lables in flash to save 512 bytes of sram space
65	const prog_uint8_t ANALOG_LABEL[32][16] =	68	const prog_uint8_t ANALOG_LABEL[32][16] =
66	{	69	{
67	//1234567890123456	70	//1234567890123456
68	"Analog_Ch0 ", //0	71	"Analog_Ch0 ", //0
69	"Analog_Ch1 ",	72	"Analog_Ch1 ",
70	"Analog_Ch2 ",	73	"Analog_Ch2 ",
71	"Analog_Ch3 ",	74	"Analog_Ch3 ",
72	"Analog_Ch4 ",	75	"Analog_Ch4 ",
73	"Analog_Ch5 ", //5	76	"Analog_Ch5 ", //5
74	"Analog_Ch6 ",	77	"Analog_Ch6 ",
75	"Analog_Ch7 ",	78	"Analog_Ch7 ",
76	"UBat ",	79	"UBat ",
77	"SysState ",	80	"SysState ",
78	"Debug10 ", //10	81	"Debug10 ", //10
79	"Debug11 ",	82	"Debug11 ",
80	"Debug12 ",	83	"Debug12 ",
81	"Debug13 ",	84	"Debug13 ",
82	"Debug14 ",	85	"Debug14 ",
83	"Debug15 ", //15	86	"Debug15 ", //15
84	"Zellenzahl ",	87	"Zellenzahl ",
85	"PowerOn ",	88	"PowerOn ",
86	"Debug18 ",	89	"Debug18 ",
87	"Debug19 ",	90	"Debug19 ",
88	"Debug20 ", //20	91	"Debug20 ", //20
89	"Debug21 ",	92	"Debug21 ",
90	"Debug22 ",	93	"Debug22 ",
91	"Debug23 ",	94	"Debug23 ",
92	"Debug24 ",	95	"Debug24 ",
93	"Debug25 ", //25	96	"Debug25 ", //25
94	"Debug26 ",	97	"Debug26 ",
95	"Debug27 ",	98	"Debug27 ",
96	"Debug28 ",	99	"Debug28 ",
97	"Debug29 ",	100	"Debug29 ",
98	"Debug30 ", //30	101	"Debug30 ", //30
99	"Debug31 "	102	"Debug31 "
100	};	103	};
101		104
102		105
103		106
104	/****************************************************************/	107	/****************************************************************/
105	/* Initialization of the USART0 */	108	/* Initialization of the USART0 */
106	/****************************************************************/	109	/****************************************************************/
107	void USART0_Init (void)	110	void USART0_Init (void)
108	{	111	{
109	uint8_t sreg = SREG;	112	uint8_t sreg = SREG;
110	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);	113	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1);
111		114
112	// disable all interrupts before configuration	115	// disable all interrupts before configuration
113	cli();	116	cli();
114		117
115	// disable RX-Interrupt	118	// disable RX-Interrupt
116	UCSR0B &= ~(1 << RXCIE0);	119	UCSR0B &= ~(1 << RXCIE0);
117	// disable TX-Interrupt	120	// disable TX-Interrupt
118	UCSR0B &= ~(1 << TXCIE0);	121	UCSR0B &= ~(1 << TXCIE0);
119		122
120	// set direction of RXD0 and TXD0 pins	123	// set direction of RXD0 and TXD0 pins
121	// set RXD0 (PD0) as an input pin	124	// set RXD0 (PD0) as an input pin
122	PORTD \|= (1 << PORTD0);	125	PORTD \|= (1 << PORTD0);
123	DDRD &= ~(1 << DDD0);	126	DDRD &= ~(1 << DDD0);
124	// set TXD0 (PD1) as an output pin	127	// set TXD0 (PD1) as an output pin
125	PORTD \|= (1 << PORTD1);	128	PORTD \|= (1 << PORTD1);
126	DDRD \|= (1 << DDD1);	129	DDRD \|= (1 << DDD1);
127		130
128	// USART0 Baud Rate Register	131	// USART0 Baud Rate Register
129	// set clock divider	132	// set clock divider
130	UBRR0H = (uint8_t)(ubrr >> 8);	133	UBRR0H = (uint8_t)(ubrr >> 8);
131	UBRR0L = (uint8_t)ubrr;	134	UBRR0L = (uint8_t)ubrr;
132		135
133	// USART0 Control and Status Register A, B, C	136	// USART0 Control and Status Register A, B, C
134		137
135	// enable double speed operation in	138	// enable double speed operation in
136	UCSR0A \|= (1 << U2X0);	139	UCSR0A \|= (1 << U2X0);
137	// enable receiver and transmitter in	140	// enable receiver and transmitter in
138	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);	141	UCSR0B = (1 << TXEN0) \| (1 << RXEN0);
139	// set asynchronous mode	142	// set asynchronous mode
140	UCSR0C &= ~(1 << UMSEL01);	143	UCSR0C &= ~(1 << UMSEL01);
141	UCSR0C &= ~(1 << UMSEL00);	144	UCSR0C &= ~(1 << UMSEL00);
142	// no parity	145	// no parity
143	UCSR0C &= ~(1 << UPM01);	146	UCSR0C &= ~(1 << UPM01);
