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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 90 | gunterl | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Copyright (c) 12.2007 Gunter Logemann (Roboboard extensions, serial control) |
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| 4 | // + only for non-profit use |
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| 5 | // + www.MikroKopter.com |
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| 6 | // + see the File "License.txt" for further Informations |
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| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 8 | |||
| 9 | #include "main.h" |
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| 10 | #include "uart.h" |
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| 11 | |||
| 12 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
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| 13 | unsigned volatile char SioTmp = 0; |
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| 14 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
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| 15 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
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| 16 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
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| 17 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
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| 18 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
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| 19 | unsigned volatile char UebertragungAbgeschlossen = 1; |
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| 20 | unsigned volatile char CntCrcError = 0; |
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| 21 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
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| 22 | unsigned volatile char PC_DebugTimeout = 0; |
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| 23 | unsigned char RemotePollDisplayLine = 0; |
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| 24 | unsigned char NurKanalAnforderung = 0; |
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| 25 | unsigned char DebugTextAnforderung = 255; |
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| 26 | unsigned char PcZugriff = 100; |
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| 27 | unsigned char MotorTest[4] = {0,0,0,0}; |
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| 28 | unsigned char DubWiseKeys[3] = {0,0,0}; |
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| 29 | unsigned char MeineSlaveAdresse; |
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| 30 | struct str_DebugOut DebugOut; |
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| 31 | struct str_Debug DebugIn; |
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| 32 | struct str_VersionInfo VersionInfo; |
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| 33 | int Debug_Timer; |
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| 34 | |||
| 35 | unsigned volatile char SioTmp1 = 0; |
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| 36 | unsigned volatile char SendeBuffer1[MAX_SENDE_BUFF]; |
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| 37 | unsigned volatile char RxdBuffer1[MAX_EMPFANGS_BUFF]; |
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| 38 | unsigned volatile char NeuerDatensatzEmpfangen1 = 0; |
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| 39 | unsigned volatile char AnzahlEmpfangsBytes1 = 0; |
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| 40 | unsigned volatile char UebertragungAbgeschlossen1 = 1; |
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| 41 | |||
| 42 | struct str_ControlIn ControlIn; |
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| 43 | struct str_ControlOut ControlOut; |
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| 44 | unsigned volatile char ControlReceived = 0; |
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| 45 | |||
| 46 | |||
| 47 | const unsigned char ANALOG_TEXT[32][16] = |
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| 48 | { |
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| 49 | //1234567890123456 |
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| 50 | "IntegralNick ", //0 |
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| 51 | "IntegralRoll ", |
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| 52 | "AccNick ", |
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| 53 | "AccRoll ", |
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| 54 | "GyroGier ", |
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| 55 | "HoehenWert ", //5 |
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| 56 | "AccZ ", |
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| 57 | "Gas ", |
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| 58 | "KompassValue ", |
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| 59 | "Spannung ", |
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| 60 | "Empfang ", //10 |
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| 61 | "11 --- ", |
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| 62 | "Motor_Vorne ", |
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| 63 | "Motor_Hinten ", |
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| 64 | "Motor_Links ", |
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| 65 | "Motor_Rechts ", //15 |
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| 66 | "16_Acc_Z ", |
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| 67 | "17MittelAccNick ", |
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| 68 | "18_MittelAccRoll", |
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| 69 | "Analog19 ", |
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| 70 | "IntegralErrRoll ", //20 |
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| 71 | "Analog21 ", |
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| 72 | "22_MittelGIngR ", |
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| 73 | "Analog23 ", |
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| 74 | "24RollOffset ", |
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| 75 | "25IntRoll*Fakt ", //25 |
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| 76 | "Analog26 ", |
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| 77 | "DirektAusglRoll ", |
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| 78 | "28MesswertRoll ", |
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| 79 | "29AusgleichRoll ", |
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| 80 | "30_I-LageRoll ", //30 |
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| 81 | "31_StickRoll " |
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| 82 | }; |
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| 83 | |||
| 84 | |||
| 85 | |||
| 86 | // 2. Seriell Schnittstelle |
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| 87 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 88 | //++ Sende-Part der Datenübertragung an zweiten UART |
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| 89 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 90 | SIGNAL(INT_VEC_TX1) |
