Rev 520 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
||
| 3 | // + only for non-profit use |
||
| 4 | // + www.MikroKopter.com |
||
| 5 | // + see the File "License.txt" for further Informations |
||
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 7 | |||
| 8 | #include "main.h" |
||
| 9 | #include "uart.h" |
||
| 10 | |||
| 11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
||
| 12 | unsigned volatile char SioTmp = 0; |
||
| 522 | walter | 13 | unsigned volatile char SioTmp1 = 0; |
| 1 | ingob | 14 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| 15 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
||
| 16 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
||
| 17 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
||
| 18 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
||
| 19 | unsigned volatile char UebertragungAbgeschlossen = 1; |
||
| 20 | unsigned volatile char CntCrcError = 0; |
||
| 21 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
||
| 22 | unsigned volatile char PC_DebugTimeout = 0; |
||
| 499 | hbuss | 23 | unsigned char RemotePollDisplayLine = 0; |
| 395 | hbuss | 24 | unsigned char NurKanalAnforderung = 0; |
| 499 | hbuss | 25 | unsigned char DebugTextAnforderung = 255; |
| 1 | ingob | 26 | unsigned char PcZugriff = 100; |
| 27 | unsigned char MotorTest[4] = {0,0,0,0}; |
||
| 492 | hbuss | 28 | unsigned char DubWiseKeys[3] = {0,0,0}; |
| 1 | ingob | 29 | unsigned char MeineSlaveAdresse; |
| 30 | struct str_DebugOut DebugOut; |
||
| 31 | struct str_Debug DebugIn; |
||
| 32 | struct str_VersionInfo VersionInfo; |
||
| 33 | int Debug_Timer; |
||
| 34 | |||
| 499 | hbuss | 35 | const unsigned char ANALOG_TEXT[32][16] = |
| 36 | { |
||
| 37 | //1234567890123456 |
||
| 522 | walter | 38 | "IntegralNick ", //0 |
| 39 | "IntegralRoll ", |
||
| 40 | "AccNick ", |
||
| 41 | "AccRoll ", |
||
| 42 | "GyroGier ", |
||
| 43 | "HoehenWert ", //5 |
||
| 44 | "AccZ ", |
||
| 45 | "Gas ", |
||
| 46 | "KompassValue ", |
||
| 47 | "Spannung ", |
||
| 48 | "Empfang ", //10 |
||
| 49 | "Analog11 ", |
||
| 50 | "Motor_Vorne ", |
||
| 51 | "Motor_Hinten ", |
||
| 52 | "Motor_Links ", |
||
| 53 | "Motor_Rechts ", //15 |
||
| 54 | "Acc_Z ", |
||
| 55 | "MittelAccNick ", |
||
| 56 | "MittelAccRoll ", |
||
| 57 | "IntegralErrNick ", |
||
| 58 | "IntegralErrRoll ", //20 |
||
| 59 | "MittelIntNick ", |
||
| 60 | "MittelIntRoll ", |
||
| 61 | "NeutralNick ", |
||
| 62 | "RollOffset ", |
||
| 63 | "IntRoll*Faktor ", //25 |
||
| 64 | "Analog26 ", |
||
| 65 | "DirektAusglRoll ", |
||
| 66 | "MesswertRoll ", |
||
| 67 | "AusgleichRoll ", |
||
| 68 | "I-LageRoll ", //30 |
||
| 69 | "StickRoll " |
||
| 499 | hbuss | 70 | }; |
| 71 | |||
| 72 | |||
| 522 | walter | 73 | |
| 74 | |||
| 518 | joko | 75 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
| 499 | hbuss | 76 | |
| 518 | joko | 77 | static uint8_t gpsState; |
| 78 | #define GPS_EMPTY 0 |
||
| 79 | #define GPS_SYNC1 1 |
||
| 80 | #define GPS_SYNC2 2 |
||
| 81 | #define GPS_CLASS 3 |
||
| 82 | #define GPS_LEN1 4 |
||
| 83 | #define GPS_LEN2 5 |
||
| 84 | #define GPS_FILLING 6 |
||
| 85 | #define GPS_CKA 7 |
||
| 86 | #define GPS_CKB 8 |
||
| 87 | |||
| 88 | gpsInfo_t actualPos; // measured position (last gps record) |
||
| 89 | |||
| 90 | #define SYNC_CHAR1 0xb5 |
||
| 91 | #define SYNC_CHAR2 0x62 |
||
| 92 | |||
| 93 | #define CLASS_NAV 0x01 |
||
| 94 | #define MSGID_STATUS 0x03 |
||
| 95 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
||
| 96 | #define MSGID_POSUTM 0x08 |
||
| 97 | #define MSGID_VELNED 0x12 |
||
| 98 | |||
| 99 | |||
| 100 | |||
| 101 | typedef struct { |
||
| 102 | unsigned long ITOW; // time of week |
||
