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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 544 | rain-er | 1 | #!/usr/bin/perl |
| 2 | #!/usr/bin/perl -d:ptkdb |
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| 3 | |||
| 4 | ############################################################################### |
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| 5 | # |
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| 6 | # mkcomm.pl - MK Communication Routines |
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| 7 | # |
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| 8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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| 9 | # |
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| 10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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| 11 | # |
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| 12 | # Es ist Ihnen gestattet: |
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| 13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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| 14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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| 15 | # |
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| 16 | # Zu den folgenden Bedingungen: |
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| 17 | # * Namensnennung. |
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| 18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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| 19 | # * Keine kommerzielle Nutzung. |
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| 20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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| 21 | # * Weitergabe unter gleichen Bedingungen. |
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| 22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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| 23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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| 24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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| 25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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| 26 | # |
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| 27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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| 28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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| 29 | # |
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| 30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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| 31 | # des Rechteinhabers dazu erhalten. |
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| 32 | # |
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| 33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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| 34 | # |
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| 35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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| 36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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| 37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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| 38 | # |
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| 39 | ############################################################################### |
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| 40 | # 2009-02-21 0.0.1 rw created |
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| 41 | # 2009-03-18 0.0.2 rw NC 0.14e |
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| 42 | # 2009-04-01 0.1.0 rw RC1 |
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| 43 | # 2009-04-06 0.1.1 rw NC 0.15c |
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| 44 | # 2009-05-16 0.1.2 rw External control |
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| 45 | # |
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| 46 | ############################################################################### |
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| 47 | |||
| 48 | $Version{'mkcomm.pl'} = "0.1.2 - 2009-05-16"; |
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| 49 | |||
| 50 | # MK Protokoll |
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| 51 | # http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) |
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| 52 | # http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 53 | # |
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| 54 | # Parameter |
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| 55 | # |
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| 56 | |||
| 57 | # Com Port of MK Comm-Device (BT, WI.232) |
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| 58 | if ( ! defined $Cfg->{'mkcomm'}->{'Port'} ) |
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| 59 | { |
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| 60 | # set default |
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| 61 | $Cfg->{'mkcomm'}->{'Port'} = "COM5"; |
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| 62 | } |
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| 63 | |||
| 64 | $AddrFC = "b"; |
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| 65 | $AddrNC = "c"; |
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| 66 | $AddrMK3MAG = "d"; |
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| 67 | |||
| 68 | # Packages |
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| 69 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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| 70 | # http://perldoc.perl.org/threads.html |
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| 71 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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| 72 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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| 73 | use Time::HiRes qw(usleep); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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| 74 | if ( $^O =~ /Win32/i ) |
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| 75 | { |
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| 76 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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| 77 | } |
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| 78 | else |