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| 91 | { |
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| 92 | static unsigned int ptr1 = 0; |
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| 93 | unsigned char tmp_tx1; |
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| 94 | if(!UebertragungAbgeschlossen1) |
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| 95 | { |
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| 96 | ptr1++; // die [0] wurde schon gesendet |
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| 97 | tmp_tx1 = SendeBuffer1[ptr1]; |
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| 98 | if((tmp_tx1 == '\r') || (ptr1 == MAX_SENDE_BUFF)) |
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| 99 | { |
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| 100 | ptr1 = 0; |
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| 101 | UebertragungAbgeschlossen1 = 1; |
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| 102 | } |
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| 103 | UDR1 = tmp_tx1; |
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| 104 | } |
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| 105 | else ptr1 = 0; |
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| 106 | } |
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| 107 | |||
| 108 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 109 | //++ Empfangs-Part der Datenübertragung von zweitem UART |
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| 110 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 111 | SIGNAL(INT_VEC_RX1) |
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| 112 | { |
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| 113 | static unsigned char buf_ptr1; |
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| 114 | static unsigned char UartState1 = 0; |
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| 115 | SioTmp1 = UDR1; |
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| 116 | if(buf_ptr1 >= MAX_EMPFANGS_BUFF) UartState1 = 0; |
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| 117 | if(SioTmp1 == '\r' && UartState1 == 2) |
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| 118 | { |
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| 119 | UartState1 = 0; |
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| 120 | NeuerDatensatzEmpfangen1 = 1; |
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| 121 | AnzahlEmpfangsBytes1 = buf_ptr1; |
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| 122 | RxdBuffer1[buf_ptr1] = '\r'; |
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| 123 | } |
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| 124 | else |
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| 125 | switch(UartState1) |
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| 126 | { |
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| 127 | case 0: |
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| 128 | if(SioTmp1 == '#' && !NeuerDatensatzEmpfangen1) |
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| 129 | { |
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| 130 | UartState1 = 1; // Startzeichen und Daten schon verarbeitet |
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| 131 | buf_ptr1 = 0; |
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| 132 | RxdBuffer1[buf_ptr1++] = SioTmp1; |
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| 133 | } |
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| 134 | break; |
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| 135 | case 1: // Adresse auswerten |
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| 136 | UartState1++; |
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| 137 | RxdBuffer1[buf_ptr1++] = SioTmp1; |
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| 138 | break; |
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| 139 | case 2: // Eingangsdaten sammeln |
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| 140 | RxdBuffer1[buf_ptr1] = SioTmp1; |
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| 141 | if(buf_ptr1 < MAX_EMPFANGS_BUFF) buf_ptr1++; |
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| 142 | else UartState1 = 0; |
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| 143 | break; |
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| 144 | default: |
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| 145 | UartState1 = 0; |
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| 146 | break; |
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| 147 | } |
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| 148 | } |
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| 149 | |||
| 150 | |||
| 151 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 152 | //++ Sende-Part der Datenübertragung |
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| 153 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 154 | SIGNAL(INT_VEC_TX0) |
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| 155 | { |
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| 156 | static unsigned int ptr = 0; |
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| 157 | unsigned char tmp_tx; |
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| 158 | if(!UebertragungAbgeschlossen) |
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| 159 | { |
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| 160 | ptr++; // die [0] wurde schon gesendet |
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| 161 | tmp_tx = SendeBuffer[ptr]; |
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| 162 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
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| 163 | { |
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| 164 | ptr = 0; |
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| 165 | UebertragungAbgeschlossen = 1; |
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| 166 | } |
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| 167 | UDR = tmp_tx; |
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| 168 | } |
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| 169 | else ptr = 0; |
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| 170 | } |
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| 171 | |||
| 172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 173 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
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| 174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 175 | SIGNAL(INT_VEC_RX0) |
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| 176 | { |
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| 177 | static unsigned int crc; |
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| 178 | static unsigned char crc1,crc2,buf_ptr; |
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| 179 | static unsigned char UartState = 0; |
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| 180 | unsigned char CrcOkay = 0; |
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| 181 | |||
| 182 | SioTmp = UDR; |
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| 183 | |||
