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598 | 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 | # |
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47 | ############################################################################### |
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48 | |||
49 | $Version{'mkcomm.pl'} = "0.1.3 - 2009-08-15"; |
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50 | |||
51 | # MK Protokoll |
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52 | # http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) |
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53 | # http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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54 | # |
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55 | # Parameter |
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56 | # |
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57 | |||
58 | # Com Port of MK Comm-Device (BT, WI.232) |
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59 | if ( ! defined $Cfg->{'mkcomm'}->{'Port'} ) |
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60 | { |
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61 | # set default |
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62 | $Cfg->{'mkcomm'}->{'Port'} = "COM5"; |
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63 | } |
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64 | |||
65 | $AddrFC = "b"; |
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66 | $AddrNC = "c"; |
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67 | $AddrMK3MAG = "d"; |
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68 | |||
69 | # Packages |
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70 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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71 | # http://perldoc.perl.org/threads.html |
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72 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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73 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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74 | use Time::HiRes qw(usleep); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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75 | if ( $^O =~ /Win32/i ) |
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76 | { |
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77 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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78 | } |
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79 | else |
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80 | { |
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81 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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82 | } |
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83 | |||
84 | require "libmap.pl"; |
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85 | |||
86 | # Hashes exported to other threads and main-program |
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87 | share (%MkOsd); |
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88 | share (%MkTarget); |
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89 | share (%MkNcDebug); |
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90 | share (%Mk); |
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91 | |||
92 | # Queue for Sending to MK |
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93 | $MkSendQueue = Thread::Queue->new(); |
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94 | |||
95 | sub MkCommExit() |
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96 | { |
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97 | # close COM port |
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98 | &MkClose(); |
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99 | |||
100 | if ( defined threads->self() ) |
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101 | { |
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102 | threads->exit(); |
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103 | } |
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104 | exit; |
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105 | } |
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106 | |||
107 | |||
108 | sub MkInit() |
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109 | { |
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110 | if ( defined $MkPort ) |
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111 | { |
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112 | return; # already open |
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113 | } |
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114 | |||
115 | # open COM-Port |
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116 | my $MkComPort = $Cfg->{'mkcomm'}->{'Port'}; |
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117 | undef $MkPort; |
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118 | if ( $^O =~ m/Win32/ ) |
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119 | { |
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120 | $MkPort = Win32::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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121 | } |
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122 | else |
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123 | { |
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124 | $MkPort = Device::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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125 | } |
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126 | # Set COM parameters |