144	UCSR0C &= ~(1 << UPM00);	147	UCSR0C &= ~(1 << UPM00);
145	// 1 stop bit	148	// 1 stop bit
146	UCSR0C &= ~(1 << USBS0);	149	UCSR0C &= ~(1 << USBS0);
147	// 8-bit	150	// 8-bit
148	UCSR0B &= ~(1 << UCSZ02);	151	UCSR0B &= ~(1 << UCSZ02);
149	UCSR0C \|= (1 << UCSZ01);	152	UCSR0C \|= (1 << UCSZ01);
150	UCSR0C \|= (1 << UCSZ00);	153	UCSR0C \|= (1 << UCSZ00);
151		154
152	// flush receive buffer	155	// flush receive buffer
153	while ( UCSR0A & (1<<RXC0) ) UDR0;	156	while ( UCSR0A & (1<<RXC0) ) UDR0;
154		157
155	// enable interrupts at the end	158	// enable interrupts at the end
156	// enable RX-Interrupt	159	// enable RX-Interrupt
157	UCSR0B \|= (1 << RXCIE0);	160	UCSR0B \|= (1 << RXCIE0);
158	// enable TX-Interrupt	161	// enable TX-Interrupt
159	UCSR0B \|= (1 << TXCIE0);	162	UCSR0B \|= (1 << TXCIE0);
160		163
161	// initialize the debug timer	164	// initialize the debug timer
162	DebugData_Timer = SetDelay(DebugData_Interval);	165	DebugData_Timer = SetDelay(DebugData_Interval);
163		166
164	// unlock rxd_buffer	167	// unlock rxd_buffer
165	rxd_buffer_locked = FALSE;	168	rxd_buffer_locked = FALSE;
166	pRxData = 0;	169	pRxData = 0;
167	RxDataLen = 0;	170	RxDataLen = 0;
168		171
169	// no bytes to send	172	// no bytes to send
170	txd_complete = TRUE;	173	txd_complete = TRUE;
171		174
172	UART_VersionInfo.SWMajor = VERSION_MAJOR;	175	UART_VersionInfo.SWMajor = VERSION_MAJOR;
173	UART_VersionInfo.SWMinor = VERSION_MINOR;	176	UART_VersionInfo.SWMinor = VERSION_MINOR;
174	UART_VersionInfo.SWPatch = VERSION_PATCH;	177	UART_VersionInfo.SWPatch = VERSION_PATCH;
175	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	178	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
176	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	179	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
177		180
178	// restore global interrupt flags	181	// restore global interrupt flags
179	SREG = sreg;	182	SREG = sreg;
180	sei();	183	sei();
181	printf("\r\n UART0 init...ok");	184	printf("\r\n UART0 init...ok");
182	}	185	}
183		186
184	/****************************************************************/	187	/****************************************************************/
185	/* USART0 transmitter ISR */	188	/* USART0 transmitter ISR */
186	/****************************************************************/	189	/****************************************************************/
187	ISR(USART0_TX_vect)	190	ISR(USART0_TX_vect)
188	{	191	{
189	static uint16_t ptr_txd_buffer = 0;	192	static uint16_t ptr_txd_buffer = 0;
190	uint8_t tmp_tx;	193	uint8_t tmp_tx;
191	if(!txd_complete) // transmission not completed	194	if(!txd_complete) // transmission not completed
192	{	195	{
193	ptr_txd_buffer++; // die [0] wurde schon gesendet	196	ptr_txd_buffer++; // die [0] wurde schon gesendet
194	tmp_tx = txd_buffer[ptr_txd_buffer];	197	tmp_tx = txd_buffer[ptr_txd_buffer];
195	// if terminating character or end of txd buffer was reached	198	// if terminating character or end of txd buffer was reached
196	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))	199	if((tmp_tx == '\r') \|\| (ptr_txd_buffer == TXD_BUFFER_LEN))
197	{	200	{
198	ptr_txd_buffer = 0; // reset txd pointer	201	ptr_txd_buffer = 0; // reset txd pointer
199	txd_complete = 1; // stop transmission	202	txd_complete = 1; // stop transmission
200	}	203	}
201	UDR0 = tmp_tx; // send current byte will trigger this ISR again	204	UDR0 = tmp_tx; // send current byte will trigger this ISR again
202	}	205	}
203	// transmission completed	206	// transmission completed
204	else ptr_txd_buffer = 0;	207	else ptr_txd_buffer = 0;
205	}	208	}
206		209
