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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 655 | rain-er | 1 | #!/usr/bin/perl |
| 2 | #!/usr/bin/perl -d:ptkdb |
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| 3 | |||
| 4 | ############################################################################### |
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| 5 | # |
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| 6 | # mkcomm.pl - MK Communication Routines |
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| 7 | # |
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| 8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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| 9 | # |
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| 10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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| 11 | # |
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| 12 | # Es ist Ihnen gestattet: |
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| 13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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| 14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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| 15 | # |
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| 16 | # Zu den folgenden Bedingungen: |
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| 17 | # * Namensnennung. |
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| 18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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| 19 | # * Keine kommerzielle Nutzung. |
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| 20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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| 21 | # * Weitergabe unter gleichen Bedingungen. |
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| 22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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| 23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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| 24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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| 25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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| 26 | # |
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| 27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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| 28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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| 29 | # |
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| 30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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| 31 | # des Rechteinhabers dazu erhalten. |
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| 32 | # |
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| 33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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| 34 | # |
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| 35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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| 36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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| 37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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| 38 | # |
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| 39 | ############################################################################### |
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| 40 | # 2009-02-21 0.0.1 rw created |
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| 41 | # 2009-03-18 0.0.2 rw NC 0.14e |
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| 42 | # 2009-04-01 0.1.0 rw RC1 |
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| 43 | # 2009-04-06 0.1.1 rw NC 0.15c |
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| 44 | # 2009-05-16 0.1.2 rw External control |
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| 45 | # 2009-08-15 0.1.3 rw SIG-Handler removed |
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| 46 | # 2009-10-05 0.1.4 rw COM-Ports > 9 + PortSetSkip configuration |
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| 47 | # Export Target-Hash to Simulator |
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| 48 | # |
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| 49 | ############################################################################### |
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| 50 | |||
| 51 | $Version{'mkcomm.pl'} = "0.1.4 - 2009-10-05"; |
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| 52 | |||
| 53 | # MK Protokoll |
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| 54 | # http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) |
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| 55 | # http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 56 | |||
| 57 | # |
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| 58 | # Parameter |
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| 59 | # |
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| 60 | |||
| 61 | # Com Port of MK Comm-Device (BT, WI.232) |
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| 62 | if ( ! defined $Cfg->{'mkcomm'}->{'Port'} ) |
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| 63 | { |
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| 64 | # set default |
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| 65 | $Cfg->{'mkcomm'}->{'Port'} = "COM4"; |
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| 66 | } |
