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