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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
"ReadingGyroPitch",
"DirectCorrRoll ",
"ReadingGyroRoll ",
"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;
}
}