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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + only for non-profit use
4
// + www.MikroKopter.com
5
// + see the File "License.txt" for further Informations
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
 
8
#include "main.h"
9
#include "uart.h"
10
 
11
unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0;
12
unsigned volatile char SioTmp = 0;
13
unsigned volatile char SendeBuffer[MAX_SENDE_BUFF];
14
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF];
15
unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF];
16
unsigned volatile char NeuerDatensatzEmpfangen = 0;
17
unsigned volatile char NeueKoordinateEmpfangen = 0;
18
unsigned volatile char UebertragungAbgeschlossen = 1;
19
unsigned volatile char CntCrcError = 0;
20
unsigned volatile char AnzahlEmpfangsBytes = 0;
21
unsigned volatile char PC_DebugTimeout = 0;
499 hbuss 22
unsigned char RemotePollDisplayLine = 0;
395 hbuss 23
unsigned char NurKanalAnforderung = 0;
499 hbuss 24
unsigned char DebugTextAnforderung = 255;
1 ingob 25
unsigned char PcZugriff = 100;
26
unsigned char MotorTest[4] = {0,0,0,0};
595 hbuss 27
unsigned char DubWiseKeys[4] = {0,0,0,0};
1 ingob 28
unsigned char MeineSlaveAdresse;
595 hbuss 29
unsigned char ConfirmFrame;
1 ingob 30
struct str_DebugOut    DebugOut;
595 hbuss 31
struct str_ExternControl  ExternControl;
1 ingob 32
struct str_VersionInfo VersionInfo;
33
int Debug_Timer;
34
 
499 hbuss 35
const unsigned char ANALOG_TEXT[32][16] =
36
{
37
   //1234567890123456 
38
    "IntegralNick    ", //0
39
    "IntegralRoll    ",
40
    "AccNick         ",
41
    "AccRoll         ",
42
    "GyroGier        ",
43
    "HoehenWert      ", //5
44
    "AccZ            ",
45
    "Gas             ",
46
    "KompassValue    ",
513 hbuss 47
    "Spannung        ",
48
    "Empfang         ", //10
49
    "Analog11        ",
499 hbuss 50
    "Motor_Vorne     ",
51
    "Motor_Hinten    ",
52
    "Motor_Links     ",
53
    "Motor_Rechts    ", //15
513 hbuss 54
    "Acc_Z           ",
55
    "MittelAccNick   ",
56
    "MittelAccRoll   ",
57
    "IntegralErrNick ",
499 hbuss 58
    "IntegralErrRoll ", //20
513 hbuss 59
    "MittelIntNick   ",
655 hbuss 60
    "MittelIntRoll   ",
513 hbuss 61
    "NeutralNick     ",
62
    "RollOffset      ",
63
    "IntRoll*Faktor  ", //25
623 hbuss 64
    "Analog26        ",
499 hbuss 65
    "DirektAusglRoll ",
513 hbuss 66
    "MesswertRoll    ",
67
    "AusgleichRoll   ",
68
    "I-LageRoll      ", //30
69
    "StickRoll       "
499 hbuss 70
};
71
 
72
 
73
 
1 ingob 74
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
75
//++ Sende-Part der Datenübertragung
76
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
77
SIGNAL(INT_VEC_TX)
78
{
79
 static unsigned int ptr = 0;
80
 unsigned char tmp_tx;
81
 if(!UebertragungAbgeschlossen)  
82
  {
83
   ptr++;                    // die [0] wurde schon gesendet
84
   tmp_tx = SendeBuffer[ptr];  
85
   if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))
86
    {
87
     ptr = 0;
88
     UebertragungAbgeschlossen = 1;
89
    }
90
   UDR = tmp_tx;
91
  }
92
  else ptr = 0;
93
}
94
 
95
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
96
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung
97
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
98
SIGNAL(INT_VEC_RX)
99
{
100
 static unsigned int crc;
101
 static unsigned char crc1,crc2,buf_ptr;
102
 static unsigned char UartState = 0;
103
 unsigned char CrcOkay = 0;
104
 
105
 SioTmp = UDR;
106
 if(buf_ptr >= MAX_EMPFANGS_BUFF)    UartState = 0;
107
 if(SioTmp == '\r' && UartState == 2)
108
  {
109
   UartState = 0;
110
   crc -= RxdBuffer[buf_ptr-2];
111
   crc -= RxdBuffer[buf_ptr-1];
112
   crc %= 4096;
113
   crc1 = '=' + crc / 64;
114
   crc2 = '=' + crc % 64;
115
   CrcOkay = 0;
116
   if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;};
117
   if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
118
    {
119
     NeuerDatensatzEmpfangen = 1;
120
         AnzahlEmpfangsBytes = buf_ptr;
121
     RxdBuffer[buf_ptr] = '\r';
173 holgerb 122
         if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando
1 ingob 123
        }                                
124
  }
125
  else
126
  switch(UartState)
127
  {
128
   case 0:
129
          if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1;  // Startzeichen und Daten schon verarbeitet
130
                  buf_ptr = 0;
131
                  RxdBuffer[buf_ptr++] = SioTmp;
132
                  crc = SioTmp;
133
          break;
134
   case 1: // Adresse auswerten
135
                  UartState++;
136
                  RxdBuffer[buf_ptr++] = SioTmp;
137
                  crc += SioTmp;
138
                  break;
139
   case 2: //  Eingangsdaten sammeln
140
                  RxdBuffer[buf_ptr] = SioTmp;
141
                  if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;
142
                  else UartState = 0;
143
                  crc += SioTmp;
144
                  break;
145
   default:
146
          UartState = 0;
147
          break;
148
  }
149
}
150
 