207	/****************************************************************/	210	/****************************************************************/
208	/* USART0 receiver ISR */	211	/* USART0 receiver ISR */
209	/****************************************************************/	212	/****************************************************************/
210	ISR(USART0_RX_vect)	213	ISR(USART0_RX_vect)
211	{	214	{
212	static uint16_t crc;	215	static uint16_t crc;
213	static uint8_t ptr_rxd_buffer = 0;	216	static uint8_t ptr_rxd_buffer = 0;
214	uint8_t crc1, crc2;	217	uint8_t crc1, crc2;
215	uint8_t c;	218	uint8_t c;
216		219
217	c = UDR0; // catch the received byte	220	c = UDR0; // catch the received byte
218		221
219	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return	222	if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
220		223
221	// the rxd buffer is unlocked	224	// the rxd buffer is unlocked
222	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received	225	if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
223	{	226	{
224	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer	227	rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
225	crc = c; // init crc	228	crc = c; // init crc
226	}	229	}
227	#if 0	230	#if 0
228	else if (ptr_rxd_buffer == 1) // handle address	231	else if (ptr_rxd_buffer == 1) // handle address
229	{	232	{
230	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	233	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
231	crc += c; // update crc	234	crc += c; // update crc
232	}	235	}
233	#endif	236	#endif
234	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes	237	else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
235	{	238	{
236	if(c != '\r') // no termination character	239	if(c != '\r') // no termination character
237	{	240	{
238	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer	241	rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
239	crc += c; // update crc	242	crc += c; // update crc
240	}	243	}
241	else // termination character was received	244	else // termination character was received
242	{	245	{
243	// the last 2 bytes are no subject for checksum calculation	246	// the last 2 bytes are no subject for checksum calculation
244	// they are the checksum itself	247	// they are the checksum itself
245	crc -= rxd_buffer[ptr_rxd_buffer-2];	248	crc -= rxd_buffer[ptr_rxd_buffer-2];
246	crc -= rxd_buffer[ptr_rxd_buffer-1];	249	crc -= rxd_buffer[ptr_rxd_buffer-1];
247	// calculate checksum from transmitted data	250	// calculate checksum from transmitted data
248	crc %= 4096;	251	crc %= 4096;
249	crc1 = '=' + crc / 64;	252	crc1 = '=' + crc / 64;
250	crc2 = '=' + crc % 64;	253	crc2 = '=' + crc % 64;
251	// compare checksum to transmitted checksum bytes	254	// compare checksum to transmitted checksum bytes
252	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))	255	if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
253	{ // checksum valid	256	{ // checksum valid
254	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character	257	rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
255	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes	258	ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
256	rxd_buffer_locked = TRUE; // lock the rxd buffer	259	rxd_buffer_locked = TRUE; // lock the rxd buffer
257	// if 2nd byte is an 'R' enable watchdog that will result in an reset	260	// if 2nd byte is an 'R' enable watchdog that will result in an reset
258	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando	261	if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
259	}	262	}
260	else	263	else
261	{ // checksum invalid	264	{ // checksum invalid
262	rxd_buffer_locked = FALSE; // unlock rxd buffer	265	rxd_buffer_locked = FALSE; // unlock rxd buffer