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| 67 | |||
| 68 | $AddrFC = "b"; |
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| 69 | $AddrNC = "c"; |
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| 70 | $AddrMK3MAG = "d"; |
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| 71 | |||
| 72 | |||
| 73 | if ( $0 =~ /mkcomm.pl$/i ) |
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| 74 | { |
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| 75 | # Program wurde direkt aufgerufen |
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| 76 | |||
| 77 | # change working directory to program path |
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| 78 | my $Cwd = substr ($0, 0, rindex ($0, "mkcomm.pl")); |
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| 79 | chdir $Cwd; |
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| 80 | |||
| 81 | # set path for local Perl libs |
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| 82 | push @INC, $Cwd . "perl/lib"; |
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| 83 | } |
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| 84 | |||
| 85 | |||
| 86 | # Packages |
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| 87 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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| 88 | # http://perldoc.perl.org/threads.html |
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| 89 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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| 90 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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| 91 | use Time::HiRes qw(usleep); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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| 92 | if ( $^O =~ /Win32/i ) |
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| 93 | { |
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| 94 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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| 95 | } |
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| 96 | else |
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| 97 | { |
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| 98 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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| 99 | } |
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| 100 | |||
| 101 | require "libmap.pl"; |
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| 102 | |||
| 103 | # Hashes exported to other threads and main-program |
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| 104 | share (%MkOsd); |
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| 105 | share (%MkTarget); |
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| 106 | share (%MkNcDebug); |
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| 107 | share (%Mk); |
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| 108 | share (%MkSSim); # Target info for simulator |
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| 109 | |||
| 110 | # Queue for Sending to MK |
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| 111 | $MkSendQueue = Thread::Queue->new(); |
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| 112 | |||
| 113 | sub MkCommExit() |
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| 114 | { |
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| 115 | # close COM port |
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| 116 | &MkClose(); |
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| 117 | |||
| 118 | if ( defined threads->self() ) |
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| 119 | { |
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| 120 | threads->exit(); |
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| 121 | } |
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| 122 | exit; |
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| 123 | } |
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| 124 | |||
| 125 | |||
| 126 | sub MkInit() |
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| 127 | { |
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| 128 | if ( defined $MkPort ) |
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| 129 | { |
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| 130 | return; # already open |
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| 131 | } |
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| 132 | |||
| 133 | # open COM-Port |
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| 134 | my $MkComPort = $Cfg->{'mkcomm'}->{'Port'}; |
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| 135 | if ( $MkComPort =~ /^COM/i ) |
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| 136 | { |
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| 137 | $MkComPort = "\\\\.\\" . $MkComPort; # \\.\COMnn for nn > 9 |
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| 138 | } |
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| 139 | undef $MkPort; |
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| 140 | if ( $^O =~ m/Win32/ ) |
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| 141 | { |
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| 142 | $MkPort = Win32::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 143 | } |
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| 144 | else |
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| 145 | { |
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| 146 | $MkPort = Device::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 147 | } |
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| 148 | |||
| 149 | if ( ! ($Cfg->{'mkcomm'}->{'PortSetSkip'} =~ /y/i) ) |
