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Rev | Author | Line No. | Line |
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550 | walter | 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 RemotePollDisplayLine = 0; |
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27 | unsigned char NurKanalAnforderung = 0; |
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28 | unsigned char DebugTextAnforderung = 255; |
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29 | unsigned char PcZugriff = 100; |
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30 | unsigned char MotorTest[4] = {0,0,0,0}; |
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31 | unsigned char DubWiseKeys[3] = {0,0,0}; |
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32 | unsigned char MeineSlaveAdresse; |
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33 | struct str_DebugOut DebugOut; |
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34 | struct str_Debug DebugIn; |
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35 | struct str_VersionInfo VersionInfo; |
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36 | int Debug_Timer; |
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37 | |||
38 | const unsigned char ANALOG_TEXT[32][16] = |
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39 | { |
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40 | //1234567890123456 |
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41 | "IntegralNick____", //00 |
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42 | "IntegralRoll____", //01 |
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43 | "AccNick_________", //02 |
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44 | "AccRoll_________", //03 |
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45 | "P_GPS_Faktor____", //04 |
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46 | "D_GPS_Faktor____", //05 |
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47 | "Soll_Pos_North__", //06 |
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48 | "Soll_Pos_East___", //07 |
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49 | "KompassValue____", //08 |
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50 | "UBat____________", //09 |
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51 | "SenderOkay______", //10 |
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52 | "GPSFix__________", //11 |
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53 | "Gesamtstrom_____", //12 |
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54 | "Geschwindigkeit_", //13 |
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55 | "Pos.north_______", //14 |
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56 | "Pos.east________", //15 |
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57 | "Poti3___________", //16 |
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58 | "Höhe_GPS________", //17 |
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59 | "Home_North______", //18 |
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60 | "Home_East_______", //19 |
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61 | "Posabw_North____", //20 |
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62 | "Posabw_East_____", //21 |
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63 | "P_Einfluss_North", //22 |
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64 | "P_Einfluss_East_", //23 |
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65 | "D_Einfluss_North", //24 |
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66 | "D_Einfluss_East_", //25 |
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67 | "NORTH_MITTEL____", //26 |
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68 | "EAST_MITTEL_____", //27 |
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69 | "GPS_Nick________", //28 |
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70 | "GPS_Roll________", //29 |
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71 | "StickNick_______", //30 |
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72 | "StickRoll_______" //31 |
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73 | }; |
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74 | |||
75 | |||
76 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
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77 | |||
78 | static uint8_t gpsState; |
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79 | #define GPS_EMPTY 0 |
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80 | #define GPS_SYNC1 1 |
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81 | #define GPS_SYNC2 2 |
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82 | #define GPS_CLASS 3 |
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83 | #define GPS_LEN1 4 |
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84 | #define GPS_LEN2 5 |
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85 | #define GPS_FILLING 6 |
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86 | #define GPS_CKA 7 |
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87 | #define GPS_CKB 8 |
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88 | |||
89 | gpsInfo_t actualPos; // measured position (last gps record) |
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90 | |||
91 | #define SYNC_CHAR1 0xb5 |
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92 | #define SYNC_CHAR2 0x62 |
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93 | |||
94 | #define CLASS_NAV 0x01 |
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95 | #define MSGID_STATUS 0x03 |
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96 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
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97 | #define MSGID_POSUTM 0x08 |
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98 | #define MSGID_VELNED 0x12 |
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99 | |||
100 | |||
101 | |||
102 | typedef struct { |
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103 | unsigned long ITOW; // time of week |
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104 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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105 | uint8_t Flags; // Navigation Status Flags |
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106 | uint8_t DiffS; // Differential Status |
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107 | uint8_t res; // reserved |
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108 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
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109 | unsigned long MSSS; // Milliseconds since Startup / Reset |
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110 | uint8_t packetStatus; |
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111 | } NAV_STATUS_t; |
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112 | |||
113 | /* |
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114 | typedef struct { //(231107Kr) |
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115 | unsigned long ITOW; // time of week |
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116 | long LON; // longitude in 1e-07 deg |
