| 1,6 → 1,6 |
|---|
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| 8,15 → 8,15 |
|---|
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 29,19 → 29,19 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 52,61 → 52,70 |
|---|
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| |
| #define MAX_SENDE_BUFF 100 |
| #define MAX_EMPFANGS_BUFF 100 |
| |
| unsigned volatile char SIO_Sollwert = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned char GetVersionAnforderung = 0,DebugTextAnforderung = 0,DebugGetAnforderung = 0, KompassAntwort = 0; |
| unsigned char MeineSlaveAdresse; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned char PcZugriff; |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| struct str_DebugOut DebugOut; |
| struct str_ExternData ExternData; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 100 |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| |
| uint8_t RequestVerInfo = FALSE; |
| uint8_t RequestDebugData = FALSE; |
| uint8_t RequestDebugLabel = FALSE; |
| uint8_t RequestCompassHeading = FALSE; |
| |
| int Debug_Timer; |
| uint8_t MySlaveAddr = 0; |
| |
| const unsigned char ANALOG_TEXT[32][16] = |
| //unsigned char,DebugGetAnforderung = 0, |
| |
| DebugOut_t DebugOut; |
| ExternData_t ExternData; |
| ExternControl_t ExternControl; |
| VersionInfo_t VersionInfo; |
| |
| uint16_t Debug_Timer; |
| |
| const uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "Magnet N ", //0 |
| "Magnet R ", |
| "Magnet X ", //0 |
| "Magnet Y ", |
| "Magnet Z ", |
| "Raw N ", |
| "Raw R ", |
| "Raw Z ", //5 |
| "Lage N ", |
| "Lage R ", |
| "Xmin ", |
| "Xmax ", |
| "Ymin ", //10 |
| "Ymax ", |
| "Zmin ", |
| "ZMax ", |
| "Raw X ", |
| "Raw Y ", |
| "Raw Z ", //5 |
| "Attitude Nick ", |
| "Attitude Roll ", |
| "XOffset ", |
| "XRange ", |
| "YOffset ", //10 |
| "YRange ", |
| "ZOffset ", |
| "ZRange ", |
| "Calstate ", |
| "Kompass ", //15 |
| "Heading Request ", //15 |
| "User0 ", |
| "User1 ", |
| "Analog18 ", |
| "Analog19 ", |
| "Analog20 ", //20 |
| "Analog21 ", |
| "Analog21 ", |
| "Analog22 ", |
| "Analog23 ", |
| "Analog24 ", |
| 120,356 → 129,356 |
|---|
| }; |
| |
| |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1); |
| |
| // disable all interrupts before configuration |
| cli(); |
| |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| |
| // set direction of RXD0 and TXD0 pins |
| |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| |
| // USART0 Control and Status Register A, B, C |
| |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| |
| rxd_buffer_locked = FALSE; |
| txd_complete = TRUE; |
| |
| Debug_Timer = SetDelay(200); |
| |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| |
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':'); |
| uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10); |
| uart_putchar ('\n'); |
| } |
| |
| // --------------------------------------------------------------------------------- |
| void USART0_EnableTXD(void) |
| { |
| 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; |
| DDRD |= (1<<DDD1); // set TXD pin as output |
| UCSR0B |= (1 << TXEN0); // enable TX in USART |
| } |
| |
| void SendUart(void) |
| // --------------------------------------------------------------------------------- |
| void USART0_DisableTXD(void) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!(USR & 0x40)) return; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| USR |= (1<TXC0); |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| UCSR0B &= ~(1 << TXEN0); // disable TXD in USART |
| DDRD &= ~(1<<DDD1); // set TXD pin as input |
| } |
| |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART_TX_vect) |
| { |
| 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 |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| c = UDR0; // catch the received byte |
| |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
| if(CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if((RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| // uart_putchar(RxdBuffer[2]); |
| } |
| } |
| 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; |
| } |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
| } |
| |
| }; |
| |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| { |
| 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]; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| { |
| 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 |
| uint8_t a,b,c,d; |
| uint8_t ptr = 0; |
| uint8_t x,y,z; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; |
| |