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| 150 | { |
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| 151 | # Set COM parameters, don't set for Bluetooth device |
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| 152 | $MkPort->baudrate(57600); |
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| 153 | $MkPort->parity("none"); |
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| 154 | $MkPort->databits(8); |
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| 155 | $MkPort->stopbits(1); |
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| 156 | $MkPort->handshake('none'); |
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| 157 | $MkPort->write_settings; |
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| 158 | } |
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| 159 | |||
| 160 | $MkPort->read_const_time(100); # total = (avg * bytes) + const (ms) |
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| 161 | } |
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| 162 | |||
| 163 | # Read one line from MK |
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| 164 | # Check send-queue |
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| 165 | sub MkIOLine() |
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| 166 | { |
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| 167 | # Init serial port |
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| 168 | &MkInit(); |
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| 169 | |||
| 170 | my $RxLine = ""; |
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| 171 | while ( 1 ) |
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| 172 | { |
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| 173 | # Check Send-Queue |
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| 174 | my $Items = $MkSendQueue->pending(); |
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| 175 | if ( $Items >= 3 ) # Cmd, Addr, Data |
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| 176 | { |
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| 177 | my ($Id, $Addr, $Data) = $MkSendQueue->dequeue(3); |
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| 178 | &MkSend ($Id, $Addr, $Data); |
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| 179 | } |
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| 180 | |||
| 181 | # Zeichenweise lesen, blockierend mit Timeout |
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| 182 | my ($RxLen, $RxChar) = $MkPort->read(1); |
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| 183 | if ( $RxLen == 1 ) |
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| 184 | { |
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| 185 | if ( "$RxChar" eq "#" ) # 1st char of line |
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| 186 | { |
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| 187 | $RxLine = "#"; |
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| 188 | } |
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| 189 | elsif ( "$RxChar" eq "\r" ) # last char of line |
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| 190 | { |
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| 191 | return ($RxLine); |
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| 192 | } |
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| 193 | else |
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| 194 | { |
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| 195 | $RxLine = "$RxLine" . "$RxChar"; # collect char |
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| 196 | } |
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| 197 | } |
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| 198 | } |
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| 199 | } |
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| 200 | |||
| 201 | |||
| 202 | # Read and decode a command from MK |
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| 203 | # process send queue in &MkIOLine() |
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| 204 | sub MkIO() |
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| 205 | { |
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| 206 | my $RxData = &MkIOLine(); # Blocking Read for complete line |
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| 207 | |||
| 208 | # Zeile decodieren |
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| 209 | if ( substr ($RxData, 0, 1) eq '#' ) |
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| 210 | { |
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| 211 | # Zeile decodieren |
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| 212 | $Header = substr($RxData, 0, 3); |
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| 213 | $Chksum = substr($RxData, -2); |
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| 214 | $Data = substr($RxData, 3, length ($RxData) -5); |
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| 215 | |||
| 216 | # CRC prüfen |
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| 217 | if ( &CrcCheck ("$Header" . "$Data", $Chksum ) ) |
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| 218 | { |
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| 219 | # Base64 decodieren |
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| 220 | $Data = &Decode64($Data); |
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| 221 | |||
| 222 | # Daten auswerten und in shared Hash schreiben |
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| 223 | if ( &ProcessRx($Header, $Data) ) |
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| 224 | { |
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| 225 | return 1; # alles OK |
