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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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3 | !!! THIS IS NOT FREE SOFTWARE !!! |
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4 | #######################################################################################*/ |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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1 | ingob | 8 | // + Nur für den privaten Gebrauch |
12 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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12 | // + mit unserer Zustimmung zulässig |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
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17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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33 | // + this list of conditions and the following disclaimer. |
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34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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42 | // + In case of doubt please contact: info@MikroKopter.de |
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43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
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44 | // + clearly linked as origin |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1 | ingob | 57 | |
58 | #include "main.h" |
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59 | #include "uart.h" |
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60 | |||
61 | #define MAX_SENDE_BUFF 100 |
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62 | #define MAX_EMPFANGS_BUFF 100 |
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63 | |||
64 | unsigned volatile char SIO_Sollwert = 0; |
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65 | unsigned volatile char SioTmp = 0; |
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66 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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67 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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68 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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69 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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70 | unsigned char GetVersionAnforderung = 0,DebugTextAnforderung = 0,DebugGetAnforderung = 0, KompassAntwort = 0; |
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71 | unsigned char MeineSlaveAdresse; |
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72 | unsigned char MotorTest[4] = {0,0,0,0}; |
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73 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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74 | unsigned char PcZugriff; |
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75 | |||
76 | struct str_DebugOut DebugOut; |
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7 | hbuss | 77 | struct str_ExternData ExternData; |
1 | ingob | 78 | struct str_ExternControl ExternControl; |
79 | struct str_VersionInfo VersionInfo; |
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80 | |||
81 | |||
3 | ingob | 82 | |
1 | ingob | 83 | int Debug_Timer; |
84 | |||
85 | const unsigned char ANALOG_TEXT[32][16] = |
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86 | { |
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7 | hbuss | 87 | //1234567890123456 |
1 | ingob | 88 | "Magnet N ", //0 |
89 | "Magnet R ", |
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7 | hbuss | 90 | "Magnet Z ", |
91 | "Raw N ", |
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92 | "Raw R ", |
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93 | "Raw Z ", //5 |
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1 | ingob | 94 | "Lage N ", |
95 | "Lage R ", |
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7 | hbuss | 96 | "Xmin ", |
97 | "Xmax ", |
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98 | "Ymin ", //10 |
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99 | "Ymax ", |
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100 | "Zmin ", |
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101 | "ZMax ", |
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102 | "Calstate ", |
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103 | "Kompass ", //15 |
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5 | hbuss | 104 | "User0 ", |
105 | "User1 ", |
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7 | hbuss | 106 | "Analog18 ", |
107 | "Analog19 ", |
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108 | "Analog20 ", //20 |
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109 | "Analog21 ", |
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110 | "Analog22 ", |
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111 | "Analog23 ", |
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112 | "Analog24 ", |
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113 | "Analog25 ", //25 |
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1 | ingob | 114 | "Analog26 ", |
7 | hbuss | 115 | "Analog27 ", |
116 | "Analog28 ", |
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117 | "Analog29 ", |
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118 | "Analog30 ", //30 |
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119 | "Analog31 " |
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1 | ingob | 120 | }; |
121 | |||
122 | |||
7 | hbuss | 123 | |
1 | ingob | 124 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
125 | //++ Sende-Part der Datenübertragung |
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126 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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127 | SIGNAL(INT_VEC_TX) |
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128 | { |
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129 | static unsigned int ptr = 0; |
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130 | unsigned char tmp_tx; |
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131 | if(!UebertragungAbgeschlossen) |
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132 | { |
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133 | ptr++; // die [0] wurde schon gesendet |
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134 | tmp_tx = SendeBuffer[ptr]; |
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135 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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136 | { |
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137 | ptr = 0; |
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138 | UebertragungAbgeschlossen = 1; |
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139 | } |
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140 | UDR = tmp_tx; |
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141 | } |
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142 | else ptr = 0; |
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143 | } |
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144 | |||
145 | void SendUart(void) |
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146 | { |
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147 | static unsigned int ptr = 0; |
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148 | unsigned char tmp_tx; |
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149 | if(!(USR & 0x40)) return; |
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150 | if(!UebertragungAbgeschlossen) |
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151 | { |
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152 | ptr++; // die [0] wurde schon gesendet |
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153 | tmp_tx = SendeBuffer[ptr]; |
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154 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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155 | { |
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156 | ptr = 0; |
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157 | UebertragungAbgeschlossen = 1; |
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158 | } |
