Rev 796 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 796 | 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 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[4] = {0,0,0,0}; |
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| 32 | unsigned char MeineSlaveAdresse; |
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| 33 | unsigned char ConfirmFrame; |
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| 34 | struct str_DebugOut DebugOut; |
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| 35 | struct str_ExternControl ExternControl; |
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| 36 | struct str_VersionInfo VersionInfo; |
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| 37 | int Debug_Timer; |
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| 38 | |||
| 39 | const unsigned char ANALOG_TEXT[32][16] = |
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| 40 | { |
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| 41 | //1234567890123456 |
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| 42 | "IntegralNick____", //00 //long |
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| 43 | "IntegralRoll____", //01 //long |
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| 44 | "AccNick_________", //02 //int |
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| 45 | "AccRoll_________", //03 //int |
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| 46 | "P_GPS_Faktor____", //04 //int |
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| 47 | "D_GPS_Faktor____", //05 //int |
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| 48 | "Soll_Pos_North__", //06 //long |
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| 49 | "Soll_Pos_East___", //07 //long |
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| 50 | "KompassValue____", //08 //int |
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| 51 | "Spannung________", //09 //int |
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| 52 | "Empfang_________", //10 //int |
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| 53 | "GPSFix__________", //11 //int |
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| 54 | "Gesamtstrom_____", //12 //char+char+char+char |
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| 55 | "Geschwindigkeit_", //13 //long |
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| 56 | "Pos.north_______", //14 //long |
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| 57 | "Pos.east________", //15 //long |
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| 58 | "Poti3___________", //16 //int |
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| 59 | "Höhe_GPS________", //17 //long |
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| 60 | "Home_North______", //18 //long |
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| 61 | "Home_East_______", //19 //long |
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| 62 | "Posabw_North____", //20 //long |
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| 63 | "Posabw_East_____", //21 //long |
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| 64 | "P_Einfluss_North", //22 //long |
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| 65 | "P_Einfluss_East_", //23 //long |
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| 66 | "D_Einfluss_North", //24 //long |
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| 67 | "D_Einfluss_East_", //25 //long |
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| 68 | "Vertical_speed__", //26 //long |
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| 69 | "StickGier_______", //27 //int |
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| 70 | "GPS_Nick________", //28 //int |
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| 71 | "GPS_Roll________", //29 //int |
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| 72 | "StickNick_______", //30 //int |
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| 73 | "StickRoll_______" //31 //int |
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| 74 | }; |
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| 75 | |||
| 76 | //*************************************************************************************** |
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| 77 | // GPS DEFINITION ANFANG |
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| 78 | //*************************************************************************************** |
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| 79 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
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| 80 | |||
| 81 | static uint8_t gpsState; |
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| 82 | #define GPS_EMPTY 0 |
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| 83 | #define GPS_SYNC1 1 |
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| 84 | #define GPS_SYNC2 2 |
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| 85 | #define GPS_CLASS 3 |
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| 86 | #define GPS_LEN1 4 |
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| 87 | #define GPS_LEN2 5 |
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| 88 | #define GPS_FILLING 6 |
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| 89 | #define GPS_CKA 7 |
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| 90 | #define GPS_CKB 8 |
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| 91 | |||
| 92 | gpsInfo_t actualPos; // measured position (last gps record) |
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| 93 | |||
| 94 | #define SYNC_CHAR1 0xb5 |
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| 95 | #define SYNC_CHAR2 0x62 |
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| 96 | |||
| 97 | #define CLASS_NAV 0x01 |
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| 98 | #define MSGID_STATUS 0x03 |
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| 99 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
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| 100 | #define MSGID_POSUTM 0x08 |