| 103 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
||
| 104 | uint8_t Flags; // Navigation Status Flags |
||
| 105 | uint8_t DiffS; // Differential Status |
||
| 106 | uint8_t res; // reserved |
||
| 107 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
||
| 108 | unsigned long MSSS; // Milliseconds since Startup / Reset |
||
| 109 | uint8_t packetStatus; |
||
| 110 | } NAV_STATUS_t; |
||
| 111 | |||
| 112 | /* |
||
| 113 | typedef struct { //(231107Kr) |
||
| 114 | unsigned long ITOW; // time of week |
||
| 115 | long LON; // longitude in 1e-07 deg |
||
| 116 | long LAT; // lattitude |
||
| 117 | long HEIGHT; // height in mm |
||
| 118 | long HMSL; // height above mean sea level im mm |
||
| 119 | unsigned long Hacc; // horizontal accuracy in mm |
||
| 120 | unsigned long Vacc; // vertical accuracy in mm |
||
| 121 | uint8_t packetStatus; |
||
| 122 | } NAV_POSLLH_t; |
||
| 123 | */ |
||
| 124 | |||
| 125 | typedef struct { |
||
| 126 | unsigned long ITOW; // time of week |
||
| 127 | long EAST; // cm UTM Easting |
||
| 128 | long NORTH; // cm UTM Nording |
||
| 129 | long ALT; // cm altitude |
||
| 130 | uint8_t ZONE; // UTM zone number |
||
| 131 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
||
| 132 | uint8_t packetStatus; |
||
| 133 | } NAV_POSUTM_t; |
||
| 134 | |||
| 135 | |||
| 136 | typedef struct { |
||
| 137 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
||
| 138 | long VEL_N; // cm/s NED north velocity |
||
| 139 | long VEL_E; // cm/s NED east velocity |
||
| 140 | long VEL_D; // cm/s NED down velocity |
||
| 141 | unsigned long Speed; // cm/s Speed (3-D) |
||
| 142 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
||
| 143 | long Heading; // deg (1e-05) Heading 2-D |
||
| 144 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
||
| 145 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
||
| 146 | uint8_t packetStatus; |
||
| 147 | } NAV_VELNED_t; |
||
| 148 | |||
| 149 | |||
| 150 | |||
| 151 | NAV_STATUS_t navStatus; |
||
| 152 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
||
| 153 | NAV_POSUTM_t navPosUtm; |
||
| 154 | NAV_VELNED_t navVelNed; |
||
| 155 | |||
| 156 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
||
| 157 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
||
| 158 | volatile unsigned short msgLen; |
||
| 159 | volatile uint8_t msgID; |
||
| 160 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
||
| 161 | |||
| 162 | |||
| 163 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
||
| 164 | extern volatile uint8_t v24state; |
||
| 165 | char buf[200]; |
||
| 166 | char *bp; |
||
| 167 | char *ep; |
||
| 168 | #endif |
||
| 169 | |||
| 1 | ingob | 170 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 171 | //++ Sende-Part der Datenübertragung |
||
| 172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 173 | SIGNAL(INT_VEC_TX) |
||
| 174 | { |
||
| 175 | static unsigned int ptr = 0; |
||
| 176 | unsigned char tmp_tx; |
||
| 177 | if(!UebertragungAbgeschlossen) |
||
| 178 | { |
||
| 179 | ptr++; // die [0] wurde schon gesendet |
||
| 180 | tmp_tx = SendeBuffer[ptr]; |
||
| 181 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
||
| 182 | { |
||
| 183 | ptr = 0; |
||
| 184 | UebertragungAbgeschlossen = 1; |
||
| 185 | } |
||
| 186 | UDR = tmp_tx; |
||
| 187 | } |
||
| 188 | else ptr = 0; |
||
| 189 | } |
||
| 190 | |||
| 522 | walter | 191 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 192 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
||
| 193 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 194 | SIGNAL(INT_VEC_RX) |
||
| 518 | joko | 195 | { |
| 522 | walter | 196 | static unsigned int crc; |
| 197 | static unsigned char crc1,crc2,buf_ptr; |
||
