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 "main.h"
#include "uart.h"

unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
unsigned volatile char SioTmp = 0;
unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];
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 PcZugriff = 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;
struct str_WinkelOut WinkelOut;

int Debug_Timer,Kompass_Timer;

const unsigned char ANALOG_TEXT[32][16] =
{
   //1234567890123456
    "IntegralNick    ", //0
    "IntegralRoll    ",
    "AccNick         ",
    "AccRoll         ",
    "GyroGier        ",
    "HoehenWert      ", //5
    "AccZ            ",
    "Gas             ",
    "KompassValue    ",
    "Spannung        ",
    "Empfang         ", //10
    "Ersatzkompass   ",
    "Motor_Vorne     ",
    "Motor_Hinten    ",
    "Motor_Links     ",
    "Motor_Rechts    ", //15
    "Acc_Z           ",
    "Distance        ",
    "OsdBar          ",
    "MK3Mag CalState ",
    "Servo           ", //20
    "Nick            ",
    "Roll            ",
    "                ",
    "                ",
    "                ", //25
    "                ",
    "                ",
    "                ",
    "                ",
    "GPS_Nick        ", //30
    "GPS_Roll        "
};



//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Sende-Part der Datenübertragung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(INT_VEC_TX)
{
 static unsigned int ptr = 0;
 unsigned char tmp_tx;
 if(!UebertragungAbgeschlossen)  
  {
   ptr++;                    // die [0] wurde schon gesendet
   tmp_tx = SendeBuffer[ptr];  
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
    {
     ptr = 0;
     UebertragungAbgeschlossen = 1;
    }
   UDR = tmp_tx;
  }
  else ptr = 0;
}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
SIGNAL(INT_VEC_RX)
{
 static unsigned int crc;
 static unsigned char crc1,crc2,buf_ptr;
 static unsigned char UartState = 0;
 unsigned char CrcOkay = 0;

 SioTmp = UDR;
 if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;
 if(SioTmp == '\r' && UartState == 2)
  {
   UartState = 0;
   crc -= RxdBuffer[buf_ptr-2];
   crc -= RxdBuffer[buf_ptr-1];
   crc %= 4096;
   crc1 = '=' + crc / 64;
   crc2 = '=' + crc % 64;
   CrcOkay = 0;
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
    {
     NeuerDatensatzEmpfangen = 1;
         AnzahlEmpfangsBytes = buf_ptr;
     RxdBuffer[buf_ptr] = '\r';
         if(RxdBuffer[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;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc = SioTmp;
          break;
   case 1: // Adresse auswerten
                  UartState++;
                  RxdBuffer[buf_ptr++] = SioTmp;
                  crc += SioTmp;
                  break;
   case 2: //  Eingangsdaten sammeln
                  RxdBuffer[buf_ptr] = SioTmp;
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
                  else UartState = 0;
                  crc += SioTmp;
                  break;
   default:
          UartState = 0;
          break;
  }
}


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



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

 SendeBuffer[pt++] = '#';               // Startzeichen
 SendeBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)
 SendeBuffer[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;
   SendeBuffer[pt++] = '=' + (a >> 2);
   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
   SendeBuffer[pt++] = '=' + ( c & 0x3f);
  }
 AddCRC(pt);
}


// --------------------------------------------------------------------------
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)  // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
{
 unsigned char a,b,c,d;
 unsigned char ptr = 0;
 unsigned char x,y,z;
 while(len)
  {
   a = RxdBuffer[ptrIn++] - '=';
   b = RxdBuffer[ptrIn++] - '=';
   c = RxdBuffer[ptrIn++] - '=';
   d = RxdBuffer[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;

 unsigned int tmp_int_arr1[1];
// unsigned int tmp_int_arr2[2];
// unsigned int tmp_int_arr3[3];
 unsigned char tmp_char_arr2[2];
// unsigned char tmp_char_arr3[3];
// unsigned char tmp_char_arr4[4];
 //if(!MotorenEin)
  switch(RxdBuffer[2])
  {
   case 'K':// Kompasswert
            Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes);
            KompassValue = tmp_int_arr1[0];
            KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
                        break;
   case 'a':// Texte der Analogwerte
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            DebugTextAnforderung = tmp_char_arr2[0];
            PcZugriff = 255;
                        break;
   case 'b':
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteTasten |= ExternControl.RemoteTasten;
            ConfirmFrame = ExternControl.Frame;
            break;
   case 'c':
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
                        RemoteTasten |= ExternControl.RemoteTasten;
            ConfirmFrame = ExternControl.Frame;
            DebugDataAnforderung = 1;
            PcZugriff = 255;
            break;
   case 'h':// x-1 Displayzeilen
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            RemoteTasten |= tmp_char_arr2[0];
                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten
                        DebugDisplayAnforderung = 1;
                        break;
   case 't':// Motortest
            Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
            PcZugriff = 255;
                        break;
   case 'k':// Keys von DubWise
            Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes);
                        ConfirmFrame = DubWiseKeys[3];
            PcZugriff = 255;
                        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((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
            while(!UebertragungAbgeschlossen);
            if(tmp_char_arr2[0] != 0xff)
             {
                          if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;
                  ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);                   
                  SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
             }
             else
                  SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
             
            break;
       
   case 'l':
   case 'm':
   case 'n':
   case 'o':
   case 'p': // Parametersatz speichern
            Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);
                        WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
            eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1);  // aktiven Datensatz merken
            Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
            Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
            Piep(GetActiveParamSetNumber());
         break;
               
         
  }
// DebugOut.AnzahlZyklen =  Debug_Timer_Intervall;
 NeuerDatensatzEmpfangen = 0;
}

//############################################################################
//Routine für die Serielle Ausgabe
int uart_putchar (char c)
//############################################################################
{
        if (c == '\n')
                uart_putchar('\r');
        //Warten solange bis Zeichen gesendet wurde
        loop_until_bit_is_set(USR, UDRE);
        //Ausgabe des Zeichens
        UDR = 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;
}

//############################################################################
//INstallation der Seriellen Schnittstelle
void UART_Init (void)
//############################################################################
{
        //Enable TXEN im Register UCR TX-Data Enable & RX Enable

        UCR=(1 << TXEN) | (1 << RXEN);
    // UART Double Speed (U2X)
        USR   |= (1<<U2X);          
        // RX-Interrupt Freigabe
        UCSRB |= (1<<RXCIE);          
        // TX-Interrupt Freigabe
        UCSRB |= (1<<TXCIE);          

        //Teiler wird gesetzt
        UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);
        //UBRR = 33;
        //öffnet einen Kanal für printf (STDOUT)
        //fdevopen (uart_putchar, 0);
        //sbi(PORTD,4);
  Debug_Timer = SetDelay(200);  
  Kompass_Timer = SetDelay(220);  
}

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

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

    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)        
         {
                  WinkelOut.Winkel[0] = (int) (IntegralNick / 108);  // etwa in 0,1 Grad
                  WinkelOut.Winkel[1] = (int) (IntegralRoll / 108);  // etwa in 0,1 Grad
                  WinkelOut.UserParameter[0] = Parameter_UserParam1;
                  WinkelOut.UserParameter[1] = Parameter_UserParam2;
          SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut));
          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
          Kompass_Timer = SetDelay(99);  
         }

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

}