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| 101 | #define MSGID_VELNED 0x12 |
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| 102 | |||
| 103 | |||
| 104 | |||
| 105 | typedef struct { |
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| 106 | unsigned long ITOW; // time of week |
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| 107 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
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| 108 | uint8_t Flags; // Navigation Status Flags |
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| 109 | uint8_t DiffS; // Differential Status |
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| 110 | uint8_t res; // reserved |
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| 111 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
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| 112 | unsigned long MSSS; // Milliseconds since Startup / Reset |
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| 113 | uint8_t packetStatus; |
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| 114 | } NAV_STATUS_t; |
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| 115 | |||
| 116 | /* |
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| 117 | typedef struct { //(231107Kr) |
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| 118 | unsigned long ITOW; // time of week |
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| 119 | long LON; // longitude in 1e-07 deg |
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| 120 | long LAT; // lattitude |
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| 121 | long HEIGHT; // height in mm |
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| 122 | long HMSL; // height above mean sea level im mm |
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| 123 | unsigned long Hacc; // horizontal accuracy in mm |
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| 124 | unsigned long Vacc; // vertical accuracy in mm |
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| 125 | uint8_t packetStatus; |
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| 126 | } NAV_POSLLH_t; |
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| 127 | */ |
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| 128 | |||
| 129 | typedef struct { |
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| 130 | unsigned long ITOW; // time of week |
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| 131 | long EAST; // cm UTM Easting |
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| 132 | long NORTH; // cm UTM Nording |
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| 133 | long ALT; // cm altitude |
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| 134 | uint8_t ZONE; // UTM zone number |
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| 135 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
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| 136 | uint8_t packetStatus; |
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| 137 | } NAV_POSUTM_t; |
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| 138 | |||
| 139 | |||
| 140 | typedef struct { |
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| 141 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
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| 142 | long VEL_N; // cm/s NED north velocity |
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| 143 | long VEL_E; // cm/s NED east velocity |
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| 144 | long VEL_D; // cm/s NED down velocity |
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| 145 | unsigned long Speed; // cm/s Speed (3-D) |
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| 146 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
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| 147 | long Heading; // deg (1e-05) Heading 2-D |
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| 148 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
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| 149 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
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| 150 | uint8_t packetStatus; |
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| 151 | } NAV_VELNED_t; |
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| 152 | |||
| 153 | |||
| 154 | |||
| 155 | NAV_STATUS_t navStatus; |
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| 156 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
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| 157 | NAV_POSUTM_t navPosUtm; |
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| 158 | NAV_VELNED_t navVelNed; |
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| 159 | |||
| 160 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
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| 161 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
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| 162 | volatile unsigned short msgLen; |
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| 163 | volatile uint8_t msgID; |
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| 164 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
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| 165 | |||
| 166 | //*************************************************************************************** |
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| 167 | // GPS DEFINITION ENDE |
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| 168 | //*************************************************************************************** |
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| 169 | |||
| 170 | #if defined (__AVR_ATmega644P__) |
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| 171 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 172 | //++ Sende-Part der Datenübertragung an zweiten UART |
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| 173 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 174 | SIGNAL(SIG_USART1_TRANS) |