| 198 | static unsigned char UartState = 0; |
||
| 199 | unsigned char CrcOkay = 0; |
||
| 518 | joko | 200 | |
| 522 | walter | 201 | SioTmp = UDR; |
| 202 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
||
| 203 | if(SioTmp == '\r' && UartState == 2) |
||
| 204 | { |
||
| 205 | UartState = 0; |
||
| 206 | crc -= RxdBuffer[buf_ptr-2]; |
||
| 207 | crc -= RxdBuffer[buf_ptr-1]; |
||
| 208 | crc %= 4096; |
||
| 209 | crc1 = '=' + crc / 64; |
||
| 210 | crc2 = '=' + crc % 64; |
||
| 211 | CrcOkay = 0; |
||
| 212 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
||
| 213 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
||
| 214 | { |
||
| 215 | NeuerDatensatzEmpfangen = 1; |
||
| 216 | AnzahlEmpfangsBytes = buf_ptr; |
||
| 217 | RxdBuffer[buf_ptr] = '\r'; |
||
| 218 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
||
| 219 | } |
||
| 220 | } |
||
| 221 | else |
||
| 222 | switch(UartState) |
||
| 223 | { |
||
| 224 | case 0: |
||
| 225 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
||
| 226 | buf_ptr = 0; |
||
| 227 | RxdBuffer[buf_ptr++] = SioTmp; |
||
| 228 | crc = SioTmp; |
||
| 229 | break; |
||
| 230 | case 1: // Adresse auswerten |
||
| 231 | UartState++; |
||
| 232 | RxdBuffer[buf_ptr++] = SioTmp; |
||
| 233 | crc += SioTmp; |
||
| 234 | break; |
||
| 235 | case 2: // Eingangsdaten sammeln |
||
| 236 | RxdBuffer[buf_ptr] = SioTmp; |
||
| 237 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
||
| 238 | else UartState = 0; |
||
| 239 | crc += SioTmp; |
||
| 240 | break; |
||
| 241 | default: |
||
| 242 | UartState = 0; |
||
| 243 | break; |
||
| 244 | } |
||
| 245 | } |
||
| 518 | joko | 246 | |
| 247 | |||
| 522 | walter | 248 | |
| 249 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 250 | //++ Sende-Part der Datenübertragung an zweiten UART |
||
| 251 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 252 | SIGNAL(SIG_USART1_TRANS) |
||
| 253 | { |
||
| 254 | //zum 2te Uart (GPS) wird im Moment nichts gesendet |
||
| 255 | |||
| 256 | |||
| 257 | } |
||
| 258 | |||
| 259 | |||
| 260 | |||
| 261 | |||
| 262 | void GPSscanData (void) |
||
| 263 | { |
||
| 264 | |||
| 518 | joko | 265 | if (navStatus.packetStatus == 1) // valid packet |
| 266 | { |
||
| 267 | actualPos.GPSFix = navStatus.GPSfix; |
||
| 268 | actualPos.newData = navStatus.packetStatus; |
||
| 269 | navStatus.packetStatus = 0; |
||
| 270 | } |
||
| 271 | |||
| 272 | /* |
||
| 273 | if (navPosLlh.packetStatus == 1) // valid packet |
||
| 274 | { |
||
| 275 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
||
| 276 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
||
| 277 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
||
| 278 | navPosLlh.packetStatus = 0; |
||
| 279 | } |
||
| 280 | */ |
||
| 281 | |||
| 282 | if (navPosUtm.packetStatus == 1) // valid packet |
||
| 283 | { |
||
| 284 | actualPos.northing = navPosUtm.NORTH; |
||
| 285 | actualPos.easting = navPosUtm.EAST; |
||
| 286 | actualPos.altitude = navPosUtm.ALT; |
||
| 287 | navPosUtm.packetStatus = 0; |
||
| 288 | newData_navPosUtm = 1; // (211007Kr) |
||
| 289 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
||
| 290 | } |
||
| 291 | |||
| 292 | |||
| 293 | if (navVelNed.packetStatus == 1) // valid packet |
||
| 294 | { |
||
| 295 | actualPos.velNorth = navVelNed.VEL_N; |
||
| 296 | actualPos.velEast = navVelNed.VEL_E; |
||
| 297 | actualPos.velDown = navVelNed.VEL_D; |
||
| 298 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
||
| 299 | navVelNed.packetStatus = 0; |
||
| 300 | } |
||
| 301 | |||
| 302 | } |
||
| 303 | |||
| 522 | walter | 304 | |
| 1 | ingob | 305 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 522 | walter | 306 | //++ Empfangs-Part der Datenübertragung von zweitem UART |
