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| Line 20... | Line 20... | ||
| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 22 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
22 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| 23 | unsigned volatile char UebertragungAbgeschlossen = 1; |
23 | unsigned volatile char UebertragungAbgeschlossen = 1; |
| 24 | unsigned char MeineSlaveAdresse; |
24 | unsigned char MeineSlaveAdresse; |
| - | 25 | unsigned char MotorTest[4] = {0,0,0,0}; |
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| - | 26 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| Line 25... | Line 27... | ||
| 25 | 27 | ||
| Line 26... | Line 28... | ||
| 26 | struct str_DebugOut DebugOut; |
28 | struct str_DebugOut DebugOut; |
| Line 51... | Line 53... | ||
| 51 | UDR = tmp_tx; |
53 | UDR = tmp_tx; |
| 52 | } |
54 | } |
| 53 | else ptr = 0; |
55 | else ptr = 0; |
| 54 | } |
56 | } |
| Line -... | Line 57... | ||
| - | 57 | ||
| - | 58 | // -------------------------------------------------------------------------- |
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| - | 59 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
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| - | 60 | { |
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| - | 61 | unsigned char a,b,c,d; |
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| - | 62 | unsigned char ptr = 0; |
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| - | 63 | unsigned char x,y,z; |
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| - | 64 | while(len) |
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| - | 65 | { |
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| - | 66 | a = RxdBuffer[ptrIn++] - '='; |
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| - | 67 | b = RxdBuffer[ptrIn++] - '='; |
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| - | 68 | c = RxdBuffer[ptrIn++] - '='; |
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| - | 69 | d = RxdBuffer[ptrIn++] - '='; |
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| - | 70 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| - | 71 | ||
| - | 72 | x = (a << 2) | (b >> 4); |
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| - | 73 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| - | 74 | z = ((c & 0x03) << 6) | d; |
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| - | 75 | ||
| - | 76 | if(len--) ptrOut[ptr++] = x; else break; |
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| - | 77 | if(len--) ptrOut[ptr++] = y; else break; |
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| - | 78 | if(len--) ptrOut[ptr++] = z; else break; |
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| - | 79 | } |
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| - | 80 | ||
| - | 81 | } |
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| Line 55... | Line 82... | ||
| 55 | 82 | ||
| 56 | 83 | ||
| 57 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
84 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 58 | //++ Empfangs-Part der Datenübertragung |
85 | //++ Empfangs-Part der Datenübertragung |
| 59 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 60 | SIGNAL(INT_VEC_RX) |
- | |
| Line 61... | Line 87... | ||
| 61 | { |
87 | SIGNAL(INT_VEC_RX) |
| - | 88 | { |
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| 62 | static unsigned char serPacketCounter = 100; |
89 | |
| 63 | 90 | #if X3D_SIO == 1 |
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| 64 | #if X3D_SIO == 1 |
91 | static unsigned char serPacketCounter = 100; |
| 65 | SioTmp = UDR; |
92 | SioTmp = UDR; |
| 66 | if(SioTmp == 0xF5) // Startzeichen |
93 | if(SioTmp == 0xF5) // Startzeichen |
| Line 95... | Line 122... | ||
| 95 | crc %= 4096; |
122 | crc %= 4096; |
| 96 | crc1 = '=' + crc / 64; |
123 | crc1 = '=' + crc / 64; |
| 97 | crc2 = '=' + crc % 64; |
124 | crc2 = '=' + crc % 64; |
| 98 | CrcOkay = 0; |
125 | CrcOkay = 0; |
| 99 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
126 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
| 100 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
127 | if(CrcOkay) // Datensatz schon verarbeitet |
| 101 | { |
128 | { |
| 102 | NeuerDatensatzEmpfangen = 1; |
129 | //NeuerDatensatzEmpfangen = 1; |
| - | 130 | AnzahlEmpfangsBytes = buf_ptr; |
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| 103 | 131 | ||
| 104 | RxdBuffer[buf_ptr] = '\r'; |
132 | RxdBuffer[buf_ptr] = '\r'; |
| 105 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
133 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| - | 134 | uart_putchar(RxdBuffer[2]); |
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| - | 135 | if (RxdBuffer[2] == 't') // Motortest |
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| - | 136 | { Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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| - | 137 | SIO_Sollwert = MotorTest[MOTORADRESSE - 1]; |
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| - | 138 | SIO_Timeout = 500; // werte für 500ms gültig |
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| - | 139 | ||
| - | 140 | } |
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| 106 | } |
141 | } |
| 107 | } |
142 | } |
| 108 | else |
143 | else |
| 109 | switch(UartState) |
144 | switch(UartState) |
| 110 | { |
145 | { |