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117 | long LAT; // lattitude |
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118 | long HEIGHT; // height in mm |
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119 | long HMSL; // height above mean sea level im mm |
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120 | unsigned long Hacc; // horizontal accuracy in mm |
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121 | unsigned long Vacc; // vertical accuracy in mm |
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122 | uint8_t packetStatus; |
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123 | } NAV_POSLLH_t; |
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124 | */ |
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125 | |||
126 | typedef struct { |
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127 | unsigned long ITOW; // time of week |
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128 | long EAST; // cm UTM Easting |
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129 | long NORTH; // cm UTM Nording |
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130 | long ALT; // cm altitude |
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131 | uint8_t ZONE; // UTM zone number |
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132 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
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133 | uint8_t packetStatus; |
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134 | } NAV_POSUTM_t; |
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135 | |||
136 | |||
137 | typedef struct { |
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138 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
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139 | long VEL_N; // cm/s NED north velocity |
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140 | long VEL_E; // cm/s NED east velocity |
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141 | long VEL_D; // cm/s NED down velocity |
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142 | unsigned long Speed; // cm/s Speed (3-D) |
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143 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
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144 | long Heading; // deg (1e-05) Heading 2-D |
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145 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
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146 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
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147 | uint8_t packetStatus; |
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148 | } NAV_VELNED_t; |
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149 | |||
150 | |||
151 | |||
152 | NAV_STATUS_t navStatus; |
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153 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
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154 | NAV_POSUTM_t navPosUtm; |
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155 | NAV_VELNED_t navVelNed; |
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156 | |||
157 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
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158 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
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159 | volatile unsigned short msgLen; |
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160 | volatile uint8_t msgID; |
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161 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
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162 | |||
163 | |||
164 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
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165 | extern volatile uint8_t v24state; |
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166 | char buf[200]; |
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167 | char *bp; |
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168 | char *ep; |
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169 | #endif |
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170 | |||
171 | |||
172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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173 | //++ Sende-Part der Datenübertragung an zweiten UART |
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174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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175 | SIGNAL(SIG_USART1_TRANS) |
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176 | { |
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177 | |||
178 | |||
179 | |||
180 | } |
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181 | |||
182 | |||
183 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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184 | //++ Empfangs-Part der Datenübertragung von zweitem UART |
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185 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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186 | SIGNAL(SIG_USART1_RECV) |
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187 | { |
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188 | |||
189 | |||
190 | |||
191 | } |
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192 | |||
193 | |||
194 | |||
195 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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196 | //++ Sende-Part der Datenübertragung |
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197 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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198 | SIGNAL(INT_VEC_TX) |
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199 | { |
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200 | static unsigned int ptr = 0; |
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201 | unsigned char tmp_tx; |
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202 | if(!UebertragungAbgeschlossen) |
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203 | { |
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204 | ptr++; // die [0] wurde schon gesendet |
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205 | tmp_tx = SendeBuffer[ptr]; |
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206 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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207 | { |
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208 | ptr = 0; |
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209 | UebertragungAbgeschlossen = 1; |
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210 | } |
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211 | UDR = tmp_tx; |
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212 | } |
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213 | else ptr = 0; |
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214 | } |
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215 | |||
216 | |||
217 | |||
218 | void GPSscanData (void) |
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219 | { |
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220 | |||