| 1 | ingob | 307 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 522 | walter | 308 | SIGNAL(SIG_USART1_RECV) |
| 1 | ingob | 309 | { |
| 310 | |||
| 518 | joko | 311 | uint8_t c; |
| 312 | uint8_t re; |
||
| 313 | |||
| 522 | walter | 314 | SioTmp1 = UDR1; |
| 315 | |||
| 316 | re = (UCSR1A & (_B1(FE1) | _B1(DOR1))); // any error occured ? |
||
| 317 | c = SioTmp1; |
||
| 518 | joko | 318 | |
| 319 | #ifdef GPS_DEBUG |
||
| 320 | *bp++ = c; |
||
| 321 | if (bp >= (buf+200)) bp = buf; |
||
| 322 | if (v24state == 0) |
||
| 323 | { |
||
| 324 | v24state = 1; |
||
| 522 | walter | 325 | UDR1 = *ep++; |
| 518 | joko | 326 | if (ep >= buf+200) |
| 327 | ep = buf; |
||
| 522 | walter | 328 | UCSR1B |= _B1(UDRIE1); //enable further irqs |
| 518 | joko | 329 | } |
| 330 | #endif |
||
| 331 | |||
| 332 | if (re == 0) |
||
| 333 | { |
||
| 334 | switch (gpsState) |
||
| 335 | { |
||
| 336 | case GPS_EMPTY: |
||
| 337 | if (c == SYNC_CHAR1) |
||
| 338 | gpsState = GPS_SYNC1; |
||
| 339 | break; |
||
| 340 | case GPS_SYNC1: |
||
| 341 | if (c == SYNC_CHAR2) |
||
| 342 | gpsState = GPS_SYNC2; |
||
| 343 | else if (c != SYNC_CHAR1) |
||
| 344 | gpsState = GPS_EMPTY; |
||
| 345 | break; |
||
| 346 | case GPS_SYNC2: |
||
| 347 | if (c == CLASS_NAV) |
||
| 348 | gpsState = GPS_CLASS; |
||
| 349 | else |
||
| 350 | gpsState = GPS_EMPTY; |
||
| 351 | break; |
||
| 352 | case GPS_CLASS: // msg ID seen: init packed receive |
||
| 353 | msgID = c; |
||
| 354 | CK_A = CLASS_NAV + c; |
||
| 355 | CK_B = CLASS_NAV + CK_A; |
||
| 356 | gpsState = GPS_LEN1; |
||
| 357 | |||
| 358 | switch (msgID) |
||
| 359 | { |
||
| 360 | case MSGID_STATUS: |
||
| 361 | ubxP = (char*)&navStatus; |
||
| 362 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
||
| 363 | ubxSp = (char*)&navStatus.packetStatus; |
||
| 364 | ignorePacket = navStatus.packetStatus; |
||
| 365 | break; |
||
| 366 | /* |
||
| 367 | case MSGID_POSLLH: //(231107Kr) |
||
| 368 | ubxP = (char*)&navPosLlh; |
||
| 369 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
||
| 370 | ubxSp = (char*)&navPosLlh.packetStatus; |
||
| 371 | ignorePacket = navPosLlh.packetStatus; |
||
| 372 | break; |
||
| 373 | */ |
||
| 374 | case MSGID_POSUTM: |
||
| 375 | ubxP = (char*)&navPosUtm; |
||
| 376 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
||
| 377 | ubxSp = (char*)&navPosUtm.packetStatus; |
||
| 378 | ignorePacket = navPosUtm.packetStatus; |
||
| 379 | break; |
||
| 380 | case MSGID_VELNED: |
||
| 381 | ubxP = (char*)&navVelNed; |
||
| 382 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
||
| 383 | ubxSp = (char*)&navVelNed.packetStatus; |
||
| 384 | ignorePacket = navVelNed.packetStatus; |
||
| 385 | break; |
||
| 386 | |||
| 387 | |||
| 388 | default: |
||
| 389 | ignorePacket = 1; |
||
| 390 | ubxSp = (char*)0; |
||
| 391 | } |
||
| 392 | break; |
||
| 393 | case GPS_LEN1: // first len byte |
||
| 394 | msgLen = c; |
||
| 395 | CK_A += c; |
||
| 396 | CK_B += CK_A; |
||
| 397 | gpsState = GPS_LEN2; |
||
| 398 | break; |
||
| 399 | case GPS_LEN2: // second len byte |
||
| 400 | msgLen = msgLen + (c * 256); |
||
| 401 | CK_A += c; |
||
| 402 | CK_B += CK_A; |
||
| 403 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
||
| 404 | break; |
||
| 405 | case GPS_FILLING: |
||
| 406 | CK_A += c; |
||
| 407 | CK_B += CK_A; |
||
| 408 | |||
| 409 | if ( !ignorePacket && ubxP < ubxEp) |
||
| 410 | *ubxP++ = c; |
||
| 411 | |||
| 412 | if (--msgLen == 0) |
||
| 413 | gpsState = GPS_CKA; |
||
| 414 | |||
| 415 | break; |
||
| 416 | case GPS_CKA: |
||
| 417 | if (c == CK_A) |
||
| 418 | gpsState = GPS_CKB; |
||
| 419 | else |
||
| 420 | gpsState = GPS_EMPTY; |