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| 79 | { |
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| 80 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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| 81 | } |
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| 82 | |||
| 83 | require "libmap.pl"; |
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| 84 | |||
| 85 | # Hashes exported to other threads and main-program |
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| 86 | share (%MkOsd); |
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| 87 | share (%MkTarget); |
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| 88 | share (%MkNcDebug); |
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| 89 | share (%Mk); |
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| 90 | |||
| 91 | # Queue for Sending to MK |
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| 92 | $MkSendQueue = Thread::Queue->new(); |
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| 93 | |||
| 94 | # |
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| 95 | # Signal handler |
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| 96 | # |
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| 97 | |||
| 98 | $SIG{'INT'} = 'SigHandler'; |
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| 99 | $SIG{'KILL'} = 'SigHandler'; |
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| 100 | |||
| 101 | sub SigHandler() |
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| 102 | { |
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| 103 | # close COM port |
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| 104 | &MkClose(); |
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| 105 | |||
| 106 | if ( defined threads->self() ) |
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| 107 | { |
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| 108 | threads->exit(); |
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| 109 | } |
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| 110 | exit; |
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| 111 | } |
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| 112 | |||
| 113 | |||
| 114 | sub MkInit() |
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| 115 | { |
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| 116 | if ( defined $MkPort ) |
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| 117 | { |
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| 118 | return; # already open |
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| 119 | } |
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| 120 | |||
| 121 | # open COM-Port |
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| 122 | my $MkComPort = $Cfg->{'mkcomm'}->{'Port'}; |
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| 123 | undef $MkPort; |
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| 124 | if ( $^O =~ m/Win32/ ) |
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| 125 | { |
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| 126 | $MkPort = Win32::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 127 | } |
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| 128 | else |
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| 129 | { |
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| 130 | $MkPort = Device::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 131 | } |
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| 132 | # Set COM parameters |
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| 133 | $MkPort->baudrate(57600); |
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| 134 | $MkPort->parity("none"); |
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| 135 | $MkPort->databits(8); |
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| 136 | $MkPort->stopbits(1); |
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| 137 | $MkPort->handshake('none'); |
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| 138 | $MkPort->write_settings; |
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| 139 | |||
| 140 | $MkPort->read_const_time(100); # total = (avg * bytes) + const (ms) |
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| 141 | } |
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| 142 | |||
| 143 | # Read one line from MK |
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| 144 | # Check send-queue |
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| 145 | sub MkIOLine() |
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| 146 | { |
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| 147 | # Init serial port |
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| 148 | &MkInit(); |
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| 149 | |||
| 150 | my $RxLine = ""; |
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| 151 | while ( 1 ) |
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| 152 | { |
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| 153 | # Check Send-Queue |
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| 154 | my $Items = $MkSendQueue->pending(); |
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| 155 | if ( $Items >= 3 ) # Cmd, Addr, Data |
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| 156 | { |
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| 157 | my ($Id, $Addr, $Data) = $MkSendQueue->dequeue(3); |
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| 158 | &MkSend ($Id, $Addr, $Data); |
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| 159 | } |
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| 160 | |||
| 161 | # Zeichenweise lesen, blockierend mit Timeout |
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| 162 | my ($RxLen, $RxChar) = $MkPort->read(1); |
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| 163 | if ( $RxLen == 1 ) |
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| 164 | { |
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| 165 | if ( "$RxChar" eq "#" ) # 1st char of line |
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| 166 | { |
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| 167 | $RxLine = "#"; |
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| 168 | } |
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| 169 | elsif ( "$RxChar" eq "\r" ) # last char of line |
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| 170 | { |
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| 171 | return ($RxLine); |
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| 172 | } |
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| 173 | else |
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| 174 | { |