263	}	266	}
264	ptr_rxd_buffer = 0; // reset rxd buffer pointer	267	ptr_rxd_buffer = 0; // reset rxd buffer pointer
265	}	268	}
266	}	269	}
267	else // rxd buffer overrun	270	else // rxd buffer overrun
268	{	271	{
269	ptr_rxd_buffer = 0; // reset rxd buffer	272	ptr_rxd_buffer = 0; // reset rxd buffer
270	rxd_buffer_locked = FALSE; // unlock rxd buffer	273	rxd_buffer_locked = FALSE; // unlock rxd buffer
271	}	274	}
272		275
273	}	276	}
274		277
275		278
276	// --------------------------------------------------------------------------	279	// --------------------------------------------------------------------------
277	void AddCRC(uint16_t datalen)	280	void AddCRC(uint16_t datalen)
278	{	281	{
279	uint16_t tmpCRC = 0, i;	282	uint16_t tmpCRC = 0, i;
280	for(i = 0; i < datalen; i++)	283	for(i = 0; i < datalen; i++)
281	{	284	{
282	tmpCRC += txd_buffer[i];	285	tmpCRC += txd_buffer[i];
283	}	286	}
284	tmpCRC %= 4096;	287	tmpCRC %= 4096;
285	txd_buffer[i++] = '=' + tmpCRC / 64;	288	txd_buffer[i++] = '=' + tmpCRC / 64;
286	txd_buffer[i++] = '=' + tmpCRC % 64;	289	txd_buffer[i++] = '=' + tmpCRC % 64;
287	txd_buffer[i++] = '\r';	290	txd_buffer[i++] = '\r';
288	txd_complete = FALSE;	291	txd_complete = FALSE;
289	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)	292	UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR)
290	}	293	}
291		294
292		295
293		296
294	// --------------------------------------------------------------------------	297	// --------------------------------------------------------------------------
295	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...	298	void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
296	{	299	{
297	va_list ap;	300	va_list ap;
298	uint16_t pt = 0;	301	uint16_t pt = 0;
299	uint8_t a,b,c;	302	uint8_t a,b,c;
300	uint8_t ptr = 0;	303	uint8_t ptr = 0;
301		304
302	uint8_t *pdata = 0;	305	uint8_t *pdata = 0;
303	int len = 0;	306	int len = 0;
304		307
305	txd_buffer[pt++] = '#'; // Start character	308	txd_buffer[pt++] = '#'; // Start character
306	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)	309	txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...)
307	txd_buffer[pt++] = cmd; // Command	310	txd_buffer[pt++] = cmd; // Command
308		311
309	va_start(ap, numofbuffers);	312	va_start(ap, numofbuffers);
310	if(numofbuffers)	313	if(numofbuffers)
311	{	314	{
312	pdata = va_arg(ap, uint8_t*);	315	pdata = va_arg(ap, uint8_t*);
313	len = va_arg(ap, int);	316	len = va_arg(ap, int);
314	ptr = 0;	317	ptr = 0;
315	numofbuffers--;	318	numofbuffers--;
316	}	319	}
317		320
318	while(len)	321	while(len)
319	{	322	{
320	if(len)	323	if(len)
321	{	324	{
322	a = pdata[ptr++];	325	a = pdata[ptr++];
323	len--;	326	len--;
324	if((!len) && numofbuffers)	327	if((!len) && numofbuffers)
325	{	328	{
326	pdata = va_arg(ap, uint8_t*);	329	pdata = va_arg(ap, uint8_t*);
327	len = va_arg(ap, int);	330	len = va_arg(ap, int);
328	ptr = 0;	331	ptr = 0;
329	numofbuffers--;	332	numofbuffers--;
330	}	333	}
331	}	334	}
332	else a = 0;	335	else a = 0;
333	if(len)	336	if(len)
334	{	337	{
335	b = pdata[ptr++];	338	b = pdata[ptr++];
336	len--;	339	len--;
337	if((!len) && numofbuffers)	340	if((!len) && numofbuffers)
338	{	341	{
339	pdata = va_arg(ap, uint8_t*);	342	pdata = va_arg(ap, uint8_t*);
340	len = va_arg(ap, int);	343	len = va_arg(ap, int);
341	ptr = 0;	344	ptr = 0;
342	numofbuffers--;	345	numofbuffers--;
343	}	346	}
344	}	347	}
345	else b = 0;	348	else b = 0;
346	if(len)	349	if(len)
347	{	350	{
348	c = pdata[ptr++];	351	c = pdata[ptr++];
349	len--;	352	len--;
350	if((!len) && numofbuffers)	353	if((!len) && numofbuffers)
351	{	354	{
352	pdata = va_arg(ap, uint8_t*);	355	pdata = va_arg(ap, uint8_t*);