||
| 421 | break; |
||
| 422 | case GPS_CKB: |
||
| 423 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
||
| 424 | *ubxSp = 1; // set packetStatus in struct |
||
| 425 | gpsState = GPS_EMPTY; // ready for next packet |
||
| 426 | break; |
||
| 427 | default: |
||
| 428 | gpsState = GPS_EMPTY; // ready for next packet |
||
| 429 | } |
||
| 430 | } |
||
| 431 | else // discard any data if error occured |
||
| 432 | { |
||
| 433 | gpsState = GPS_EMPTY; |
||
| 434 | } |
||
| 435 | GPSscanData (); |
||
| 436 | |||
| 437 | |||
| 1 | ingob | 438 | } |
| 439 | |||
| 440 | |||
| 441 | // -------------------------------------------------------------------------- |
||
| 442 | void AddCRC(unsigned int wieviele) |
||
| 443 | { |
||
| 444 | unsigned int tmpCRC = 0,i; |
||
| 445 | for(i = 0; i < wieviele;i++) |
||
| 446 | { |
||
| 447 | tmpCRC += SendeBuffer[i]; |
||
| 448 | } |
||
| 449 | tmpCRC %= 4096; |
||
| 450 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
||
| 451 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
||
| 452 | SendeBuffer[i++] = '\r'; |
||
| 453 | UebertragungAbgeschlossen = 0; |
||
| 454 | UDR = SendeBuffer[0]; |
||
| 455 | } |
||
| 456 | |||
| 457 | |||
| 522 | walter | 458 | |
| 1 | ingob | 459 | // -------------------------------------------------------------------------- |
| 460 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
||
| 461 | { |
||
| 462 | unsigned int pt = 0; |
||
| 463 | unsigned char a,b,c; |
||
| 464 | unsigned char ptr = 0; |
||
| 465 | |||
| 466 | SendeBuffer[pt++] = '#'; // Startzeichen |
||
| 467 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
||
| 468 | SendeBuffer[pt++] = cmd; // Commando |
||
| 469 | |||
| 470 | while(len) |
||
| 471 | { |
||
| 472 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
||
| 473 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
||
| 474 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
||
| 475 | SendeBuffer[pt++] = '=' + (a >> 2); |
||
| 476 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
| 477 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
| 478 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
||
| 479 | } |
||
| 480 | AddCRC(pt); |
||
| 481 | } |
||
| 482 | |||
| 483 | |||
| 484 | // -------------------------------------------------------------------------- |
||
| 485 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
||
| 486 | { |
||
| 487 | unsigned char a,b,c,d; |
||
| 488 | unsigned char ptr = 0; |
||
| 489 | unsigned char x,y,z; |
||
| 490 | while(len) |
||
| 491 | { |
||
| 492 | a = RxdBuffer[ptrIn++] - '='; |
||
| 493 | b = RxdBuffer[ptrIn++] - '='; |
||
| 494 | c = RxdBuffer[ptrIn++] - '='; |
||
| 495 | d = RxdBuffer[ptrIn++] - '='; |
||
| 496 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
||
| 497 | |||
| 498 | x = (a << 2) | (b >> 4); |
||
| 499 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
| 500 | z = ((c & 0x03) << 6) | d; |
||
| 501 | |||
| 502 | if(len--) ptrOut[ptr++] = x; else break; |
||
| 503 | if(len--) ptrOut[ptr++] = y; else break; |
||
| 504 | if(len--) ptrOut[ptr++] = z; else break; |
||
| 505 | } |
||
| 506 | |||
| 507 | } |
||
| 508 | |||
| 509 | // -------------------------------------------------------------------------- |
||
| 510 | void BearbeiteRxDaten(void) |
||
| 511 | { |
||
| 512 | if(!NeuerDatensatzEmpfangen) return; |
||
| 513 | |||
| 304 | ingob | 514 | // unsigned int tmp_int_arr1[1]; |
| 515 | // unsigned int tmp_int_arr2[2]; |
||
| 516 | // unsigned int tmp_int_arr3[3]; |
||
| 1 | ingob | 517 | unsigned char tmp_char_arr2[2]; |
| 304 | ingob | 518 | // unsigned char tmp_char_arr3[3]; |
| 519 | // unsigned char tmp_char_arr4[4]; |
||
| 1 | ingob | 520 | //if(!MotorenEin) |