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| 175 | $RxLine = "$RxLine" . "$RxChar"; # collect char |
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| 176 | } |
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| 177 | } |
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| 178 | } |
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| 179 | } |
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| 180 | |||
| 181 | |||
| 182 | # Read and decode a command from MK |
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| 183 | # process send queue in &MkIOLine() |
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| 184 | sub MkIO() |
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| 185 | { |
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| 186 | my $RxData = &MkIOLine(); # Blocking Read for complete line |
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| 187 | |||
| 188 | # Zeile decodieren |
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| 189 | if ( substr ($RxData, 0, 1) eq '#' ) |
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| 190 | { |
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| 191 | # Zeile decodieren |
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| 192 | $Header = substr($RxData, 0, 3); |
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| 193 | $Chksum = substr($RxData, -2); |
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| 194 | $Data = substr($RxData, 3, length ($RxData) -5); |
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| 195 | |||
| 196 | # CRC prüfen |
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| 197 | if ( &CrcCheck ("$Header" . "$Data", $Chksum ) ) |
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| 198 | { |
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| 199 | # Base64 decodieren |
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| 200 | $Data = &Decode64($Data); |
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| 201 | |||
| 202 | # Daten auswerten und in shared Hash schreiben |
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| 203 | if ( &ProcessRx($Header, $Data) ) |
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| 204 | { |
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| 205 | return 1; # alles OK |
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| 206 | } |
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| 207 | } |
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| 208 | } |
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| 209 | |||
| 210 | return 0; # keine Daten empfangen |
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| 211 | } |
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| 212 | |||
| 213 | |||
| 214 | # Send a command to MK |
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| 215 | sub MkSend() |
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| 216 | { |
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| 217 | my ($Id, $Addr, $Data) = @_; |
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| 218 | |||
| 219 | # Init serial port |
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| 220 | &MkInit(); |
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| 221 | |||
| 222 | my $Base64Data = &Encode64($Data); |
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| 223 | |||
| 224 | my $TxData = "#" . "$Addr" . "$Id" . "$Base64Data"; |
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| 225 | my $Crc = &Crc($TxData); |
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| 226 | my $TxSend = "$TxData" . "$Crc" . "\r"; |
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| 227 | $MkPort->write($TxSend); |
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| 228 | } |
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| 229 | |||
| 230 | |||
| 231 | # close COM-Port |
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| 232 | sub MkClose() |
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| 233 | { |
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| 234 | undef $MkPort; |
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| 235 | } |
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| 236 | |||
| 237 | |||
| 238 | # CRC Prüfung |
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| 239 | sub CrcCheck () |
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| 240 | { |
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| 241 | my ($Data, $Crc) = @_; |
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| 242 | |||
| 243 | my $Check = &Crc($Data); |
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| 244 | if ( $Check ne $Crc ) |
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| 245 | { |
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| 246 | return 0; # CRC passt nicht |
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| 247 | } |
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| 248 | return (1); # CRC OK |
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| 249 | } |
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| 250 | |||
| 251 | |||
| 252 | # CRC berechnen |
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| 253 | sub Crc () |
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| 254 | { |
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| 255 | my ($Data) = @_; |
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| 256 | my $TmpCrc = 0; |
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| 257 | my $Len = length $Data; |
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| 258 | |||
| 259 | for ($i=0; $i<$Len; $i++) |
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| 260 | { |
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| 261 | $TmpCrc += ord(substr($Data, $i, 1)); |
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| 262 | } |
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| 263 | |||
| 264 | $TmpCrc %= 4096; |
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| 265 | my $Crc1 = ord ("=") + $TmpCrc / 64; |
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| 266 | my $Crc2 = ord ("=") + $TmpCrc % 64; |
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| 267 | $Crc = pack("CC", $Crc1, $Crc2); |
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| 268 | |||
| 269 | return ($Crc); |
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| 270 | } |
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| 271 | |||
| 272 | |||
| 273 | # Empfangene Daten decodieren, modifiziertes Base64 |
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| 274 | sub Decode64() |
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| 275 | { |
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| 276 | my ($DataIn) = @_; |