221 | if (navStatus.packetStatus == 1) // valid packet |
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222 | { |
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223 | actualPos.GPSFix = navStatus.GPSfix; |
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224 | actualPos.newData = navStatus.packetStatus; |
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225 | navStatus.packetStatus = 0; |
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226 | } |
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227 | |||
228 | /* |
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229 | if (navPosLlh.packetStatus == 1) // valid packet |
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230 | { |
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231 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
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232 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
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233 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
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234 | navPosLlh.packetStatus = 0; |
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235 | } |
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236 | */ |
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237 | |||
238 | if (navPosUtm.packetStatus == 1) // valid packet |
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239 | { |
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240 | actualPos.northing = navPosUtm.NORTH; |
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241 | actualPos.easting = navPosUtm.EAST; |
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242 | actualPos.altitude = navPosUtm.ALT; |
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243 | navPosUtm.packetStatus = 0; |
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244 | newData_navPosUtm = 1; // (211007Kr) |
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245 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
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246 | } |
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247 | |||
248 | |||
249 | if (navVelNed.packetStatus == 1) // valid packet |
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250 | { |
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251 | actualPos.velNorth = navVelNed.VEL_N; |
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252 | actualPos.velEast = navVelNed.VEL_E; |
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253 | actualPos.velDown = navVelNed.VEL_D; |
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254 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
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255 | navVelNed.packetStatus = 0; |
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256 | } |
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257 | |||
258 | } |
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259 | |||
260 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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261 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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262 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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263 | SIGNAL(INT_VEC_RX) |
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264 | { |
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265 | static unsigned int crc; |
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266 | static unsigned char crc1,crc2,buf_ptr; |
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267 | static unsigned char UartState = 0; |
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268 | unsigned char CrcOkay = 0; |
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269 | |||
270 | SioTmp = UDR; |
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271 | |||
272 | uint8_t c; |
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273 | uint8_t re; |
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274 | |||
275 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
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276 | c = SioTmp; |
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277 | |||
278 | #ifdef GPS_DEBUG |
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279 | *bp++ = c; |
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280 | if (bp >= (buf+200)) bp = buf; |
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281 | if (v24state == 0) |
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282 | { |
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283 | v24state = 1; |
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284 | UDR0 = *ep++; |
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285 | if (ep >= buf+200) |
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286 | ep = buf; |
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287 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
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288 | } |
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289 | #endif |
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290 | |||
291 | if (re == 0) |
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292 | { |
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293 | switch (gpsState) |
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294 | { |
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295 | case GPS_EMPTY: |
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296 | if (c == SYNC_CHAR1) |
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297 | gpsState = GPS_SYNC1; |
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298 | break; |
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299 | case GPS_SYNC1: |
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300 | if (c == SYNC_CHAR2) |
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301 | gpsState = GPS_SYNC2; |
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302 | else if (c != SYNC_CHAR1) |
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303 | gpsState = GPS_EMPTY; |
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304 | break; |
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305 | case GPS_SYNC2: |
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306 | if (c == CLASS_NAV) |
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307 | gpsState = GPS_CLASS; |
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308 | else |
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309 | gpsState = GPS_EMPTY; |
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310 | break; |
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311 | case GPS_CLASS: // msg ID seen: init packed receive |
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312 | msgID = c; |
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313 | CK_A = CLASS_NAV + c; |
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314 | CK_B = CLASS_NAV + CK_A; |
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315 | gpsState = GPS_LEN1; |
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316 | |||
317 | switch (msgID) |
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318 | { |