| 521 | PcZugriff = 255; |
||
| 522 | switch(RxdBuffer[2]) |
||
| 523 | { |
||
| 499 | hbuss | 524 | case 'a':// Texte der Analogwerte |
| 525 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
| 526 | DebugTextAnforderung = tmp_char_arr2[0]; |
||
| 527 | break; |
||
| 1 | ingob | 528 | case 'c':// Debugdaten incl. Externe IOs usw |
| 529 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
||
| 530 | /* for(unsigned char i=0; i<4;i++) |
||
| 531 | { |
||
| 532 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
||
| 533 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
||
| 534 | }*/ |
||
| 395 | hbuss | 535 | RemoteTasten |= DebugIn.RemoteTasten; |
| 1 | ingob | 536 | DebugDataAnforderung = 1; |
| 537 | break; |
||
| 538 | case 'h':// x-1 Displayzeilen |
||
| 539 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
| 540 | RemoteTasten |= tmp_char_arr2[0]; |
||
| 395 | hbuss | 541 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| 1 | ingob | 542 | DebugDisplayAnforderung = 1; |
| 543 | break; |
||
| 544 | case 't':// Motortest |
||
| 545 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
||
| 546 | break; |
||
| 492 | hbuss | 547 | case 'k':// Keys von DubWise |
| 548 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
||
| 549 | break; |
||
| 1 | ingob | 550 | case 'v': // Version-Anforderung und Ausbaustufe |
| 551 | GetVersionAnforderung = 1; |
||
| 552 | break; |
||
| 553 | case 'g':// "Get"-Anforderung für Debug-Daten |
||
| 554 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 555 | DebugGetAnforderung = 1; |
||
| 556 | break; |
||
| 557 | case 'q':// "Get"-Anforderung für Settings |
||
| 558 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 559 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
| 560 | if(tmp_char_arr2[0] != 0xff) |
||
| 561 | { |
||
| 562 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
||
| 563 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 564 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
| 565 | } |
||
| 566 | else |
||
| 567 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
| 568 | |||
| 569 | break; |
||
| 570 | |||
| 571 | case 'l': |
||
| 572 | case 'm': |
||
| 573 | case 'n': |
||
| 574 | case 'o': |
||
| 575 | case 'p': // Parametersatz speichern |
||
| 576 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
||
| 577 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 578 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
||
| 395 | hbuss | 579 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 580 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 1 | ingob | 581 | Piep(GetActiveParamSetNumber()); |
| 582 | break; |
||
| 583 | |||
| 584 | |||
| 585 | } |
||
| 586 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
||
| 587 | NeuerDatensatzEmpfangen = 0; |
||
| 588 | } |
||
| 589 | |||
| 590 | //############################################################################ |
||
| 591 | //Routine für die Serielle Ausgabe |
||
| 592 | int uart_putchar (char c) |
||
| 593 | //############################################################################ |
||
| 594 | { |
||
| 595 | if (c == '\n') |
||
| 596 | uart_putchar('\r'); |
||
| 597 | //Warten solange bis Zeichen gesendet wurde |
||
| 598 | loop_until_bit_is_set(USR, UDRE); |
||
| 599 | //Ausgabe des Zeichens |
||
| 600 | UDR = c; |
||
| 601 | |||
| 602 | return (0); |
||
| 603 | } |
||
| 604 | |||
| 605 | // -------------------------------------------------------------------------- |
||
| 606 | void WriteProgramData(unsigned int pos, unsigned char wert) |
||
| 607 | { |
||
| 608 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
||
| 609 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
