WebSVN - FlightCtrl - Blame - Rev 130 - /branches/GPS_BETA_chris2798

Rev	Author	Line No.	Line
21	user	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
		3	// + only for non-profit use
		4	// + www.MikroKopter.com
		5	// + see the File "License.txt" for further Informations
		6	// +
		7	// + GPS read out:
		8	// + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, M�lheim, Germany
		9	// + only for non-profit use
		10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		11
		12	#include "main.h"
		13	#include "uart.h"
		14
		15	unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
		16	unsigned volatile char SioTmp = 0;
		17	unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
		18	unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
		19	unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];
		20	unsigned volatile char NeuerDatensatzEmpfangen = 0;
		21	unsigned volatile char NeueKoordinateEmpfangen = 0;
		22	unsigned volatile char UebertragungAbgeschlossen = 1;
		23	unsigned volatile char CntCrcError = 0;
		24	unsigned volatile char AnzahlEmpfangsBytes = 0;
		25	unsigned volatile char PC_DebugTimeout = 0;
		26	unsigned char PcZugriff = 100;
		27	unsigned char MotorTest[4] = {0,0,0,0};
		28	unsigned char MeineSlaveAdresse;
		29	struct str_DebugOut DebugOut;
		30	struct str_Debug DebugIn;
		31	struct str_VersionInfo VersionInfo;
		32	int Debug_Timer;
		33
		34	static uint8_t gpsState;
		35	#define GPS_EMPTY 0
		36	#define GPS_SYNC1 1
		37	#define GPS_SYNC2 2
		38	#define GPS_CLASS 3
		39	#define GPS_LEN1 4
		40	#define GPS_LEN2 5
		41	#define GPS_FILLING 6
		42	#define GPS_CKA 7
		43	#define GPS_CKB 8
		44
		45	//gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported)
		46	//gpsInfo_t *gpsTarget; // points to one of the targets
		47	gpsInfo_t actualPos; // measured position (last gps record)
		48
		49	#define SYNC_CHAR1 0xb5
		50	#define SYNC_CHAR2 0x62
		51
		52	#define CLASS_NAV 0x01
37	hallo2	53	#define MSGID_POSECEF 0x01
21	user	54	#define MSGID_STATUS 0x03
37	hallo2	55	//#define MSGID_POSLLH 0x02
		56	#define MSGID_VELECEF 0x11
		57	//#define MSGID_POSUTM 0x08
		58	//#define MSGID_VELNED 0x12
21	user	59
		60
		61
		62	typedef struct {
		63	unsigned long ITOW; // time of week
		64	uint8_t GPSfix; // GPSfix Type, range 0..6
		65	uint8_t Flags; // Navigation Status Flags
		66	uint8_t DiffS; // Differential Status
		67	uint8_t res; // reserved
		68	unsigned long TTFF; // Time to first fix (millisecond time tag)
		69	unsigned long MSSS; // Milliseconds since Startup / Reset
		70	uint8_t packetStatus;
		71	} NAV_STATUS_t;
		72
37	hallo2	73	/*
21	user	74	typedef struct {
		75	unsigned long ITOW; // time of week
		76	long LON; // longitude in 1e-07 deg
		77	long LAT; // lattitude
		78	long HEIGHT; // height in mm
		79	long HMSL; // height above mean sea level im mm
		80	unsigned long Hacc; // horizontal accuracy in mm
		81	unsigned long Vacc; // vertical accuracy in mm
		82	uint8_t packetStatus;
		83	} NAV_POSLLH_t;
		84
		85
		86	typedef struct {
		87	unsigned long ITOW; // time of week
		88	long EAST; // cm UTM Easting
		89	long NORTH; // cm UTM Nording
		90	long ALT; // cm altitude
		91	uint8_t ZONE; // UTM zone number
		92	uint8_t HEM; // Hemisphere Indicator (0=North, 1=South)
		93	uint8_t packetStatus;
		94	} NAV_POSUTM_t;
		95
		96
		97	typedef struct {
		98	unsigned long ITOW; // ms GPS Millisecond Time of Week
