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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Regler für Brushless-Motoren |
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| 3 | // + ATMEGA8 mit 8MHz |
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| 4 | // + (c) 01.2007 Holger Buss |
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| 5 | // + Nur für den privaten Gebrauch |
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| 6 | // + Keine Garantie auf Fehlerfreiheit |
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| 7 | // + Kommerzielle Nutzung nur mit meiner Zustimmung |
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| 8 | // + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
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| 9 | // + www.mikrocontroller.com |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | |||
| 12 | #include "main.h" |
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| 13 | #include "uart.h" |
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| 14 | |||
| 15 | #define MAX_SENDE_BUFF 100 |
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| 16 | #define MAX_EMPFANGS_BUFF 100 |
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| 17 | |||
| 18 | unsigned volatile char SIO_Sollwert = 0; |
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| 19 | unsigned volatile char SioTmp = 0; |
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| 20 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 21 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 22 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 23 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 24 | unsigned char GetVersionAnforderung = 0,DebugTextAnforderung = 0,DebugGetAnforderung = 0, KompassAntwort = 0; |
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| 25 | unsigned char MeineSlaveAdresse; |
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| 26 | unsigned char MotorTest[4] = {0,0,0,0}; |
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| 27 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 28 | unsigned char PcZugriff; |
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| 29 | |||
| 30 | struct str_DebugOut DebugOut; |
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| 31 | struct str_WinkelOut WinkelOut; |
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| 32 | struct str_ExternControl ExternControl; |
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| 33 | struct str_VersionInfo VersionInfo; |
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| 34 | |||
| 35 | |||
| 3 | ingob | 36 | |
| 1 | ingob | 37 | int Debug_Timer; |
| 38 | |||
| 39 | const unsigned char ANALOG_TEXT[32][16] = |
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| 40 | { |
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| 41 | //1234567890123456 |
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| 42 | "Magnet N ", //0 |
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| 43 | "Magnet R ", |
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| 44 | "Magnet Z ", |
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| 45 | "Roh N ", |
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| 46 | "Roh R ", |
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| 47 | "Roh Z ", //5 |
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| 48 | "Lage N ", |
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| 49 | "Lage R ", |
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| 50 | " ", |
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| 51 | "Spannung ", |
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| 52 | "Empfang ", //10 |
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| 53 | "Analog11 ", |
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| 54 | "Motor_Vorne ", |
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| 55 | "Motor_Hinten ", |
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| 56 | "Kaompass ", |
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| 57 | "Motor_Rechts ", //15 |
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| 58 | "Acc_Z ", |
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| 59 | "MittelAccNick ", |
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| 60 | "MittelAccRoll ", |
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| 61 | "IntegralErrNick ", |
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| 62 | "IntegralErrRoll ", //20 |
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| 63 | "MittelIntNick ", |
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| 64 | "MittelIntRoll ", |
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| 65 | "NeutralNick ", |
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| 66 | "RollOffset ", |
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| 67 | "IntRoll*Faktor ", //25 |
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| 68 | "Analog26 ", |
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| 69 | "DirektAusglRoll ", |
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| 70 | "MesswertRoll ", |
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| 71 | "AusgleichRoll ", |
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| 72 | "I-LageRoll ", //30 |
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| 73 | "StickRoll " |
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| 74 | }; |
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| 75 | |||
| 76 | |||
| 77 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 78 | //++ Sende-Part der Datenübertragung |
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| 79 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 80 | SIGNAL(INT_VEC_TX) |
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| 81 | { |
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| 82 | static unsigned int ptr = 0; |
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| 83 | unsigned char tmp_tx; |
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| 84 | if(!UebertragungAbgeschlossen) |
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| 85 | { |
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| 86 | ptr++; // die [0] wurde schon gesendet |
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| 87 | tmp_tx = SendeBuffer[ptr]; |
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| 88 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 89 | { |
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| 90 | ptr = 0; |
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| 91 | UebertragungAbgeschlossen = 1; |
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| 92 | } |
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| 93 | UDR = tmp_tx; |
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| 94 | } |
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| 95 | else ptr = 0; |
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| 96 | } |
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| 97 | |||
| 98 | void SendUart(void) |
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| 99 | { |
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| 100 | static unsigned int ptr = 0; |
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| 101 | unsigned char tmp_tx; |
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| 102 | if(!(USR & 0x40)) return; |
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| 103 | if(!UebertragungAbgeschlossen) |
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| 104 | { |
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| 105 | ptr++; // die [0] wurde schon gesendet |
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| 106 | tmp_tx = SendeBuffer[ptr]; |
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| 107 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 108 | { |
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| 109 | ptr = 0; |
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| 110 | UebertragungAbgeschlossen = 1; |
