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Rev | Author | Line No. | Line |
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202 | joko | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // + |
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7 | // + GPS read out: |
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8 | // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
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9 | // + only for non-profit use |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | |||
12 | #include "main.h" |
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13 | #include "uart.h" |
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14 | |||
15 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
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16 | unsigned volatile char SioTmp = 0; |
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17 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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18 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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19 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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20 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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21 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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22 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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23 | unsigned volatile char CntCrcError = 0; |
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24 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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25 | unsigned volatile char PC_DebugTimeout = 0; |
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26 | unsigned char PcZugriff = 100; |
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27 | unsigned char MotorTest[4] = {0,0,0,0}; |
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28 | unsigned char MeineSlaveAdresse; |
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29 | struct str_DebugOut DebugOut; |
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30 | struct str_Debug DebugIn; |
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31 | struct str_VersionInfo VersionInfo; |
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32 | int Debug_Timer; |
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33 | |||
459 | joko | 34 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
35 | |||
202 | joko | 36 | static uint8_t gpsState; |
37 | #define GPS_EMPTY 0 |
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38 | #define GPS_SYNC1 1 |
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39 | #define GPS_SYNC2 2 |
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40 | #define GPS_CLASS 3 |
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41 | #define GPS_LEN1 4 |
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42 | #define GPS_LEN2 5 |
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43 | #define GPS_FILLING 6 |
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44 | #define GPS_CKA 7 |
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45 | #define GPS_CKB 8 |
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459 | joko | 46 | |
202 | joko | 47 | gpsInfo_t actualPos; // measured position (last gps record) |
48 | |||
49 | #define SYNC_CHAR1 0xb5 |
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50 | #define SYNC_CHAR2 0x62 |
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51 | |||
52 | #define CLASS_NAV 0x01 |
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53 | #define MSGID_STATUS 0x03 |
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501 | joko | 54 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
202 | joko | 55 | #define MSGID_POSUTM 0x08 |
56 | #define MSGID_VELNED 0x12 |
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57 | |||
58 | |||
59 | |||
60 | typedef struct { |
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61 | unsigned long ITOW; // time of week |
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62 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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63 | uint8_t Flags; // Navigation Status Flags |
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64 | uint8_t DiffS; // Differential Status |
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65 | uint8_t res; // reserved |
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66 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
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67 | unsigned long MSSS; // Milliseconds since Startup / Reset |
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68 | uint8_t packetStatus; |
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69 | } NAV_STATUS_t; |
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70 | |||
501 | joko | 71 | /* |
72 | typedef struct { //(231107Kr) |
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73 | unsigned long ITOW; // time of week |
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74 | long LON; // longitude in 1e-07 deg |
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75 | long LAT; // lattitude |
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76 | long HEIGHT; // height in mm |
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77 | long HMSL; // height above mean sea level im mm |
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78 | unsigned long Hacc; // horizontal accuracy in mm |
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79 | unsigned long Vacc; // vertical accuracy in mm |
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80 | uint8_t packetStatus; |
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81 | } NAV_POSLLH_t; |
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82 | */ |
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202 | joko | 83 | |
84 | typedef struct { |
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85 | unsigned long ITOW; // time of week |
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86 | long EAST; // cm UTM Easting |
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87 | long NORTH; // cm UTM Nording |
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88 | long ALT; // cm altitude |
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89 | uint8_t ZONE; // UTM zone number |
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90 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
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91 | uint8_t packetStatus; |
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92 | } NAV_POSUTM_t; |
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93 | |||
94 | |||
95 | typedef struct { |
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96 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
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97 | long VEL_N; // cm/s NED north velocity |
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98 | long VEL_E; // cm/s NED east velocity |
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99 | long VEL_D; // cm/s NED down velocity |
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100 | unsigned long Speed; // cm/s Speed (3-D) |
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101 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
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102 | long Heading; // deg (1e-05) Heading 2-D |
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103 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
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104 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
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105 | uint8_t packetStatus; |
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106 | } NAV_VELNED_t; |
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107 | |||
108 | |||
109 | |||
110 | NAV_STATUS_t navStatus; |
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501 | joko | 111 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
202 | joko | 112 | NAV_POSUTM_t navPosUtm; |
113 | NAV_VELNED_t navVelNed; |
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114 | |||
115 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
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116 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
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117 | volatile unsigned short msgLen; |
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118 | volatile uint8_t msgID; |