151
 
152
// --------------------------------------------------------------------------
153
void AddCRC(unsigned int wieviele)
154
{
155
 unsigned int tmpCRC = 0,i;
156
 for(i = 0; i < wieviele;i++)
157
  {
158
   tmpCRC += SendeBuffer[i];
159
  }
160
   tmpCRC %= 4096;
161
   SendeBuffer[i++] = '=' + tmpCRC / 64;
162
   SendeBuffer[i++] = '=' + tmpCRC % 64;
163
   SendeBuffer[i++] = '\r';
164
  UebertragungAbgeschlossen = 0;
165
  UDR = SendeBuffer[0];
166
}
167
 
168
 
169
 
170
// --------------------------------------------------------------------------
171
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
172
{
173
 unsigned int pt = 0;
174
 unsigned char a,b,c;
175
 unsigned char ptr = 0;
176
 
177
 SendeBuffer[pt++] = '#';               // Startzeichen
178
 SendeBuffer[pt++] = modul;             // Adresse (a=0; b=1,...)
179
 SendeBuffer[pt++] = cmd;                       // Commando
180
 
181
 while(len)
182
  {
183
   if(len) { a = snd[ptr++]; len--;} else a = 0;
184
   if(len) { b = snd[ptr++]; len--;} else b = 0;
185
   if(len) { c = snd[ptr++]; len--;} else c = 0;
186
   SendeBuffer[pt++] = '=' + (a >> 2);
187
   SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
188
   SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
189
   SendeBuffer[pt++] = '=' + ( c & 0x3f);
190
  }
191
 AddCRC(pt);
192
}
193
 
194
 
195
// --------------------------------------------------------------------------
196
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max)  // Wohin mit den Daten; Wie lang; Wo im RxdBuffer
197
{
198
 unsigned char a,b,c,d;
199
 unsigned char ptr = 0;
200
 unsigned char x,y,z;
201
 while(len)
202
  {
203
   a = RxdBuffer[ptrIn++] - '=';
204
   b = RxdBuffer[ptrIn++] - '=';
205
   c = RxdBuffer[ptrIn++] - '=';
206
   d = RxdBuffer[ptrIn++] - '=';
207
   if(ptrIn > max - 2) break;     // nicht mehr Daten verarbeiten, als empfangen wurden
208
 
209
   x = (a << 2) | (b >> 4);
210
   y = ((b & 0x0f) << 4) | (c >> 2);
211
   z = ((c & 0x03) << 6) | d;
212
 
213
   if(len--) ptrOut[ptr++] = x; else break;
214
   if(len--) ptrOut[ptr++] = y; else break;
215
   if(len--) ptrOut[ptr++] = z; else break;
216
  }
217
 
218
}
219
 
220
// --------------------------------------------------------------------------
221
void BearbeiteRxDaten(void)
222
{
223
 if(!NeuerDatensatzEmpfangen) return;
224
 
304 ingob 225
// unsigned int tmp_int_arr1[1];
226
// unsigned int tmp_int_arr2[2];
227
// unsigned int tmp_int_arr3[3];
1 ingob 228
 unsigned char tmp_char_arr2[2];
304 ingob 229
// unsigned char tmp_char_arr3[3];
230
// unsigned char tmp_char_arr4[4];
1 ingob 231
 //if(!MotorenEin) 
232
 PcZugriff = 255;
233
  switch(RxdBuffer[2])
234
  {
499 hbuss 235
   case 'a':// Texte der Analogwerte
236
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
237
            DebugTextAnforderung = tmp_char_arr2[0];
238
                        break;
595 hbuss 239
   case 'b':
240
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
241
                        RemoteTasten |= ExternControl.RemoteTasten;
242
            ConfirmFrame = ExternControl.Frame;
243
            break;
244
   case 'c':
245
                        Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes);
246
                        RemoteTasten |= ExternControl.RemoteTasten;
247
            ConfirmFrame = ExternControl.Frame;
1 ingob 248
            DebugDataAnforderung = 1;
249
            break;
250
   case 'h':// x-1 Displayzeilen
251
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
252
            RemoteTasten |= tmp_char_arr2[0];
395 hbuss 253
                        if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten
1 ingob 254
                        DebugDisplayAnforderung = 1;
255
                        break;
256
   case 't':// Motortest
257
            Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);
258
                        break;
492 hbuss 259
   case 'k':// Keys von DubWise
260
            Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes);
595 hbuss 261
                        ConfirmFrame = DubWiseKeys[3];
492 hbuss 262
                        break;
1 ingob 263
   case 'v': // Version-Anforderung     und Ausbaustufe
264
            GetVersionAnforderung = 1;
265
            break;                                                               
266
   case 'g':// "Get"-Anforderung für Debug-Daten 
267
            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
268
            DebugGetAnforderung = 1;
269
            break;
270
   case 'q':// "Get"-Anforderung für Settings
271
            // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
272
            Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes);
273
            if(tmp_char_arr2[0] != 0xff)
274
             {
275
                          if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5;
276
                  ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);                   
277
                  SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
278
             }
279
             else
280
                  SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE);
281
 