| 184 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
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| 185 | if(SioTmp == '\r' && UartState == 2) |
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| 186 | { |
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| 187 | UartState = 0; |
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| 188 | crc -= RxdBuffer[buf_ptr-2]; |
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| 189 | crc -= RxdBuffer[buf_ptr-1]; |
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| 190 | crc %= 4096; |
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| 191 | crc1 = '=' + crc / 64; |
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| 192 | crc2 = '=' + crc % 64; |
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| 193 | CrcOkay = 0; |
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| 194 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
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| 195 | |||
| 196 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
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| 197 | { |
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| 198 | NeuerDatensatzEmpfangen = 1; |
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| 199 | AnzahlEmpfangsBytes = buf_ptr; |
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| 200 | RxdBuffer[buf_ptr] = '\r'; |
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| 201 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
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| 202 | } |
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| 203 | } |
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| 204 | else |
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| 205 | switch(UartState) |
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| 206 | { |
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| 207 | case 0: |
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| 208 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) { |
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| 209 | UartState = 1; // Startzeichen und Daten schon verarbeitet |
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| 210 | buf_ptr = 0; |
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| 211 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 212 | crc = SioTmp; |
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| 213 | } |
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| 214 | break; |
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| 215 | case 1: // Adresse auswerten |
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| 216 | UartState++; |
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| 217 | RxdBuffer[buf_ptr++] = SioTmp; |
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| 218 | crc += SioTmp; |
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| 219 | break; |
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| 220 | case 2: // Eingangsdaten sammeln |
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| 221 | RxdBuffer[buf_ptr] = SioTmp; |
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| 222 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
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| 223 | else UartState = 0; |
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| 224 | crc += SioTmp; |
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| 225 | break; |
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| 226 | default: |
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| 227 | UartState = 0; |
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| 228 | break; |
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| 229 | } |
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| 230 | } |
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| 231 | |||
| 232 | |||
| 233 | // -------------------------------------------------------------------------- |
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| 234 | void AddCRC(unsigned int wieviele) |
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| 235 | { |
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| 236 | unsigned int tmpCRC = 0,i; |
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| 237 | for(i = 0; i < wieviele;i++) |
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| 238 | { |
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| 239 | tmpCRC += SendeBuffer[i]; |
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| 240 | } |
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| 241 | tmpCRC %= 4096; |
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| 242 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
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| 243 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
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| 244 | SendeBuffer[i++] = '\r'; |
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| 245 | UebertragungAbgeschlossen = 0; |
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| 246 | UDR = SendeBuffer[0]; |
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| 247 | } |
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| 248 | |||
| 249 | |||
| 250 | |||
| 251 | |||
| 252 | // -------------------------------------------------------------------------- |
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| 253 | void SendOutRXTunnelData(unsigned char *snd, unsigned char len) |
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| 254 | { |
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| 255 | unsigned int pt = 0; |
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| 256 | unsigned char ptr = 0; |
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| 257 | |||
| 258 | while(len) |
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| 259 | { |
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| 260 | SendeBuffer1[pt++] = snd[ptr++]; |
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| 261 | len--; |
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| 262 | } |
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| 263 | SendeBuffer1[pt++] = '\r'; |
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| 264 | UebertragungAbgeschlossen1 = 0; |
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| 265 | UDR1 = SendeBuffer1[0]; |
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| 266 | } |
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| 267 | |||
| 268 | // -------------------------------------------------------------------------- |
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| 269 | void SendOutTXTunnelData(unsigned char *snd, unsigned char len) |
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| 270 | { |
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| 271 | unsigned int pt = 0; |
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| 272 | unsigned char ptr = 0; |
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| 273 | |||
| 274 | while(len) |
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| 275 | { |
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| 276 | SendeBuffer[pt++] = snd[ptr++]; |
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| 277 | len--; |
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| 278 | } |