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| 175 | { |
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| 176 | |||
| 177 | |||
| 178 | |||
| 179 | } |
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| 180 | #endif |
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| 181 | |||
| 182 | #if defined (__AVR_ATmega644P__) |
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| 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 | #endif |
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| 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 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 216 | //++ GPS, schreibt die letzten Messwerte auf die globalen Variablen ANFANG |
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| 217 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 218 | void GPSscanData (void) |
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| 219 | { |
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| 220 | |||
| 221 | |||
| 222 | |||
| 223 | |||
| 224 | if (navStatus.packetStatus == 1) // valid packet |
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| 225 | { |
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| 226 | actualPos.GPSFix = navStatus.GPSfix; |
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| 227 | actualPos.newData = navStatus.packetStatus; |
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| 228 | navStatus.packetStatus = 0; |
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| 229 | } |
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| 230 | |||
| 231 | /* |
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| 232 | if (navPosLlh.packetStatus == 1) // valid packet |
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| 233 | { |
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| 234 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
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| 235 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
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| 236 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
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| 237 | navPosLlh.packetStatus = 0; |
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| 238 | } |
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| 239 | */ |
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| 240 | |||
| 241 | if (navPosUtm.packetStatus == 1) // valid packet |
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| 242 | { |
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| 243 | actualPos.northing = navPosUtm.NORTH; |
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| 244 | actualPos.easting = navPosUtm.EAST; |
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| 245 | actualPos.altitude = navPosUtm.ALT; |
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| 246 | navPosUtm.packetStatus = 0; |
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| 247 | newData_navPosUtm = 1; // (211007Kr) |
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| 248 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
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| 249 | } |
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| 250 | |||
| 251 | |||
| 252 | if (navVelNed.packetStatus == 1) // valid packet |
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| 253 | { |
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| 254 | actualPos.velNorth = navVelNed.VEL_N; |
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| 255 | actualPos.velEast = navVelNed.VEL_E; |
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| 256 | actualPos.velDown = navVelNed.VEL_D; |
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| 257 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
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| 258 | navVelNed.packetStatus = 0; |
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| 259 | } |
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| 260 | |||
| 261 | } |
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| 262 | |||
| 263 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 264 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 265 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 266 | SIGNAL(INT_VEC_RX) |
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| 267 | { |
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| 268 | static unsigned int crc; |
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| 269 | static unsigned char crc1,crc2,buf_ptr; |
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| 270 | static unsigned char UartState = 0; |
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| 271 | unsigned char CrcOkay = 0; |
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| 272 | |||
| 273 | SioTmp = UDR; |
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| 274 | |||
| 275 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 276 | //++ GPS AN UART_0 AUSWERTUNG ANFANG |
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| 277 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 278 | uint8_t c; |
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| 279 | uint8_t re; |
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| 280 | |||
| 281 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
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| 282 | c = SioTmp; |
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| 283 | |||
| 284 | |||
| 285 | if (re == 0) |
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| 286 | { |
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| 287 | switch (gpsState) |
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| 288 | { |
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| 289 | case GPS_EMPTY: |
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| 290 | if (c == SYNC_CHAR1) |
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| 291 | gpsState = GPS_SYNC1; |
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| 292 | break; |
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| 293 | case GPS_SYNC1: |