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159 | USR |= (1<TXC0); |
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160 | UDR = tmp_tx; |
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161 | } |
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162 | else ptr = 0; |
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163 | } |
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164 | |||
165 | // -------------------------------------------------------------------------- |
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166 | 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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167 | { |
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168 | unsigned char a,b,c,d; |
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169 | unsigned char ptr = 0; |
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170 | unsigned char x,y,z; |
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171 | while(len) |
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172 | { |
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173 | a = RxdBuffer[ptrIn++] - '='; |
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174 | b = RxdBuffer[ptrIn++] - '='; |
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175 | c = RxdBuffer[ptrIn++] - '='; |
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176 | d = RxdBuffer[ptrIn++] - '='; |
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177 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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178 | |||
179 | x = (a << 2) | (b >> 4); |
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180 | y = ((b & 0x0f) << 4) | (c >> 2); |
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181 | z = ((c & 0x03) << 6) | d; |
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182 | |||
183 | if(len--) ptrOut[ptr++] = x; else break; |
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184 | if(len--) ptrOut[ptr++] = y; else break; |
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185 | if(len--) ptrOut[ptr++] = z; else break; |
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186 | } |
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187 | |||
188 | } |
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189 | |||
190 | |||
191 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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192 | //++ Empfangs-Part der Datenübertragung |
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193 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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194 | SIGNAL(INT_VEC_RX) |
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195 | { |
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196 | static unsigned int crc; |
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197 | static unsigned char crc1,crc2,buf_ptr; |
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198 | static unsigned char UartState = 0; |
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199 | unsigned char CrcOkay = 0; |
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200 | |||
201 | SioTmp = UDR; |
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202 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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203 | if(SioTmp == '\r' && UartState == 2) |
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204 | { |
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205 | UartState = 0; |
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206 | crc -= RxdBuffer[buf_ptr-2]; |
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207 | crc -= RxdBuffer[buf_ptr-1]; |
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208 | crc %= 4096; |
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209 | crc1 = '=' + crc / 64; |
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210 | crc2 = '=' + crc % 64; |
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211 | CrcOkay = 0; |
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212 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
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213 | if(CrcOkay) // Datensatz schon verarbeitet |
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214 | { |
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215 | NeuerDatensatzEmpfangen = 1; |
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216 | AnzahlEmpfangsBytes = buf_ptr; |
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217 | RxdBuffer[buf_ptr] = '\r'; |
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218 | if((RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
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219 | // uart_putchar(RxdBuffer[2]); |
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220 | } |
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221 | } |
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222 | else |
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223 | switch(UartState) |
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224 | { |
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225 | case 0: |
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226 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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227 | buf_ptr = 0; |
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228 | RxdBuffer[buf_ptr++] = SioTmp; |
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229 | crc = SioTmp; |
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230 | break; |
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231 | case 1: // Adresse auswerten |
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232 | UartState++; |
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233 | RxdBuffer[buf_ptr++] = SioTmp; |
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234 | crc += SioTmp; |
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235 | break; |
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236 | case 2: // Eingangsdaten sammeln |
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237 | RxdBuffer[buf_ptr] = SioTmp; |
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238 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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239 | else UartState = 0; |
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240 | crc += SioTmp; |
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241 | break; |
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242 | default: |
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243 | UartState = 0; |
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244 | break; |
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245 | } |
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246 | |||
247 | }; |
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248 | |||
249 | |||
250 | // -------------------------------------------------------------------------- |
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251 | void AddCRC(unsigned int wieviele) |
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252 | { |
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253 | unsigned int tmpCRC = 0,i; |
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254 | for(i = 0; i < wieviele;i++) |
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255 | { |
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256 | tmpCRC += SendeBuffer[i]; |
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257 | } |
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258 | tmpCRC %= 4096; |
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259 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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260 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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261 | SendeBuffer[i++] = '\r'; |
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262 | UebertragungAbgeschlossen = 0; |
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263 | UDR = SendeBuffer[0]; |
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264 | } |
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265 | |||
266 | |||
267 | // -------------------------------------------------------------------------- |