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| 279 | SendeBuffer[pt++] = '\r'; |
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| 280 | UebertragungAbgeschlossen = 0; |
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| 281 | NeuerDatensatzEmpfangen1 = 0; |
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| 282 | UDR = SendeBuffer[0]; |
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| 283 | } |
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| 284 | |||
| 285 | |||
| 286 | // -------------------------------------------------------------------------- |
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| 287 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
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| 288 | { |
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| 289 | unsigned int pt = 0; |
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| 290 | unsigned char a,b,c; |
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| 291 | unsigned char ptr = 0; |
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| 292 | |||
| 293 | SendeBuffer[pt++] = '#'; // Startzeichen |
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| 294 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
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| 295 | SendeBuffer[pt++] = cmd; // Commando |
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| 296 | |||
| 297 | while(len) |
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| 298 | { |
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| 299 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
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| 300 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
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| 301 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
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| 302 | SendeBuffer[pt++] = '=' + (a >> 2); |
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| 303 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
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| 304 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
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| 305 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
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| 306 | } |
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| 307 | AddCRC(pt); |
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| 308 | } |
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| 309 | |||
| 310 | |||
| 311 | // -------------------------------------------------------------------------- |
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| 312 | 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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| 313 | { |
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| 314 | unsigned char a,b,c,d; |
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| 315 | unsigned char ptr = 0; |
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| 316 | unsigned char x,y,z; |
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| 317 | while(len) |
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| 318 | { |
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| 319 | a = RxdBuffer[ptrIn++] - '='; |
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| 320 | b = RxdBuffer[ptrIn++] - '='; |
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| 321 | c = RxdBuffer[ptrIn++] - '='; |
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| 322 | d = RxdBuffer[ptrIn++] - '='; |
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| 323 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
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| 324 | |||
| 325 | x = (a << 2) | (b >> 4); |
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| 326 | y = ((b & 0x0f) << 4) | (c >> 2); |
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| 327 | z = ((c & 0x03) << 6) | d; |
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| 328 | |||
| 329 | if(len--) ptrOut[ptr++] = x; else break; |
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| 330 | if(len--) ptrOut[ptr++] = y; else break; |
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| 331 | if(len--) ptrOut[ptr++] = z; else break; |
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| 332 | } |
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| 333 | |||
| 334 | } |
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| 335 | |||
| 336 | // -------------------------------------------------------------------------- |
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| 337 | void BearbeiteRxDaten(void) |
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| 338 | { |
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| 339 | |||
| 340 | if(!NeuerDatensatzEmpfangen) return; |
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| 341 | |||
| 342 | // unsigned int tmp_int_arr1[1]; |
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| 343 | // unsigned int tmp_int_arr2[2]; |
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| 344 | // unsigned int tmp_int_arr3[3]; |
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| 345 | unsigned char tmp_char_arr2[2]; |
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| 346 | // unsigned char tmp_char_arr3[3]; |
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| 347 | // unsigned char tmp_char_arr4[4]; |
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| 348 | //if(!MotorenEin) |
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| 349 | PcZugriff = 255; |
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| 350 | switch(RxdBuffer[2]) |
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| 351 | { |
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| 352 | case 'a':// Texte der Analogwerte |
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| 353 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 354 | DebugTextAnforderung = tmp_char_arr2[0]; |
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| 355 | break; |
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| 356 | case 'c':// Debugdaten incl. Externe IOs usw |
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| 357 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
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| 358 | /* for(unsigned char i=0; i<4;i++) |
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| 359 | { |
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| 360 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
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| 361 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
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| 362 | }*/ |
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| 363 | RemoteTasten |= DebugIn.RemoteTasten; |
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| 364 | DebugDataAnforderung = 1; |
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| 365 | break; |
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| 366 | case 'h':// x-1 Displayzeilen |
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| 367 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 368 | RemoteTasten |= tmp_char_arr2[0]; |