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| 294 | if (c == SYNC_CHAR2) |
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| 295 | gpsState = GPS_SYNC2; |
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| 296 | else if (c != SYNC_CHAR1) |
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| 297 | gpsState = GPS_EMPTY; |
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| 298 | break; |
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| 299 | case GPS_SYNC2: |
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| 300 | if (c == CLASS_NAV) |
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| 301 | gpsState = GPS_CLASS; |
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| 302 | else |
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| 303 | gpsState = GPS_EMPTY; |
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| 304 | break; |
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| 305 | case GPS_CLASS: // msg ID seen: init packed receive |
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| 306 | msgID = c; |
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| 307 | CK_A = CLASS_NAV + c; |
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| 308 | CK_B = CLASS_NAV + CK_A; |
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| 309 | gpsState = GPS_LEN1; |
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| 310 | |||
| 311 | switch (msgID) |
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| 312 | { |
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| 313 | case MSGID_STATUS: |
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| 314 | ubxP = (char*)&navStatus; |
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| 315 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
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| 316 | ubxSp = (char*)&navStatus.packetStatus; |
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| 317 | ignorePacket = navStatus.packetStatus; |
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| 318 | break; |
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| 319 | /* |
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| 320 | case MSGID_POSLLH: //(231107Kr) |
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| 321 | ubxP = (char*)&navPosLlh; |
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| 322 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
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| 323 | ubxSp = (char*)&navPosLlh.packetStatus; |
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| 324 | ignorePacket = navPosLlh.packetStatus; |
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| 325 | break; |
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| 326 | */ |
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| 327 | case MSGID_POSUTM: |
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| 328 | ubxP = (char*)&navPosUtm; |
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| 329 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
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| 330 | ubxSp = (char*)&navPosUtm.packetStatus; |
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| 331 | ignorePacket = navPosUtm.packetStatus; |
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| 332 | break; |
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| 333 | case MSGID_VELNED: |
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| 334 | ubxP = (char*)&navVelNed; |
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| 335 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
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| 336 | ubxSp = (char*)&navVelNed.packetStatus; |
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| 337 | ignorePacket = navVelNed.packetStatus; |
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| 338 | break; |
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| 339 | |||
| 340 | |||
| 341 | default: |
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| 342 | ignorePacket = 1; |
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| 343 | ubxSp = (char*)0; |
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| 344 | } |
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| 345 | break; |
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| 346 | case GPS_LEN1: // first len byte |
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| 347 | msgLen = c; |
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| 348 | CK_A += c; |
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| 349 | CK_B += CK_A; |
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| 350 | gpsState = GPS_LEN2; |
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| 351 | break; |
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| 352 | case GPS_LEN2: // second len byte |
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| 353 | msgLen = msgLen + (c * 256); |
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| 354 | CK_A += c; |
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| 355 | CK_B += CK_A; |
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| 356 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
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| 357 | break; |
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| 358 | case GPS_FILLING: |
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| 359 | CK_A += c; |
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| 360 | CK_B += CK_A; |
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| 361 | |||
| 362 | if ( !ignorePacket && ubxP < ubxEp) |
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| 363 | *ubxP++ = c; |
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| 364 | |||
| 365 | if (--msgLen == 0) |
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| 366 | gpsState = GPS_CKA; |
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| 367 | |||
| 368 | break; |
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| 369 | case GPS_CKA: |
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| 370 | if (c == CK_A) |
