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