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| 226 | } |
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| 227 | } |
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| 228 | } |
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| 229 | |||
| 230 | return 0; # keine Daten empfangen |
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| 231 | } |
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| 232 | |||
| 233 | |||
| 234 | # Send a command to MK |
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| 235 | sub MkSend() |
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| 236 | { |
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| 237 | my ($Id, $Addr, $Data) = @_; |
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| 238 | |||
| 239 | # Init serial port |
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| 240 | &MkInit(); |
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| 241 | |||
| 242 | my $Base64Data = &Encode64($Data); |
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| 243 | |||
| 244 | my $TxData = "#" . "$Addr" . "$Id" . "$Base64Data"; |
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| 245 | my $Crc = &Crc($TxData); |
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| 246 | my $TxSend = "$TxData" . "$Crc" . "\r"; |
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| 247 | $MkPort->write($TxSend); |
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| 248 | } |
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| 249 | |||
| 250 | |||
| 251 | # close COM-Port |
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| 252 | sub MkClose() |
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| 253 | { |
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| 254 | undef $MkPort; |
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| 255 | } |
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| 256 | |||
| 257 | |||
| 258 | # CRC Prüfung |
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| 259 | sub CrcCheck () |
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| 260 | { |
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| 261 | my ($Data, $Crc) = @_; |
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| 262 | |||
| 263 | my $Check = &Crc($Data); |
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| 264 | if ( $Check ne $Crc ) |
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| 265 | { |
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| 266 | return 0; # CRC passt nicht |
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| 267 | } |
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| 268 | return (1); # CRC OK |
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| 269 | } |
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| 270 | |||
| 271 | |||
| 272 | # CRC berechnen |
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| 273 | sub Crc () |
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| 274 | { |
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| 275 | my ($Data) = @_; |
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| 276 | my $TmpCrc = 0; |
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| 277 | my $Len = length $Data; |
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| 278 | |||
| 279 | for ($i=0; $i<$Len; $i++) |
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| 280 | { |
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| 281 | $TmpCrc += ord(substr($Data, $i, 1)); |
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| 282 | } |
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| 283 | |||
| 284 | $TmpCrc %= 4096; |
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| 285 | my $Crc1 = ord ("=") + $TmpCrc / 64; |
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| 286 | my $Crc2 = ord ("=") + $TmpCrc % 64; |
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| 287 | $Crc = pack("CC", $Crc1, $Crc2); |
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| 288 | |||
| 289 | return ($Crc); |
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| 290 | } |
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| 291 | |||
| 292 | |||
| 293 | # Empfangene Daten decodieren, modifiziertes Base64 |
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| 294 | sub Decode64() |
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| 295 | { |
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| 296 | my ($DataIn) = @_; |
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| 297 | |||
| 298 | my $ptrIn = 0; |
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| 299 | my $DataOut = ""; |
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| 300 | my $len = length ($DataIn); |
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| 301 | |||
| 302 | while ( $len > 0 ) |
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| 303 | { |
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| 304 | $a = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 305 | $b = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 306 | $c = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 307 | $d = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 308 | |||
| 309 | $x = ($a << 2) | ($b >> 4); |
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| 310 | $y = (($b & 0x0f) << 4) | ($c >> 2); |
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| 311 | $z = (($c & 0x03) << 6) | $d; |
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| 312 | |||
| 313 | foreach $i ( $x, $y, $z ) |
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| 314 | { |
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| 315 | if ( $len--) |
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| 316 | { |
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| 317 | my $Tmp = pack ('C1', $i); |