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127 | $MkPort->baudrate(57600); |
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128 | $MkPort->parity("none"); |
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129 | $MkPort->databits(8); |
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130 | $MkPort->stopbits(1); |
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131 | $MkPort->handshake('none'); |
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132 | $MkPort->write_settings; |
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133 | |||
134 | $MkPort->read_const_time(100); # total = (avg * bytes) + const (ms) |
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135 | } |
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136 | |||
137 | # Read one line from MK |
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138 | # Check send-queue |
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139 | sub MkIOLine() |
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140 | { |
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141 | # Init serial port |
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142 | &MkInit(); |
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143 | |||
144 | my $RxLine = ""; |
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145 | while ( 1 ) |
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146 | { |
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147 | # Check Send-Queue |
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148 | my $Items = $MkSendQueue->pending(); |
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149 | if ( $Items >= 3 ) # Cmd, Addr, Data |
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150 | { |
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151 | my ($Id, $Addr, $Data) = $MkSendQueue->dequeue(3); |
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152 | &MkSend ($Id, $Addr, $Data); |
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153 | } |
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154 | |||
155 | # Zeichenweise lesen, blockierend mit Timeout |
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156 | my ($RxLen, $RxChar) = $MkPort->read(1); |
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157 | if ( $RxLen == 1 ) |
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158 | { |
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159 | if ( "$RxChar" eq "#" ) # 1st char of line |
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160 | { |
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161 | $RxLine = "#"; |
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162 | } |
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163 | elsif ( "$RxChar" eq "\r" ) # last char of line |
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164 | { |
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165 | return ($RxLine); |
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166 | } |
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167 | else |
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168 | { |
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169 | $RxLine = "$RxLine" . "$RxChar"; # collect char |
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170 | } |
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171 | } |
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172 | } |
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173 | } |
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174 | |||
175 | |||
176 | # Read and decode a command from MK |
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177 | # process send queue in &MkIOLine() |
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178 | sub MkIO() |
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179 | { |
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180 | my $RxData = &MkIOLine(); # Blocking Read for complete line |
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181 | |||
182 | # Zeile decodieren |
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183 | if ( substr ($RxData, 0, 1) eq '#' ) |
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184 | { |
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185 | # Zeile decodieren |
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186 | $Header = substr($RxData, 0, 3); |
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187 | $Chksum = substr($RxData, -2); |
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188 | $Data = substr($RxData, 3, length ($RxData) -5); |
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189 | |||
190 | # CRC prüfen |
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191 | if ( &CrcCheck ("$Header" . "$Data", $Chksum ) ) |
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192 | { |
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193 | # Base64 decodieren |
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194 | $Data = &Decode64($Data); |
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195 | |||
196 | # Daten auswerten und in shared Hash schreiben |
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197 | if ( &ProcessRx($Header, $Data) ) |
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198 | { |
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199 | return 1; # alles OK |
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200 | } |
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201 | } |
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202 | } |
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203 | |||
204 | return 0; # keine Daten empfangen |
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205 | } |
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206 | |||
