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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | |||
8 | #include "main.h" |
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9 | #include "uart.h" |
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10 | |||
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
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12 | unsigned volatile char SioTmp = 0; |
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13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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19 | unsigned volatile char CntCrcError = 0; |
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20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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21 | unsigned volatile char PC_DebugTimeout = 0; |
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499 | hbuss | 22 | unsigned char RemotePollDisplayLine = 0; |
395 | hbuss | 23 | unsigned char NurKanalAnforderung = 0; |
499 | hbuss | 24 | unsigned char DebugTextAnforderung = 255; |
1 | ingob | 25 | unsigned char PcZugriff = 100; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
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492 | hbuss | 27 | unsigned char DubWiseKeys[3] = {0,0,0}; |
1 | ingob | 28 | unsigned char MeineSlaveAdresse; |
29 | struct str_DebugOut DebugOut; |
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30 | struct str_Debug DebugIn; |
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31 | struct str_VersionInfo VersionInfo; |
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32 | int Debug_Timer; |
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33 | |||
499 | hbuss | 34 | const unsigned char ANALOG_TEXT[32][16] = |
35 | { |
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36 | //1234567890123456 |
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37 | "IntegralNick ", //0 |
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38 | "IntegralRoll ", |
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39 | "AccNick ", |
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40 | "AccRoll ", |
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41 | "GyroGier ", |
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42 | "HoehenWert ", //5 |
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43 | "AccZ ", |
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44 | "Gas ", |
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45 | "KompassValue ", |
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513 | hbuss | 46 | "Spannung ", |
47 | "Empfang ", //10 |
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48 | "Analog11 ", |
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499 | hbuss | 49 | "Motor_Vorne ", |
50 | "Motor_Hinten ", |
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51 | "Motor_Links ", |
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52 | "Motor_Rechts ", //15 |
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513 | hbuss | 53 | "Acc_Z ", |
54 | "MittelAccNick ", |
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55 | "MittelAccRoll ", |
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56 | "IntegralErrNick ", |
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499 | hbuss | 57 | "IntegralErrRoll ", //20 |
513 | hbuss | 58 | "MittelIntNick ", |
59 | "MittelIntRoll ", |
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60 | "NeutralNick ", |
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61 | "RollOffset ", |
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62 | "IntRoll*Faktor ", //25 |
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499 | hbuss | 63 | "Analog26 ", |
64 | "DirektAusglRoll ", |
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513 | hbuss | 65 | "MesswertRoll ", |
66 | "AusgleichRoll ", |
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67 | "I-LageRoll ", //30 |
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68 | "StickRoll " |
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499 | hbuss | 69 | }; |
70 | |||
71 | |||
72 | |||
1 | ingob | 73 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //++ Sende-Part der Datenübertragung |
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75 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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76 | SIGNAL(INT_VEC_TX) |
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77 | { |
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78 | static unsigned int ptr = 0; |
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79 | unsigned char tmp_tx; |
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80 | if(!UebertragungAbgeschlossen) |
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81 | { |
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82 | ptr++; // die [0] wurde schon gesendet |
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83 | tmp_tx = SendeBuffer[ptr]; |
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84 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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85 | { |
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86 | ptr = 0; |
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87 | UebertragungAbgeschlossen = 1; |
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88 | } |
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89 | UDR = tmp_tx; |
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90 | } |
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91 | else ptr = 0; |
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92 | } |
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93 | |||
94 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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95 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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96 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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97 | SIGNAL(INT_VEC_RX) |
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98 | { |
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99 | static unsigned int crc; |
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100 | static unsigned char crc1,crc2,buf_ptr; |
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101 | static unsigned char UartState = 0; |
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102 | unsigned char CrcOkay = 0; |
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103 | |||
104 | SioTmp = UDR; |
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105 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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106 | if(SioTmp == '\r' && UartState == 2) |
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107 | { |
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108 | UartState = 0; |
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109 | crc -= RxdBuffer[buf_ptr-2]; |
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110 | crc -= RxdBuffer[buf_ptr-1]; |
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111 | crc %= 4096; |
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112 | crc1 = '=' + crc / 64; |
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113 | crc2 = '=' + crc % 64; |
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114 | CrcOkay = 0; |
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115 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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116 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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117 | { |
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118 | NeuerDatensatzEmpfangen = 1; |
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119 | AnzahlEmpfangsBytes = buf_ptr; |
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120 | RxdBuffer[buf_ptr] = '\r'; |
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173 | holgerb | 121 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
1 | ingob | 122 | } |
123 | } |
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124 | else |
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125 | switch(UartState) |
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126 | { |
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127 | case 0: |
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128 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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129 | buf_ptr = 0; |
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130 | RxdBuffer[buf_ptr++] = SioTmp; |
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131 | crc = SioTmp; |
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132 | break; |
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133 | case 1: // Adresse auswerten |
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134 | UartState++; |
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135 | RxdBuffer[buf_ptr++] = SioTmp; |
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136 | crc += SioTmp; |
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137 | break; |
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138 | case 2: // Eingangsdaten sammeln |
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139 | RxdBuffer[buf_ptr] = SioTmp; |
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140 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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141 | else UartState = 0; |