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| 277 | |||
| 278 | my $ptrIn = 0; |
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| 279 | my $DataOut = ""; |
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| 280 | my $len = length ($DataIn); |
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| 281 | |||
| 282 | while ( $len > 0 ) |
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| 283 | { |
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| 284 | $a = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 285 | $b = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 286 | $c = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 287 | $d = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 288 | |||
| 289 | $x = ($a << 2) | ($b >> 4); |
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| 290 | $y = (($b & 0x0f) << 4) | ($c >> 2); |
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| 291 | $z = (($c & 0x03) << 6) | $d; |
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| 292 | |||
| 293 | foreach $i ( $x, $y, $z ) |
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| 294 | { |
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| 295 | if ( $len--) |
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| 296 | { |
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| 297 | my $Tmp = pack ('C1', $i); |
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| 298 | $DataOut = "$DataOut" . "$Tmp"; |
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| 299 | } |
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| 300 | else |
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| 301 | { |
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| 302 | last; |
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| 303 | } |
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| 304 | } |
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| 305 | } |
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| 306 | |||
| 307 | return ($DataOut); |
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| 308 | } |
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| 309 | |||
| 310 | |||
| 311 | # zu sendende Daten codieren, modifiziertes Base64 |
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| 312 | sub Encode64() |
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| 313 | { |
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| 314 | my ($Data) = @_; |
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| 315 | |||
| 316 | my $Length = length $Data; |
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| 317 | my $TxBuf = ""; |
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| 318 | my $ptr = 0; |
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| 319 | |||
| 320 | while( $Length > 0 ) |
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| 321 | { |
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| 322 | my $a = 0; |
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| 323 | my $b = 0; |
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| 324 | my $c = 0; |
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| 325 | if ($Length) {$a = ord(substr ($Data, $ptr++, $Length--));} |
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| 326 | if ($Length) {$b = ord(substr ($Data, $ptr++, $Length--));} |
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| 327 | if ($Length) {$c = ord(substr ($Data, $ptr++, $Length--));} |
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| 328 | |||
| 329 | my $ac = ord("=") + ($a >> 2); |
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| 330 | my $bc = ord("=") + ( (($a & 0x03) << 4) | (($b & 0xf0) >> 4) ); |
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| 331 | my $cc = ord("=") + ( (($b & 0x0f) << 2) | (($c & 0xc0) >> 6) ); |
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| 332 | my $dc = ord("=") + ($c & 0x3f); |
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| 333 | $TxBuf = "$TxBuf" . pack ("C4", $ac, $bc, $cc, $dc); |
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| 334 | } |
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| 335 | return ($TxBuf); |
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| 336 | } |
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| 337 | |||
| 338 | |||
| 339 | # Empfangenen Datensatz verarbeiten |
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| 340 | sub ProcessRx() |
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| 341 | { |
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| 342 | my ($Header, $Data) = @_; |
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| 343 | |||
| 344 | my $Adr = substr ($Header, 1, 1); # b=FC, c=NC, d=MK3MAG |
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| 345 | my $Id = substr ($Header, 2, 1); |
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| 346 | |||
| 347 | if ( $Id eq "O" ) |
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| 348 | { |
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| 349 | # |
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| 350 | # OSD-Daten nach %MkOsd einlesen |
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| 351 | # |
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| 352 | |||
| 353 | # Struktur Datensatz: |
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| 354 | # u8 Version // version of the data structure |
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| 355 | # GPS_Pos_t CurrentPosition; |
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| 356 | # GPS_Pos_t TargetPosition; |
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| 357 | # GPS_PosDev_t TargetPositionDeviation; |
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| 358 | # GPS_Pos_t HomePosition; |
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| 359 | # GPS_PosDev_t HomePositionDeviation; |
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| 360 | # u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 361 | # u8 WaypointNumber; // number of stored waypoints |
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| 362 | # u8 SatsInUse; // no of satellites used for position solution |
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| 363 | # s16 Altimeter; // hight according to air pressure |
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| 364 | # s16 Variometer; // climb(+) and sink(-) rate |
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| 365 | # u16 FlyingTime; // in seconds |
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| 366 | # u8 UBat; // Battery Voltage in 0.1 Volts |
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| 367 | # u16 GroundSpeed; // speed over ground in cm/s (2D) |