207 | |||
208 | # Send a command to MK |
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209 | sub MkSend() |
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210 | { |
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211 | my ($Id, $Addr, $Data) = @_; |
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212 | |||
213 | # Init serial port |
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214 | &MkInit(); |
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215 | |||
216 | my $Base64Data = &Encode64($Data); |
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217 | |||
218 | my $TxData = "#" . "$Addr" . "$Id" . "$Base64Data"; |
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219 | my $Crc = &Crc($TxData); |
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220 | my $TxSend = "$TxData" . "$Crc" . "\r"; |
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221 | $MkPort->write($TxSend); |
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222 | } |
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223 | |||
224 | |||
225 | # close COM-Port |
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226 | sub MkClose() |
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227 | { |
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228 | undef $MkPort; |
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229 | } |
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230 | |||
231 | |||
232 | # CRC Prüfung |
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233 | sub CrcCheck () |
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234 | { |
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235 | my ($Data, $Crc) = @_; |
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236 | |||
237 | my $Check = &Crc($Data); |
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238 | if ( $Check ne $Crc ) |
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239 | { |
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240 | return 0; # CRC passt nicht |
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241 | } |
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242 | return (1); # CRC OK |
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243 | } |
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244 | |||
245 | |||
246 | # CRC berechnen |
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247 | sub Crc () |
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248 | { |
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249 | my ($Data) = @_; |
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250 | my $TmpCrc = 0; |
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251 | my $Len = length $Data; |
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252 | |||
253 | for ($i=0; $i<$Len; $i++) |
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254 | { |
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255 | $TmpCrc += ord(substr($Data, $i, 1)); |
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256 | } |
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257 | |||
258 | $TmpCrc %= 4096; |
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259 | my $Crc1 = ord ("=") + $TmpCrc / 64; |
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260 | my $Crc2 = ord ("=") + $TmpCrc % 64; |
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261 | $Crc = pack("CC", $Crc1, $Crc2); |
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262 | |||
263 | return ($Crc); |
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264 | } |
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265 | |||
266 | |||
267 | # Empfangene Daten decodieren, modifiziertes Base64 |
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268 | sub Decode64() |
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269 | { |
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270 | my ($DataIn) = @_; |
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271 | |||
272 | my $ptrIn = 0; |
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273 | my $DataOut = ""; |
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274 | my $len = length ($DataIn); |
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275 | |||
276 | while ( $len > 0 ) |
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277 | { |
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278 | $a = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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279 | $b = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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280 | $c = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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281 | $d = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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282 | |||
283 | $x = ($a << 2) | ($b >> 4); |
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284 | $y = (($b & 0x0f) << 4) | ($c >> 2); |
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285 | $z = (($c & 0x03) << 6) | $d; |
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286 | |||
287 | foreach $i ( $x, $y, $z ) |
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288 | { |
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289 | if ( $len--) |
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290 | { |
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291 | my $Tmp = pack ('C1', $i); |
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292 | $DataOut = "$DataOut" . "$Tmp"; |
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293 | } |
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294 | else |
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295 | { |
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296 | last; |