353	len = va_arg(ap, int);	356	len = va_arg(ap, int);
354	ptr = 0;	357	ptr = 0;
355	numofbuffers--;	358	numofbuffers--;
356	}	359	}
357	}	360	}
358	else c = 0;	361	else c = 0;
359	txd_buffer[pt++] = '=' + (a >> 2);	362	txd_buffer[pt++] = '=' + (a >> 2);
360	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));	363	txd_buffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
361	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));	364	txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
362	txd_buffer[pt++] = '=' + ( c & 0x3f);	365	txd_buffer[pt++] = '=' + ( c & 0x3f);
363	}	366	}
364	va_end(ap);	367	va_end(ap);
365	AddCRC(pt); // add checksum after data block and initates the transmission	368	AddCRC(pt); // add checksum after data block and initates the transmission
366	}	369	}
367		370
368		371
369	// --------------------------------------------------------------------------	372	// --------------------------------------------------------------------------
370	void Decode64(void)	373	void Decode64(void)
371	{	374	{
372	uint8_t a,b,c,d;	375	uint8_t a,b,c,d;
373	uint8_t x,y,z;	376	uint8_t x,y,z;
374	uint8_t ptrIn = 3;	377	uint8_t ptrIn = 3;
375	uint8_t ptrOut = 3;	378	uint8_t ptrOut = 3;
376	uint8_t len = ReceivedBytes - 6;	379	uint8_t len = ReceivedBytes - 6;
377		380
378	while(len)	381	while(len)
379	{	382	{
380	a = rxd_buffer[ptrIn++] - '=';	383	a = rxd_buffer[ptrIn++] - '=';
381	b = rxd_buffer[ptrIn++] - '=';	384	b = rxd_buffer[ptrIn++] - '=';
382	c = rxd_buffer[ptrIn++] - '=';	385	c = rxd_buffer[ptrIn++] - '=';
383	d = rxd_buffer[ptrIn++] - '=';	386	d = rxd_buffer[ptrIn++] - '=';
384	//if(ptrIn > ReceivedBytes - 3) break;	387	//if(ptrIn > ReceivedBytes - 3) break;
385		388
386	x = (a << 2) \| (b >> 4);	389	x = (a << 2) \| (b >> 4);
387	y = ((b & 0x0f) << 4) \| (c >> 2);	390	y = ((b & 0x0f) << 4) \| (c >> 2);
388	z = ((c & 0x03) << 6) \| d;	391	z = ((c & 0x03) << 6) \| d;
389		392
390	if(len--) rxd_buffer[ptrOut++] = x; else break;	393	if(len--) rxd_buffer[ptrOut++] = x; else break;
391	if(len--) rxd_buffer[ptrOut++] = y; else break;	394	if(len--) rxd_buffer[ptrOut++] = y; else break;
392	if(len--) rxd_buffer[ptrOut++] = z; else break;	395	if(len--) rxd_buffer[ptrOut++] = z; else break;
393	}	396	}
394	pRxData = &rxd_buffer[3];	397	pRxData = &rxd_buffer[3];
395	RxDataLen = ptrOut - 3;	398	RxDataLen = ptrOut - 3;
396	}	399	}
397		400
398		401
399	// --------------------------------------------------------------------------	402	// --------------------------------------------------------------------------
400	void USART0_ProcessRxData(void)	403	void USART0_ProcessRxData(void)
401	{	404	{
402	// if data in the rxd buffer are not locked immediately return	405	// if data in the rxd buffer are not locked immediately return
403	if(!rxd_buffer_locked) return;	406	if(!rxd_buffer_locked) return;
404		407
405	Decode64(); // decode data block in rxd_buffer	408	Decode64(); // decode data block in rxd_buffer
406		409
407		410
408	switch(rxd_buffer[1] - 'a')	411	switch(rxd_buffer[1] - 'a')
409	{	412	{
410	case FM_ADDRESS:	413	case FM_ADDRESS:
411		414
412	switch(rxd_buffer[2])	415	switch(rxd_buffer[2])
413	{	416	{
414	default:	417	default:
415	//unsupported command received	418	//unsupported command received
416	break;	419	break;
417	} // case FC_ADDRESS:	420	} // case FC_ADDRESS:
418		421
419	default: // any Slave Address	422	default: // any Slave Address
420		423
421	switch(rxd_buffer[2])	424	switch(rxd_buffer[2])
422	{	425	{
423	case 'a':// request for labels of the analog debug outputs	426	case 'a':// request for labels of the analog debug outputs
424	Request_DebugLabel = pRxData[0];	427	Request_DebugLabel = pRxData[0];