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268 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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269 | { |
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270 | unsigned int pt = 0; |
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271 | unsigned char a,b,c; |
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272 | unsigned char ptr = 0; |
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273 | |||
274 | SendeBuffer[pt++] = '#'; // Startzeichen |
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275 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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276 | SendeBuffer[pt++] = cmd; // Commando |
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277 | |||
278 | while(len) |
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279 | { |
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280 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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281 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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282 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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283 | SendeBuffer[pt++] = '=' + (a >> 2); |
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284 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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285 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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286 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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287 | } |
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288 | AddCRC(pt); |
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289 | } |
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290 | |||
291 | |||
292 | |||
293 | //############################################################################ |
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294 | //Routine für die Serielle Ausgabe |
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295 | int uart_putchar (char c) |
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296 | //############################################################################ |
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297 | { |
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7 | hbuss | 298 | if(!(UCR & (1 << TXEN))) return (0); |
1 | ingob | 299 | if (c == '\n') |
300 | uart_putchar('\r'); |
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301 | //Warten solange bis Zeichen gesendet wurde |
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302 | loop_until_bit_is_set(USR, UDRE); |
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303 | //Ausgabe des Zeichens |
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304 | UDR = c; |
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305 | |||
306 | return (0); |
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307 | } |
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308 | |||
309 | // -------------------------------------------------------------------------- |
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310 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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311 | { |
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312 | } |
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313 | |||
314 | //############################################################################ |
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315 | //INstallation der Seriellen Schnittstelle |
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316 | void UART_Init (void) |
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317 | //############################################################################ |
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318 | { |
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319 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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320 | |||
321 | UCR=(1 << TXEN) | (1 << RXEN); |
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322 | // UART Double Speed (U2X) |
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323 | USR |= (1<<U2X); |
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324 | // RX-Interrupt Freigabe |
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325 | |||
326 | UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
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327 | |||
328 | // TX-Interrupt Freigabe |
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329 | UCSRB |= (1<<TXCIE); |
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330 | |||
331 | //Teiler wird gesetzt |
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332 | UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
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333 | //öffnet einen Kanal für printf (STDOUT) |
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334 | // fdevopen (uart_putchar, NULL); |
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335 | Debug_Timer = SetDelay(200); |
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336 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
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337 | uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':'); |
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338 | uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10); |
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339 | uart_putchar ('\n'); |
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340 | } |
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341 | |||
342 | |||
343 | void BearbeiteRxDaten(void) |
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344 | { |
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345 | if(!NeuerDatensatzEmpfangen) return; |
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346 | // unsigned int tmp_int_arr1[1]; |
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347 | // unsigned int tmp_int_arr2[2]; |
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348 | // unsigned int tmp_int_arr3[3]; |
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349 | unsigned char tmp_char_arr2[2]; |
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350 | // unsigned char tmp_char_arr3[3]; |
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351 | // unsigned char tmp_char_arr4[4]; |
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352 | //if(!MotorenEin) |
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353 | PcZugriff = 255; |
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354 | |||
355 | switch(RxdBuffer[2]) |
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356 | { |
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357 | case 'w':// Lagewinkel |
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7 | hbuss | 358 | Decode64((unsigned char *) &ExternData,sizeof(ExternData),3,AnzahlEmpfangsBytes); |
1 | ingob | 359 | DebugOut.Analog[15]++; |
360 | KompassAntwort = 1; |
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361 | break; |
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362 | case 'c': |
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363 | case 'b': |
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364 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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7 | hbuss | 365 | ExternData.Winkel[0] = ExternControl.Par1; |
366 | ExternData.Winkel[1] = ExternControl.Par2; |
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1 | ingob | 367 | break; |
368 | case 'v': // Version-Anforderung und Ausbaustufe |
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369 | GetVersionAnforderung = 1; |
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370 | PC_Connected = 255; |
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371 | break; |
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372 | |||
373 | case 'a':// Texte der Analogwerte |
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374 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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375 | DebugTextAnforderung = tmp_char_arr2[0]; |