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| 371 | gpsState = GPS_CKB; |
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| 372 | else |
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| 373 | gpsState = GPS_EMPTY; |
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| 374 | break; |
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| 375 | case GPS_CKB: |
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| 376 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
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| 377 | *ubxSp = 1; // set packetStatus in struct |
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| 378 | gpsState = GPS_EMPTY; // ready for next packet |
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| 379 | break; |
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| 380 | default: |
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| 381 | gpsState = GPS_EMPTY; // ready for next packet |
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| 382 | } |
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| 383 | } |
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| 384 | else // discard any data if error occured |
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| 385 | { |
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| 386 | gpsState = GPS_EMPTY; |
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| 387 | } |
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| 388 | GPSscanData (); |
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| 389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 390 | //++ GPS AN UART_0 AUSWERTUNG ENDE |
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| 391 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 392 | |||
| 393 | |||
| 394 | |||
| 395 | |||
| 396 | |||
| 397 | |||
| 398 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 399 | if(SioTmp == '\r' && UartState == 2) |
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| 400 | { |
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| 401 | UartState = 0; |
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| 402 | crc -= RxdBuffer[buf_ptr-2]; |
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| 403 | crc -= RxdBuffer[buf_ptr-1]; |
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| 404 | crc %= 4096; |
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| 405 | crc1 = '=' + crc / 64; |
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| 406 | crc2 = '=' + crc % 64; |
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| 407 | CrcOkay = 0; |
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| 408 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 409 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 410 | { |
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| 411 | NeuerDatensatzEmpfangen = 1; |
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| 412 | AnzahlEmpfangsBytes = buf_ptr; |
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| 413 | RxdBuffer[buf_ptr] = '\r'; |
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| 414 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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| 415 | } |
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| 416 | } |
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| 417 | else |
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| 418 | switch(UartState) |
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| 419 | { |
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| 420 | case 0: |
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| 421 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 422 | buf_ptr = 0; |
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| 423 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 424 | crc = SioTmp; |
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| 425 | break; |
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| 426 | case 1: // Adresse auswerten |
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| 427 | UartState++; |
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| 428 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 429 | crc += SioTmp; |
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| 430 | break; |
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| 431 | case 2: // Eingangsdaten sammeln |
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| 432 | RxdBuffer[buf_ptr] = SioTmp; |
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| 433 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 434 | else UartState = 0; |
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| 435 | crc += SioTmp; |
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| 436 | break; |
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| 437 | default: |
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| 438 | UartState = 0; |
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| 439 | break; |
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| 440 | } |
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| 441 | } |
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| 442 | |||
| 443 | |||
| 444 | // -------------------------------------------------------------------------- |
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| 445 | void AddCRC(unsigned int wieviele) |
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| 446 | { |
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| 447 | unsigned int tmpCRC = 0,i; |
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| 448 | for(i = 0; i < wieviele;i++) |
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| 449 | { |
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| 450 | tmpCRC += SendeBuffer[i]; |
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| 451 | } |
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| 452 | tmpCRC %= 4096; |
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| 453 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 454 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 455 | SendeBuffer[i++] = '\r'; |
