| 0,0 → 1,652 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #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 PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| #define MSGID_VELECEF 0x11 |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| |
| |
| |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| |
| |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| |
| |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| |
| |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| |
| |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| |
| |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| |
| |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ 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; |
| } |
| |
| void GPSscanData (void) |
| { |
| |
| |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| |
| |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| } |
| |
| |
| if (navVelNed.packetStatus == 1) |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0; |
| } |
| |
| |
| |
| if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
| |
| } |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ 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; |
| |
| uint8_t c; |
| uint8_t re; |
| |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| |
| |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| |
| |
| |
| |
| |
| |
| |
| 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]; |
| |
| /* |
| 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) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| //RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| 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); |
| 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 |
| 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); |
| |
| gpsState = GPS_EMPTY; |
| } |
| |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) |
| { |
| SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| dis_zeile = -1; |
| } |
| else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| |
| } |
| |