Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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/wdt.h>

#include "eeprom.h"
#include "main.h"
#include "menu.h"
#include "timer0.h"
#include "uart.h"
#include "fc.h"
#include "_Settings.h"
#include "rc.h"


unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char txd_buffer[TXD_BUFFER_LEN];
unsigned volatile char rxd_buffer[RXD_BUFFER_LEN];

unsigned volatile char NeuerDatensatzEmpfangen = 0;
unsigned volatile char NeueKoordinateEmpfangen = 0;
unsigned volatile char UebertragungAbgeschlossen = 1;
unsigned volatile char CntCrcError = 0;
unsigned volatile char AnzahlEmpfangsBytes = 0;
unsigned volatile char PC_DebugTimeout = 0;
unsigned char RemotePollDisplayLine = 0;
unsigned char NurKanalAnforderung = 0;
unsigned char DebugTextAnforderung = 255;
unsigned char PcAccess = 100;
unsigned char MotorTest[4] = {0,0,0,0};
unsigned char DubWiseKeys[4] = {0,0,0,0};
unsigned char MeineSlaveAdresse;
unsigned char ConfirmFrame;
struct str_DebugOut    DebugOut;
struct str_ExternControl  ExternControl;
struct str_VersionInfo VersionInfo;
int Debug_Timer;

const unsigned char ANALOG_TEXT[32][16] =
{
   //1234567890123456
    "IntegralPitch   ", //0
    "IntegralRoll    ",
    "AccPitch        ",
    "AccRoll         ",
    "GyroYaw         ",
    "ReadingHight    ", //5
    "AccZ            ",
    "Thrust          ",
    "CompassHeading  ",
    "Voltage         ",
    "Receiver Level  ", //10
    "Analog11        ",
    "Motor_Front     ",
    "Motor_Rear      ",
    "Motor_Left      ",
    "Motor_Right     ", //15
    "Acc_Z           ",
    "MeanAccPitch    ",
    "MeanAccRoll     ",
    "IntegralErrPitch",
    "IntegralErrRoll ", //20
    "MeanIntPitch    ",
    "MeanIntRoll         ",
    "NeutralPitch    ",
    "RollOffset      ",
    "IntRoll*Factor  ", //25
    "Reading_GyroPitch    ",
    "DirectCorrRoll  ",
    "Reading_GyroRoll     ",
    "CorrectionRoll  ",
    "I-AttRoll       ", //30
    "StickRoll       "
};



/****************************************************************/
/*              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);

        // restore global interrupt flags
    SREG = sreg;
}

/****************************************************************/
/*               USART0 transmitter ISR                         */
/****************************************************************/
ISR(USART0_TX_vect)
{
 static uint16_t ptr = 0;
 uint8_t tmp_tx;
 if(!UebertragungAbgeschlossen)
  {
   ptr++;                    // die [0] wurde schon gesendet
   tmp_tx = txd_buffer[ptr];
   if((tmp_tx == '\r') || (ptr == TXD_BUFFER_LEN))
    {
     ptr = 0;
     UebertragungAbgeschlossen = 1;
    }
   UDR0 = tmp_tx; // send byte will trigger this ISR again
  }
  else ptr = 0;
}

/****************************************************************/
/*               USART0 receiver ISR                            */
/****************************************************************/
ISR(USART0_RX_vect)
{
 static uint16_t crc;
 static uint8_t crc1,crc2,buf_ptr;
 static uint8_t UartState = 0;
 uint8_t CrcOkay = 0;

 SioTmp = UDR0;
 if(buf_ptr >= RXD_BUFFER_LEN)    UartState = 0;
 if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= rxd_buffer[buf_ptr-2];
   crc -= rxd_buffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == rxd_buffer[buf_ptr-2]) && (crc2 == rxd_buffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
         AnzahlEmpfangsBytes = buf_ptr;
     rxd_buffer[buf_ptr] = '\r';
         if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando
        }
  }
  else
  switch(UartState)
  {
   case 0:
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
                  buf_ptr = 0;
                  rxd_buffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  rxd_buffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  rxd_buffer[buf_ptr] = SioTmp;
                  if(buf_ptr < RXD_BUFFER_LEN) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
  }
}



// --------------------------------------------------------------------------
void AddCRC(unsigned int wieviele)
{
 uint16_t tmpCRC = 0,i;
 for(i = 0; i < wieviele;i++)
  {
   tmpCRC += txd_buffer[i];
  }
   tmpCRC %= 4096;
   txd_buffer[i++] = '=' + tmpCRC / 64;
   txd_buffer[i++] = '=' + tmpCRC % 64;
   txd_buffer[i++] = '\r';
  UebertragungAbgeschlossen = 0;
  UDR0 = txd_buffer[0];
}



// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len)
{
 uint16_t pt = 0;
 uint8_t a,b,c;
 uint8_t ptr = 0;

 txd_buffer[pt++] = '#';               // Startzeichen
 txd_buffer[pt++] = modul;             // Adresse (a=0; b=1,...)
 txd_buffer[pt++] = cmd;                        // Commando

 while(len)
  {
   if(len) { a = snd[ptr++]; len--;} else a = 0;
   if(len) { b = snd[ptr++]; len--;} else b = 0;
   if(len) { c = snd[ptr++]; len--;} 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);
  }
 AddCRC(pt);
}


