Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + only for non-profit use

// + www.MikroKopter.com

// + see the File "License.txt" for further Informations

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

#include "uart.h"

unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;

unsigned volatile char SioTmp = 0;

unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];

unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];

unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];

unsigned volatile char NeuerDatensatzEmpfangen = 0;

unsigned volatile char NeueKoordinateEmpfangen = 0;

unsigned volatile char UebertragungAbgeschlossen = 1;

unsigned volatile char CntCrcError = 0;

unsigned volatile char AnzahlEmpfangsBytes = 0;

unsigned volatile char PC_DebugTimeout = 0;

unsigned char RemotePollDisplayLine = 0;

unsigned char NurKanalAnforderung = 0;

unsigned char DebugTextAnforderung = 255;

unsigned char PcZugriff = 100;

unsigned char MotorTest[4] = {0,0,0,0};

unsigned char DubWiseKeys[4] = {0,0,0,0};

unsigned char MeineSlaveAdresse;

unsigned char ConfirmFrame;

struct str_DebugOut    DebugOut;

struct str_ExternControl  ExternControl;

struct str_VersionInfo VersionInfo;

struct str_WinkelOut WinkelOut;

int Debug_Timer,Kompass_Timer;

const unsigned char ANALOG_TEXT[32][16] =

{

   //1234567890123456 

    "IntegralNick    ", //0

    "IntegralRoll    ",

    "AccNick         ",

    "AccRoll         ",

    "GyroGier        ",

    "HoehenWert      ", //5

    "Giermischanteil ",

    "Gas             ",

    "KompassValue    ",

    "Spannung        ",

    "Mess_integ_gier ", //10

    "Ersatzkompass   ",

    "Motor_Vorne     ",

    "Motor_Hinten    ",

    "Motor_Links     ",

    "Motor_Rechts    ", //15

    "                ",

    "                ",

    "                ",

    "                ",

    "                ", //20

    "Nick            ",

    "Roll            ",

    "debug_0         ",

    "debug_1         ",

    "debug_2         ", //25

    "utm_east        ",

    "utm_north       ",

    "utm_alt         ",

    "GPS_State       ",

    "GPS_Nick        ", //30

    "GPS_Roll        "

};

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++ Sende-Part der Datenübertragung

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SIGNAL(INT_VEC_TX)

{

 static unsigned int ptr = 0;

 unsigned char tmp_tx;

 if(!UebertragungAbgeschlossen)  

  {

   ptr++;                    // die [0] wurde schon gesendet

   tmp_tx = SendeBuffer[ptr];  

   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))

    {

     ptr = 0;

     UebertragungAbgeschlossen = 1;

    }

   UDR = tmp_tx;

  }

  else ptr = 0;

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SIGNAL(INT_VEC_RX)

{

 static unsigned int crc;

 static unsigned char crc1,crc2,buf_ptr;

 static unsigned char UartState = 0;

 unsigned char CrcOkay = 0;

 SioTmp = UDR;

 //Salvo 11.9.2007 GPS Daten holen

 Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen

 // Salvo End

 if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;

 if(SioTmp == '\r' && UartState == 2)

  {

   UartState = 0;

   crc -= RxdBuffer[buf_ptr-2];

   crc -= RxdBuffer[buf_ptr-1];

   crc %= 4096;

   crc1 = '=' + crc / 64;

   crc2 = '=' + crc % 64;

   CrcOkay = 0;

   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};

   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet

    {

     NeuerDatensatzEmpfangen = 1;

         AnzahlEmpfangsBytes = buf_ptr;

     RxdBuffer[buf_ptr] = '\r';

         if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando

        }                                

  }

  else

  switch(UartState)

  {

   case 0:

          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet

                  buf_ptr = 0;

                  RxdBuffer[buf_ptr++] = SioTmp;

                  crc = SioTmp;

          break;

   case 1: // Adresse auswerten

                  UartState++;

                  RxdBuffer[buf_ptr++] = SioTmp;

                  crc += SioTmp;

                  break;

   case 2: //  Eingangsdaten sammeln

                  RxdBuffer[buf_ptr] = SioTmp;