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| 111 | } |
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| 112 | USR |= (1<TXC0); |
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| 113 | UDR = tmp_tx; |
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| 114 | } |
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| 115 | else ptr = 0; |
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| 116 | } |
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| 117 | |||
| 118 | // -------------------------------------------------------------------------- |
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| 119 | 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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| 120 | { |
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| 121 | unsigned char a,b,c,d; |
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| 122 | unsigned char ptr = 0; |
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| 123 | unsigned char x,y,z; |
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| 124 | while(len) |
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| 125 | { |
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| 126 | a = RxdBuffer[ptrIn++] - '='; |
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| 127 | b = RxdBuffer[ptrIn++] - '='; |
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| 128 | c = RxdBuffer[ptrIn++] - '='; |
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| 129 | d = RxdBuffer[ptrIn++] - '='; |
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| 130 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| 131 | |||
| 132 | x = (a << 2) | (b >> 4); |
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| 133 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 134 | z = ((c & 0x03) << 6) | d; |
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| 135 | |||
| 136 | if(len--) ptrOut[ptr++] = x; else break; |
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| 137 | if(len--) ptrOut[ptr++] = y; else break; |
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| 138 | if(len--) ptrOut[ptr++] = z; else break; |
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| 139 | } |
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| 140 | |||
| 141 | } |
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| 142 | |||
| 143 | |||
| 144 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 145 | //++ Empfangs-Part der Datenübertragung |
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| 146 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 147 | SIGNAL(INT_VEC_RX) |
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| 148 | { |
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| 149 | static unsigned int crc; |
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| 150 | static unsigned char crc1,crc2,buf_ptr; |
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| 151 | static unsigned char UartState = 0; |
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| 152 | unsigned char CrcOkay = 0; |
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| 153 | |||
| 154 | SioTmp = UDR; |
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| 155 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 156 | if(SioTmp == '\r' && UartState == 2) |
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| 157 | { |
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| 158 | UartState = 0; |
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| 159 | crc -= RxdBuffer[buf_ptr-2]; |
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| 160 | crc -= RxdBuffer[buf_ptr-1]; |
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| 161 | crc %= 4096; |
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| 162 | crc1 = '=' + crc / 64; |
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| 163 | crc2 = '=' + crc % 64; |
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| 164 | CrcOkay = 0; |
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| 165 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; }; |
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| 166 | if(CrcOkay) // Datensatz schon verarbeitet |
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| 167 | { |
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| 168 | NeuerDatensatzEmpfangen = 1; |
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| 169 | AnzahlEmpfangsBytes = buf_ptr; |
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| 170 | RxdBuffer[buf_ptr] = '\r'; |
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| 171 | if((RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
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| 172 | // uart_putchar(RxdBuffer[2]); |
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| 173 | } |
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| 174 | } |
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| 175 | else |
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| 176 | switch(UartState) |
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| 177 | { |
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| 178 | case 0: |
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| 179 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 180 | buf_ptr = 0; |
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| 181 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 182 | crc = SioTmp; |
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| 183 | break; |
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| 184 | case 1: // Adresse auswerten |
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| 185 | UartState++; |
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| 186 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 187 | crc += SioTmp; |
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| 188 | break; |
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| 189 | case 2: // Eingangsdaten sammeln |
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| 190 | RxdBuffer[buf_ptr] = SioTmp; |
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| 191 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 192 | else UartState = 0; |
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| 193 | crc += SioTmp; |
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| 194 | break; |
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| 195 | default: |
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| 196 | UartState = 0; |
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| 197 | break; |
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| 198 | } |
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| 199 | |||
| 200 | }; |
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| 201 | |||
| 202 | |||
| 203 | // -------------------------------------------------------------------------- |
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| 204 | void AddCRC(unsigned int wieviele) |
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| 205 | { |
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| 206 | unsigned int tmpCRC = 0,i; |
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| 207 | for(i = 0; i < wieviele;i++) |
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| 208 | { |
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| 209 | tmpCRC += SendeBuffer[i]; |
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| 210 | } |
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| 211 | tmpCRC %= 4096; |
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| 212 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 213 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 214 | SendeBuffer[i++] = '\r'; |
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| 215 | UebertragungAbgeschlossen = 0; |
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| 216 | UDR = SendeBuffer[0]; |
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| 217 | } |
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| 218 | |||
| 219 | |||