		99	long VEL_N; // cm/s NED north velocity
		100	long VEL_E; // cm/s NED east velocity
		101	long VEL_D; // cm/s NED down velocity
		102	unsigned long Speed; // cm/s Speed (3-D)
		103	unsigned long GSpeed; // cm/s Ground Speed (2-D)
		104	long Heading; // deg (1e-05) Heading 2-D
		105	unsigned long SAcc; // cm/s Speed Accuracy Estimate
		106	unsigned long CAcc; // deg Course / Heading Accuracy Estimate
		107	uint8_t packetStatus;
		108	} NAV_VELNED_t;
37	hallo2	109	*/
21	user	110
37	hallo2	111	typedef struct {
		112	unsigned long ITOW; // ms GPS Millisecond Time of Week
		113	long ECEF_X; // ecef x / cm
		114	long ECEF_Y; // ecef y / cm
		115	long ECEF_Z; // ecef z / cm
		116	unsigned long Pacc; // Abweichung
		117	uint8_t packetStatus;
		118	} NAV_POSECEF_t ;
21	user	119
37	hallo2	120	typedef struct {
		121	unsigned long ITOW; // ms GPS Millisecond Time of Week
		122	long ECEFVX; // ecef x velocity cm/s
		123	long ECEFVY; // ecef y velocity cm/s
		124	long ECEFVZ; // ecef z velocity cm/s
		125	unsigned long SAcc; // Abweichung
		126	uint8_t packetStatus;
		127	} NAV_VELECEF_t;
		128
		129
21	user	130	NAV_STATUS_t navStatus;
37	hallo2	131	NAV_POSECEF_t navPosECEF;
		132	NAV_VELECEF_t navVelECEF;
21	user	133
37	hallo2	134	//NAV_POSLLH_t navPosLlh;
		135	//NAV_POSUTM_t navPosUtm;
		136	//NAV_VELECEF avVelNed;
		137
21	user	138	volatile char ubxP, ubxEp, *ubxSp; // pointers to packet currently transfered
		139	volatile uint8_t CK_A, CK_B; // UBX checksum bytes
		140	volatile unsigned short msgLen;
		141	volatile uint8_t msgID;
		142	volatile uint8_t ignorePacket; // true when previous packet was not processed
		143
		144
		145	// distance to target position
		146	long rollOffset; // in 10cm
		147	long nickOffset;
		148
		149	#define GPS_INTCYCLES 100
		150	#define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC)
		151
		152	#ifdef GPS_DEBUG // if set then the GPS data is transfered to display
		153	extern volatile uint8_t v24state;
		154	char buf[200];
		155	char *bp;
		156	char *ep;
		157	#endif
		158
		159	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		160	//++ Sende-Part der Daten�bertragung
		161	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		162	SIGNAL(INT_VEC_TX)
		163	{
		164	static unsigned int ptr = 0;
		165	unsigned char tmp_tx;
		166	if(!UebertragungAbgeschlossen)
		167	{
		168	ptr++; // die [0] wurde schon gesendet
		169	tmp_tx = SendeBuffer[ptr];
		170	if((tmp_tx == '\r') \|\| (ptr == MAX_SENDE_BUFF))
		171	{
		172	ptr = 0;
		173	UebertragungAbgeschlossen = 1;
		174	}
		175	UDR = tmp_tx;
		176	}
		177	else ptr = 0;
		178	}
		179
		180	void GPSscanData (void)
		181	{
37	hallo2	182
		183
		184	if (navPosECEF.packetStatus == 1) // valid packet
		185	{
		186	actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm
		187	actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm
		188	actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm
		189	navPosECEF.packetStatus = 0;
		190	}
		191
		192
21	user	193	if (navStatus.packetStatus == 1) // valid packet
		194	{
		195	actualPos.state = navStatus.GPSfix;
		196	navStatus.packetStatus = 0;
		197	}
37	hallo2	198
		199	if (navVelECEF.packetStatus == 1) // valid packet
		200	{
		201	actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s
		202	actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s
		203	actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s