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| 369 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
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| 370 | DebugDisplayAnforderung = 1; |
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| 371 | break; |
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| 372 | case 't':// Motortest |
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| 373 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
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| 374 | break; |
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| 375 | case 'k':// Keys von DubWise |
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| 376 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
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| 377 | break; |
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| 378 | case 'v': // Version-Anforderung und Ausbaustufe |
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| 379 | GetVersionAnforderung = 1; |
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| 380 | break; |
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| 381 | case 'g':// "Get"-Anforderung für Debug-Daten |
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| 382 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 383 | DebugGetAnforderung = 1; |
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| 384 | break; |
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| 385 | case 'q':// "Get"-Anforderung für Settings |
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| 386 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 387 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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| 388 | if(tmp_char_arr2[0] != 0xff) |
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| 389 | { |
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| 390 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
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| 391 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 392 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 393 | } |
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| 394 | else |
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| 395 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
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| 396 | |||
| 397 | break; |
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| 398 | |||
| 399 | case 'l': |
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| 400 | case 'm': |
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| 401 | case 'n': |
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| 402 | case 'o': |
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| 403 | case 'p': // Parametersatz speichern |
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| 404 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
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| 405 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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| 406 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
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| 407 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 408 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 409 | Piep(GetActiveParamSetNumber()); |
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| 410 | break; |
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| 411 | |||
| 412 | case 'X': // Serial Tunnel Message received |
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| 413 | SendOutRXTunnelData((unsigned char *)&RxdBuffer[0], AnzahlEmpfangsBytes); |
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| 414 | break; |
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| 415 | |||
| 416 | case 'C': // Flight Control Message received |
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| 417 | if(Parameter_UserParam2 > 10) { |
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| 418 | Decode64((unsigned char *) &ControlIn,sizeof(ControlIn),3,AnzahlEmpfangsBytes); |
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| 419 | ControlOut.errorcode = ControlError_ok; |
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| 420 | ControlReceived = 1; |
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| 421 | } |
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| 422 | else |
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| 423 | { |
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| 424 | ControlIn.roll = 0; |
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| 425 | ControlIn.nick = 0; |
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| 426 | ControlIn.gier = 0; |
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| 427 | ControlIn.gas = 0; |
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| 428 | ControlOut.errorcode = ControlError_ignore; |
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| 429 | ControlReceived = 1; |
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| 430 | } |
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| 431 | break; |
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| 432 | |||
| 433 | } |
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| 434 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
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| 435 | NeuerDatensatzEmpfangen = 0; |
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| 436 | } |
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| 437 | |||
| 438 | //############################################################################ |
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| 439 | //Routine für die Serielle Ausgabe |
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| 440 | int uart_putchar (char c) |
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| 441 | //############################################################################ |
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| 442 | { |
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| 443 | if (c == '\n') |
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| 444 | uart_putchar('\r'); |
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| 445 | //Warten solange bis Zeichen gesendet wurde |
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| 446 | loop_until_bit_is_set(USR, UDRE); |
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| 447 | //Ausgabe des Zeichens |
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| 448 | UDR = c; |
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| 449 | |||
| 450 | return (0); |
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| 451 | } |
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| 452 | |||
| 453 | // -------------------------------------------------------------------------- |
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| 454 | void WriteProgramData(unsigned int pos, unsigned char wert) |
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| 455 | { |
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| 456 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
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| 457 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