| 220 | // -------------------------------------------------------------------------- |
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| 221 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 222 | { |
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| 223 | unsigned int pt = 0; |
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| 224 | unsigned char a,b,c; |
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| 225 | unsigned char ptr = 0; |
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| 226 | |||
| 227 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 228 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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| 229 | SendeBuffer[pt++] = cmd; // Commando |
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| 230 | |||
| 231 | while(len) |
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| 232 | { |
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| 233 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 234 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 235 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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| 236 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 237 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 238 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 239 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 240 | } |
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| 241 | AddCRC(pt); |
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| 242 | } |
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| 243 | |||
| 244 | |||
| 245 | |||
| 246 | //############################################################################ |
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| 247 | //Routine für die Serielle Ausgabe |
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| 248 | int uart_putchar (char c) |
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| 249 | //############################################################################ |
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| 250 | { |
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| 251 | if (c == '\n') |
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| 252 | uart_putchar('\r'); |
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| 253 | //Warten solange bis Zeichen gesendet wurde |
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| 254 | loop_until_bit_is_set(USR, UDRE); |
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| 255 | //Ausgabe des Zeichens |
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| 256 | UDR = c; |
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| 257 | |||
| 258 | return (0); |
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| 259 | } |
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| 260 | |||
| 261 | // -------------------------------------------------------------------------- |
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| 262 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 263 | { |
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| 264 | } |
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| 265 | |||
| 266 | //############################################################################ |
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| 267 | //INstallation der Seriellen Schnittstelle |
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| 268 | void UART_Init (void) |
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| 269 | //############################################################################ |
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| 270 | { |
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| 271 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 272 | |||
| 273 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 274 | // UART Double Speed (U2X) |
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| 275 | USR |= (1<<U2X); |
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| 276 | // RX-Interrupt Freigabe |
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| 277 | |||
| 278 | UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
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| 279 | |||
| 280 | // TX-Interrupt Freigabe |
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| 281 | UCSRB |= (1<<TXCIE); |
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| 282 | |||
| 283 | //Teiler wird gesetzt |
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| 284 | UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
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| 285 | //öffnet einen Kanal für printf (STDOUT) |
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| 286 | // fdevopen (uart_putchar, NULL); |
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| 287 | Debug_Timer = SetDelay(200); |
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| 288 | // Version beim Start ausgeben (nicht schön, aber geht... ) |
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| 289 | uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':'); |
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| 290 | uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10); |
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| 291 | uart_putchar ('\n'); |
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| 292 | } |
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| 293 | |||
| 294 | |||
| 295 | void BearbeiteRxDaten(void) |
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| 296 | { |
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| 297 | if(!NeuerDatensatzEmpfangen) return; |
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| 298 | // unsigned int tmp_int_arr1[1]; |
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| 299 | // unsigned int tmp_int_arr2[2]; |
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| 300 | // unsigned int tmp_int_arr3[3]; |
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| 301 | unsigned char tmp_char_arr2[2]; |
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| 302 | // unsigned char tmp_char_arr3[3]; |
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| 303 | // unsigned char tmp_char_arr4[4]; |
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| 304 | //if(!MotorenEin) |
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| 305 | PcZugriff = 255; |
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| 306 | |||
| 307 | switch(RxdBuffer[2]) |
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| 308 | { |
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| 309 | case 'w':// Lagewinkel |
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| 310 | Decode64((unsigned char *) &WinkelOut,sizeof(WinkelOut),3,AnzahlEmpfangsBytes); |
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| 311 | DebugOut.Analog[15]++; |
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| 312 | KompassAntwort = 1; |
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| 313 | LED_ON; |
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| 314 | break; |
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| 315 | case 'c': |
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| 316 | case 'b': |
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| 317 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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| 318 | WinkelOut.Winkel[0] = ExternControl.Par1; |
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| 319 | WinkelOut.Winkel[1] = ExternControl.Par2; |
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| 320 | break; |
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| 321 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 322 | GetVersionAnforderung = 1; |
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| 323 | PC_Connected = 255; |
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| 324 | break; |
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| 325 | |||
