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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1032 | flinkflash | 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 | |||
| 8 | #include "main.h" |
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| 9 | #include "uart.h" |
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| 10 | |||
| 11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
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| 12 | unsigned volatile char SioTmp = 0; |
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| 13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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| 16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 19 | unsigned volatile char CntCrcError = 0; |
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| 20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 21 | unsigned volatile char PC_DebugTimeout = 0; |
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| 22 | unsigned char RemotePollDisplayLine = 0; |
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| 23 | unsigned char NurKanalAnforderung = 0; |
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| 24 | unsigned char DebugTextAnforderung = 255; |
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| 25 | unsigned char PcZugriff = 100; |
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| 26 | unsigned char MotorTest[4] = {0,0,0,0}; |
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| 27 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
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| 28 | unsigned char MeineSlaveAdresse; |
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| 29 | unsigned char ConfirmFrame; |
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| 30 | struct str_DebugOut DebugOut; |
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| 31 | struct str_ExternControl ExternControl; |
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| 32 | struct str_VersionInfo VersionInfo; |
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| 33 | struct str_WinkelOut WinkelOut; |
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| 34 | |||
| 35 | int Debug_Timer,Kompass_Timer; |
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| 36 | |||
| 37 | const unsigned char ANALOG_TEXT[32][16] = |
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| 38 | { |
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| 39 | //1234567890123456 |
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| 40 | "IntegralNick ", //0 |
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| 41 | "IntegralRoll ", |
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| 42 | "AccNick ", |
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| 43 | "AccRoll ", |
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| 44 | "GyroGier ", |
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| 45 | "HoehenWert ", //5 |
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| 46 | "AccZ ", |
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| 47 | "Gas ", |
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| 48 | "KompassValue ", |
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| 49 | "Spannung ", |
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| 50 | "Empfang ", //10 |
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| 51 | "Ersatzkompass ", |
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| 52 | "Motor_Vorne ", |
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| 53 | "Motor_Hinten ", |
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| 54 | "Motor_Links ", |
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| 55 | "Motor_Rechts ", //15 |
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| 56 | " ", |
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| 57 | "Distance ", |
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| 58 | "OsdBar ", |
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| 59 | "MK3Mag CalState ", |
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| 60 | "Servo ", //20 |
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| 61 | "Nick ", |
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| 62 | "Roll ", |
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| 63 | " ", |
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| 64 | " ", |
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| 65 | " ", //25 |
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| 66 | " ", |
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| 67 | " ", |
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| 68 | " ", |
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| 69 | " ", |
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| 70 | "GPS_Nick ", //30 |
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| 71 | "GPS_Roll " |
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| 72 | }; |
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| 73 | |||
| 74 | |||
| 75 | |||
| 76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 77 | //++ Sende-Part der Datenübertragung |
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| 78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 79 | SIGNAL(INT_VEC_TX) |
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| 80 | { |
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| 81 | static unsigned int ptr = 0; |
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| 82 | unsigned char tmp_tx; |
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| 83 | if(!UebertragungAbgeschlossen) |
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| 84 | { |
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| 85 | ptr++; // die [0] wurde schon gesendet |
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| 86 | tmp_tx = SendeBuffer[ptr]; |
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| 87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 88 | { |
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| 89 | ptr = 0; |
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| 90 | UebertragungAbgeschlossen = 1; |
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| 91 | } |
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| 92 | UDR = tmp_tx; |
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| 93 | } |
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| 94 | else ptr = 0; |
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| 95 | } |
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| 96 | |||
| 97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 100 | SIGNAL(INT_VEC_RX) |
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| 101 | { |
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| 102 | static unsigned int crc; |
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| 103 | static unsigned char crc1,crc2,buf_ptr; |
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| 104 | static unsigned char UartState = 0; |
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| 105 | unsigned char CrcOkay = 0; |
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| 106 | |||
| 107 | SioTmp = UDR; |
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| 108 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 109 | if(SioTmp == '\r' && UartState == 2) |
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| 110 | { |
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| 111 | UartState = 0; |
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| 112 | crc -= RxdBuffer[buf_ptr-2]; |
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| 113 | crc -= RxdBuffer[buf_ptr-1]; |
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| 114 | crc %= 4096; |
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| 115 | crc1 = '=' + crc / 64; |
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| 116 | crc2 = '=' + crc % 64; |
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| 117 | CrcOkay = 0; |
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| 118 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 119 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 120 | { |
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| 121 | NeuerDatensatzEmpfangen = 1; |
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| 122 | AnzahlEmpfangsBytes = buf_ptr; |
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| 123 | RxdBuffer[buf_ptr] = '\r'; |
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| 124 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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| 125 | } |
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| 126 | } |
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| 127 | else |
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| 128 | switch(UartState) |
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| 129 | { |
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| 130 | case 0: |
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| 131 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 132 | buf_ptr = 0; |
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| 133 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 134 | crc = SioTmp; |
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| 135 | break; |
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| 136 | case 1: // Adresse auswerten |
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| 137 | UartState++; |
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| 138 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 139 | crc += SioTmp; |
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| 140 | break; |
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| 141 | case 2: // Eingangsdaten sammeln |
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| 142 | RxdBuffer[buf_ptr] = SioTmp; |
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| 143 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 144 | else UartState = 0; |
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| 145 | crc += SioTmp; |
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| 146 | break; |
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| 147 | default: |
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| 148 | UartState = 0; |
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| 149 | break; |
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| 150 | } |
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| 151 | } |
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| 152 | |||
| 153 | |||