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| 318 | $DataOut = "$DataOut" . "$Tmp"; |
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| 319 | } |
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| 320 | else |
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| 321 | { |
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| 322 | last; |
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| 323 | } |
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| 324 | } |
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| 325 | } |
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| 326 | |||
| 327 | return ($DataOut); |
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| 328 | } |
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| 329 | |||
| 330 | |||
| 331 | # zu sendende Daten codieren, modifiziertes Base64 |
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| 332 | sub Encode64() |
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| 333 | { |
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| 334 | my ($Data) = @_; |
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| 335 | |||
| 336 | my $Length = length $Data; |
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| 337 | my $TxBuf = ""; |
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| 338 | my $ptr = 0; |
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| 339 | |||
| 340 | while( $Length > 0 ) |
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| 341 | { |
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| 342 | my $a = 0; |
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| 343 | my $b = 0; |
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| 344 | my $c = 0; |
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| 345 | if ($Length) {$a = ord(substr ($Data, $ptr++, $Length--));} |
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| 346 | if ($Length) {$b = ord(substr ($Data, $ptr++, $Length--));} |
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| 347 | if ($Length) {$c = ord(substr ($Data, $ptr++, $Length--));} |
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| 348 | |||
| 349 | my $ac = ord("=") + ($a >> 2); |
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| 350 | my $bc = ord("=") + ( (($a & 0x03) << 4) | (($b & 0xf0) >> 4) ); |
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| 351 | my $cc = ord("=") + ( (($b & 0x0f) << 2) | (($c & 0xc0) >> 6) ); |
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| 352 | my $dc = ord("=") + ($c & 0x3f); |
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| 353 | $TxBuf = "$TxBuf" . pack ("C4", $ac, $bc, $cc, $dc); |
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| 354 | } |
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| 355 | return ($TxBuf); |
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| 356 | } |
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| 357 | |||
| 358 | |||
| 359 | # Empfangenen Datensatz verarbeiten |
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| 360 | sub ProcessRx() |
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| 361 | { |
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| 362 | my ($Header, $Data) = @_; |
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| 363 | |||
| 364 | my $Adr = substr ($Header, 1, 1); # b=FC, c=NC, d=MK3MAG |
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| 365 | my $Id = substr ($Header, 2, 1); |
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| 366 | |||
| 367 | if ( $Id eq "O" ) |
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| 368 | { |
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| 369 | # |
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| 370 | # OSD-Daten nach %MkOsd einlesen |
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| 371 | # |
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| 372 | |||
| 373 | # Struktur Datensatz: |
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| 374 | # u8 Version // version of the data structure |
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| 375 | # GPS_Pos_t CurrentPosition; |
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| 376 | # GPS_Pos_t TargetPosition; |
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| 377 | # GPS_PosDev_t TargetPositionDeviation; |
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| 378 | # GPS_Pos_t HomePosition; |
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| 379 | # GPS_PosDev_t HomePositionDeviation; |
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| 380 | # u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 381 | # u8 WaypointNumber; // number of stored waypoints |
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| 382 | # u8 SatsInUse; // no of satellites used for position solution |
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| 383 | # s16 Altimeter; // hight according to air pressure |
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| 384 | # s16 Variometer; // climb(+) and sink(-) rate |
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| 385 | # u16 FlyingTime; // in seconds |
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| 386 | # u8 UBat; // Battery Voltage in 0.1 Volts |
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| 387 | # u16 GroundSpeed; // speed over ground in cm/s (2D) |
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| 388 | # s16 Heading; // current flight direction in deg as angle to north |
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| 389 | # s16 CompassHeading; // current compass value |
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| 390 | # s8 AngleNick; // current Nick angle in 1° |