		204	navVelECEF.packetStatus = 0;
		205	}
		206	/*
21	user	207	if (navPosUtm.packetStatus == 1) // valid packet
		208	{
36	chris2798	209	actualPos.northing = navPosUtm.NORTH; ///10; // in 10cm;
		210	actualPos.easting = navPosUtm.EAST; //10;
		211	actualPos.altitude = navPosUtm.ALT; //10;
21	user	212	navPosUtm.packetStatus = 0;
		213	}
		214
		215
		216	if (navPosLlh.packetStatus == 1)
		217	navPosLlh.packetStatus = 0;
		218
		219	if (navVelNed.packetStatus == 1){
		220	actualPos.velNorth = navVelNed.VEL_N;
		221	actualPos.velEast = navVelNed.VEL_E;
		222	navVelNed.packetStatus = 0;}
37	hallo2	223
21	user	224	navPosLlh and navVelNed currently not used
		225	*/
37	hallo2	226
21	user	227	if (actualPos.state != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn GPS Signal brauchbar
		228
		229	}
		230
		231	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		232	//++ Empfangs-Part der Daten�bertragung, incl. CRC-Auswertung
		233	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		234	SIGNAL(INT_VEC_RX)
		235	{
		236	static unsigned int crc;
		237	static unsigned char crc1,crc2,buf_ptr;
		238	static unsigned char UartState = 0;
		239	unsigned char CrcOkay = 0;
		240
		241	SioTmp = UDR;
		242
		243
		244
		245
		246	uint8_t c;
		247	uint8_t re;
		248
		249	re = (UCSR0A & (_B1(FE0) \| _B1(DOR0))); // any error occured ?
		250	c = SioTmp;
		251
		252	#ifdef GPS_DEBUG
		253	*bp++ = c;
		254	if (bp >= (buf+200)) bp = buf;
		255	if (v24state == 0)
		256	{
		257	v24state = 1;
		258	UDR0 = *ep++;
		259	if (ep >= buf+200)
		260	ep = buf;
		261	UCSR0B \|= _B1(UDRIE0); //enable further irqs
		262	}
		263	#endif
		264
		265	if (re == 0)
		266	{
		267	switch (gpsState)
		268	{
		269	case GPS_EMPTY:
		270	if (c == SYNC_CHAR1)
		271	gpsState = GPS_SYNC1;
		272	break;
		273	case GPS_SYNC1:
		274	if (c == SYNC_CHAR2)
		275	gpsState = GPS_SYNC2;
		276	else if (c != SYNC_CHAR1)
		277	gpsState = GPS_EMPTY;
		278	break;
		279	case GPS_SYNC2:
		280	if (c == CLASS_NAV)
		281	gpsState = GPS_CLASS;
		282	else
		283	gpsState = GPS_EMPTY;
		284	break;
		285	case GPS_CLASS: // msg ID seen: init packed receive
		286	msgID = c;
		287	CK_A = CLASS_NAV + c;
		288	CK_B = CLASS_NAV + CK_A;
		289	gpsState = GPS_LEN1;
		290
		291	switch (msgID)
		292	{
		293	case MSGID_STATUS:
		294	ubxP = (char*)&navStatus;
		295	ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t));
		296	ubxSp = (char*)&navStatus.packetStatus;
		297	ignorePacket = navStatus.packetStatus;
		298	break;
37	hallo2	299	case MSGID_POSECEF:
		300	ubxP = (char*)&navPosECEF;
		301	ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t));
		302	ubxSp = (char*)&navPosECEF.packetStatus;
		303	ignorePacket = navPosECEF.packetStatus;
		304	break;
		305	case MSGID_VELECEF:
		306	ubxP = (char*)&navVelECEF;
		307	ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t));
		308	ubxSp = (char*)&navVelECEF.packetStatus;
		309	ignorePacket = navVelECEF.packetStatus;
		310	break;
		311
		312	/*
21	user	313	case MSGID_POSLLH:
		314	ubxP = (char*)&navPosLlh;
		315	ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t));
		316	ubxSp = (char*)&navPosLlh.packetStatus;
		317	ignorePacket = navPosLlh.packetStatus;
		318	break;
		319	case MSGID_POSUTM:
		320	ubxP = (char*)&navPosUtm;
		321	ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t));
		322	ubxSp = (char*)&navPosUtm.packetStatus;