||
| 610 | // Buffer[pos] = wert; |
||
| 611 | } |
||
| 612 | |||
| 613 | //############################################################################ |
||
| 614 | //INstallation der Seriellen Schnittstelle |
||
| 615 | void UART_Init (void) |
||
| 616 | //############################################################################ |
||
| 617 | { |
||
| 618 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 619 | |||
| 620 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 621 | // UART Double Speed (U2X) |
||
| 622 | USR |= (1<<U2X); |
||
| 623 | // RX-Interrupt Freigabe |
||
| 624 | UCSRB |= (1<<RXCIE); |
||
| 625 | // TX-Interrupt Freigabe |
||
| 626 | UCSRB |= (1<<TXCIE); |
||
| 627 | |||
| 628 | //Teiler wird gesetzt |
||
| 629 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
||
| 630 | //UBRR = 33; |
||
| 631 | //öffnet einen Kanal für printf (STDOUT) |
||
| 632 | //fdevopen (uart_putchar, 0); |
||
| 633 | //sbi(PORTD,4); |
||
| 634 | Debug_Timer = SetDelay(200); |
||
| 635 | } |
||
| 636 | |||
| 522 | walter | 637 | |
| 638 | //############################################################################ |
||
| 639 | //INstallation der 2ten Seriellen Schnittstelle |
||
| 640 | void UART1_Init (void) |
||
| 641 | //############################################################################ |
||
| 642 | { |
||
| 643 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 644 | |||
| 645 | UCSR1B=(1 << TXEN1) | (1 << RXEN1); |
||
| 646 | // UART Double Speed (U2X) |
||
| 647 | UCSR1A |= (1<<U2X1); |
||
| 648 | // RX-Interrupt Freigabe |
||
| 649 | UCSR1B |= (1<<RXCIE1); |
||
| 650 | // TX-Interrupt Freigabe |
||
| 651 | UCSR1B |= (1<<TXCIE1); |
||
| 652 | |||
| 653 | //Teiler wird gesetzt |
||
| 654 | UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
||
| 655 | //UBRR1L = 33; |
||
| 656 | //öffnet einen Kanal für printf (STDOUT) |
||
| 657 | //fdevopen (uart_putchar, 0); |
||
| 658 | //sbi(PORTD,4); |
||
| 659 | Debug_Timer = SetDelay(200); |
||
| 660 | } |
||
| 661 | |||
| 662 | |||
| 663 | |||
| 1 | ingob | 664 | //--------------------------------------------------------------------------------------------- |
| 665 | void DatenUebertragung(void) |
||
| 666 | { |
||
| 667 | if(!UebertragungAbgeschlossen) return; |
||
| 668 | |||
| 669 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 670 | { |
||
| 671 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
||
| 672 | DebugGetAnforderung = 0; |
||
| 673 | } |
||
| 674 | |||
| 675 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 676 | { |
||
| 677 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 678 | DebugDataAnforderung = 0; |
||
| 679 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
||
| 680 | } |
||
| 499 | hbuss | 681 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| 682 | { |
||
| 683 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
||
| 684 | DebugTextAnforderung = 255; |
||
| 685 | } |
||
| 1 | ingob | 686 | |
| 687 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
||
| 688 | { |
||
| 689 | Menu(); |
||
| 690 | DebugDisplayAnforderung = 0; |
||
| 499 | hbuss | 691 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| 173 | holgerb | 692 | { |
| 304 | ingob | 693 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| 499 | hbuss | 694 | RemotePollDisplayLine = -1; |
| 173 | holgerb | 695 | } |
| 499 | hbuss | 696 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| 1 | ingob | 697 | } |
| 698 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 699 | { |
||
| 700 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
||
| 701 | GetVersionAnforderung = 0; |
||
| 702 | } |
||
| 703 | |||
| 704 | } |
||
| 705 |