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297 | } |
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298 | } |
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299 | } |
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300 | |||
301 | return ($DataOut); |
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302 | } |
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303 | |||
304 | |||
305 | # zu sendende Daten codieren, modifiziertes Base64 |
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306 | sub Encode64() |
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307 | { |
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308 | my ($Data) = @_; |
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309 | |||
310 | my $Length = length $Data; |
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311 | my $TxBuf = ""; |
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312 | my $ptr = 0; |
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313 | |||
314 | while( $Length > 0 ) |
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315 | { |
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316 | my $a = 0; |
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317 | my $b = 0; |
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318 | my $c = 0; |
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319 | if ($Length) {$a = ord(substr ($Data, $ptr++, $Length--));} |
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320 | if ($Length) {$b = ord(substr ($Data, $ptr++, $Length--));} |
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321 | if ($Length) {$c = ord(substr ($Data, $ptr++, $Length--));} |
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322 | |||
323 | my $ac = ord("=") + ($a >> 2); |
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324 | my $bc = ord("=") + ( (($a & 0x03) << 4) | (($b & 0xf0) >> 4) ); |
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325 | my $cc = ord("=") + ( (($b & 0x0f) << 2) | (($c & 0xc0) >> 6) ); |
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326 | my $dc = ord("=") + ($c & 0x3f); |
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327 | $TxBuf = "$TxBuf" . pack ("C4", $ac, $bc, $cc, $dc); |
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328 | } |
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329 | return ($TxBuf); |
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330 | } |
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331 | |||
332 | |||
333 | # Empfangenen Datensatz verarbeiten |
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334 | sub ProcessRx() |
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335 | { |
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336 | my ($Header, $Data) = @_; |
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337 | |||
338 | my $Adr = substr ($Header, 1, 1); # b=FC, c=NC, d=MK3MAG |
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339 | my $Id = substr ($Header, 2, 1); |
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340 | |||
341 | if ( $Id eq "O" ) |
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342 | { |
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343 | # |
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344 | # OSD-Daten nach %MkOsd einlesen |
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345 | # |
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346 | |||
347 | # Struktur Datensatz: |
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348 | # u8 Version // version of the data structure |
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349 | # GPS_Pos_t CurrentPosition; |
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350 | # GPS_Pos_t TargetPosition; |
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351 | # GPS_PosDev_t TargetPositionDeviation; |
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352 | # GPS_Pos_t HomePosition; |
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353 | # GPS_PosDev_t HomePositionDeviation; |
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354 | # u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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355 | # u8 WaypointNumber; // number of stored waypoints |
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356 | # u8 SatsInUse; // no of satellites used for position solution |
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357 | # s16 Altimeter; // hight according to air pressure |
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358 | # s16 Variometer; // climb(+) and sink(-) rate |
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359 | # u16 FlyingTime; // in seconds |
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360 | # u8 UBat; // Battery Voltage in 0.1 Volts |
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361 | # u16 GroundSpeed; // speed over ground in cm/s (2D) |
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362 | # s16 Heading; // current flight direction in deg as angle to north |
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363 | # s16 CompassHeading; // current compass value |
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364 | # s8 AngleNick; // current Nick angle in 1° |
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365 | # s8 AngleRoll; // current Rick angle in 1° |
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366 | # u8 RC_Quality; // RC_Quality |
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367 | # u8 MKFlags; // Flags from FC |
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368 | # u8 NCFlags; // Flags from NC |
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369 | # u8 Errorcode; // 0 --> okay |