| 154 | // -------------------------------------------------------------------------- |
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| 155 | void AddCRC(unsigned int wieviele) |
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| 156 | { |
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| 157 | unsigned int tmpCRC = 0,i; |
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| 158 | for(i = 0; i < wieviele;i++) |
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| 159 | { |
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| 160 | tmpCRC += SendeBuffer[i]; |
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| 161 | } |
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| 162 | tmpCRC %= 4096; |
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| 163 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 164 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 165 | SendeBuffer[i++] = '\r'; |
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| 166 | UebertragungAbgeschlossen = 0; |
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| 167 | UDR = SendeBuffer[0]; |
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| 168 | } |
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| 169 | |||
| 170 | |||
| 171 | |||
| 172 | // -------------------------------------------------------------------------- |
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| 173 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 174 | { |
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| 175 | unsigned int pt = 0; |
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| 176 | unsigned char a,b,c; |
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| 177 | unsigned char ptr = 0; |
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| 178 | |||
| 179 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 180 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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| 181 | SendeBuffer[pt++] = cmd; // Commando |
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| 182 | |||
| 183 | while(len) |
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| 184 | { |
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| 185 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 186 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 187 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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| 188 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 189 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 190 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 191 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 192 | } |
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| 193 | AddCRC(pt); |
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| 194 | } |
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| 195 | |||
| 196 | |||
| 197 | // -------------------------------------------------------------------------- |
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| 198 | 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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| 199 | { |
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| 200 | unsigned char a,b,c,d; |
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| 201 | unsigned char ptr = 0; |
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| 202 | unsigned char x,y,z; |
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| 203 | while(len) |
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| 204 | { |
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| 205 | a = RxdBuffer[ptrIn++] - '='; |
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| 206 | b = RxdBuffer[ptrIn++] - '='; |
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| 207 | c = RxdBuffer[ptrIn++] - '='; |
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| 208 | d = RxdBuffer[ptrIn++] - '='; |
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| 209 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| 210 | |||
| 211 | x = (a << 2) | (b >> 4); |
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| 212 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 213 | z = ((c & 0x03) << 6) | d; |
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| 214 | |||
| 215 | if(len--) ptrOut[ptr++] = x; else break; |
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| 216 | if(len--) ptrOut[ptr++] = y; else break; |
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| 217 | if(len--) ptrOut[ptr++] = z; else break; |
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| 218 | } |
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| 219 | |||
| 220 | } |
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| 221 | |||
| 222 | // -------------------------------------------------------------------------- |
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| 223 | void BearbeiteRxDaten(void) |
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| 224 | { |
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| 225 | if(!NeuerDatensatzEmpfangen) return; |
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| 226 | |||
| 227 | unsigned int tmp_int_arr1[1]; |
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| 228 | // unsigned int tmp_int_arr2[2]; |
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| 229 | // unsigned int tmp_int_arr3[3]; |
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| 230 | unsigned char tmp_char_arr2[2]; |
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| 231 | // unsigned char tmp_char_arr3[3]; |
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| 232 | // unsigned char tmp_char_arr4[4]; |
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| 233 | //if(!MotorenEin) |
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| 234 | switch(RxdBuffer[2]) |
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| 235 | { |
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| 236 | case 'K':// Kompasswert |
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| 237 | Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes); |
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| 238 | KompassValue = tmp_int_arr1[0]; |
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| 239 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
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| 240 | break; |
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| 241 | case 'a':// Texte der Analogwerte |
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| 242 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 243 | DebugTextAnforderung = tmp_char_arr2[0]; |
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| 244 | PcZugriff = 255; |
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| 245 | break; |
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| 246 | case 'b': |
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| 247 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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| 248 | RemoteTasten |= ExternControl.RemoteTasten; |
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| 249 | ConfirmFrame = ExternControl.Frame; |
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| 250 | PcZugriff = 255; |
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| 251 | break; |
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| 252 | case 'c': |
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| 253 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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| 254 | RemoteTasten |= ExternControl.RemoteTasten; |
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| 255 | ConfirmFrame = ExternControl.Frame; |
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| 256 | DebugDataAnforderung = 1; |
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| 257 | PcZugriff = 255; |
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| 258 | break; |
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| 259 | case 'h':// x-1 Displayzeilen |
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| 260 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 261 | RemoteTasten |= tmp_char_arr2[0]; |
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| 262 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
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| 263 | DebugDisplayAnforderung = 1; |
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| 264 | break; |
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| 265 | case 't':// Motortest |
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| 266 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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| 267 | PcZugriff = 255; |
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| 268 | break; |
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| 269 | case 'k':// Keys von DubWise |
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| 270 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
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| 271 | ConfirmFrame = DubWiseKeys[3]; |
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| 272 | PcZugriff = 255; |
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| 273 | break; |
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| 274 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 275 | GetVersionAnforderung = 1; |
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| 276 | break; |
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| 277 | case 'g':// "Get"-Anforderung für Debug-Daten |
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| 278 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 279 | DebugGetAnforderung = 1; |
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| 280 | break; |
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| 281 | case 'q':// "Get"-Anforderung für Settings |
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| 282 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 283 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 284 | while(!UebertragungAbgeschlossen); |
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| 285 | if(tmp_char_arr2[0] != 0xff) |
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| 286 | { |
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| 287 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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| 288 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 289 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 290 | } |