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119 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
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120 | |||
121 | |||
122 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
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123 | extern volatile uint8_t v24state; |
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124 | char buf[200]; |
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125 | char *bp; |
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126 | char *ep; |
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127 | #endif |
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128 | |||
129 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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130 | //++ Sende-Part der Datenübertragung |
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131 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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132 | SIGNAL(INT_VEC_TX) |
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133 | { |
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134 | static unsigned int ptr = 0; |
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135 | unsigned char tmp_tx; |
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136 | if(!UebertragungAbgeschlossen) |
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137 | { |
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138 | ptr++; // die [0] wurde schon gesendet |
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139 | tmp_tx = SendeBuffer[ptr]; |
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140 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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141 | { |
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142 | ptr = 0; |
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143 | UebertragungAbgeschlossen = 1; |
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144 | } |
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145 | UDR = tmp_tx; |
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146 | } |
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147 | else ptr = 0; |
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148 | } |
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149 | |||
150 | void GPSscanData (void) |
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151 | { |
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152 | |||
153 | |||
154 | |||
155 | |||
156 | if (navStatus.packetStatus == 1) // valid packet |
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157 | { |
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158 | actualPos.GPSFix = navStatus.GPSfix; |
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159 | actualPos.newData = navStatus.packetStatus; |
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160 | navStatus.packetStatus = 0; |
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161 | } |
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162 | |||
501 | joko | 163 | /* |
164 | if (navPosLlh.packetStatus == 1) // valid packet |
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202 | joko | 165 | { |
501 | joko | 166 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
167 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
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168 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
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169 | navPosLlh.packetStatus = 0; |
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202 | joko | 170 | } |
501 | joko | 171 | */ |
202 | joko | 172 | |
173 | if (navPosUtm.packetStatus == 1) // valid packet |
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174 | { |
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175 | actualPos.northing = navPosUtm.NORTH; |
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176 | actualPos.easting = navPosUtm.EAST; |
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177 | actualPos.altitude = navPosUtm.ALT; |
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178 | navPosUtm.packetStatus = 0; |
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459 | joko | 179 | newData_navPosUtm = 1; // (211007Kr) |
501 | joko | 180 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
202 | joko | 181 | } |
182 | |||
501 | joko | 183 | |
184 | if (navVelNed.packetStatus == 1) // valid packet |
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202 | joko | 185 | { |
186 | actualPos.velNorth = navVelNed.VEL_N; |
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187 | actualPos.velEast = navVelNed.VEL_E; |
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501 | joko | 188 | actualPos.velDown = navVelNed.VEL_D; |
393 | joko | 189 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
202 | joko | 190 | navVelNed.packetStatus = 0; |
191 | } |
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192 | |||
193 | } |
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194 | |||
195 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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196 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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197 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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198 | SIGNAL(INT_VEC_RX) |
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199 | { |
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200 | static unsigned int crc; |
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201 | static unsigned char crc1,crc2,buf_ptr; |
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202 | static unsigned char UartState = 0; |
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203 | unsigned char CrcOkay = 0; |
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204 | |||
205 | SioTmp = UDR; |
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206 | |||
207 | uint8_t c; |
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208 | uint8_t re; |
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209 | |||
210 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
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211 | c = SioTmp; |
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212 | |||
213 | #ifdef GPS_DEBUG |
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214 | *bp++ = c; |
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215 | if (bp >= (buf+200)) bp = buf; |
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216 | if (v24state == 0) |
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217 | { |
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218 | v24state = 1; |
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219 | UDR0 = *ep++; |
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220 | if (ep >= buf+200) |
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221 | ep = buf; |
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222 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
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223 | } |
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224 | #endif |
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225 | |||
226 | if (re == 0) |
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227 | { |
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228 | switch (gpsState) |
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229 | { |
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230 | case GPS_EMPTY: |
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231 | if (c == SYNC_CHAR1) |
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232 | gpsState = GPS_SYNC1; |
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233 | break; |
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234 | case GPS_SYNC1: |
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235 | if (c == SYNC_CHAR2) |
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236 | gpsState = GPS_SYNC2; |
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237 | else if (c != SYNC_CHAR1) |
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238 | gpsState = GPS_EMPTY; |
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239 | break; |
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240 | case GPS_SYNC2: |
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241 | if (c == CLASS_NAV) |
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242 | gpsState = GPS_CLASS; |
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243 | else |
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244 | gpsState = GPS_EMPTY; |
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245 | break; |
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246 | case GPS_CLASS: // msg ID seen: init packed receive |