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319 | case MSGID_STATUS: |
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320 | ubxP = (char*)&navStatus; |
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321 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
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322 | ubxSp = (char*)&navStatus.packetStatus; |
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323 | ignorePacket = navStatus.packetStatus; |
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324 | break; |
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325 | /* |
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326 | case MSGID_POSLLH: //(231107Kr) |
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327 | ubxP = (char*)&navPosLlh; |
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328 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
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329 | ubxSp = (char*)&navPosLlh.packetStatus; |
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330 | ignorePacket = navPosLlh.packetStatus; |
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331 | break; |
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332 | */ |
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333 | case MSGID_POSUTM: |
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334 | ubxP = (char*)&navPosUtm; |
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335 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
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336 | ubxSp = (char*)&navPosUtm.packetStatus; |
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337 | ignorePacket = navPosUtm.packetStatus; |
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338 | break; |
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339 | case MSGID_VELNED: |
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340 | ubxP = (char*)&navVelNed; |
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341 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
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342 | ubxSp = (char*)&navVelNed.packetStatus; |
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343 | ignorePacket = navVelNed.packetStatus; |
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344 | break; |
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345 | |||
346 | |||
347 | default: |
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348 | ignorePacket = 1; |
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349 | ubxSp = (char*)0; |
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350 | } |
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351 | break; |
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352 | case GPS_LEN1: // first len byte |
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353 | msgLen = c; |
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354 | CK_A += c; |
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355 | CK_B += CK_A; |
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356 | gpsState = GPS_LEN2; |
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357 | break; |
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358 | case GPS_LEN2: // second len byte |
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359 | msgLen = msgLen + (c * 256); |
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360 | CK_A += c; |
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361 | CK_B += CK_A; |
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362 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
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363 | break; |
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364 | case GPS_FILLING: |
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365 | CK_A += c; |
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366 | CK_B += CK_A; |
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367 | |||
368 | if ( !ignorePacket && ubxP < ubxEp) |
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369 | *ubxP++ = c; |
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370 | |||
371 | if (--msgLen == 0) |
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372 | gpsState = GPS_CKA; |
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373 | |||
374 | break; |
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375 | case GPS_CKA: |
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376 | if (c == CK_A) |
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377 | gpsState = GPS_CKB; |
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378 | else |
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379 | gpsState = GPS_EMPTY; |
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380 | break; |
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381 | case GPS_CKB: |
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382 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
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383 | *ubxSp = 1; // set packetStatus in struct |
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384 | gpsState = GPS_EMPTY; // ready for next packet |
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385 | break; |
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386 | default: |
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387 | gpsState = GPS_EMPTY; // ready for next packet |
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388 | } |
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389 | } |
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390 | else // discard any data if error occured |
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391 | { |
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392 | gpsState = GPS_EMPTY; |
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393 | } |
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394 | GPSscanData (); |
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395 | |||
396 | |||
397 | |||
398 | |||
399 | |||
400 | |||
401 | |||
402 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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403 | if(SioTmp == '\r' && UartState == 2) |
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404 | { |
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405 | UartState = 0; |
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406 | crc -= RxdBuffer[buf_ptr-2]; |
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407 | crc -= RxdBuffer[buf_ptr-1]; |
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408 | crc %= 4096; |
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409 | crc1 = '=' + crc / 64; |
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410 | crc2 = '=' + crc % 64; |
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411 | CrcOkay = 0; |
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412 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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413 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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414 | { |
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415 | NeuerDatensatzEmpfangen = 1; |
