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440 | Nick666 | 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 PcZugriff = 100; |
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23 | unsigned char MotorTest[4] = {0,0,0,0}; |
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24 | unsigned char MeineSlaveAdresse; |
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25 | struct str_DebugOut DebugOut; |
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26 | struct str_Debug DebugIn; |
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27 | struct str_VersionInfo VersionInfo; |
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28 | int Debug_Timer; |
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29 | |||
30 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | //++ Sende-Part der Datenübertragung |
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32 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | SIGNAL(INT_VEC_TX) |
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34 | { |
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35 | static unsigned int ptr = 0; |
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36 | unsigned char tmp_tx; |
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37 | if(!UebertragungAbgeschlossen) |
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38 | { |
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39 | ptr++; // die [0] wurde schon gesendet |
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40 | tmp_tx = SendeBuffer[ptr]; |
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41 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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42 | { |
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43 | ptr = 0; |
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44 | UebertragungAbgeschlossen = 1; |
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45 | } |
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46 | UDR = tmp_tx; |
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47 | } |
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48 | else ptr = 0; |
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49 | } |
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50 | |||
51 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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53 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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54 | SIGNAL(INT_VEC_RX) |
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55 | { |
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56 | static unsigned int crc; |
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57 | static unsigned char crc1,crc2,buf_ptr; |
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58 | static unsigned char UartState = 0; |
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59 | unsigned char CrcOkay = 0; |
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60 | |||
61 | SioTmp = UDR; |
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62 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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63 | if(SioTmp == '\r' && UartState == 2) |
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64 | { |
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65 | UartState = 0; |
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66 | crc -= RxdBuffer[buf_ptr-2]; |
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67 | crc -= RxdBuffer[buf_ptr-1]; |
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68 | crc %= 4096; |
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69 | crc1 = '=' + crc / 64; |
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70 | crc2 = '=' + crc % 64; |
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71 | CrcOkay = 0; |
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72 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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73 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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74 | { |
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75 | NeuerDatensatzEmpfangen = 1; |
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76 | AnzahlEmpfangsBytes = buf_ptr; |
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77 | RxdBuffer[buf_ptr] = '\r'; |
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78 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
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79 | } |
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80 | } |
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81 | else |
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82 | switch(UartState) |
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83 | { |
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84 | case 0: |
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85 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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86 | buf_ptr = 0; |
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87 | RxdBuffer[buf_ptr++] = SioTmp; |
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88 | crc = SioTmp; |
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89 | break; |
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90 | case 1: // Adresse auswerten |
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91 | UartState++; |
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92 | RxdBuffer[buf_ptr++] = SioTmp; |
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93 | crc += SioTmp; |
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94 | break; |
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95 | case 2: // Eingangsdaten sammeln |
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96 | RxdBuffer[buf_ptr] = SioTmp; |
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97 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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98 | else UartState = 0; |
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99 | crc += SioTmp; |
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100 | break; |
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101 | default: |
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102 | UartState = 0; |
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103 | break; |
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104 | } |
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105 | } |
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106 | |||
107 | |||
108 | // -------------------------------------------------------------------------- |
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109 | void AddCRC(unsigned int wieviele) |
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110 | { |
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111 | unsigned int tmpCRC = 0,i; |
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112 | for(i = 0; i < wieviele;i++) |
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113 | { |
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114 | tmpCRC += SendeBuffer[i]; |
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115 | } |
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116 | tmpCRC %= 4096; |
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117 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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118 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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119 | SendeBuffer[i++] = '\r'; |
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120 | UebertragungAbgeschlossen = 0; |
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121 | UDR = SendeBuffer[0]; |
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122 | } |
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123 | |||
124 | |||
125 | |||
126 | // -------------------------------------------------------------------------- |
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127 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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128 | { |
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129 | unsigned int pt = 0; |
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130 | unsigned char a,b,c; |
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131 | unsigned char ptr = 0; |
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132 | |||
133 | SendeBuffer[pt++] = '#'; // Startzeichen |
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134 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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135 | SendeBuffer[pt++] = cmd; // Commando |
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136 | |||
137 | while(len) |
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138 | { |
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139 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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140 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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141 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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142 | SendeBuffer[pt++] = '=' + (a >> 2); |
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143 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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144 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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145 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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146 | } |
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147 | AddCRC(pt); |
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148 | } |
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149 | |||
150 | |||
151 | // -------------------------------------------------------------------------- |
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152 | 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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153 | { |
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154 | unsigned char a,b,c,d; |
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155 | unsigned char ptr = 0; |
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156 | unsigned char x,y,z; |
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157 | while(len) |
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158 | { |
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159 | a = RxdBuffer[ptrIn++] - '='; |
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160 | b = RxdBuffer[ptrIn++] - '='; |
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161 | c = RxdBuffer[ptrIn++] - '='; |
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162 | d = RxdBuffer[ptrIn++] - '='; |
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163 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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164 | |||
165 | x = (a << 2) | (b >> 4); |
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166 | y = ((b & 0x0f) << 4) | (c >> 2); |
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167 | z = ((c & 0x03) << 6) | d; |
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168 | |||
169 | if(len--) ptrOut[ptr++] = x; else break; |
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170 | if(len--) ptrOut[ptr++] = y; else break; |
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171 | if(len--) ptrOut[ptr++] = z; else break; |
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172 | } |
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173 | |||
174 | } |
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175 | |||
176 | // -------------------------------------------------------------------------- |
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177 | void BearbeiteRxDaten(void) |
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178 | { |