		323	ignorePacket = navPosUtm.packetStatus;
		324	break;
		325	case MSGID_VELNED:
		326	ubxP = (char*)&navVelNed;
		327	ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t));
		328	ubxSp = (char*)&navVelNed.packetStatus;
		329	ignorePacket = navVelNed.packetStatus;
		330	break;
37	hallo2	331	*/
		332
21	user	333	default:
		334	ignorePacket = 1;
		335	ubxSp = (char*)0;
		336	}
		337	break;
		338	case GPS_LEN1: // first len byte
		339	msgLen = c;
		340	CK_A += c;
		341	CK_B += CK_A;
		342	gpsState = GPS_LEN2;
		343	break;
		344	case GPS_LEN2: // second len byte
		345	msgLen = msgLen + (c * 256);
		346	CK_A += c;
		347	CK_B += CK_A;
		348	gpsState = GPS_FILLING; // next data will be stored in packet struct
		349	break;
		350	case GPS_FILLING:
		351	CK_A += c;
		352	CK_B += CK_A;
		353
		354	if ( !ignorePacket && ubxP < ubxEp)
		355	*ubxP++ = c;
		356
		357	if (--msgLen == 0)
		358	gpsState = GPS_CKA;
		359
		360	break;
		361	case GPS_CKA:
		362	if (c == CK_A)
		363	gpsState = GPS_CKB;
		364	else
		365	gpsState = GPS_EMPTY;
		366	break;
		367	case GPS_CKB:
		368	if (c == CK_B && ubxSp) // No error -> packet received successfully
		369	*ubxSp = 1; // set packetStatus in struct
		370	gpsState = GPS_EMPTY; // ready for next packet
		371	break;
		372	default:
		373	gpsState = GPS_EMPTY; // ready for next packet
		374	}
		375	}
		376	else // discard any data if error occured
		377	{
		378	gpsState = GPS_EMPTY;
		379	GPSscanData (); //Test kann ggf. wieder gel�scht werden!
		380	}
		381	GPSscanData ();
		382
		383
		384
		385
		386
		387
		388
		389	if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0;
		390	if(SioTmp == '\r' && UartState == 2)
		391	{
		392	UartState = 0;
		393	crc -= RxdBuffer[buf_ptr-2];
		394	crc -= RxdBuffer[buf_ptr-1];
		395	crc %= 4096;
		396	crc1 = '=' + crc / 64;
		397	crc2 = '=' + crc % 64;
		398	CrcOkay = 0;
		399	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
		400	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
		401	{
		402	NeuerDatensatzEmpfangen = 1;
		403	AnzahlEmpfangsBytes = buf_ptr;
		404	RxdBuffer[buf_ptr] = '\r';
		405	if(/(RxdBuffer[1] == MeineSlaveAdresse \|\| (RxdBuffer[1] == 'a')) && /(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando
		406	}
		407	}
		408	else
		409	switch(UartState)
		410	{
		411	case 0:
		412	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
		413	buf_ptr = 0;
		414	RxdBuffer[buf_ptr++] = SioTmp;
		415	crc = SioTmp;
		416	break;
		417	case 1: // Adresse auswerten
		418	UartState++;
		419	RxdBuffer[buf_ptr++] = SioTmp;
		420	crc += SioTmp;
		421	break;
		422	case 2: // Eingangsdaten sammeln
		423	RxdBuffer[buf_ptr] = SioTmp;
		424	if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
		425	else UartState = 0;
		426	crc += SioTmp;
		427	break;
		428	default:
		429	UartState = 0;
		430	break;
		431	}
		432	}
		433
		434
		435	// --------------------------------------------------------------------------
		436	void AddCRC(unsigned int wieviele)
		437	{
		438	unsigned int tmpCRC = 0,i;
		439	for(i = 0; i < wieviele;i++)
		440	{
		441	tmpCRC += SendeBuffer[i];
		442	}
		443	tmpCRC %= 4096;
		444	SendeBuffer[i++] = '=' + tmpCRC / 64;
		445	SendeBuffer[i++] = '=' + tmpCRC % 64;
		446	SendeBuffer[i++] = '\r';
		447	UebertragungAbgeschlossen = 0;
		448	UDR = SendeBuffer[0];
		449	}
		450
		451
		452	// --------------------------------------------------------------------------