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370 | # u8 OperatingRadius // current operation radius around the Home Position in m |
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371 | # s16 TopSpeed; // velocity in vertical direction in cm/s |
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372 | # u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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373 | # u8 Reserve[4]; // for future use |
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374 | |||
375 | # GPS_Pos_t: |
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376 | # s32 Longitude; // in 1E-7 deg |
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377 | # s32 Latitude; // in 1E-7 deg |
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378 | # s32 Altitude; // in mm |
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379 | # u8 Status; // validity of data |
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380 | |||
381 | # GPS_PosDev_t: |
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382 | # s16 Distance; // distance to target in dm |
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383 | # s16 Bearing; // course to target in deg |
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384 | |||
385 | # Status: |
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386 | # INVALID = 0 |
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387 | # NEWDATA = 1 |
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388 | # PROCESSED = 2 |
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389 | |||
390 | # MKFlags 0x01: MOTOR_RUN, 0x02 FLY, 0x04: CALIBRATE, 0x08: START, 0x10: EMERGENCY_LANDING |
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391 | # NCFlags 0x01: FLAG_FREE, 0x02: FLAG_PH, 0x04: FLAG_CH, 0x08: FLAG_RANGE_LIMIT |
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392 | # 0x10: FLAG_NOSERIALLINK, 0x20: FLAG_TARGET_REACHED, FLAG_MANUAL_CONTROL: 0x40 |
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393 | # 0x80: FLAG_8 |
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394 | |||
395 | lock (%MkOsd); # until end of Block |
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396 | |||
397 | ( |
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398 | $MkOsd{'Version'}, |
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399 | $MkOsd{'CurPos_Lon'}, |
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400 | $MkOsd{'CurPos_Lat'}, |
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401 | $MkOsd{'CurPos_Alt'}, |
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402 | $MkOsd{'CurPos_Stat'}, |
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403 | $MkOsd{'TargetPos_Lon'}, |
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404 | $MkOsd{'TargetPos_Lat'}, |
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405 | $MkOsd{'TargetPos_Alt'}, |
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406 | $MkOsd{'TargetPos_Stat'}, |
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407 | $MkOsd{'TargetPosDev_Dist'}, |
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408 | $MkOsd{'TargetPosDev_Bearing'}, |
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409 | $MkOsd{'HomePos_Lon'}, |
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410 | $MkOsd{'HomePos_Lat'}, |
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411 | $MkOsd{'HomePos_Alt'}, |
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412 | $MkOsd{'HomePos_Stat'}, |
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413 | $MkOsd{'HomePosDev_Dist'}, |
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414 | $MkOsd{'HomePosDev_Bearing'}, |
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415 | $MkOsd{'WaypointIndex'}, |
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416 | $MkOsd{'WaypointNumber'}, |
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417 | $MkOsd{'SatsInUse'}, |
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418 | $MkOsd{'Altimeter'}, |
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419 | $MkOsd{'Variometer'}, |
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420 | $MkOsd{'FlyingTime'}, |
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421 | $MkOsd{'UBat'}, |
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422 | $MkOsd{'GroundSpeed'}, |
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423 | $MkOsd{'Heading'}, |
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424 | $MkOsd{'CompassHeading'}, |
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425 | $MkOsd{'AngleNick'}, |
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426 | $MkOsd{'AngleRoll'}, |
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427 | $MkOsd{'RC_Quality'}, |
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428 | $MkOsd{'MKFlags'}, |
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429 | $MkOsd{'NCFlags'}, |
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430 | $MkOsd{'Errorcode'}, |
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431 | $MkOsd{'OperatingRadius'}, |
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432 | $MkOsd{'TopSpeed'}, |
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433 | $MkOsd{'TargetHoldTime'}, |
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434 | ) = unpack ('ClllClllCsslllCssCCCssSCSssccCCCCCsC', $Data); |
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435 | |||
436 | $MkOsd{'CurPos_Lon'} = sprintf("%.7f", $MkOsd{'CurPos_Lon'} / 10000000); |
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437 | $MkOsd{'CurPos_Lat'} = sprintf("%.7f", $MkOsd{'CurPos_Lat'} / 10000000); |
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438 | $MkOsd{'CurPos_Alt'} = sprintf("%.3f", $MkOsd{'CurPos_Alt'} / 1000); |