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247 | msgID = c; |
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248 | CK_A = CLASS_NAV + c; |
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249 | CK_B = CLASS_NAV + CK_A; |
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250 | gpsState = GPS_LEN1; |
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251 | |||
252 | switch (msgID) |
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253 | { |
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254 | case MSGID_STATUS: |
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255 | ubxP = (char*)&navStatus; |
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256 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
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257 | ubxSp = (char*)&navStatus.packetStatus; |
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258 | ignorePacket = navStatus.packetStatus; |
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259 | break; |
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501 | joko | 260 | /* |
261 | case MSGID_POSLLH: //(231107Kr) |
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262 | ubxP = (char*)&navPosLlh; |
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263 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
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264 | ubxSp = (char*)&navPosLlh.packetStatus; |
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265 | ignorePacket = navPosLlh.packetStatus; |
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202 | joko | 266 | break; |
501 | joko | 267 | */ |
202 | joko | 268 | case MSGID_POSUTM: |
269 | ubxP = (char*)&navPosUtm; |
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270 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
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271 | ubxSp = (char*)&navPosUtm.packetStatus; |
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272 | ignorePacket = navPosUtm.packetStatus; |
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273 | break; |
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274 | case MSGID_VELNED: |
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275 | ubxP = (char*)&navVelNed; |
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276 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
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277 | ubxSp = (char*)&navVelNed.packetStatus; |
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278 | ignorePacket = navVelNed.packetStatus; |
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279 | break; |
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280 | |||
281 | |||
282 | default: |
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283 | ignorePacket = 1; |
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284 | ubxSp = (char*)0; |
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285 | } |
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286 | break; |
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287 | case GPS_LEN1: // first len byte |
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288 | msgLen = c; |
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289 | CK_A += c; |
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290 | CK_B += CK_A; |
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291 | gpsState = GPS_LEN2; |
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292 | break; |
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293 | case GPS_LEN2: // second len byte |
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294 | msgLen = msgLen + (c * 256); |
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295 | CK_A += c; |
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296 | CK_B += CK_A; |
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297 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
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298 | break; |
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299 | case GPS_FILLING: |
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300 | CK_A += c; |
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301 | CK_B += CK_A; |
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302 | |||
303 | if ( !ignorePacket && ubxP < ubxEp) |
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304 | *ubxP++ = c; |
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305 | |||
306 | if (--msgLen == 0) |
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307 | gpsState = GPS_CKA; |
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308 | |||
309 | break; |
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310 | case GPS_CKA: |
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311 | if (c == CK_A) |
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312 | gpsState = GPS_CKB; |
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313 | else |
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314 | gpsState = GPS_EMPTY; |
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315 | break; |
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316 | case GPS_CKB: |
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317 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
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318 | *ubxSp = 1; // set packetStatus in struct |
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319 | gpsState = GPS_EMPTY; // ready for next packet |
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320 | break; |
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321 | default: |
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322 | gpsState = GPS_EMPTY; // ready for next packet |
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323 | } |
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324 | } |
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325 | else // discard any data if error occured |
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326 | { |
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327 | gpsState = GPS_EMPTY; |
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328 | } |
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329 | GPSscanData (); |
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330 | |||
331 | |||
332 | |||
333 | |||
334 | |||
335 | |||
336 | |||
337 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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338 | if(SioTmp == '\r' && UartState == 2) |
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339 | { |
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340 | UartState = 0; |
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341 | crc -= RxdBuffer[buf_ptr-2]; |
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342 | crc -= RxdBuffer[buf_ptr-1]; |
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343 | crc %= 4096; |
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344 | crc1 = '=' + crc / 64; |
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345 | crc2 = '=' + crc % 64; |
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346 | CrcOkay = 0; |
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347 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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348 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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349 | { |
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350 | NeuerDatensatzEmpfangen = 1; |
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351 | AnzahlEmpfangsBytes = buf_ptr; |
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352 | RxdBuffer[buf_ptr] = '\r'; |
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353 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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354 | } |
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355 | } |
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356 | else |
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357 | switch(UartState) |
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358 | { |
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359 | case 0: |
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360 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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361 | buf_ptr = 0; |
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362 | RxdBuffer[buf_ptr++] = SioTmp; |
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363 | crc = SioTmp; |
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364 | break; |
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365 | case 1: // Adresse auswerten |