		453	void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
		454	{
		455	unsigned int pt = 0;
		456	unsigned char a,b,c;
		457	unsigned char ptr = 0;
		458
		459	SendeBuffer[pt++] = '#'; // Startzeichen
		460	SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
		461	SendeBuffer[pt++] = cmd; // Commando
		462
		463	while(len)
		464	{
		465	if(len) { a = snd[ptr++]; len--;} else a = 0;
		466	if(len) { b = snd[ptr++]; len--;} else b = 0;
		467	if(len) { c = snd[ptr++]; len--;} else c = 0;
		468	SendeBuffer[pt++] = '=' + (a >> 2);
		469	SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
		470	SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
		471	SendeBuffer[pt++] = '=' + ( c & 0x3f);
		472	}
		473	AddCRC(pt);
		474	}
		475
		476
		477	// --------------------------------------------------------------------------
		478	void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
		479	{
		480	unsigned char a,b,c,d;
		481	unsigned char ptr = 0;
		482	unsigned char x,y,z;
		483	while(len)
		484	{
		485	a = RxdBuffer[ptrIn++] - '=';
		486	b = RxdBuffer[ptrIn++] - '=';
		487	c = RxdBuffer[ptrIn++] - '=';
		488	d = RxdBuffer[ptrIn++] - '=';
		489	if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden
		490
		491	x = (a << 2) \| (b >> 4);
		492	y = ((b & 0x0f) << 4) \| (c >> 2);
		493	z = ((c & 0x03) << 6) \| d;
		494
		495	if(len--) ptrOut[ptr++] = x; else break;
		496	if(len--) ptrOut[ptr++] = y; else break;
		497	if(len--) ptrOut[ptr++] = z; else break;
		498	}
		499
		500	}
		501
		502	// --------------------------------------------------------------------------
		503	void BearbeiteRxDaten(void)
		504	{
		505	if(!NeuerDatensatzEmpfangen) return;
		506
		507	unsigned int tmp_int_arr1[1];
		508	unsigned int tmp_int_arr2[2];
		509	unsigned int tmp_int_arr3[3];
		510	unsigned char tmp_char_arr2[2];
		511	unsigned char tmp_char_arr3[3];
		512	unsigned char tmp_char_arr4[4];
		513	//if(!MotorenEin)
		514	PcZugriff = 255;
		515	switch(RxdBuffer[2])
		516	{
		517	case 'c':// Debugdaten incl. Externe IOs usw
		518	Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes);
		519	/* for(unsigned char i=0; i<4;i++)
		520	{
		521	EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]);
		522	EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8);
		523	}*/
		524	RemoteTasten \|= DebugIn.RemoteTasten;
		525	DebugDataAnforderung = 1;
		526	break;
		527
		528	case 'h':// x-1 Displayzeilen
		529	Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
		530	RemoteTasten \|= tmp_char_arr2[0];
		531	DebugDisplayAnforderung = 1;
		532	break;
		533	case 't':// Motortest
		534	Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
		535	break;
		536	case 'v': // Version-Anforderung und Ausbaustufe
		537	GetVersionAnforderung = 1;
		538	break;
		539	case 'g':// "Get"-Anforderung f�r Debug-Daten
		540	// Bei Get werden die vom PC einstellbaren Werte vom PC zur�ckgelesen
		541	DebugGetAnforderung = 1;
		542	break;
		543	case 'q':// "Get"-Anforderung f�r Settings
		544	// Bei Get werden die vom PC einstellbaren Werte vom PC zur�ckgelesen
		545	Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
		546	if(tmp_char_arr2[0] != 0xff)
		547	{
		548	if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;
		549	ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
		550	SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
		551	}
		552	else