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| 368 | # s16 Heading; // current flight direction in deg as angle to north |
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| 369 | # s16 CompassHeading; // current compass value |
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| 370 | # s8 AngleNick; // current Nick angle in 1° |
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| 371 | # s8 AngleRoll; // current Rick angle in 1° |
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| 372 | # u8 RC_Quality; // RC_Quality |
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| 373 | # u8 MKFlags; // Flags from FC |
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| 374 | # u8 NCFlags; // Flags from NC |
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| 375 | # u8 Errorcode; // 0 --> okay |
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| 376 | # u8 OperatingRadius // current operation radius around the Home Position in m |
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| 377 | # s16 TopSpeed; // velocity in vertical direction in cm/s |
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| 378 | # u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 379 | # u8 Reserve[4]; // for future use |
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| 380 | |||
| 381 | # GPS_Pos_t: |
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| 382 | # s32 Longitude; // in 1E-7 deg |
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| 383 | # s32 Latitude; // in 1E-7 deg |
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| 384 | # s32 Altitude; // in mm |
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| 385 | # u8 Status; // validity of data |
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| 386 | |||
| 387 | # GPS_PosDev_t: |
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| 388 | # s16 Distance; // distance to target in dm |
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| 389 | # s16 Bearing; // course to target in deg |
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| 390 | |||
| 391 | # Status: |
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| 392 | # INVALID = 0 |
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| 393 | # NEWDATA = 1 |
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| 394 | # PROCESSED = 2 |
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| 395 | |||
| 396 | # MKFlags 0x01: MOTOR_RUN, 0x02 FLY, 0x04: CALIBRATE, 0x08: START, 0x10: EMERGENCY_LANDING |
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| 397 | # NCFlags 0x01: FLAG_FREE, 0x02: FLAG_PH, 0x04: FLAG_CH, 0x08: FLAG_RANGE_LIMIT |
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| 398 | # 0x10: FLAG_NOSERIALLINK, 0x20: FLAG_TARGET_REACHED, FLAG_MANUAL_CONTROL: 0x40 |
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| 399 | # 0x80: FLAG_8 |
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| 400 | |||
| 401 | lock (%MkOsd); # until end of Block |
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| 402 | |||
| 403 | ( |
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| 404 | $MkOsd{'Version'}, |
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| 405 | $MkOsd{'CurPos_Lon'}, |
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| 406 | $MkOsd{'CurPos_Lat'}, |
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| 407 | $MkOsd{'CurPos_Alt'}, |
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| 408 | $MkOsd{'CurPos_Stat'}, |
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| 409 | $MkOsd{'TargetPos_Lon'}, |
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| 410 | $MkOsd{'TargetPos_Lat'}, |
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| 411 | $MkOsd{'TargetPos_Alt'}, |
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| 412 | $MkOsd{'TargetPos_Stat'}, |
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| 413 | $MkOsd{'TargetPosDev_Dist'}, |
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| 414 | $MkOsd{'TargetPosDev_Bearing'}, |
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| 415 | $MkOsd{'HomePos_Lon'}, |
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| 416 | $MkOsd{'HomePos_Lat'}, |
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| 417 | $MkOsd{'HomePos_Alt'}, |
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| 418 | $MkOsd{'HomePos_Stat'}, |
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| 419 | $MkOsd{'HomePosDev_Dist'}, |
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| 420 | $MkOsd{'HomePosDev_Bearing'}, |
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| 421 | $MkOsd{'WaypointIndex'}, |
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| 422 | $MkOsd{'WaypointNumber'}, |
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| 423 | $MkOsd{'SatsInUse'}, |
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| 424 | $MkOsd{'Altimeter'}, |
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| 425 | $MkOsd{'Variometer'}, |
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| 426 | $MkOsd{'FlyingTime'}, |
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| 427 | $MkOsd{'UBat'}, |
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| 428 | $MkOsd{'GroundSpeed'}, |
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| 429 | $MkOsd{'Heading'}, |
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| 430 | $MkOsd{'CompassHeading'}, |
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| 431 | $MkOsd{'AngleNick'}, |
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| 432 | $MkOsd{'AngleRoll'}, |
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| 433 | $MkOsd{'RC_Quality'}, |
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| 434 | $MkOsd{'MKFlags'}, |
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| 435 | $MkOsd{'NCFlags'}, |
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| 436 | $MkOsd{'Errorcode'}, |
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| 437 | $MkOsd{'OperatingRadius'}, |
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| 438 | $MkOsd{'TopSpeed'}, |
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| 439 | $MkOsd{'TargetHoldTime'}, |
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| 440 | ) = unpack ('ClllClllCsslllCssCCCssSCSssccCCCCCsC', $Data); |
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| 441 | |||
| 442 | $MkOsd{'CurPos_Lon'} = sprintf("%.7f", $MkOsd{'CurPos_Lon'} / 10000000); |
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| 443 | $MkOsd{'CurPos_Lat'} = sprintf("%.7f", $MkOsd{'CurPos_Lat'} / 10000000); |
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| 444 | $MkOsd{'CurPos_Alt'} = sprintf("%.3f", $MkOsd{'CurPos_Alt'} / 1000); |
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| 445 | $MkOsd{'TargetPos_Lon'} = sprintf("%.7f", $MkOsd{'TargetPos_Lon'} / 10000000); |