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439 | $MkOsd{'TargetPos_Lon'} = sprintf("%.7f", $MkOsd{'TargetPos_Lon'} / 10000000); |
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440 | $MkOsd{'TargetPos_Lat'} = sprintf("%.7f", $MkOsd{'TargetPos_Lat'} / 10000000); |
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441 | $MkOsd{'TargetPos_Alt'} = sprintf("%.3f", $MkOsd{'TargetPos_Alt'} / 1000); |
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442 | $MkOsd{'HomePos_Lon'} = sprintf("%.7f", $MkOsd{'HomePos_Lon'} / 10000000); |
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443 | $MkOsd{'HomePos_Lat'} = sprintf("%.7f", $MkOsd{'HomePos_Lat'} / 10000000); |
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444 | $MkOsd{'HomePos_Alt'} = sprintf("%.3f", $MkOsd{'HomePos_Alt'} / 1000); |
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445 | $MkOsd{'UBat'} = sprintf("%.1f", $MkOsd{'UBat'} / 10); |
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446 | |||
447 | # Timestamp, wann der Datensatz geschtieben wurde |
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448 | $MkOsd{'_Timestamp'} = time; |
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449 | } |
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450 | |||
451 | elsif ( $Id eq "s" ) |
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452 | { |
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453 | # |
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454 | # NC Target position in %MkTarget |
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455 | # |
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456 | # Datenstruktur: |
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457 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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458 | # s16 Heading; // orientation, future implementation |
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459 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
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460 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
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461 | # // this time defines the delay before the next WP is triggered |
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462 | # u8 Event_Flag; // future emplementation |
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463 | # u8 reserve[12]; // reserved |
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464 | |||
465 | lock (%MkTarget); # until end of block |
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466 | |||
467 | ( |
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468 | $MkTarget{'Pos_Lon'}, |
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469 | $MkTarget{'Pos_Lat'}, |
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470 | $MkTarget{'Pos_Alt'}, |
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471 | $MkTarget{'Pos_Stat'}, |
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472 | $MkTarget{'Heading'}, |
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473 | $MkTarget{'ToleranceRadius'}, |
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474 | $MkTarget{'HoldTime'}, |
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475 | $MkTarget{'EventFlag'}, |
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476 | ) = unpack ('lllCsCCC', $Data); |
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477 | |||
478 | $MkTarget{'Pos_Lon'} = sprintf("%.7f", $MkTarget{'Pos_Lon'} / 10000000); |
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479 | $MkTarget{'Pos_Lat'} = sprintf("%.7f", $MkTarget{'Pos_Lat'} / 10000000); |
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480 | $MkTarget{'Pos_Alt'} = sprintf("%.3f", $MkTarget{'Pos_Alt'} / 1000); |
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481 | |||
482 | # Timestamp, wann der Datensatz geschtieben wurdw |
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483 | $MkTarget{'_Timestamp'} = time; |
||
484 | } |
||
485 | |||
486 | elsif ( $Id eq "W" ) |
||
487 | { |
||
488 | # |
||
489 | # Request new waypoint |
||
490 | # |
||
491 | # Datenstruktur: |
||
492 | # u8 Number of waypoint |
||
493 | |||
494 | ($WpNumber) = unpack ('C', $Data); |
||
495 | |||
496 | # keine Ahnung wofuer das gut sein soll |
||
497 | |||
498 | # print "Request new Waypoint Number: $WpNumber\n"; |
||
499 | |||
500 | } |
||
501 | |||
502 | elsif ( $Id eq "V" ) |
||
503 | { |
||
504 | # |
||
505 | # Version |
||
506 | # |
||
507 | # Datenstruktur: |
||
508 | # u8 SWMajor |
||
509 | # u8 SWMinor |
||
510 | # u8 ProtoMajor |
||
511 | # u8 ProtoMinor |
||
512 | # u8 SWPatch |
||
513 | # u8 Reserved[5] |
||
514 | |||
515 | ( |
||
516 | $Mk{'SWMajor'}, |
||
517 | $Mk{'SWMinor'}, |
||
518 | $Mk{'ProtoMajor'}, |
||
519 | $Mk{'ProtoMinor'}, |
||
520 | $Mk{'SWPatch'}, |
||
521 | ) = unpack ('C5', $Data); |
||
522 | |||
523 | $Mk{'_Timestamp'} = time; |
||
524 | } |
||
525 | |||
526 | elsif ( $Id eq "E" ) |
||
527 | { |
||
528 | # |
||
529 | # Error Text |
||
530 | # |
||
531 | # Datenstruktur: |
||
532 | # s8 ErrorMsg[25] |
||
533 | |||
534 | $Mk{'ErrorMsg'} = unpack ('Z25', $Data); |
||
535 | } |
||
536 | |||
537 | elsif ( $Id eq "D" ) |
||
538 | { |
||
539 | # |
||
540 | # NC Debug %MkNcDebug |
||
541 | # |
||
542 | # Datenstruktur: |
||
543 | # u8 Digital[2]; |
||
544 | # u16 Analog[32]; |
||
545 | |||
546 | lock (%MkNcDebug); # until end of block |
||
547 | |||
548 | ( |
||
549 | $MkNcDebug{'Digital_00'}, |
||
550 | $MkNcDebug{'Digital_01'}, |
||
551 | $MkNcDebug{'Analog_00'}, |
||
552 | $MkNcDebug{'Analog_01'}, |
||
553 | $MkNcDebug{'Analog_02'}, |
||
554 | $MkNcDebug{'Analog_03'}, |
||
555 | $MkNcDebug{'Analog_04'}, |
||
556 | $MkNcDebug{'Analog_05'}, |
||
557 | $MkNcDebug{'Analog_06'}, |
||
558 | $MkNcDebug{'Analog_07'}, |