| 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); |
| 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; |
| } |
| } |
| |
| |
| |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| // -------------------------------------------------------------------------- |
| int16_t uart_putchar (int8_t c) |
| { |
| if(!(UCR & (1 << TXEN))) return (0); |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| if (c == '\n') uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| void USART0_ProcessRxData(void) |
| { |
| } |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| uint8_t tmp_char_arr2[2]; // local char buffer |
| |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| switch(rxd_buffer[2]) |
| { |
| case 'w':// Attitude |
| Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes); |
| DebugOut.Analog[15]++; |
| RequestCompassHeading = TRUE; |
| break; |
| |
| UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
| case 'b': // extern control |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes); |
| ExternData.Attitude[0] = ExternControl.Par1; |
| ExternData.Attitude[1] = ExternControl.Par2; |
| break; |
| |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| case 'h':// x-1 display columns |
| PC_Connected = 255; |
| break; |
| |
| //Teiler wird gesetzt |
| UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
| //öffnet einen Kanal für printf (STDOUT) |
| // fdevopen (uart_putchar, NULL); |
| Debug_Timer = SetDelay(200); |
| // Version beim Start ausgeben (nicht schön, aber geht... ) |
| uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':'); |
| uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10); |
| uart_putchar ('\n'); |
| case 'v': // get version and board release |
| RequestVerInfo = TRUE; |
| PC_Connected = 255; |
| break; |
| |
| case 'a':// Labels of the Analog Debug outputs |
| Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
| RequestDebugLabel = tmp_char_arr2[0]; |
| PC_Connected = 255; |
| break; |
| |
| case 'g':// get debug data |
| RequestDebugData = TRUE; |
| PC_Connected = 255; |
| break; |
| } |
| // unlock the rxd buffer after processing |
| rxd_buffer_locked = FALSE; |
| } |
| |
| |
| void BearbeiteRxDaten(void) |
| |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| if(!(UCSR0B & (1 << TXEN0))) return; |
| |
| switch(RxdBuffer[2]) |
| { |
| case 'w':// Lagewinkel |
| Decode64((unsigned char *) &ExternData,sizeof(ExternData),3,AnzahlEmpfangsBytes); |
| DebugOut.Analog[15]++; |
| KompassAntwort = 1; |
| break; |
| case 'c': |
| case 'b': |
| Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| ExternData.Winkel[0] = ExternControl.Par1; |
| ExternData.Winkel[1] = ExternControl.Par2; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| PC_Connected = 255; |
| break; |
| if(!txd_complete) return; |
| |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| PC_Connected = 255; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| PC_Connected = 255; |
| DebugGetAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| PC_Connected = 255; |
| break; |
| /* |
| case 'b': |
| Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'c': |
| Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| ConfirmFrame = DubWiseKeys[3]; |
| 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 |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| */ |
| |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| if(CheckDelay(Debug_Timer) && txd_complete) |
| { |
| SetDebugValues(); |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(250); |
| } |
| |
| if(RequestDebugLabel != 255) |
| { |
| SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| RequestDebugLabel = 255; |
| } |
| |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
| { |
| SetDebugValues(); |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(250); // Sendeintervall |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
| DebugGetAnforderung = 0; |
| } |
| if(KompassAntwort && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('K',MeineSlaveAdresse,(unsigned char *) &I2C_Heading,sizeof(I2C_Heading)); |
| KompassAntwort = 0; |
| } |
| if(RequestVerInfo && txd_complete) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo)); |
| RequestVerInfo = FALSE; |
| } |
| |
| if(RequestDebugData && txd_complete) |
| { |
| SetDebugValues(); |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestDebugData = FALSE; |
| } |
| |
| if(RequestCompassHeading && txd_complete) |
| { |
| SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); |
| RequestCompassHeading = FALSE; |
| } |
| } |
| |