425	if(Request_DebugLabel > 31) Request_DebugLabel = 31;	428	if(Request_DebugLabel > 31) Request_DebugLabel = 31;
426	PcAccess = 255;	429	PcAccess = 255;
427	break;	430	break;
428		431
429	case 'h':// request for display columns	432	case 'h':// request for display columns
430	PcAccess = 255;	433	PcAccess = 255;
431	if((pRxData[0] & 0x80) == 0x00) // old format	434	if((pRxData[0] & 0x80) == 0x00) // old format
432	{	435	{
433	DisplayLine = 2;	436	DisplayLine = 2;
434	Display_Interval = 0;	437	Display_Interval = 0;
435	}	438	}
436	else // new format	439	else // new format
437	{	440	{
438	RemoteKeys \|= ~pRxData[0];	441	DisplayKeys \|= ~pRxData[0];
439	Display_Interval = (unsigned int)pRxData[1] * 10;	442	Display_Interval = (uint16_t) pRxData[1] * 10;
440	DisplayLine = 4;	443	DisplayLine = 4;
441	Request_Display = TRUE;	444	AboTimeOut = SetDelay(ABO_TIMEOUT);
442	}	445	}
-		446	Request_Display = TRUE;
443	break;	447	break;
444		448
445	case 'l':// request for display columns	449	case 'l':// request for display columns
446	PcAccess = 255;	450	PcAccess = 255;
447	MenuItem = pRxData[0];	451	MenuItem = pRxData[0];
448	Request_Display1 = TRUE;	452	Request_Display1 = TRUE;
449	break;	453	break;
450		454
451	case 'v': // request for version and board release	455	case 'v': // request for version and board release
452	Request_VerInfo = TRUE;	456	Request_VerInfo = TRUE;
453	break;	457	break;
454		458
455	case 'd': // request for the debug data	459	case 'd': // request for the debug data
456	DebugData_Interval = (uint16_t) pRxData[0] * 10;	460	DebugData_Interval = (uint16_t) pRxData[0] * 10;
457	if(DebugData_Interval > 0) Request_DebugData = TRUE;	461	if(DebugData_Interval > 0) Request_DebugData = TRUE;
-		462	AboTimeOut = SetDelay(ABO_TIMEOUT);
458	break;	463	break;
459		464
460	case 'g':// get external control data	465	case 'g':// get external control data
461	Request_ExternalControl = TRUE;	466	Request_ExternalControl = TRUE;
462	break;	467	break;
463		468
464	default:	469	default:
465	//unsupported command received	470	//unsupported command received
466	break;	471	break;
467	}	472	}
468	break; // default:	473	break; // default:
469	}	474	}
470	// unlock the rxd buffer after processing	475	// unlock the rxd buffer after processing
471	pRxData = 0;	476	pRxData = 0;
472	RxDataLen = 0;	477	RxDataLen = 0;
473	rxd_buffer_locked = FALSE;	478	rxd_buffer_locked = FALSE;
474	}	479	}
475		480
476	//############################################################################	481	//############################################################################
477	//Routine für die Serielle Ausgabe	482	//Routine für die Serielle Ausgabe
478	int16_t uart_putchar (int8_t c)	483	int16_t uart_putchar (int8_t c)
479	//############################################################################	484	//############################################################################
480	{	485	{
481	if (c == '\n')	486	if (c == '\n')
482	uart_putchar('\r');	487	uart_putchar('\r');
483	// wait until previous character was send	488	// wait until previous character was send
484	loop_until_bit_is_set(UCSR0A, UDRE0);	489	loop_until_bit_is_set(UCSR0A, UDRE0);
485	// send character	490	// send character
486	UDR0 = c;	491	UDR0 = c;
487	return (0);	492	return (0);
488	}	493	}
489		494
490		495
491	//---------------------------------------------------------------------------------------------	496	//---------------------------------------------------------------------------------------------
492	void USART0_TransmitTxData(void)	497	void USART0_TransmitTxData(void)
493	{	498	{
494	if(!txd_complete) return;	499	if(!txd_complete) return;
-		500

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