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