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366 | UartState++; |
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367 | RxdBuffer[buf_ptr++] = SioTmp; |
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368 | crc += SioTmp; |
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369 | break; |
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370 | case 2: // Eingangsdaten sammeln |
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371 | RxdBuffer[buf_ptr] = SioTmp; |
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372 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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373 | else UartState = 0; |
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374 | crc += SioTmp; |
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375 | break; |
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376 | default: |
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377 | UartState = 0; |
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378 | break; |
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379 | } |
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380 | } |
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381 | |||
382 | |||
383 | // -------------------------------------------------------------------------- |
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384 | void AddCRC(unsigned int wieviele) |
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385 | { |
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386 | unsigned int tmpCRC = 0,i; |
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387 | for(i = 0; i < wieviele;i++) |
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388 | { |
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389 | tmpCRC += SendeBuffer[i]; |
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390 | } |
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391 | tmpCRC %= 4096; |
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392 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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393 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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394 | SendeBuffer[i++] = '\r'; |
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395 | UebertragungAbgeschlossen = 0; |
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396 | UDR = SendeBuffer[0]; |
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397 | } |
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398 | |||
399 | |||
400 | // -------------------------------------------------------------------------- |
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401 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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402 | { |
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403 | unsigned int pt = 0; |
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404 | unsigned char a,b,c; |
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405 | unsigned char ptr = 0; |
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406 | |||
407 | SendeBuffer[pt++] = '#'; // Startzeichen |
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408 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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409 | SendeBuffer[pt++] = cmd; // Commando |
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410 | |||
411 | while(len) |
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412 | { |
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413 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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414 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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415 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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416 | SendeBuffer[pt++] = '=' + (a >> 2); |
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417 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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418 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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419 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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420 | } |
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421 | AddCRC(pt); |
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422 | } |
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423 | |||
424 | |||
425 | // -------------------------------------------------------------------------- |
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426 | 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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427 | { |
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428 | unsigned char a,b,c,d; |
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429 | unsigned char ptr = 0; |
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430 | unsigned char x,y,z; |
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431 | while(len) |
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432 | { |
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433 | a = RxdBuffer[ptrIn++] - '='; |
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434 | b = RxdBuffer[ptrIn++] - '='; |
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435 | c = RxdBuffer[ptrIn++] - '='; |
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436 | d = RxdBuffer[ptrIn++] - '='; |
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437 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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438 | |||
439 | x = (a << 2) | (b >> 4); |
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440 | y = ((b & 0x0f) << 4) | (c >> 2); |
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441 | z = ((c & 0x03) << 6) | d; |
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442 | |||
443 | if(len--) ptrOut[ptr++] = x; else break; |
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444 | if(len--) ptrOut[ptr++] = y; else break; |
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445 | if(len--) ptrOut[ptr++] = z; else break; |
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446 | } |
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447 | |||
448 | } |
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449 | |||
450 | // -------------------------------------------------------------------------- |
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451 | void BearbeiteRxDaten(void) |
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452 | { |
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453 | if(!NeuerDatensatzEmpfangen) return; |
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454 | |||
455 | unsigned int tmp_int_arr1[1]; |
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456 | unsigned int tmp_int_arr2[2]; |
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457 | unsigned int tmp_int_arr3[3]; |
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458 | unsigned char tmp_char_arr2[2]; |
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459 | unsigned char tmp_char_arr3[3]; |
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460 | unsigned char tmp_char_arr4[4]; |
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461 | //if(!MotorenEin) |
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462 | PcZugriff = 255; |
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463 | switch(RxdBuffer[2]) |
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464 | { |
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465 | case 'c':// Debugdaten incl. Externe IOs usw |
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466 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
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467 | /* for(unsigned char i=0; i<4;i++) |
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468 | { |
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469 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
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470 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
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471 | }*/ |
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472 | //RemoteTasten |= DebugIn.RemoteTasten; |
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473 | DebugDataAnforderung = 1; |
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474 | break; |
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475 | |||
476 | case 'h':// x-1 Displayzeilen |