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416 | AnzahlEmpfangsBytes = buf_ptr; |
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417 | RxdBuffer[buf_ptr] = '\r'; |
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418 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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419 | } |
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420 | } |
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421 | else |
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422 | switch(UartState) |
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423 | { |
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424 | case 0: |
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425 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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426 | buf_ptr = 0; |
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427 | RxdBuffer[buf_ptr++] = SioTmp; |
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428 | crc = SioTmp; |
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429 | break; |
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430 | case 1: // Adresse auswerten |
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431 | UartState++; |
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432 | RxdBuffer[buf_ptr++] = SioTmp; |
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433 | crc += SioTmp; |
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434 | break; |
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435 | case 2: // Eingangsdaten sammeln |
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436 | RxdBuffer[buf_ptr] = SioTmp; |
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437 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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438 | else UartState = 0; |
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439 | crc += SioTmp; |
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440 | break; |
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441 | default: |
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442 | UartState = 0; |
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443 | break; |
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444 | } |
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445 | } |
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446 | |||
447 | |||
448 | // -------------------------------------------------------------------------- |
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449 | void AddCRC(unsigned int wieviele) |
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450 | { |
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451 | unsigned int tmpCRC = 0,i; |
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452 | for(i = 0; i < wieviele;i++) |
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453 | { |
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454 | tmpCRC += SendeBuffer[i]; |
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455 | } |
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456 | tmpCRC %= 4096; |
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457 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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458 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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459 | SendeBuffer[i++] = '\r'; |
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460 | UebertragungAbgeschlossen = 0; |
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461 | UDR = SendeBuffer[0]; |
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462 | } |
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463 | |||
464 | |||
465 | // -------------------------------------------------------------------------- |
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466 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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467 | { |
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468 | unsigned int pt = 0; |
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469 | unsigned char a,b,c; |
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470 | unsigned char ptr = 0; |
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471 | |||
472 | SendeBuffer[pt++] = '#'; // Startzeichen |
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473 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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474 | SendeBuffer[pt++] = cmd; // Commando |
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475 | |||
476 | while(len) |
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477 | { |
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478 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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479 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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480 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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481 | SendeBuffer[pt++] = '=' + (a >> 2); |
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482 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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483 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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484 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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485 | } |
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486 | AddCRC(pt); |
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487 | } |
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488 | |||
489 | |||
490 | // -------------------------------------------------------------------------- |
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491 | 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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492 | { |
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493 | unsigned char a,b,c,d; |
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494 | unsigned char ptr = 0; |
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495 | unsigned char x,y,z; |
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496 | while(len) |
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497 | { |
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498 | a = RxdBuffer[ptrIn++] - '='; |
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499 | b = RxdBuffer[ptrIn++] - '='; |
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500 | c = RxdBuffer[ptrIn++] - '='; |
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501 | d = RxdBuffer[ptrIn++] - '='; |
||
502 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
||
503 | |||
504 | x = (a << 2) | (b >> 4); |
||
505 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
506 | z = ((c & 0x03) << 6) | d; |
||
507 | |||
508 | if(len--) ptrOut[ptr++] = x; else break; |
||
509 | if(len--) ptrOut[ptr++] = y; else break; |
||
510 | if(len--) ptrOut[ptr++] = z; else break; |
||
511 | } |
||
512 | |||
513 | } |
||
514 | |||
515 | // -------------------------------------------------------------------------- |