                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;

                  else UartState = 0;

                  crc += SioTmp;

                  break;

   default:

          UartState = 0;

          break;

  }

}

// --------------------------------------------------------------------------

void AddCRC(unsigned int wieviele)

{

 unsigned int tmpCRC = 0,i;

 for(i = 0; i < wieviele;i++)

  {

   tmpCRC += SendeBuffer[i];

  }

   tmpCRC %= 4096;

   SendeBuffer[i++] = '=' + tmpCRC / 64;

   SendeBuffer[i++] = '=' + tmpCRC % 64;

   SendeBuffer[i++] = '\r';

  UebertragungAbgeschlossen = 0;

  UDR = SendeBuffer[0];

}

// --------------------------------------------------------------------------

void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)

{

 unsigned int pt = 0;

 unsigned char a,b,c;

 unsigned char ptr = 0;

 SendeBuffer[pt++] = '#';               // Startzeichen

 SendeBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)

 SendeBuffer[pt++] = cmd;                       // Commando

 while(len)

  {

   if(len) { a = snd[ptr++]; len--;} else a = 0;

   if(len) { b = snd[ptr++]; len--;} else b = 0;

   if(len) { c = snd[ptr++]; len--;} else c = 0;

   SendeBuffer[pt++] = '=' + (a >> 2);

   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

   SendeBuffer[pt++] = '=' + ( c & 0x3f);

  }

 AddCRC(pt);

}

// --------------------------------------------------------------------------

void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)  // Wohin mit den Daten; Wie lang; Wo im RxdBuffer

{

 unsigned char a,b,c,d;

 unsigned char ptr = 0;

 unsigned char x,y,z;

 while(len)

  {

   a = RxdBuffer[ptrIn++] - '=';

   b = RxdBuffer[ptrIn++] - '=';

   c = RxdBuffer[ptrIn++] - '=';

   d = RxdBuffer[ptrIn++] - '=';

   if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden

   x = (a << 2) | (b >> 4);

   y = ((b & 0x0f) << 4) | (c >> 2);

   z = ((c & 0x03) << 6) | d;

   if(len--) ptrOut[ptr++] = x; else break;

   if(len--) ptrOut[ptr++] = y; else break;

   if(len--) ptrOut[ptr++] = z; else break;

  }

}

// --------------------------------------------------------------------------

void BearbeiteRxDaten(void)

{

 if(!NeuerDatensatzEmpfangen) return;

 unsigned int tmp_int_arr1[1];

// unsigned int tmp_int_arr2[2];

// unsigned int tmp_int_arr3[3];

 unsigned char tmp_char_arr2[2];

// unsigned char tmp_char_arr3[3];

// unsigned char tmp_char_arr4[4];

 //if(!MotorenEin) 

  switch(RxdBuffer[2])

  {

   case 'K':// Kompasswert

            Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes);

            KompassValue = tmp_int_arr1[0];

            KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;

                        break;

   case 'a':// Texte der Analogwerte

            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);

            DebugTextAnforderung = tmp_char_arr2[0];

            PcZugriff = 255;

                        break;

   case 'b':

                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);

                        RemoteTasten |= ExternControl.RemoteTasten;

            ConfirmFrame = ExternControl.Frame;

            PcZugriff = 255;

            break;

   case 'c':

                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);

                        RemoteTasten |= ExternControl.RemoteTasten;

            ConfirmFrame = ExternControl.Frame;

            DebugDataAnforderung = 1;

            PcZugriff = 255;

            break;

   case 'h':// x-1 Displayzeilen

            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);

            RemoteTasten |= tmp_char_arr2[0];

                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten

                        DebugDisplayAnforderung = 1;

                        break;

   case 't':// Motortest

            Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);

            PcZugriff = 255;

                        break;

   case 'k':// Keys von DubWise

            Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes);

                        ConfirmFrame = DubWiseKeys[3];

            PcZugriff = 255;