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| 456 | UebertragungAbgeschlossen = 0; |
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| 457 | UDR = SendeBuffer[0]; |
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| 458 | } |
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| 459 | |||
| 460 | |||
| 461 | |||
| 462 | // -------------------------------------------------------------------------- |
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| 463 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 464 | { |
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| 465 | unsigned int pt = 0; |
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| 466 | unsigned char a,b,c; |
||
| 467 | unsigned char ptr = 0; |
||
| 468 | |||
| 469 | SendeBuffer[pt++] = '#'; // Startzeichen |
||
| 470 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
||
| 471 | SendeBuffer[pt++] = cmd; // Commando |
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| 472 | |||
| 473 | while(len) |
||
| 474 | { |
||
| 475 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 476 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 477 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
||
| 478 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 479 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
| 480 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
| 481 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
||
| 482 | } |
||
| 483 | AddCRC(pt); |
||
| 484 | } |
||
| 485 | |||
| 486 | |||
| 487 | // -------------------------------------------------------------------------- |
||
| 488 | 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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| 489 | { |
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| 490 | unsigned char a,b,c,d; |
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| 491 | unsigned char ptr = 0; |
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| 492 | unsigned char x,y,z; |
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| 493 | while(len) |
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| 494 | { |
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| 495 | a = RxdBuffer[ptrIn++] - '='; |
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| 496 | b = RxdBuffer[ptrIn++] - '='; |
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| 497 | c = RxdBuffer[ptrIn++] - '='; |
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| 498 | d = RxdBuffer[ptrIn++] - '='; |
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| 499 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| 500 | |||
| 501 | x = (a << 2) | (b >> 4); |
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| 502 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 503 | z = ((c & 0x03) << 6) | d; |
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| 504 | |||
| 505 | if(len--) ptrOut[ptr++] = x; else break; |
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| 506 | if(len--) ptrOut[ptr++] = y; else break; |
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| 507 | if(len--) ptrOut[ptr++] = z; else break; |
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| 508 | } |
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| 509 | |||
| 510 | } |
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| 511 | |||
| 512 | // -------------------------------------------------------------------------- |
||
| 513 | void BearbeiteRxDaten(void) |
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| 514 | { |
||
| 515 | if(!NeuerDatensatzEmpfangen) return; |
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| 516 | |||
| 517 | // unsigned int tmp_int_arr1[1]; |
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| 518 | // unsigned int tmp_int_arr2[2]; |
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| 519 | // unsigned int tmp_int_arr3[3]; |
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| 520 | unsigned char tmp_char_arr2[2]; |
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| 521 | // unsigned char tmp_char_arr3[3]; |
||
| 522 | // unsigned char tmp_char_arr4[4]; |
||
| 523 | //if(!MotorenEin) |
||
| 524 | PcZugriff = 255; |
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| 525 | switch(RxdBuffer[2]) |
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| 526 | { |
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| 527 | case 'a':// Texte der Analogwerte |
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| 528 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 529 | DebugTextAnforderung = tmp_char_arr2[0]; |
||
| 530 | break; |
||
| 531 | case 'b': |
||
| 532 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
||
| 533 | RemoteTasten |= ExternControl.RemoteTasten; |
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| 534 | ConfirmFrame = ExternControl.Frame; |
||
| 535 | break; |
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| 536 | case 'c': |
||
| 537 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
||
| 538 | RemoteTasten |= ExternControl.RemoteTasten; |
||
| 539 | ConfirmFrame = ExternControl.Frame; |
||
| 540 | DebugDataAnforderung = 1; |
||
| 541 | break; |
||
| 542 | case 'h':// x-1 Displayzeilen |
||
| 543 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
| 544 | RemoteTasten |= tmp_char_arr2[0]; |
||
| 545 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
||
| 546 | DebugDisplayAnforderung = 1; |
||
| 547 | break; |
||
| 548 | case 't':// Motortest |
||
| 549 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
||
| 550 | break; |
||
| 551 | case 'k':// Keys von DubWise |
||
| 552 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
||
| 553 | ConfirmFrame = DubWiseKeys[3]; |
||
| 554 | break; |
||
| 555 | case 'v': // Version-Anforderung und Ausbaustufe |
||
| 556 | GetVersionAnforderung = 1; |
||
| 557 | break; |
||
| 558 | case 'g':// "Get"-Anforderung für Debug-Daten |
||
| 559 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 560 | DebugGetAnforderung = 1; |
||
| 561 | break; |
||