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| 391 | # s8 AngleRoll; // current Rick angle in 1° |
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| 392 | # u8 RC_Quality; // RC_Quality |
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| 393 | # u8 MKFlags; // Flags from FC |
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| 394 | # u8 NCFlags; // Flags from NC |
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| 395 | # u8 Errorcode; // 0 --> okay |
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| 396 | # u8 OperatingRadius // current operation radius around the Home Position in m |
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| 397 | # s16 TopSpeed; // velocity in vertical direction in cm/s |
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| 398 | # u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 399 | # u8 Reserve[4]; // for future use |
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| 400 | |||
| 401 | # GPS_Pos_t: |
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| 402 | # s32 Longitude; // in 1E-7 deg |
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| 403 | # s32 Latitude; // in 1E-7 deg |
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| 404 | # s32 Altitude; // in mm |
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| 405 | # u8 Status; // validity of data |
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| 406 | |||
| 407 | # GPS_PosDev_t: |
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| 408 | # s16 Distance; // distance to target in dm |
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| 409 | # s16 Bearing; // course to target in deg |
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| 410 | |||
| 411 | # Status: |
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| 412 | # INVALID = 0 |
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| 413 | # NEWDATA = 1 |
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| 414 | # PROCESSED = 2 |
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| 415 | |||
| 416 | # MKFlags 0x01: MOTOR_RUN, 0x02 FLY, 0x04: CALIBRATE, 0x08: START, 0x10: EMERGENCY_LANDING |
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| 417 | # NCFlags 0x01: FLAG_FREE, 0x02: FLAG_PH, 0x04: FLAG_CH, 0x08: FLAG_RANGE_LIMIT |
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| 418 | # 0x10: FLAG_NOSERIALLINK, 0x20: FLAG_TARGET_REACHED, FLAG_MANUAL_CONTROL: 0x40 |
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| 419 | # 0x80: FLAG_8 |
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| 420 | |||
| 421 | lock (%MkOsd); # until end of Block |
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| 422 | |||
| 423 | ( |
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| 424 | $MkOsd{'Version'}, |
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| 425 | $MkOsd{'CurPos_Lon'}, |
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| 426 | $MkOsd{'CurPos_Lat'}, |
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| 427 | $MkOsd{'CurPos_Alt'}, |
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| 428 | $MkOsd{'CurPos_Stat'}, |
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| 429 | $MkOsd{'TargetPos_Lon'}, |
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| 430 | $MkOsd{'TargetPos_Lat'}, |
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| 431 | $MkOsd{'TargetPos_Alt'}, |
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| 432 | $MkOsd{'TargetPos_Stat'}, |
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| 433 | $MkOsd{'TargetPosDev_Dist'}, |
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| 434 | $MkOsd{'TargetPosDev_Bearing'}, |
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| 435 | $MkOsd{'HomePos_Lon'}, |
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| 436 | $MkOsd{'HomePos_Lat'}, |
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| 437 | $MkOsd{'HomePos_Alt'}, |
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| 438 | $MkOsd{'HomePos_Stat'}, |
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| 439 | $MkOsd{'HomePosDev_Dist'}, |
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| 440 | $MkOsd{'HomePosDev_Bearing'}, |
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| 441 | $MkOsd{'WaypointIndex'}, |
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| 442 | $MkOsd{'WaypointNumber'}, |
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| 443 | $MkOsd{'SatsInUse'}, |
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| 444 | $MkOsd{'Altimeter'}, |
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| 445 | $MkOsd{'Variometer'}, |
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| 446 | $MkOsd{'FlyingTime'}, |
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| 447 | $MkOsd{'UBat'}, |
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| 448 | $MkOsd{'GroundSpeed'}, |
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| 449 | $MkOsd{'Heading'}, |
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| 450 | $MkOsd{'CompassHeading'}, |
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| 451 | $MkOsd{'AngleNick'}, |
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| 452 | $MkOsd{'AngleRoll'}, |
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| 453 | $MkOsd{'RC_Quality'}, |
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| 454 | $MkOsd{'MKFlags'}, |
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| 455 | $MkOsd{'NCFlags'}, |
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| 456 | $MkOsd{'Errorcode'}, |
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| 457 | $MkOsd{'OperatingRadius'}, |
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| 458 | $MkOsd{'TopSpeed'}, |
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| 459 | $MkOsd{'TargetHoldTime'}, |