		553	SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
		554
		555	break;
		556
		557	case 'l':
		558	case 'm':
		559	case 'n':
		560	case 'o':
		561	case 'p': // Parametersatz speichern
		562	Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);
		563	WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
		564	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken
		565	Piep(GetActiveParamSetNumber());
		566	break;
		567
		568
		569	}
		570	// DebugOut.AnzahlZyklen = Debug_Timer_Intervall;
		571	NeuerDatensatzEmpfangen = 0;
		572	}
		573
		574	//############################################################################
		575	//Routine f�r die Serielle Ausgabe
		576	int uart_putchar (char c)
		577	//############################################################################
		578	{
		579	if (c == '\n')
		580	uart_putchar('\r');
		581	//Warten solange bis Zeichen gesendet wurde
		582	loop_until_bit_is_set(USR, UDRE);
		583	//Ausgabe des Zeichens
		584	UDR = c;
		585
		586	return (0);
		587	}
		588
		589	// --------------------------------------------------------------------------
		590	void WriteProgramData(unsigned int pos, unsigned char wert)
		591	{
		592	//if (ProgramLocation == IN_RAM) Buffer[pos] = wert;
		593	// else eeprom_write_byte(&EE_Buffer[pos], wert);
		594	// Buffer[pos] = wert;
		595	}
		596
		597	//############################################################################
		598	//INstallation der Seriellen Schnittstelle
		599	void UART_Init (void)
		600	//############################################################################
		601	{
		602	//Enable TXEN im Register UCR TX-Data Enable & RX Enable
		603
		604	UCR=(1 << TXEN) \| (1 << RXEN);
		605	// UART Double Speed (U2X)
		606	USR \|= (1<<U2X);
		607	// RX-Interrupt Freigabe
		608	UCSRB \|= (1<<RXCIE);
		609	// TX-Interrupt Freigabe
		610	UCSRB \|= (1<<TXCIE);
		611
		612	//Teiler wird gesetzt
		613	UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);
		614	//UBRR = 33;
		615	//�ffnet einen Kanal f�r printf (STDOUT)
		616	//fdevopen (uart_putchar, 0);
		617	//sbi(PORTD,4);
		618	Debug_Timer = SetDelay(200);
		619
		620	gpsState = GPS_EMPTY;
		621	}
		622
		623	//---------------------------------------------------------------------------------------------
		624	void DatenUebertragung(void)
		625	{
		626	static char dis_zeile = 0;
		627	if(!UebertragungAbgeschlossen) return;
		628
		629	if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zur�ckgelesen
		630	{
		631	SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn));
		632	DebugGetAnforderung = 0;
		633	}
		634
		635	if((CheckDelay(Debug_Timer) \|\| DebugDataAnforderung) && UebertragungAbgeschlossen)
		636	{
		637	SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
		638	DebugDataAnforderung = 0;
		639	Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);
		640	}
		641
		642	if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
		643	{
		644	Menu();
		645	DebugDisplayAnforderung = 0;
		646	if(++dis_zeile == 4) dis_zeile = 0;
		647	SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile �bertragen
		648	}
		649	if(GetVersionAnforderung && UebertragungAbgeschlossen)
		650	{
		651	SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
		652	GetVersionAnforderung = 0;
		653	}
		654
		655	}
		656

Subversion Repositories FlightCtrl

(root)/branches/GPS_BETA_chris2798_hallo2/uart.c - Rev 130