||
516 | void BearbeiteRxDaten(void) |
||
517 | { |
||
518 | if(!NeuerDatensatzEmpfangen) return; |
||
519 | |||
520 | // unsigned int tmp_int_arr1[1]; |
||
521 | // unsigned int tmp_int_arr2[2]; |
||
522 | // unsigned int tmp_int_arr3[3]; |
||
523 | unsigned char tmp_char_arr2[2]; |
||
524 | // unsigned char tmp_char_arr3[3]; |
||
525 | // unsigned char tmp_char_arr4[4]; |
||
526 | //if(!MotorenEin) |
||
527 | PcZugriff = 255; |
||
528 | switch(RxdBuffer[2]) |
||
529 | { |
||
530 | case 'a':// Texte der Analogwerte |
||
531 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
532 | DebugTextAnforderung = tmp_char_arr2[0]; |
||
533 | break; |
||
534 | case 'c':// Debugdaten incl. Externe IOs usw |
||
535 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
||
536 | /* for(unsigned char i=0; i<4;i++) |
||
537 | { |
||
538 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
||
539 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
||
540 | }*/ |
||
541 | RemoteTasten |= DebugIn.RemoteTasten; |
||
542 | DebugDataAnforderung = 1; |
||
543 | break; |
||
544 | case 'h':// x-1 Displayzeilen |
||
545 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
546 | RemoteTasten |= tmp_char_arr2[0]; |
||
547 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
||
548 | DebugDisplayAnforderung = 1; |
||
549 | break; |
||
550 | case 't':// Motortest |
||
551 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
||
552 | break; |
||
553 | case 'k':// Keys von DubWise |
||
554 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
||
555 | break; |
||
556 | case 'v': // Version-Anforderung und Ausbaustufe |
||
557 | GetVersionAnforderung = 1; |
||
558 | break; |
||
559 | case 'g':// "Get"-Anforderung für Debug-Daten |
||
560 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
561 | DebugGetAnforderung = 1; |
||
562 | break; |
||
563 | case 'q':// "Get"-Anforderung für Settings |
||
564 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
565 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
566 | if(tmp_char_arr2[0] != 0xff) |
||
567 | { |
||
568 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
||
569 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
570 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
571 | } |
||
572 | else |
||
573 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
574 | |||
575 | break; |
||
576 | |||
577 | case 'l': |
||
578 | case 'm': |
||
579 | case 'n': |
||
580 | case 'o': |
||
581 | case 'p': // Parametersatz speichern |
||
582 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
||
583 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
584 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
||
585 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
586 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
587 | Piep(GetActiveParamSetNumber()); |
||
588 | break; |
||
589 | |||
590 | |||
591 | } |
||
592 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
||
593 | NeuerDatensatzEmpfangen = 0; |
||
594 | } |
||
595 | |||
596 | //############################################################################ |
||
597 | //Routine für die Serielle Ausgabe |
||
598 | int uart_putchar (char c) |
||
599 | //############################################################################ |
||
600 | { |
||
601 | if (c == '\n') |
||
602 | uart_putchar('\r'); |
||
603 | //Warten solange bis Zeichen gesendet wurde |
||
604 | loop_until_bit_is_set(USR, UDRE); |
||
605 | //Ausgabe des Zeichens |
||
606 | UDR = c; |
||
607 | |||
608 | return (0); |
||
609 | } |
||
610 | |||
611 | // -------------------------------------------------------------------------- |
||
612 | void WriteProgramData(unsigned int pos, unsigned char wert) |
||
613 | { |
||
614 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
||
615 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
||
616 | // Buffer[pos] = wert; |
||
617 | } |
||
618 | |||
619 | //############################################################################ |
||
620 | //INstallation der Seriellen Schnittstelle |
||
621 | void UART_Init (void) |
||
622 | //############################################################################ |
||
623 | { |
||
624 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
625 | |||
626 | UCR=(1 << TXEN) | (1 << RXEN); |
||
627 | // UART Double Speed (U2X) |
||
628 | USR |= (1<<U2X); |
||
629 | // RX-Interrupt Freigabe |
||
630 | UCSRB |= (1<<RXCIE); |
||
631 | // TX-Interrupt Freigabe |
||
632 | UCSRB |= (1<<TXCIE); |
||
633 | |||
634 | //Teiler wird gesetzt |
||
635 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
||
636 | //UBRR = 33; |
||
637 | //öffnet einen Kanal für printf (STDOUT) |
||
638 | //fdevopen (uart_putchar, 0); |
||
639 | //sbi(PORTD,4); |
||
640 | Debug_Timer = SetDelay(200); |
||
641 | |||
642 | gpsState = GPS_EMPTY; |
||
643 | } |
||
644 | |||
645 | |||
646 | //############################################################################ |
||
647 | //INstallation der 2ten Seriellen Schnittstelle |
||
648 | void UART1_Init (void) |
||
649 | //############################################################################ |
||
650 | { |
||
651 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
652 | |||
653 | UCSR1B=(1 << TXEN) | (1 << RXEN); |
||
654 | // UART Double Speed (U2X) |
||
655 | UCSR1A |= (1<<U2X); |
||
656 | // RX-Interrupt Freigabe |
||
657 | UCSR1B |= (1<<RXCIE); |
||
658 | // TX-Interrupt Freigabe |
||
659 | UCSR1B |= (1<<TXCIE); |
||
660 | |||
661 | //Teiler wird gesetzt |
||
662 | UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
||
663 | //UBRR1L = 33; |
||
664 | //öffnet einen Kanal für printf (STDOUT) |
||
665 | //fdevopen (uart_putchar, 0); |
||
666 | //sbi(PORTD,4); |
||
667 | Debug_Timer = SetDelay(200); |
||
668 | } |
||
669 | |||
670 | |||
671 | //--------------------------------------------------------------------------------------------- |
||
672 | void DatenUebertragung(void) |
||
673 | { |
||
674 | if(!UebertragungAbgeschlossen) return; |
||
675 | |||
676 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
677 | { |
||
678 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
||
679 | DebugGetAnforderung = 0; |
||
680 | } |
||
681 | |||
682 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
683 | { |
||
684 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
685 | DebugDataAnforderung = 0; |
||
686 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
||
687 | } |
||
688 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
689 | { |
||
690 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
||
691 | DebugTextAnforderung = 255; |
||
692 | } |
||
693 | |||
694 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
||
695 | { |
||
696 | Menu(); |
||
697 | DebugDisplayAnforderung = 0; |
||
698 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
||
699 | { |
||
700 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
||
701 | RemotePollDisplayLine = -1; |
||
702 | } |
||
703 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
||
704 | } |
||
705 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
706 | { |
||
707 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
||
708 | GetVersionAnforderung = 0; |
||
709 | } |
||
710 | |||
711 | } |
||
712 |