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142 | crc += SioTmp; |
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143 | break; |
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144 | default: |
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145 | UartState = 0; |
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146 | break; |
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147 | } |
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148 | } |
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149 | |||
150 | |||
151 | // -------------------------------------------------------------------------- |
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152 | void AddCRC(unsigned int wieviele) |
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153 | { |
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154 | unsigned int tmpCRC = 0,i; |
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155 | for(i = 0; i < wieviele;i++) |
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156 | { |
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157 | tmpCRC += SendeBuffer[i]; |
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158 | } |
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159 | tmpCRC %= 4096; |
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160 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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161 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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162 | SendeBuffer[i++] = '\r'; |
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163 | UebertragungAbgeschlossen = 0; |
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164 | UDR = SendeBuffer[0]; |
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165 | } |
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166 | |||
167 | |||
168 | |||
169 | // -------------------------------------------------------------------------- |
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170 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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171 | { |
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172 | unsigned int pt = 0; |
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173 | unsigned char a,b,c; |
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174 | unsigned char ptr = 0; |
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175 | |||
176 | SendeBuffer[pt++] = '#'; // Startzeichen |
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177 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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178 | SendeBuffer[pt++] = cmd; // Commando |
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179 | |||
180 | while(len) |
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181 | { |
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182 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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183 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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184 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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185 | SendeBuffer[pt++] = '=' + (a >> 2); |
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186 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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187 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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188 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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189 | } |
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190 | AddCRC(pt); |
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191 | } |
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192 | |||
193 | |||
194 | // -------------------------------------------------------------------------- |
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195 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
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196 | { |
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197 | unsigned char a,b,c,d; |
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198 | unsigned char ptr = 0; |
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199 | unsigned char x,y,z; |
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200 | while(len) |
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201 | { |
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202 | a = RxdBuffer[ptrIn++] - '='; |
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203 | b = RxdBuffer[ptrIn++] - '='; |
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204 | c = RxdBuffer[ptrIn++] - '='; |
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205 | d = RxdBuffer[ptrIn++] - '='; |
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206 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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207 | |||
208 | x = (a << 2) | (b >> 4); |
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209 | y = ((b & 0x0f) << 4) | (c >> 2); |
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210 | z = ((c & 0x03) << 6) | d; |
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211 | |||
212 | if(len--) ptrOut[ptr++] = x; else break; |
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213 | if(len--) ptrOut[ptr++] = y; else break; |
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214 | if(len--) ptrOut[ptr++] = z; else break; |
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215 | } |
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216 | |||
217 | } |
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218 | |||
219 | // -------------------------------------------------------------------------- |
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220 | void BearbeiteRxDaten(void) |
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221 | { |
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222 | if(!NeuerDatensatzEmpfangen) return; |
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223 | |||
304 | ingob | 224 | // unsigned int tmp_int_arr1[1]; |
225 | // unsigned int tmp_int_arr2[2]; |
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226 | // unsigned int tmp_int_arr3[3]; |
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1 | ingob | 227 | unsigned char tmp_char_arr2[2]; |
304 | ingob | 228 | // unsigned char tmp_char_arr3[3]; |
229 | // unsigned char tmp_char_arr4[4]; |
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1 | ingob | 230 | //if(!MotorenEin) |
231 | PcZugriff = 255; |
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232 | switch(RxdBuffer[2]) |
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233 | { |
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499 | hbuss | 234 | case 'a':// Texte der Analogwerte |
235 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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236 | DebugTextAnforderung = tmp_char_arr2[0]; |
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237 | break; |
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1 | ingob | 238 | case 'c':// Debugdaten incl. Externe IOs usw |
239 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
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240 | /* for(unsigned char i=0; i<4;i++) |
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241 | { |
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242 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
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243 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
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244 | }*/ |
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395 | hbuss | 245 | RemoteTasten |= DebugIn.RemoteTasten; |
1 | ingob | 246 | DebugDataAnforderung = 1; |
247 | break; |
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248 | case 'h':// x-1 Displayzeilen |
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249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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250 | RemoteTasten |= tmp_char_arr2[0]; |
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395 | hbuss | 251 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
1 | ingob | 252 | DebugDisplayAnforderung = 1; |
253 | break; |
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254 | case 't':// Motortest |
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255 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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256 | break; |
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492 | hbuss | 257 | case 'k':// Keys von DubWise |
258 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
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259 | break; |
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1 | ingob | 260 | case 'v': // Version-Anforderung und Ausbaustufe |
261 | GetVersionAnforderung = 1; |
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262 | break; |
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263 | case 'g':// "Get"-Anforderung für Debug-Daten |
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264 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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265 | DebugGetAnforderung = 1; |