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477 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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478 | RemoteTasten |= tmp_char_arr2[0]; |
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479 | DebugDisplayAnforderung = 1; |
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480 | break; |
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481 | case 't':// Motortest |
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482 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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483 | break; |
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484 | case 'v': // Version-Anforderung und Ausbaustufe |
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485 | GetVersionAnforderung = 1; |
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486 | break; |
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487 | case 'g':// "Get"-Anforderung für Debug-Daten |
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488 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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489 | DebugGetAnforderung = 1; |
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490 | break; |
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491 | case 'q':// "Get"-Anforderung für Settings |
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492 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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493 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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494 | if(tmp_char_arr2[0] != 0xff) |
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495 | { |
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496 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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497 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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498 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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499 | } |
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500 | else |
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501 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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502 | |||
503 | break; |
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504 | |||
505 | case 'l': |
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506 | case 'm': |
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507 | case 'n': |
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508 | case 'o': |
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509 | case 'p': // Parametersatz speichern |
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510 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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511 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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512 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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513 | Piep(GetActiveParamSetNumber()); |
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514 | break; |
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515 | |||
516 | |||
517 | } |
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518 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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519 | NeuerDatensatzEmpfangen = 0; |
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520 | } |
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521 | |||
522 | //############################################################################ |
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523 | //Routine für die Serielle Ausgabe |
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524 | int uart_putchar (char c) |
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525 | //############################################################################ |
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526 | { |
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527 | if (c == '\n') |
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528 | uart_putchar('\r'); |
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529 | //Warten solange bis Zeichen gesendet wurde |
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530 | loop_until_bit_is_set(USR, UDRE); |
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531 | //Ausgabe des Zeichens |
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532 | UDR = c; |
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533 | |||
534 | return (0); |
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535 | } |
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536 | |||
537 | // -------------------------------------------------------------------------- |
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538 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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539 | { |
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540 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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541 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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542 | // Buffer[pos] = wert; |
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543 | } |
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544 | |||
545 | //############################################################################ |
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546 | //INstallation der Seriellen Schnittstelle |
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547 | void UART_Init (void) |
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548 | //############################################################################ |
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549 | { |
||
550 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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551 | |||
552 | UCR=(1 << TXEN) | (1 << RXEN); |
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553 | // UART Double Speed (U2X) |
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554 | USR |= (1<<U2X); |
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555 | // RX-Interrupt Freigabe |
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556 | UCSRB |= (1<<RXCIE); |
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557 | // TX-Interrupt Freigabe |
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558 | UCSRB |= (1<<TXCIE); |
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559 | |||
560 | //Teiler wird gesetzt |
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561 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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562 | //UBRR = 33; |
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563 | //öffnet einen Kanal für printf (STDOUT) |
||
564 | //fdevopen (uart_putchar, 0); |
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565 | //sbi(PORTD,4); |
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566 | Debug_Timer = SetDelay(200); |
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567 | |||
568 | gpsState = GPS_EMPTY; |
||
569 | } |
||
570 | |||
571 | //--------------------------------------------------------------------------------------------- |
||
572 | void DatenUebertragung(void) |
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573 | { |
||
574 | static char dis_zeile = 0; |
||
575 | if(!UebertragungAbgeschlossen) return; |
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576 | |||
577 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
578 | { |
||
579 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
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580 | DebugGetAnforderung = 0; |
||
581 | } |
||
582 | |||
583 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
584 | { |
||
585 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
586 | DebugDataAnforderung = 0; |
||
587 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
||
588 | } |
||
589 | |||
590 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
||
591 | { |
||
592 | Menu(); |
||
593 | DebugDisplayAnforderung = 0; |
||
594 | if(++dis_zeile == 4) |
||
595 | { |
||
596 | SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
||
597 | dis_zeile = -1; |
||
598 | } |
||
599 | else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
||
600 | } |
||
601 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
602 | { |
||
603 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
||
604 | GetVersionAnforderung = 0; |
||
605 | } |
||
606 | |||
607 | } |
||
608 |