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| 458 | // Buffer[pos] = wert; |
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| 459 | } |
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| 460 | |||
| 461 | //############################################################################ |
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| 462 | //INstallation der Seriellen Schnittstelle |
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| 463 | void UART_Init (void) |
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| 464 | //############################################################################ |
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| 465 | { |
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| 466 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
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| 467 | |||
| 468 | UCR=(1 << TXEN) | (1 << RXEN); |
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| 469 | // UART Double Speed (U2X) |
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| 470 | USR |= (1<<U2X); |
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| 471 | // RX-Interrupt Freigabe |
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| 472 | UCSRB |= (1<<RXCIE); |
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| 473 | // TX-Interrupt Freigabe |
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| 474 | UCSRB |= (1<<TXCIE); |
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| 475 | |||
| 476 | //Teiler wird gesetzt |
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| 477 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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| 478 | //UBRR = 33; |
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| 479 | //öffnet einen Kanal für printf (STDOUT) |
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| 480 | //fdevopen (uart_putchar, 0); |
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| 481 | //sbi(PORTD,4); |
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| 482 | |||
| 483 | // INIT 2ND uart |
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| 484 | UCR1=(1 << TXEN1) | (1 << RXEN1); |
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| 485 | // UART Double Speed (U2X) |
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| 486 | USR1 |= (1<<U2X1); |
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| 487 | // RX-Interrupt Freigabe |
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| 488 | UCSR1B |= (1<<RXCIE1); |
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| 489 | // TX-Interrupt Freigabe |
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| 490 | UCSR1B |= (1<<TXCIE1); |
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| 491 | |||
| 492 | //Teiler wird gesetzt |
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| 493 | UBRR1=(SYSCLK / (BAUD_RATE * 8L) - 1); |
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| 494 | //UBRR = 33; |
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| 495 | //öffnet einen Kanal für printf (STDOUT) |
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| 496 | //fdevopen (uart_putchar, 0); |
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| 497 | //sbi(PORTD,4); |
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| 498 | |||
| 499 | Debug_Timer = SetDelay(200); |
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| 500 | } |
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| 501 | |||
| 502 | //--------------------------------------------------------------------------------------------- |
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| 503 | void DatenUebertragung(void) |
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| 504 | { |
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| 505 | if(!UebertragungAbgeschlossen) return; |
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| 506 | |||
| 507 | if(NeuerDatensatzEmpfangen1 && UebertragungAbgeschlossen) { |
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| 508 | SendOutTXTunnelData((unsigned char *) &RxdBuffer1[0],(unsigned char)AnzahlEmpfangsBytes1); |
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| 509 | } |
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| 510 | |||
| 511 | if(ControlReceived && UebertragungAbgeschlossen) |
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| 512 | { |
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| 513 | SendOutData('C',MeineSlaveAdresse,(unsigned char *) &ControlOut,sizeof(ControlOut)); |
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| 514 | ControlReceived = 0; |
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| 515 | } |
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| 516 | |||
| 517 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
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| 518 | { |
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| 519 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
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| 520 | DebugGetAnforderung = 0; |
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| 521 | } |
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| 522 | |||
| 523 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
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| 524 | { |
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| 525 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
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| 526 | DebugDataAnforderung = 0; |
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| 527 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
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| 528 | } |
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| 529 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
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| 530 | { |
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| 531 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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| 532 | DebugTextAnforderung = 255; |
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| 533 | } |
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| 534 | |||
| 535 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
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| 536 | { |
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| 537 | Menu(); |
||
| 538 | DebugDisplayAnforderung = 0; |
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| 539 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
||
| 540 | { |
||
| 541 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
||
| 542 | RemotePollDisplayLine = -1; |
||
| 543 | } |
||
| 544 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
||
| 545 | } |
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| 546 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
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| 547 | { |
||
| 548 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
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| 549 | GetVersionAnforderung = 0; |
||
| 550 | } |
||
| 551 | |||
| 552 | } |
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| 553 |