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266 | break; |
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267 | case 'q':// "Get"-Anforderung für Settings |
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268 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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269 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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270 | if(tmp_char_arr2[0] != 0xff) |
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271 | { |
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272 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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273 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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274 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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275 | } |
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276 | else |
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277 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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278 | |||
279 | break; |
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280 | |||
281 | case 'l': |
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282 | case 'm': |
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283 | case 'n': |
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284 | case 'o': |
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285 | case 'p': // Parametersatz speichern |
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286 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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287 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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288 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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395 | hbuss | 289 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
290 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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1 | ingob | 291 | Piep(GetActiveParamSetNumber()); |
292 | break; |
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293 | |||
294 | |||
295 | } |
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296 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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297 | NeuerDatensatzEmpfangen = 0; |
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298 | } |
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299 | |||
300 | //############################################################################ |
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301 | //Routine für die Serielle Ausgabe |
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302 | int uart_putchar (char c) |
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303 | //############################################################################ |
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304 | { |
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305 | if (c == '\n') |
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306 | uart_putchar('\r'); |
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307 | //Warten solange bis Zeichen gesendet wurde |
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308 | loop_until_bit_is_set(USR, UDRE); |
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309 | //Ausgabe des Zeichens |
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310 | UDR = c; |
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311 | |||
312 | return (0); |
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313 | } |
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314 | |||
315 | // -------------------------------------------------------------------------- |
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316 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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317 | { |
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318 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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319 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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320 | // Buffer[pos] = wert; |
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321 | } |
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322 | |||
323 | //############################################################################ |
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324 | //INstallation der Seriellen Schnittstelle |
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325 | void UART_Init (void) |
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326 | //############################################################################ |
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327 | { |
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328 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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329 | |||
330 | UCR=(1 << TXEN) | (1 << RXEN); |
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331 | // UART Double Speed (U2X) |
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332 | USR |= (1<<U2X); |
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333 | // RX-Interrupt Freigabe |
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334 | UCSRB |= (1<<RXCIE); |
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335 | // TX-Interrupt Freigabe |
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336 | UCSRB |= (1<<TXCIE); |
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337 | |||
338 | //Teiler wird gesetzt |
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339 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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340 | //UBRR = 33; |
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341 | //öffnet einen Kanal für printf (STDOUT) |
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342 | //fdevopen (uart_putchar, 0); |
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343 | //sbi(PORTD,4); |
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344 | Debug_Timer = SetDelay(200); |
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345 | } |
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346 | |||
347 | //--------------------------------------------------------------------------------------------- |
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348 | void DatenUebertragung(void) |
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349 | { |
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350 | if(!UebertragungAbgeschlossen) return; |
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351 | |||
352 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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353 | { |
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354 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
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355 | DebugGetAnforderung = 0; |
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356 | } |
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357 | |||
358 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
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359 | { |
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360 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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361 | DebugDataAnforderung = 0; |
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362 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
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363 | } |
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499 | hbuss | 364 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
365 | { |
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366 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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367 | DebugTextAnforderung = 255; |
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368 | } |
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1 | ingob | 369 | |
370 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
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371 | { |
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372 | Menu(); |
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373 | DebugDisplayAnforderung = 0; |
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499 | hbuss | 374 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
173 | holgerb | 375 | { |
304 | ingob | 376 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
499 | hbuss | 377 | RemotePollDisplayLine = -1; |
173 | holgerb | 378 | } |
499 | hbuss | 379 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
1 | ingob | 380 | } |
381 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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382 | { |
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383 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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384 | GetVersionAnforderung = 0; |
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385 | } |
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386 | |||
387 | } |
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388 |