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| 446 | $MkOsd{'TargetPos_Lat'} = sprintf("%.7f", $MkOsd{'TargetPos_Lat'} / 10000000); |
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| 447 | $MkOsd{'TargetPos_Alt'} = sprintf("%.3f", $MkOsd{'TargetPos_Alt'} / 1000); |
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| 448 | $MkOsd{'HomePos_Lon'} = sprintf("%.7f", $MkOsd{'HomePos_Lon'} / 10000000); |
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| 449 | $MkOsd{'HomePos_Lat'} = sprintf("%.7f", $MkOsd{'HomePos_Lat'} / 10000000); |
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| 450 | $MkOsd{'HomePos_Alt'} = sprintf("%.3f", $MkOsd{'HomePos_Alt'} / 1000); |
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| 451 | $MkOsd{'UBat'} = sprintf("%.1f", $MkOsd{'UBat'} / 10); |
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| 452 | |||
| 453 | # Timestamp, wann der Datensatz geschtieben wurde |
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| 454 | $MkOsd{'_Timestamp'} = time; |
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| 455 | } |
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| 456 | |||
| 457 | elsif ( $Id eq "s" ) |
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| 458 | { |
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| 459 | # |
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| 460 | # NC Target position in %MkTarget |
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| 461 | # |
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| 462 | # Datenstruktur: |
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| 463 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
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| 464 | # s16 Heading; // orientation, future implementation |
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| 465 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
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| 466 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
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| 467 | # // this time defines the delay before the next WP is triggered |
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| 468 | # u8 Event_Flag; // future emplementation |
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| 469 | # u8 reserve[12]; // reserved |
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| 470 | |||
| 471 | lock (%MkTarget); # until end of block |
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| 472 | |||
| 473 | ( |
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| 474 | $MkTarget{'Pos_Lon'}, |
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| 475 | $MkTarget{'Pos_Lat'}, |
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| 476 | $MkTarget{'Pos_Alt'}, |
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| 477 | $MkTarget{'Pos_Stat'}, |
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| 478 | $MkTarget{'Heading'}, |
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| 479 | $MkTarget{'ToleranceRadius'}, |
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| 480 | $MkTarget{'HoldTime'}, |
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| 481 | $MkTarget{'EventFlag'}, |
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| 482 | ) = unpack ('lllCsCCC', $Data); |
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| 483 | |||
| 484 | $MkTarget{'Pos_Lon'} = sprintf("%.7f", $MkTarget{'Pos_Lon'} / 10000000); |
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| 485 | $MkTarget{'Pos_Lat'} = sprintf("%.7f", $MkTarget{'Pos_Lat'} / 10000000); |
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| 486 | $MkTarget{'Pos_Alt'} = sprintf("%.3f", $MkTarget{'Pos_Alt'} / 1000); |
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| 487 | |||
| 488 | # Timestamp, wann der Datensatz geschtieben wurdw |
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| 489 | $MkTarget{'_Timestamp'} = time; |
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| 490 | } |
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| 491 | |||
| 492 | elsif ( $Id eq "W" ) |
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| 493 | { |
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| 494 | # |
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| 495 | # Request new waypoint |
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| 496 | # |
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| 497 | # Datenstruktur: |
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| 498 | # u8 Number of waypoint |
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| 499 | |||
| 500 | ($WpNumber) = unpack ('C', $Data); |
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| 501 | |||
| 502 | # keine Ahnung wofuer das gut sein soll |
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| 503 | |||
| 504 | # print "Request new Waypoint Number: $WpNumber\n"; |
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| 505 | |||
| 506 | } |
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| 507 | |||
| 508 | elsif ( $Id eq "V" ) |
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| 509 | { |
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| 510 | # |
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| 511 | # Version |
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| 512 | # |
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| 513 | # Datenstruktur: |
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| 514 | # u8 SWMajor |
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| 515 | # u8 SWMinor |
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| 516 | # u8 ProtoMajor |
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| 517 | # u8 ProtoMinor |
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| 518 | # u8 SWPatch |
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| 519 | # u8 Reserved[5] |
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| 520 | |||
| 521 | ( |
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| 522 | $Mk{'SWMajor'}, |
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| 523 | $Mk{'SWMinor'}, |
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| 524 | $Mk{'ProtoMajor'}, |
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| 525 | $Mk{'ProtoMinor'}, |
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| 526 | $Mk{'SWPatch'}, |
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| 527 | ) = unpack ('C5', $Data); |
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| 528 | |||
| 529 | $Mk{'_Timestamp'} = time; |
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| 530 | } |
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| 531 | |||
| 532 | elsif ( $Id eq "E" ) |