                        break;

   case 'v': // Version-Anforderung     und Ausbaustufe

            GetVersionAnforderung = 1;

            break;                                                               

   case 'g':// "Get"-Anforderung für Debug-Daten 

            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen

            DebugGetAnforderung = 1;

            break;

   case 'q':// "Get"-Anforderung für Settings

            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen

            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);

            while(!UebertragungAbgeschlossen);

            if(tmp_char_arr2[0] != 0xff)

             {

                          if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;

                  ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);                   

                  SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);

             }

             else

                  SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);

            break;

   case 'l':

   case 'm':

   case 'n':

   case 'o':

   case 'p': // Parametersatz speichern

            Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);

                        WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);

            eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1);  // aktiven Datensatz merken

            Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;

            Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;

            Piep(GetActiveParamSetNumber());

         break;

  }

// DebugOut.AnzahlZyklen =  Debug_Timer_Intervall;

 NeuerDatensatzEmpfangen = 0;

}

//############################################################################

//Routine für die Serielle Ausgabe

int uart_putchar (char c)

//############################################################################

{

        if (c == '\n')

                uart_putchar('\r');

        //Warten solange bis Zeichen gesendet wurde

        loop_until_bit_is_set(USR, UDRE);

        //Ausgabe des Zeichens

        UDR = c;

        return (0);

}

// --------------------------------------------------------------------------

void WriteProgramData(unsigned int pos, unsigned char wert)

{

  //if (ProgramLocation == IN_RAM) Buffer[pos] = wert;

  // else eeprom_write_byte(&EE_Buffer[pos], wert);

  // Buffer[pos] = wert;

}

//############################################################################

//INstallation der Seriellen Schnittstelle

void UART_Init (void)

//############################################################################

{

        //Enable TXEN im Register UCR TX-Data Enable & RX Enable

        UCR=(1 << TXEN) | (1 << RXEN);

    // UART Double Speed (U2X)

        USR   |= (1<<U2X);          

        // RX-Interrupt Freigabe

        UCSRB |= (1<<RXCIE);          

        // TX-Interrupt Freigabe

        UCSRB |= (1<<TXCIE);          

        //Teiler wird gesetzt 

        UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);

        //UBRR = 33;

        //öffnet einen Kanal für printf (STDOUT)

        //fdevopen (uart_putchar, 0);

        //sbi(PORTD,4);

  Debug_Timer = SetDelay(200);  

  Kompass_Timer = SetDelay(220);  

}

//---------------------------------------------------------------------------------------------

void DatenUebertragung(void)  

{

 if(!UebertragungAbgeschlossen) return;

   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen

   {

      SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl));

          DebugGetAnforderung = 0;

   }

    if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen)        

         {

                  WinkelOut.Winkel[0] = (int) (IntegralNick / 108);  // etwa in 0,1 Grad

                  WinkelOut.Winkel[1] = (int) (IntegralRoll / 108);  // etwa in 0,1 Grad

                  WinkelOut.UserParameter[0] = Parameter_UserParam1;

                  WinkelOut.UserParameter[1] = Parameter_UserParam2;

          SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut));

          if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt

          Kompass_Timer = SetDelay(99);  

         }

    if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen)  

         {

          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));

          DebugDataAnforderung = 0;

          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);  

         }

    if(DebugTextAnforderung != 255) // Texte für die Analogdaten

     {

      SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16);

      DebugTextAnforderung = 255;

         }

     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz ohne CRC bestätigen 

         {

      SendeBuffer[0] = '#';

      SendeBuffer[1] = ConfirmFrame;

      SendeBuffer[2] = '\r';

      UebertragungAbgeschlossen = 0;

      ConfirmFrame = 0;

      UDR = SendeBuffer[0];

     }

     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)

         {

      Menu();

          DebugDisplayAnforderung = 0;

      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)

      {

       SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen

       RemotePollDisplayLine = -1;

      }

      else  SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen

         }

    if(GetVersionAnforderung && UebertragungAbgeschlossen)

     {

      SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));

          GetVersionAnforderung = 0;

     }

}