282
            break;
283
 
284
   case 'l':
285
   case 'm':
286
   case 'n':
287
   case 'o':
288
   case 'p': // Parametersatz speichern
289
            Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes);
290
                        WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
291
            eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1);  // aktiven Datensatz merken
395 hbuss 292
            Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
293
            Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 294
            Piep(GetActiveParamSetNumber());
295
         break;
296
 
297
 
298
  }
299
// DebugOut.AnzahlZyklen =  Debug_Timer_Intervall;
300
 NeuerDatensatzEmpfangen = 0;
301
}
302
 
303
//############################################################################
304
//Routine für die Serielle Ausgabe
305
int uart_putchar (char c)
306
//############################################################################
307
{
308
        if (c == '\n')
309
                uart_putchar('\r');
310
        //Warten solange bis Zeichen gesendet wurde
311
        loop_until_bit_is_set(USR, UDRE);
312
        //Ausgabe des Zeichens
313
        UDR = c;
314
 
315
        return (0);
316
}
317
 
318
// --------------------------------------------------------------------------
319
void WriteProgramData(unsigned int pos, unsigned char wert)
320
{
321
  //if (ProgramLocation == IN_RAM) Buffer[pos] = wert;
322
  // else eeprom_write_byte(&EE_Buffer[pos], wert);
323
  // Buffer[pos] = wert;
324
}
325
 
326
//############################################################################
327
//INstallation der Seriellen Schnittstelle
328
void UART_Init (void)
329
//############################################################################
330
{
331
        //Enable TXEN im Register UCR TX-Data Enable & RX Enable
332
 
333
        UCR=(1 << TXEN) | (1 << RXEN);
334
    // UART Double Speed (U2X)
335
        USR   |= (1<<U2X);          
336
        // RX-Interrupt Freigabe
337
        UCSRB |= (1<<RXCIE);          
338
        // TX-Interrupt Freigabe
339
        UCSRB |= (1<<TXCIE);          
340
 
341
        //Teiler wird gesetzt 
342
        UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1);
343
        //UBRR = 33;
344
        //öffnet einen Kanal für printf (STDOUT)
345
        //fdevopen (uart_putchar, 0);
346
        //sbi(PORTD,4);
347
  Debug_Timer = SetDelay(200);  
348
}
349
 
350
//---------------------------------------------------------------------------------------------
351
void DatenUebertragung(void)  
352
{
353
 if(!UebertragungAbgeschlossen) return;
354
 
355
   if(DebugGetAnforderung && UebertragungAbgeschlossen)               // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen
356
   {
595 hbuss 357
      SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl));
1 ingob 358
          DebugGetAnforderung = 0;
359
   }
360
 
361
    if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen)  
362
         {
363
          SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));
364
          DebugDataAnforderung = 0;
365
          Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL);  
366
         }
499 hbuss 367
    if(DebugTextAnforderung != 255) // Texte für die Analogdaten
368
     {
369
      SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16);
370
      DebugTextAnforderung = 255;
371
         }
595 hbuss 372
     if(ConfirmFrame && UebertragungAbgeschlossen)   // Datensatz ohne CRC bestätigen 
373
         {
374
      SendeBuffer[0] = '#';
375
      SendeBuffer[1] = ConfirmFrame;
376
      SendeBuffer[2] = '\r';
377
      UebertragungAbgeschlossen = 0;
378
      ConfirmFrame = 0;
379
      UDR = SendeBuffer[0];
380
     }
1 ingob 381
     if(DebugDisplayAnforderung && UebertragungAbgeschlossen)
382
         {
383
      Menu();
384
          DebugDisplayAnforderung = 0;
499 hbuss 385
      if(++RemotePollDisplayLine == 4 || NurKanalAnforderung)
173 holgerb 386
      {
304 ingob 387
       SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in));   // DisplayZeile übertragen
499 hbuss 388
       RemotePollDisplayLine = -1;
173 holgerb 389
      }
499 hbuss 390
      else  SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20);   // DisplayZeile übertragen
1 ingob 391
         }
392
    if(GetVersionAnforderung && UebertragungAbgeschlossen)
393
     {
394
      SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
395
          GetVersionAnforderung = 0;
396
     }
397
 
398
}
399