| 326 | case 'a':// Texte der Analogwerte |
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| 327 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 328 | DebugTextAnforderung = tmp_char_arr2[0]; |
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| 329 | PC_Connected = 255; |
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| 330 | break; |
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| 331 | case 'g':// "Get"-Anforderung für Debug-Daten |
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| 332 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 333 | PC_Connected = 255; |
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| 334 | DebugGetAnforderung = 1; |
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| 335 | break; |
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| 336 | case 'h':// x-1 Displayzeilen |
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| 337 | PC_Connected = 255; |
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| 338 | break; |
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| 339 | /* |
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| 340 | case 'b': |
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| 341 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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| 342 | RemoteTasten |= ExternControl.RemoteTasten; |
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| 343 | ConfirmFrame = ExternControl.Frame; |
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| 344 | break; |
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| 345 | case 'c': |
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| 346 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
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| 347 | RemoteTasten |= ExternControl.RemoteTasten; |
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| 348 | ConfirmFrame = ExternControl.Frame; |
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| 349 | DebugDataAnforderung = 1; |
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| 350 | break; |
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| 351 | case 'h':// x-1 Displayzeilen |
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| 352 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 353 | RemoteTasten |= tmp_char_arr2[0]; |
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| 354 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
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| 355 | DebugDisplayAnforderung = 1; |
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| 356 | break; |
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| 357 | case 't':// Motortest |
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| 358 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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| 359 | break; |
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| 360 | case 'k':// Keys von DubWise |
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| 361 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
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| 362 | ConfirmFrame = DubWiseKeys[3]; |
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| 363 | break; |
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| 364 | case 'q':// "Get"-Anforderung für Settings |
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| 365 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 366 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 367 | if(tmp_char_arr2[0] != 0xff) |
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| 368 | { |
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| 369 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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| 370 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 371 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 372 | } |
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| 373 | else |
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| 374 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 375 | |||
| 376 | break; |
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| 377 | |||
| 378 | case 'l': |
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| 379 | case 'm': |
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| 380 | case 'n': |
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| 381 | case 'o': |
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| 382 | case 'p': // Parametersatz speichern |
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| 383 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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| 384 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 385 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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| 386 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 387 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 388 | Piep(GetActiveParamSetNumber()); |
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| 389 | break; |
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| 390 | */ |
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| 391 | |||
| 392 | } |
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| 393 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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| 394 | NeuerDatensatzEmpfangen = 0; |
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| 395 | } |
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| 396 | |||
| 397 | |||
| 398 | //--------------------------------------------------------------------------------------------- |
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| 399 | void DatenUebertragung(void) |
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| 400 | { |
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| 401 | if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
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| 402 | { |
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| 403 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 404 | Debug_Timer = SetDelay(250); // Sendeintervall |
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| 405 | } |
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| 406 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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| 407 | { |
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| 408 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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| 409 | GetVersionAnforderung = 0; |
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| 410 | } |
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| 411 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
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| 412 | { |
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| 413 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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| 414 | DebugTextAnforderung = 255; |
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| 415 | } |
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| 416 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 417 | { |
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| 418 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
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| 419 | DebugGetAnforderung = 0; |
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| 420 | } |
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| 421 | if(KompassAntwort && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 422 | { |
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| 3 | ingob | 423 | SendOutData('K',MeineSlaveAdresse,(unsigned char *) &I2C_Heading,sizeof(I2C_Heading)); |
| 1 | ingob | 424 | KompassAntwort = 0; |
| 425 | } |
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| 426 | } |
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| 427 |