| 562 | case 'q':// "Get"-Anforderung für Settings |
||
| 563 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 564 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
| 565 | if(tmp_char_arr2[0] != 0xff) |
||
| 566 | { |
||
| 567 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
||
| 568 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 569 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
| 570 | } |
||
| 571 | else |
||
| 572 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
||
| 573 | |||
| 574 | break; |
||
| 575 | |||
| 576 | case 'l': |
||
| 577 | case 'm': |
||
| 578 | case 'n': |
||
| 579 | case 'o': |
||
| 580 | case 'p': // Parametersatz speichern |
||
| 581 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
||
| 582 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
||
| 583 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
||
| 584 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
||
| 585 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
||
| 586 | Piep(GetActiveParamSetNumber()); |
||
| 587 | break; |
||
| 588 | |||
| 589 | |||
| 590 | } |
||
| 591 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
||
| 592 | NeuerDatensatzEmpfangen = 0; |
||
| 593 | } |
||
| 594 | |||
| 595 | //############################################################################ |
||
| 596 | //Routine für die Serielle Ausgabe |
||
| 597 | int uart_putchar (char c) |
||
| 598 | //############################################################################ |
||
| 599 | { |
||
| 600 | if (c == '\n') |
||
| 601 | uart_putchar('\r'); |
||
| 602 | //Warten solange bis Zeichen gesendet wurde |
||
| 603 | loop_until_bit_is_set(USR, UDRE); |
||
| 604 | //Ausgabe des Zeichens |
||
| 605 | UDR = c; |
||
| 606 | |||
| 607 | return (0); |
||
| 608 | } |
||
| 609 | |||
| 610 | // -------------------------------------------------------------------------- |
||
| 611 | void WriteProgramData(unsigned int pos, unsigned char wert) |
||
| 612 | { |
||
| 613 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
||
| 614 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
||
| 615 | // Buffer[pos] = wert; |
||
| 616 | } |
||
| 617 | |||
| 618 | //############################################################################ |
||
| 619 | //INstallation der Seriellen Schnittstelle |
||
| 620 | void UART_Init (void) |
||
| 621 | //############################################################################ |
||
| 622 | { |
||
| 623 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 624 | |||
| 625 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 626 | // UART Double Speed (U2X) |
||
| 627 | USR |= (1<<U2X); |
||
| 628 | // RX-Interrupt Freigabe |
||
| 629 | UCSRB |= (1<<RXCIE); |
||
| 630 | // TX-Interrupt Freigabe |
||
| 631 | UCSRB |= (1<<TXCIE); |
||
| 632 | |||
| 633 | //Teiler wird gesetzt |
||
| 634 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
||
| 635 | //UBRR = 33; |
||
| 636 | //öffnet einen Kanal für printf (STDOUT) |
||
| 637 | //fdevopen (uart_putchar, 0); |
||
| 638 | //sbi(PORTD,4); |
||
| 639 | Debug_Timer = SetDelay(200); |
||
| 640 | |||
| 641 | gpsState = GPS_EMPTY; |
||
| 642 | } |
||
| 643 | |||
| 644 | #if defined (__AVR_ATmega644P__) |
||
| 645 | //############################################################################ |
||
| 646 | //INstallation der 2ten Seriellen Schnittstelle |
||
| 647 | void UART1_Init (void) |
||
| 648 | //############################################################################ |
||
| 649 | { |
||
| 650 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
||
| 651 | |||
| 652 | UCSR1B=(1 << TXEN1) | (1 << RXEN1); |
||
| 653 | // UART Double Speed (U2X) |
||
| 654 | UCSR1A |= (1<<U2X1); |
||
| 655 | // RX-Interrupt Freigabe |
||
| 656 | UCSR1B |= (1<<RXCIE1); |
||
| 657 | // TX-Interrupt Freigabe |
||
| 658 | UCSR1B |= (1<<TXCIE1); |
||
| 659 | |||
| 660 | //Teiler wird gesetzt |
||
| 661 | UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
||
| 662 | //UBRR1L = 33; |
||
| 663 | //öffnet einen Kanal für printf (STDOUT) |
||
| 664 | //fdevopen (uart_putchar, 0); |
||
| 665 | //sbi(PORTD,4); |
||
| 666 | Debug_Timer = SetDelay(200); |
||
| 667 | } |
||
| 668 | #endif |
||
| 669 | |||
| 670 | //--------------------------------------------------------------------------------------------- |
||
| 671 | void DatenUebertragung(void) |
||
| 672 | { |
||
| 673 | if(!UebertragungAbgeschlossen) return; |
||
| 674 | |||
| 675 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
||
| 676 | { |
||
| 677 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
||
| 678 | DebugGetAnforderung = 0; |
||
| 679 | } |
||
| 680 | |||
| 681 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
||
| 682 | { |
||
| 683 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
||
| 684 | DebugDataAnforderung = 0; |
||
| 685 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
||
| 686 | } |
||
| 687 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
||
| 688 | { |
||
| 689 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
||
| 690 | DebugTextAnforderung = 255; |
||
| 691 | } |
||
| 692 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
||
| 693 | { |
||
| 694 | SendeBuffer[0] = '#'; |
||
| 695 | SendeBuffer[1] = ConfirmFrame; |
||
| 696 | SendeBuffer[2] = '\r'; |
||
| 697 | UebertragungAbgeschlossen = 0; |
||
| 698 | ConfirmFrame = 0; |
||
| 699 | UDR = SendeBuffer[0]; |
||
| 700 | } |
||
| 701 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
||
| 702 | { |
||
| 703 | Menu(); |
||
| 704 | DebugDisplayAnforderung = 0; |
||
| 705 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
||
| 706 | { |
||
| 707 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
||
| 708 | RemotePollDisplayLine = -1; |
||
| 709 | } |
||
| 710 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
||
| 711 | } |
||
| 712 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
||
| 713 | { |
||
| 714 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
||
| 715 | GetVersionAnforderung = 0; |
||
| 716 | } |
||
| 717 | |||
| 718 | } |
||
| 719 |