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376 | PC_Connected = 255; |
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377 | break; |
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378 | case 'g':// "Get"-Anforderung für Debug-Daten |
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379 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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380 | PC_Connected = 255; |
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381 | DebugGetAnforderung = 1; |
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382 | break; |
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383 | case 'h':// x-1 Displayzeilen |
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384 | PC_Connected = 255; |
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385 | break; |
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386 | /* |
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387 | case 'b': |
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388 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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389 | RemoteTasten |= ExternControl.RemoteTasten; |
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390 | ConfirmFrame = ExternControl.Frame; |
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391 | break; |
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392 | case 'c': |
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393 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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394 | RemoteTasten |= ExternControl.RemoteTasten; |
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395 | ConfirmFrame = ExternControl.Frame; |
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396 | DebugDataAnforderung = 1; |
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397 | break; |
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398 | case 'h':// x-1 Displayzeilen |
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399 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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400 | RemoteTasten |= tmp_char_arr2[0]; |
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401 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
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402 | DebugDisplayAnforderung = 1; |
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403 | break; |
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404 | case 't':// Motortest |
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405 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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406 | break; |
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407 | case 'k':// Keys von DubWise |
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408 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
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409 | ConfirmFrame = DubWiseKeys[3]; |
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410 | break; |
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411 | case 'q':// "Get"-Anforderung für Settings |
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412 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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413 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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414 | if(tmp_char_arr2[0] != 0xff) |
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415 | { |
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416 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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417 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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418 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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419 | } |
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420 | else |
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421 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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422 | |||
423 | break; |
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424 | |||
425 | case 'l': |
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426 | case 'm': |
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427 | case 'n': |
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428 | case 'o': |
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429 | case 'p': // Parametersatz speichern |
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430 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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431 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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432 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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433 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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434 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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435 | Piep(GetActiveParamSetNumber()); |
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436 | break; |
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437 | */ |
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438 | |||
439 | } |
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440 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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441 | NeuerDatensatzEmpfangen = 0; |
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442 | } |
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443 | |||
444 | |||
445 | //--------------------------------------------------------------------------------------------- |
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446 | void DatenUebertragung(void) |
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447 | { |
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448 | if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
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449 | { |
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7 | hbuss | 450 | SetDebugValues(); |
1 | ingob | 451 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
452 | Debug_Timer = SetDelay(250); // Sendeintervall |
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453 | } |
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454 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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455 | { |
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456 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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457 | GetVersionAnforderung = 0; |
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458 | } |
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459 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
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460 | { |
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461 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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462 | DebugTextAnforderung = 255; |
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463 | } |
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464 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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465 | { |
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466 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
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467 | DebugGetAnforderung = 0; |
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468 | } |
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469 | if(KompassAntwort && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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470 | { |
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3 | ingob | 471 | SendOutData('K',MeineSlaveAdresse,(unsigned char *) &I2C_Heading,sizeof(I2C_Heading)); |
1 | ingob | 472 | KompassAntwort = 0; |
473 | } |
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474 | } |
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475 |