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Rev | Author | Line No. | Line |
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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; |
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467 | unsigned char ptr = 0; |
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468 | |||
469 | SendeBuffer[pt++] = '#'; // Startzeichen |
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470 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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471 | SendeBuffer[pt++] = cmd; // Commando |
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472 | |||
473 | while(len) |
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474 | { |
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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; |
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478 | SendeBuffer[pt++] = '=' + (a >> 2); |
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479 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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480 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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481 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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482 | } |
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483 | AddCRC(pt); |
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484 | } |
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485 | |||
486 | |||
487 | // -------------------------------------------------------------------------- |
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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 | { |
||
490 | unsigned char a,b,c,d; |
||
491 | unsigned char ptr = 0; |
||
492 | unsigned char x,y,z; |
||
493 | while(len) |
||
494 | { |
||
495 | a = RxdBuffer[ptrIn++] - '='; |
||
496 | b = RxdBuffer[ptrIn++] - '='; |
||
497 | c = RxdBuffer[ptrIn++] - '='; |
||
498 | d = RxdBuffer[ptrIn++] - '='; |
||
499 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
||
500 | |||
501 | x = (a << 2) | (b >> 4); |
||
502 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
503 | z = ((c & 0x03) << 6) | d; |
||
504 | |||
505 | if(len--) ptrOut[ptr++] = x; else break; |
||
506 | if(len--) ptrOut[ptr++] = y; else break; |
||
507 | if(len--) ptrOut[ptr++] = z; else break; |
||
508 | } |
||
509 | |||
510 | } |
||
511 | |||
512 | // -------------------------------------------------------------------------- |
||
513 | void BearbeiteRxDaten(void) |
||
514 | { |
||
515 | if(!NeuerDatensatzEmpfangen) return; |
||
516 | |||
517 | // unsigned int tmp_int_arr1[1]; |
||
518 | // unsigned int tmp_int_arr2[2]; |
||
519 | // unsigned int tmp_int_arr3[3]; |
||
520 | unsigned char tmp_char_arr2[2]; |
||
521 | // unsigned char tmp_char_arr3[3]; |
||
522 | // unsigned char tmp_char_arr4[4]; |
||
523 | //if(!MotorenEin) |
||
524 | PcZugriff = 255; |
||
525 | switch(RxdBuffer[2]) |
||
526 | { |
||
527 | case 'a':// Texte der Analogwerte |
||
528 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
||
529 | DebugTextAnforderung = tmp_char_arr2[0]; |
||
530 | break; |
||
531 | case 'b': |
||
532 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
||
533 | RemoteTasten |= ExternControl.RemoteTasten; |
||
534 | ConfirmFrame = ExternControl.Frame; |
||
535 | break; |
||
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 |