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179 | if(!NeuerDatensatzEmpfangen) return; |
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180 | |||
181 | //unsigned int tmp_int_arr1[1]; |
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182 | //unsigned int tmp_int_arr2[2]; |
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183 | //unsigned int tmp_int_arr3[3]; |
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184 | unsigned char tmp_char_arr2[2]; |
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185 | //unsigned char tmp_char_arr3[3]; |
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186 | //unsigned char tmp_char_arr4[4]; |
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187 | //if(!MotorenEin) |
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188 | PcZugriff = 255; |
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189 | switch(RxdBuffer[2]) |
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190 | { |
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191 | case 'c':// Debugdaten incl. Externe IOs usw |
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192 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
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193 | /* for(unsigned char i=0; i<4;i++) |
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194 | { |
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195 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
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196 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
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197 | }*/ |
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198 | RemoteTasten |= DebugIn.RemoteTasten; |
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199 | DebugDataAnforderung = 1; |
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200 | break; |
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201 | |||
202 | case 'h':// x-1 Displayzeilen |
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203 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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204 | RemoteTasten |= tmp_char_arr2[0]; |
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205 | DebugDisplayAnforderung = 1; |
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206 | break; |
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207 | case 't':// Motortest |
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208 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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209 | break; |
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210 | case 'v': // Version-Anforderung und Ausbaustufe |
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211 | GetVersionAnforderung = 1; |
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212 | break; |
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213 | case 'g':// "Get"-Anforderung für Debug-Daten |
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214 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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215 | DebugGetAnforderung = 1; |
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216 | break; |
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217 | case 'q':// "Get"-Anforderung für Settings |
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218 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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219 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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220 | if(tmp_char_arr2[0] != 0xff) |
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221 | { |
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222 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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223 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
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224 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
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225 | } |
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226 | else |
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227 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
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228 | |||
229 | break; |
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230 | |||
231 | case 'l': |
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232 | case 'm': |
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233 | case 'n': |
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234 | case 'o': |
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235 | case 'p': // Parametersatz speichern |
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236 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct),3,AnzahlEmpfangsBytes); |
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237 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
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238 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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239 | Piep(GetActiveParamSetNumber()); |
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240 | break; |
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241 | |||
242 | |||
243 | } |
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244 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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245 | NeuerDatensatzEmpfangen = 0; |
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246 | } |
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247 | |||
248 | //############################################################################ |
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249 | //Routine für die Serielle Ausgabe |
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250 | int uart_putchar (char c) |
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251 | //############################################################################ |
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252 | { |
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253 | if (c == '\n') |
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254 | uart_putchar('\r'); |
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255 | //Warten solange bis Zeichen gesendet wurde |
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256 | loop_until_bit_is_set(USR, UDRE); |
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257 | //Ausgabe des Zeichens |
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258 | UDR = c; |
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259 | |||
260 | return (0); |
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261 | } |
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262 | |||
263 | // -------------------------------------------------------------------------- |
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264 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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265 | { |
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266 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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267 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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268 | // Buffer[pos] = wert; |
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269 | } |
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270 | |||
271 | //############################################################################ |
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272 | //INstallation der Seriellen Schnittstelle |
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273 | void UART_Init (void) |
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274 | //############################################################################ |
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275 | { |
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276 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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277 | |||
278 | UCR=(1 << TXEN) | (1 << RXEN); |
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279 | // UART Double Speed (U2X) |
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280 | USR |= (1<<U2X); |
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281 | // RX-Interrupt Freigabe |
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282 | UCSRB |= (1<<RXCIE); |
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283 | // TX-Interrupt Freigabe |
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284 | UCSRB |= (1<<TXCIE); |
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285 | |||
286 | //Teiler wird gesetzt |
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287 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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288 | //UBRR = 33; |
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289 | //öffnet einen Kanal für printf (STDOUT) |
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290 | //fdevopen (uart_putchar, 0); |
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291 | //sbi(PORTD,4); |
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292 | Debug_Timer = SetDelay(200); |
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293 | } |
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294 | |||
295 | //--------------------------------------------------------------------------------------------- |
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296 | void DatenUebertragung(void) |
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297 | { |
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298 | static char dis_zeile = 0; |
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299 | if(!UebertragungAbgeschlossen) return; |
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300 | |||
301 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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302 | { |
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303 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
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304 | DebugGetAnforderung = 0; |
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305 | } |
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306 | |||
307 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
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308 | { |
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309 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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310 | DebugDataAnforderung = 0; |
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311 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
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312 | } |
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313 | |||
314 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
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315 | { |
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316 | Menu(); |
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317 | DebugDisplayAnforderung = 0; |
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318 | if(++dis_zeile == 4) dis_zeile = 0; |
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319 | SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
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320 | } |
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321 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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322 | { |
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323 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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324 | GetVersionAnforderung = 0; |
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325 | } |
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326 | |||
327 | } |
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328 |