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| 460 | ) = unpack ('ClllClllCsslllCssCCCssSCSssccCCCCCsC', $Data); |
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| 461 | |||
| 462 | $MkOsd{'CurPos_Lon'} = sprintf("%.7f", $MkOsd{'CurPos_Lon'} / 10000000); |
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| 463 | $MkOsd{'CurPos_Lat'} = sprintf("%.7f", $MkOsd{'CurPos_Lat'} / 10000000); |
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| 464 | $MkOsd{'CurPos_Alt'} = sprintf("%.3f", $MkOsd{'CurPos_Alt'} / 1000); |
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| 465 | $MkOsd{'TargetPos_Lon'} = sprintf("%.7f", $MkOsd{'TargetPos_Lon'} / 10000000); |
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| 466 | $MkOsd{'TargetPos_Lat'} = sprintf("%.7f", $MkOsd{'TargetPos_Lat'} / 10000000); |
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| 467 | $MkOsd{'TargetPos_Alt'} = sprintf("%.3f", $MkOsd{'TargetPos_Alt'} / 1000); |
||
| 468 | $MkOsd{'HomePos_Lon'} = sprintf("%.7f", $MkOsd{'HomePos_Lon'} / 10000000); |
||
| 469 | $MkOsd{'HomePos_Lat'} = sprintf("%.7f", $MkOsd{'HomePos_Lat'} / 10000000); |
||
| 470 | $MkOsd{'HomePos_Alt'} = sprintf("%.3f", $MkOsd{'HomePos_Alt'} / 1000); |
||
| 471 | $MkOsd{'UBat'} = sprintf("%.1f", $MkOsd{'UBat'} / 10); |
||
| 472 | |||
| 473 | # Timestamp, wann der Datensatz geschtieben wurde |
||
| 474 | $MkOsd{'_Timestamp'} = time; |
||
| 475 | } |
||
| 476 | |||
| 477 | elsif ( $Id eq "s" ) |
||
| 478 | { |
||
| 479 | # |
||
| 480 | # NC Target position in %MkTarget |
||
| 481 | # |
||
| 482 | # Datenstruktur: |
||
| 483 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 484 | # s16 Heading; // orientation, future implementation |
||
| 485 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
| 486 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
| 487 | # // this time defines the delay before the next WP is triggered |
||
| 488 | # u8 Event_Flag; // future emplementation |
||
| 489 | # u8 reserve[12]; // reserved |
||
| 490 | |||
| 491 | lock (%MkTarget); # until end of block |
||
| 492 | |||
| 493 | ( |
||
| 494 | $MkTarget{'Pos_Lon'}, |
||
| 495 | $MkTarget{'Pos_Lat'}, |
||
| 496 | $MkTarget{'Pos_Alt'}, |
||
| 497 | $MkTarget{'Pos_Stat'}, |
||
| 498 | $MkTarget{'Heading'}, |
||
| 499 | $MkTarget{'ToleranceRadius'}, |
||
| 500 | $MkTarget{'HoldTime'}, |
||
| 501 | $MkTarget{'EventFlag'}, |
||
| 502 | ) = unpack ('lllCsCCC', $Data); |
||
| 503 | |||
| 504 | $MkTarget{'Pos_Lon'} = sprintf("%.7f", $MkTarget{'Pos_Lon'} / 10000000); |
||
| 505 | $MkTarget{'Pos_Lat'} = sprintf("%.7f", $MkTarget{'Pos_Lat'} / 10000000); |
||
| 506 | $MkTarget{'Pos_Alt'} = sprintf("%.3f", $MkTarget{'Pos_Alt'} / 1000); |
||
| 507 | |||
| 508 | # Timestamp, wann der Datensatz geschrieben wurdw |
||
| 509 | $MkTarget{'_Timestamp'} = time; |
||
| 510 | } |
||
| 511 | |||
| 512 | elsif ( $Id eq "W" ) |
||
| 513 | { |
||
| 514 | # |
||
| 515 | # Request new waypoint |
||
| 516 | # |
||
| 517 | # Datenstruktur: |
||
| 518 | # u8 Number of waypoint |
||
| 519 | |||
| 520 | ($WpNumber) = unpack ('C', $Data); |
||
| 521 | |||
| 522 | # keine Ahnung wofuer das gut sein soll |
||
| 523 | |||
| 524 | # print "Request new Waypoint Number: $WpNumber\n"; |
||
| 525 | |||
| 526 | } |
||
| 527 | |||
| 528 | elsif ( $Id eq "V" ) |
||
| 529 | { |
||
| 530 | # |
||
| 531 | # Version |
||
| 532 | # |
||
| 533 | # Datenstruktur: |
||
| 534 | # u8 SWMajor |
||
| 535 | # u8 SWMinor |
||
| 536 | # u8 ProtoMajor |
||
| 537 | # u8 ProtoMinor |
||
| 538 | # u8 SWPatch |
||
| 539 | # u8 Reserved[5] |
||
| 540 | |||
| 541 | ( |
||
| 542 | $Mk{'SWMajor'}, |
||
| 543 | $Mk{'SWMinor'}, |
||
| 544 | $Mk{'ProtoMajor'}, |
||
| 545 | $Mk{'ProtoMinor'}, |
||
| 546 | $Mk{'SWPatch'}, |
||
| 547 | ) = unpack ('C5', $Data); |
||
| 548 | |||
| 549 | $Mk{'_Timestamp'} = time; |
||
| 550 | } |
||
| 551 | |||
| 552 | elsif ( $Id eq "E" ) |
||
| 553 | { |
||
| 554 | # |
||
| 555 | # Error Text |
||
| 556 | # |
||
| 557 | # Datenstruktur: |
||
| 558 | # s8 ErrorMsg[25] |
||
| 559 | |||
| 560 | $Mk{'ErrorMsg'} = unpack ('Z25', $Data); |
||
| 561 | } |
||
| 562 | |||
| 563 | elsif ( $Id eq "D" ) |
||
| 564 | { |
||
| 565 | # |
||
| 566 | # NC Debug %MkNcDebug |
||
| 567 | # |
||
| 568 | # Datenstruktur: |
||
| 569 | # u8 Digital[2]; |
||
| 570 | # u16 Analog[32]; |
||
| 571 | |||
| 572 | lock (%MkNcDebug); # until end of block |
||
| 573 | |||
| 574 | ( |
||
| 575 | $MkNcDebug{'Digital_00'}, |
||
| 576 | $MkNcDebug{'Digital_01'}, |
||
| 577 | $MkNcDebug{'Analog_00'}, |
||
| 578 | $MkNcDebug{'Analog_01'}, |
||
| 579 | $MkNcDebug{'Analog_02'}, |
||
| 580 | $MkNcDebug{'Analog_03'}, |
||
| 581 | $MkNcDebug{'Analog_04'}, |
||
| 582 | $MkNcDebug{'Analog_05'}, |
||
| 583 | $MkNcDebug{'Analog_06'}, |
||
| 584 | $MkNcDebug{'Analog_07'}, |
||
| 585 | $MkNcDebug{'Analog_08'}, |
||
| 586 | $MkNcDebug{'Analog_09'}, |
||
| 587 | $MkNcDebug{'Analog_10'}, |
||
| 588 | $MkNcDebug{'Analog_11'}, |
||
| 589 | $MkNcDebug{'Analog_12'}, |
||
| 590 | $MkNcDebug{'Analog_13'}, |
||
| 591 | $MkNcDebug{'Analog_14'}, |
||
| 592 | $MkNcDebug{'Analog_15'}, |
||
| 593 | $MkNcDebug{'Analog_16'}, |
||
| 594 | $MkNcDebug{'Analog_17'}, |
||
| 595 | $MkNcDebug{'Analog_18'}, |
||
| 596 | $MkNcDebug{'Analog_19'}, |
||
| 597 | $MkNcDebug{'Analog_20'}, |
||
| 598 | $MkNcDebug{'Analog_21'}, |
||
| 599 | $MkNcDebug{'Analog_22'}, |
||
| 600 | $MkNcDebug{'Analog_23'}, |
||
| 601 | $MkNcDebug{'Analog_24'}, |
||
| 602 | $MkNcDebug{'Analog_25'}, |
||
| 603 | $MkNcDebug{'Analog_26'}, |
||
| 604 | $MkNcDebug{'Analog_27'}, |
||
| 605 | $MkNcDebug{'Analog_28'}, |
||
| 606 | $MkNcDebug{'Analog_29'}, |
||
| 607 | $MkNcDebug{'Analog_30'}, |
||
| 608 | $MkNcDebug{'Analog_31'}, |
||
| 609 | ) = unpack ('C2s32', $Data); |
||
| 610 | |||