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| 291 | else |
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| 292 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 293 | |||
| 294 | break; |
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| 295 | |||
| 296 | case 'l': |
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| 297 | case 'm': |
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| 298 | case 'n': |
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| 299 | case 'o': |
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| 300 | case 'p': // Parametersatz speichern |
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| 301 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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| 302 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 303 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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| 304 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 305 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 306 | Piep(GetActiveParamSetNumber()); |
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| 307 | break; |
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| 308 | |||
| 309 | |||
| 310 | } |
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| 311 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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| 312 | NeuerDatensatzEmpfangen = 0; |
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| 313 | } |
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| 314 | |||
| 315 | //############################################################################ |
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| 316 | //Routine für die Serielle Ausgabe |
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| 317 | int uart_putchar (char c) |
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| 318 | //############################################################################ |
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| 319 | { |
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| 320 | if (c == '\n') |
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| 321 | uart_putchar('\r'); |
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| 322 | //Warten solange bis Zeichen gesendet wurde |
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| 323 | loop_until_bit_is_set(USR, UDRE); |
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| 324 | //Ausgabe des Zeichens |
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| 325 | UDR = c; |
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| 326 | |||
| 327 | return (0); |
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| 328 | } |
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| 329 | |||
| 330 | // -------------------------------------------------------------------------- |
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| 331 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 332 | { |
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| 333 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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| 334 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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| 335 | // Buffer[pos] = wert; |
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| 336 | } |
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| 337 | |||
| 338 | //############################################################################ |
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| 339 | //INstallation der Seriellen Schnittstelle |
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| 340 | void UART_Init (void) |
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| 341 | //############################################################################ |
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| 342 | { |
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| 343 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 344 | |||
| 345 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 346 | // UART Double Speed (U2X) |
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| 347 | USR |= (1<<U2X); |
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| 348 | // RX-Interrupt Freigabe |
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| 349 | UCSRB |= (1<<RXCIE); |
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| 350 | // TX-Interrupt Freigabe |
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| 351 | UCSRB |= (1<<TXCIE); |
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| 352 | |||
| 353 | //Teiler wird gesetzt |
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| 354 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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| 355 | //UBRR = 33; |
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| 356 | //öffnet einen Kanal für printf (STDOUT) |
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| 357 | //fdevopen (uart_putchar, 0); |
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| 358 | //sbi(PORTD,4); |
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| 359 | Debug_Timer = SetDelay(200); |
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| 360 | Kompass_Timer = SetDelay(220); |
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| 361 | } |
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| 362 | |||
| 363 | //--------------------------------------------------------------------------------------------- |
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| 364 | void DatenUebertragung(void) |
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| 365 | { |
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| 366 | if(!UebertragungAbgeschlossen) return; |
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| 367 | |||
| 368 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 369 | { |
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| 370 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
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| 371 | DebugGetAnforderung = 0; |
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| 372 | } |
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| 373 | |||
| 374 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
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| 375 | { |
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| 376 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
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| 377 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
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| 378 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
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| 379 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
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| 380 | SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
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| 381 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
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| 382 | Kompass_Timer = SetDelay(99); |
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| 383 | } |
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| 384 | |||
| 385 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
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| 386 | { |
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| 387 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 388 | DebugDataAnforderung = 0; |
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| 389 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
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| 390 | } |
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| 391 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
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| 392 | { |
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| 393 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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| 394 | DebugTextAnforderung = 255; |
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| 395 | } |
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| 396 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
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| 397 | { |
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| 398 | SendeBuffer[0] = '#'; |
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| 399 | SendeBuffer[1] = ConfirmFrame; |
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| 400 | SendeBuffer[2] = '\r'; |
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| 401 | UebertragungAbgeschlossen = 0; |
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| 402 | ConfirmFrame = 0; |
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| 403 | UDR = SendeBuffer[0]; |
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| 404 | } |
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| 405 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
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| 406 | { |
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| 407 | Menu(); |
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| 408 | DebugDisplayAnforderung = 0; |
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| 409 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
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| 410 | { |
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| 411 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
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| 412 | RemotePollDisplayLine = -1; |
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| 413 | } |
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| 414 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
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| 415 | } |
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| 416 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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| 417 | { |
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| 418 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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| 419 | GetVersionAnforderung = 0; |
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| 420 | } |
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| 421 | |||
| 422 | } |
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| 423 |