||
559 | $MkNcDebug{'Analog_08'}, |
||
560 | $MkNcDebug{'Analog_09'}, |
||
561 | $MkNcDebug{'Analog_10'}, |
||
562 | $MkNcDebug{'Analog_11'}, |
||
563 | $MkNcDebug{'Analog_12'}, |
||
564 | $MkNcDebug{'Analog_13'}, |
||
565 | $MkNcDebug{'Analog_14'}, |
||
566 | $MkNcDebug{'Analog_15'}, |
||
567 | $MkNcDebug{'Analog_16'}, |
||
568 | $MkNcDebug{'Analog_17'}, |
||
569 | $MkNcDebug{'Analog_18'}, |
||
570 | $MkNcDebug{'Analog_19'}, |
||
571 | $MkNcDebug{'Analog_20'}, |
||
572 | $MkNcDebug{'Analog_21'}, |
||
573 | $MkNcDebug{'Analog_22'}, |
||
574 | $MkNcDebug{'Analog_23'}, |
||
575 | $MkNcDebug{'Analog_24'}, |
||
576 | $MkNcDebug{'Analog_25'}, |
||
577 | $MkNcDebug{'Analog_26'}, |
||
578 | $MkNcDebug{'Analog_27'}, |
||
579 | $MkNcDebug{'Analog_28'}, |
||
580 | $MkNcDebug{'Analog_29'}, |
||
581 | $MkNcDebug{'Analog_30'}, |
||
582 | $MkNcDebug{'Analog_31'}, |
||
583 | ) = unpack ('C2s32', $Data); |
||
584 | |||
585 | # Timestamp, wann der Datensatz geschrieben wurde |
||
586 | $MkNcDebug{'_Timestamp'} = time; |
||
587 | } |
||
588 | |||
589 | elsif ( $Id eq "B" ) |
||
590 | { |
||
591 | # |
||
592 | # External Control |
||
593 | # |
||
594 | # Datenstruktur: |
||
595 | # u8 ConfirmFrame; |
||
596 | |||
597 | my ($ConfirmFrame) = unpack ('C5', $Data); |
||
598 | |||
599 | } |
||
600 | else |
||
601 | { |
||
602 | print "Unknown Command: $Header $Data\n"; |
||
603 | } |
||
604 | } |
||
605 | |||
606 | |||
607 | # send Target or Waypoint to MK |
||
608 | sub MkFlyTo() |
||
609 | { |
||
610 | my %Param = @_; |
||
611 | |||
612 | my $x = $Param{'-x'}; |
||
613 | my $y = $Param{'-y'}; |
||
614 | my $Lat = $Param{'-lat'}; |
||
615 | my $Lon = $Param{'-lon'}; |
||
616 | my $Alt = $Param{'-alt'}; |
||
617 | my $Heading = $Param{'-heading'}; |
||
618 | my $ToleranceRadius = $Param{'-toleranceradius'}; |
||
619 | my $Holdtime = $Param{'-holdtime'}; |
||
620 | my $EventFlag = $Param{'-eventflag'}; |
||
621 | my $Mode = $Param{'-mode'}; |
||
622 | |||
623 | if ( $x ne "" and $y ne "" and $Lat eq "" and $Lon eq "" ) |
||
624 | { |
||
625 | ($Lat, $Lon) = &MapXY2Gps($x, $y); |
||
626 | } |
||
627 | |||
628 | if ( $Alt eq "" ) { $Alt = $MkOsd{'CurPos_Alt'}; } |
||
629 | if ( $Heading eq "" ) { $Heading = $Cfg->{'waypoint'}->{'DefaultHeading'}; } |
||
630 | if ( $ToleranceRadius eq "" ) { $ToleranceRadius = $Cfg->{'waypoint'}->{'DefaultToleranceRadius'}; } |
||
631 | if ( $Holdtime eq "" ) { $Holdtime = $Cfg->{'waypoint'}->{'DefaultHoldtime'}; } |
||
632 | if ( $EventFlag eq "" ) { $EventFlag = $Cfg->{'waypoint'}->{'DefaultEventFlag'}; } |
||
633 | |||
634 | my $Status = 1; # valid |
||
635 | if ( $Mode =~ /delete/i ) |
||
636 | { |
||
637 | $Status = 0; # invalid -> delete NC WP-List |
||
638 | } |
||
639 | |||
640 | my $Lat_i = sprintf "%d", $Lat * 10000000; |
||
641 | my $Lon_i = sprintf "%d", $Lon * 10000000; |
||
642 | my $Alt_i = sprintf "%d", $Alt * 1000; |
||
643 | |||
644 | # Datenstruktur: |
||
645 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
646 | # s16 Heading; // orientation, future implementation |
||
647 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
648 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
649 | # // this time defines the delay before the next WP is triggered |
||
650 | # u8 Event_Flag; // future emplementation |
||
651 | # u8 reserve[12]; // reserved |
||
652 | |||
653 | my $Wp = pack ('lllCsC15', |
||
654 | $Lon_i, |
||
655 | $Lat_i, |
||
656 | $Alt_i, |
||
657 | $Status, |
||
658 | $Heading, |
||
659 | $ToleranceRadius, |
||
660 | $Holdtime, |
||
661 | $EventFlag, |
||
662 | 0,0,0,0,0,0,0,0,0,0,0,0, |
||
663 | ); |
||
664 | |||
665 | if ( $Mode =~ /waypoint/i ) |
||
666 | { |
||
667 | $MkSendQueue->enqueue( "w", "$AddrNC", $Wp ); |
||
668 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
669 | } |
||
670 | elsif ( $Mode =~ /target/i ) |
||
671 | { |
||
672 | $MkSendQueue->enqueue( "s", "$AddrNC", $Wp ); |
||
673 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
674 | } |
||
675 | else |
||
676 | { |
||
677 | # ignore |
||
678 | } |
||
679 | |||
680 | return 0; |
||
681 | } |
||
682 | |||
683 | |||
684 | # send External control to MK |
||
685 | sub ExternalControl() |
||
686 | { |
||
687 | my %Param = @_; |
||
688 | |||
689 | my $RemoteButtons = $Param{'-remotebuttons'}; |
||
690 | my $Nick = $Param{'-nick'}; |
||
691 | my $Roll = $Param{'-roll'}; |
||
692 | my $Yaw = $Param{'-yaw'}; |
||
693 | my $Gas = $Param{'-gas'}; |
||
694 | my $Hight = $Param{'-hight'}; |
||
695 | my $Free = $Param{'-free'}; |
||
696 | my $Frame = $Param{'-frame'}; |
||
697 | my $Config = $Param{'-config'}; |
||
698 | |||
699 | # Datenstruktur: |
||
700 | # u8 Digital[2]; |
||
701 | # u8 RemoteButtons; |
||
702 | # s8 Nick; |
||
703 | # s8 Roll; |
||
704 | # s8 Yaw; |
||
705 | # u8 Gas; |
||
706 | # s8 Height; |
||
707 | # u8 free; |
||
708 | # u8 Frame; |
||
709 | # u8 Config; |
||
710 | |||
711 | my $Ec = pack ('CCCcccCcCCC', |
||
712 | 0, 0, |
||
713 | $RemoteButtons, |
||
714 | $Nick, |
||
715 | $Roll, |
||
716 | $Yaw, |
||
717 | $Gas, |
||
718 | $Hight, |
||
719 | $Free, |
||
720 | $Frame, |
||
721 | $Config |
||
722 | ); |
||
723 | |||
724 | $MkSendQueue->enqueue( "b", "$AddrNC", $Ec ); |
||
725 | # &MkSend( "b", "$AddrNC", $Ec ); |
||
726 | |||
727 | return 0; |
||
728 | } |
||
729 | |||
730 | |||
731 | # when called as thread |
||
732 | sub MkCommLoop() |
||
733 | { |
||
734 | while (1) |
||
735 | { |
||
736 | &MkIO(); |
||
737 | } |
||
738 | } |
||
739 | |||
740 | |||
741 | # |
||
742 | # Hauptprgramm |
||
743 | # |
||
744 | |||
745 | if ( $0 =~ /mkcomm.pl$/i ) |
||
746 | { |
||
747 | # Program wurde direkt aufgerufen |
||
748 | &MkCommLoop(); |
||
749 | |||
750 | # should never exit |
||
751 | } |
||
752 | |||
753 | 1; |
||
754 | |||
755 | __END__ |
||
756 |