| 611 | # Timestamp, wann der Datensatz geschrieben wurde |
||
| 612 | $MkNcDebug{'_Timestamp'} = time; |
||
| 613 | } |
||
| 614 | |||
| 615 | elsif ( $Id eq "B" ) |
||
| 616 | { |
||
| 617 | # |
||
| 618 | # External Control |
||
| 619 | # |
||
| 620 | # Datenstruktur: |
||
| 621 | # u8 ConfirmFrame; |
||
| 622 | |||
| 623 | my ($ConfirmFrame) = unpack ('C5', $Data); |
||
| 624 | |||
| 625 | } |
||
| 626 | else |
||
| 627 | { |
||
| 628 | print "Unknown Command: $Header $Data\n"; |
||
| 629 | } |
||
| 630 | } |
||
| 631 | |||
| 632 | |||
| 633 | # send Target or Waypoint to MK |
||
| 634 | sub MkFlyTo() |
||
| 635 | { |
||
| 636 | my %Param = @_; |
||
| 637 | |||
| 638 | my $x = $Param{'-x'}; |
||
| 639 | my $y = $Param{'-y'}; |
||
| 640 | my $Lat = $Param{'-lat'}; |
||
| 641 | my $Lon = $Param{'-lon'}; |
||
| 642 | my $Alt = $Param{'-alt'}; |
||
| 643 | my $Heading = $Param{'-heading'}; |
||
| 644 | my $ToleranceRadius = $Param{'-toleranceradius'}; |
||
| 645 | my $Holdtime = $Param{'-holdtime'}; |
||
| 646 | my $EventFlag = $Param{'-eventflag'}; |
||
| 647 | my $Mode = $Param{'-mode'}; |
||
| 648 | |||
| 649 | if ( $x ne "" and $y ne "" and $Lat eq "" and $Lon eq "" ) |
||
| 650 | { |
||
| 651 | ($Lat, $Lon) = &MapXY2Gps($x, $y); |
||
| 652 | } |
||
| 653 | |||
| 654 | if ( $Alt eq "" ) { $Alt = $MkOsd{'CurPos_Alt'}; } |
||
| 655 | if ( $Heading eq "" ) { $Heading = $Cfg->{'waypoint'}->{'DefaultHeading'}; } |
||
| 656 | if ( $ToleranceRadius eq "" ) { $ToleranceRadius = $Cfg->{'waypoint'}->{'DefaultToleranceRadius'}; } |
||
| 657 | if ( $Holdtime eq "" ) { $Holdtime = $Cfg->{'waypoint'}->{'DefaultHoldtime'}; } |
||
| 658 | if ( $EventFlag eq "" ) { $EventFlag = $Cfg->{'waypoint'}->{'DefaultEventFlag'}; } |
||
| 659 | |||
| 660 | my $Status = 1; # valid |
||
| 661 | if ( $Mode =~ /delete/i ) |
||
| 662 | { |
||
| 663 | $Status = 0; # invalid -> delete NC WP-List |
||
| 664 | } |
||
| 665 | |||
| 666 | my $Lat_i = sprintf "%d", $Lat * 10000000; |
||
| 667 | my $Lon_i = sprintf "%d", $Lon * 10000000; |
||
| 668 | my $Alt_i = sprintf "%d", $Alt * 1000; |
||
| 669 | |||
| 670 | # Datenstruktur: |
||
| 671 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 672 | # s16 Heading; // orientation, future implementation |
||
| 673 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
| 674 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
| 675 | # // this time defines the delay before the next WP is triggered |
||
| 676 | # u8 Event_Flag; // future emplementation |
||
| 677 | # u8 reserve[12]; // reserved |
||
| 678 | |||
| 679 | my $Wp = pack ('lllCsC15', |
||
| 680 | $Lon_i, |
||
| 681 | $Lat_i, |
||
| 682 | $Alt_i, |
||
| 683 | $Status, |
||
| 684 | $Heading, |
||
| 685 | $ToleranceRadius, |
||
| 686 | $Holdtime, |
||
| 687 | $EventFlag, |
||
| 688 | 0,0,0,0,0,0,0,0,0,0,0,0, |
||
| 689 | ); |
||
| 690 | |||
| 691 | if ( $Mode =~ /waypoint/i ) |
||
| 692 | { |
||
| 693 | $MkSendQueue->enqueue( "w", "$AddrNC", $Wp ); |
||
| 694 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
| 695 | } |
||
| 696 | elsif ( $Mode =~ /target/i ) |
||
| 697 | { |
||
| 698 | $MkSendQueue->enqueue( "s", "$AddrNC", $Wp ); |
||
| 699 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
| 700 | |||
| 701 | # set Target information for Simulator |
||
| 702 | $MkSim{'Target_Lat'} = $Lat; |
||
| 703 | $MkSim{'Target_Lon'} = $Lon; |
||
| 704 | $MkSim{'Target_Alt'} = $Alt; |
||
| 705 | $MkSim{'Target_Status'} = $Status; |
||
| 706 | $MkSim{'Target_Heading'} = $Heading; |
||
| 707 | $MkSim{'Target_ToleranceRadius'} = $ToleranceRadius; |
||
| 708 | $MkSim{'Target_Holdtime'} = $Holdtime; |
||
| 709 | $MkSim{'Target_EventFlag'} = $EventFlag; |
||
| 710 | |||
| 711 | # Timestamp, wann der Datensatz geschtieben wurde |
||
| 712 | $MkSim{'_Timestamp'} = time; |
||
| 713 | } |
||
| 714 | else |
||
| 715 | { |
||
| 716 | # ignore |
||
| 717 | } |
||
| 718 | |||
| 719 | return 0; |
||
| 720 | } |
||
| 721 | |||
| 722 | |||
| 723 | # send External control to MK |
||
| 724 | sub ExternalControl() |
||
| 725 | { |
||
| 726 | my %Param = @_; |
||
| 727 | |||
| 728 | my $RemoteButtons = $Param{'-remotebuttons'}; |
||
| 729 | my $Nick = $Param{'-nick'}; |
||
| 730 | my $Roll = $Param{'-roll'}; |
||
| 731 | my $Yaw = $Param{'-yaw'}; |
||
| 732 | my $Gas = $Param{'-gas'}; |
||
| 733 | my $Hight = $Param{'-hight'}; |
||
| 734 | my $Free = $Param{'-free'}; |
||
| 735 | my $Frame = $Param{'-frame'}; |
||
| 736 | my $Config = $Param{'-config'}; |
||
| 737 | |||
| 738 | # Datenstruktur: |
||
| 739 | # u8 Digital[2]; |
||
| 740 | # u8 RemoteButtons; |
||
| 741 | # s8 Nick; |
||
| 742 | # s8 Roll; |
||
| 743 | # s8 Yaw; |
||
| 744 | # u8 Gas; |
||
| 745 | # s8 Height; |
||
| 746 | # u8 free; |
||
| 747 | # u8 Frame; |
||
| 748 | # u8 Config; |
||
| 749 | |||
| 750 | my $Ec = pack ('CCCcccCcCCC', |
||
| 751 | 0, 0, |
||
| 752 | $RemoteButtons, |
||
| 753 | $Nick, |
||
| 754 | $Roll, |
||
| 755 | $Yaw, |
||
| 756 | $Gas, |
||
| 757 | $Hight, |
||
| 758 | $Free, |
||
| 759 | $Frame, |
||
| 760 | $Config |
||
| 761 | ); |
||
| 762 | |||
| 763 | $MkSendQueue->enqueue( "b", "$AddrNC", $Ec ); |
||
| 764 | # &MkSend( "b", "$AddrNC", $Ec ); |
||
| 765 | |||
| 766 | return 0; |
||
| 767 | } |
||
| 768 | |||
| 769 | |||
| 770 | # when called as thread |
||
| 771 | sub MkCommLoop() |
||
| 772 | { |
||
| 773 | while (1) |
||
| 774 | { |
||
| 775 | &MkIO(); |
||
| 776 | } |
||
| 777 | } |
||
| 778 | |||
| 779 | |||
| 780 | # |
||
| 781 | # Hauptprgramm |
||
| 782 | # |
||
| 783 | |||
| 784 | if ( $0 =~ /mkcomm.pl$/i ) |
||
| 785 | { |
||
| 786 | # Program wurde direkt aufgerufen |
||
| 787 | &MkCommLoop(); |
||
| 788 | |||
| 789 | # should never exit |
||
| 790 | } |
||
| 791 | |||
| 792 | 1; |
||
| 793 | |||
| 794 | __END__ |
||
| 795 |