// --------------------------------------------------------------------------
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)  // Wohin mit den Daten; Wie lang; Wo im rxd_buffer
{
 uint8_t a,b,c,d;
 uint8_t ptr = 0;
 uint8_t x,y,z;
 while(len)
  {
   a = rxd_buffer[ptrIn++] - '=';
   b = rxd_buffer[ptrIn++] - '=';
   c = rxd_buffer[ptrIn++] - '=';
   d = rxd_buffer[ptrIn++] - '=';
   if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden

   x = (a << 2) | (b >> 4);
   y = ((b & 0x0f) << 4) | (c >> 2);
   z = ((c & 0x03) << 6) | d;

   if(len--) ptrOut[ptr++] = x; else break;
   if(len--) ptrOut[ptr++] = y; else break;
   if(len--) ptrOut[ptr++] = z; else break;
  }

}

// --------------------------------------------------------------------------
void BearbeiteRxDaten(void)
{
 if(!NeuerDatensatzEmpfangen) return;

 uint8_t tmp_char_arr2[2];

 PcAccess = 255;
  switch(rxd_buffer[2])
  {
   case 'a':// Texte der Analogwerte
            Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            DebugTextAnforderung = tmp_char_arr2[0];
                        break;
   case 'b':
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteButtons |= ExternControl.RemoteButtons;
            ConfirmFrame = ExternControl.Frame;
            break;
   case 'c':
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteButtons |= ExternControl.RemoteButtons;
            ConfirmFrame = ExternControl.Frame;
            DebugDataAnforderung = 1;
            break;
   case 'h':// x-1 Displayzeilen
            Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            RemoteButtons |= tmp_char_arr2[0];
                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten
                        DebugDisplayAnforderung = 1;
                        break;
   case 't':// Motortest
            Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
                        break;
   case 'k':// Keys von DubWise
            Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes);
                        ConfirmFrame = DubWiseKeys[3];
                        break;
   case 'v': // Version-Anforderung     und Ausbaustufe
            GetVersionAnforderung = 1;
            break;
   case 'g':// "Get"-Anforderung für Debug-Daten
            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
            DebugGetAnforderung = 1;
            break;
   case 'q':// "Get"-Anforderung für Settings
            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
            Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            if(tmp_char_arr2[0] != 0xff)
             {
                          if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;
                  ParamSet_ReadFromEEProm(tmp_char_arr2[0]);
                  SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);
             }
             else
                  SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MeineSlaveAdresse,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN);

            break;

   case 'l':
   case 'm':
   case 'n':
   case 'o':
   case 'p': // Parametersatz speichern
            Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,AnzahlEmpfangsBytes);
                        ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1);
            //SetActiveParamSet(rxd_buffer[2] - 'l' + 1);  // is alredy done in ParamSet_WriteToEEProm()
            TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
            TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
            Beep(GetActiveParamSet());
         break;


  }
// DebugOut.AnzahlZyklen =  Debug_Timer_Intervall;
 NeuerDatensatzEmpfangen = 0;
}

//############################################################################
//Routine für die Serielle Ausgabe
int16_t uart_putchar (int8_t c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
        //Warten solange bis Zeichen gesendet wurde
        loop_until_bit_is_set(UCSR0A, UDRE0);
        //Ausgabe des Zeichens
        UDR0 = c;

        return (0);
}

// --------------------------------------------------------------------------
void WriteProgramData(unsigned int pos, unsigned char wert)
{
  //if (ProgramLocation == IN_RAM) Buffer[pos] = wert;
  // else eeprom_write_byte(&EE_Buffer[pos], wert);
  // Buffer[pos] = wert;
}



//---------------------------------------------------------------------------------------------
void DatenUebertragung(void)
{
 if(!UebertragungAbgeschlossen) return;

   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
   {
      SendOutData('G',MeineSlaveAdresse,(uint8_t *) &ExternControl,sizeof(ExternControl));
          DebugGetAnforderung = 0;
   }

    if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen)
         {
          SendOutData('D',MeineSlaveAdresse,(uint8_t *) &DebugOut,sizeof(DebugOut));
          DebugDataAnforderung = 0;
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
         }
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
     {
      SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16);
      DebugTextAnforderung = 255;
         }
     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz ohne CRC bestätigen
         {
      txd_buffer[0] = '#';
      txd_buffer[1] = ConfirmFrame;
      txd_buffer[2] = '\r';
      UebertragungAbgeschlossen = 0;
      ConfirmFrame = 0;
      UDR0 = txd_buffer[0];
     }
     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
         {
      LCD_PrintMenu();
          DebugDisplayAnforderung = 0;
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
      {
       SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
       RemotePollDisplayLine = -1;
      }
      else  SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
         }
    if(GetVersionAnforderung && UebertragungAbgeschlossen)
     {
      SendOutData('V',MeineSlaveAdresse,(uint8_t *) &VersionInfo,sizeof(VersionInfo));
          GetVersionAnforderung = 0;
     }

}