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| 533 | { |
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| 534 | # |
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| 535 | # Error Text |
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| 536 | # |
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| 537 | # Datenstruktur: |
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| 538 | # s8 ErrorMsg[25] |
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| 539 | |||
| 540 | $Mk{'ErrorMsg'} = unpack ('Z25', $Data); |
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| 541 | } |
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| 542 | |||
| 543 | elsif ( $Id eq "D" ) |
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| 544 | { |
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| 545 | # |
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| 546 | # NC Debug %MkNcDebug |
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| 547 | # |
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| 548 | # Datenstruktur: |
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| 549 | # u8 Digital[2]; |
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| 550 | # u16 Analog[32]; |
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| 551 | |||
| 552 | lock (%MkNcDebug); # until end of block |
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| 553 | |||
| 554 | ( |
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| 555 | $MkNcDebug{'Digital_00'}, |
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| 556 | $MkNcDebug{'Digital_01'}, |
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| 557 | $MkNcDebug{'Analog_00'}, |
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| 558 | $MkNcDebug{'Analog_01'}, |
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| 559 | $MkNcDebug{'Analog_02'}, |
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| 560 | $MkNcDebug{'Analog_03'}, |
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| 561 | $MkNcDebug{'Analog_04'}, |
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| 562 | $MkNcDebug{'Analog_05'}, |
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| 563 | $MkNcDebug{'Analog_06'}, |
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| 564 | $MkNcDebug{'Analog_07'}, |
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| 565 | $MkNcDebug{'Analog_08'}, |
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| 566 | $MkNcDebug{'Analog_09'}, |
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| 567 | $MkNcDebug{'Analog_10'}, |
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| 568 | $MkNcDebug{'Analog_11'}, |
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| 569 | $MkNcDebug{'Analog_12'}, |
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| 570 | $MkNcDebug{'Analog_13'}, |
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| 571 | $MkNcDebug{'Analog_14'}, |
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| 572 | $MkNcDebug{'Analog_15'}, |
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| 573 | $MkNcDebug{'Analog_16'}, |
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| 574 | $MkNcDebug{'Analog_17'}, |
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| 575 | $MkNcDebug{'Analog_18'}, |
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| 576 | $MkNcDebug{'Analog_19'}, |
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| 577 | $MkNcDebug{'Analog_20'}, |
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| 578 | $MkNcDebug{'Analog_21'}, |
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| 579 | $MkNcDebug{'Analog_22'}, |
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| 580 | $MkNcDebug{'Analog_23'}, |
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| 581 | $MkNcDebug{'Analog_24'}, |
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| 582 | $MkNcDebug{'Analog_25'}, |
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| 583 | $MkNcDebug{'Analog_26'}, |
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| 584 | $MkNcDebug{'Analog_27'}, |
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| 585 | $MkNcDebug{'Analog_28'}, |
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| 586 | $MkNcDebug{'Analog_29'}, |
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| 587 | $MkNcDebug{'Analog_30'}, |
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| 588 | $MkNcDebug{'Analog_31'}, |
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| 589 | ) = unpack ('C2s32', $Data); |
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| 590 | |||
| 591 | # Timestamp, wann der Datensatz geschrieben wurde |
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| 592 | $MkNcDebug{'_Timestamp'} = time; |
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| 593 | } |
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| 594 | |||
| 595 | elsif ( $Id eq "B" ) |
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| 596 | { |
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| 597 | # |
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| 598 | # External Control |
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| 599 | # |
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| 600 | # Datenstruktur: |
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| 601 | # u8 ConfirmFrame; |
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| 602 | |||
| 603 | my ($ConfirmFrame) = unpack ('C5', $Data); |
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| 604 | |||
| 605 | } |
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| 606 | else |
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| 607 | { |
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| 608 | print "Unknown Command: $Header $Data\n"; |
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| 609 | } |
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| 610 | } |
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| 611 | |||
| 612 | |||
| 613 | # send Target or Waypoint to MK |
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| 614 | sub MkFlyTo() |
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| 615 | { |
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| 616 | my %Param = @_; |
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| 617 | |||
| 618 | my $x = $Param{'-x'}; |
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| 619 | my $y = $Param{'-y'}; |
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| 620 | my $Lat = $Param{'-lat'}; |
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| 621 | my $Lon = $Param{'-lon'}; |
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| 622 | my $Alt = $Param{'-alt'}; |
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| 623 | my $Heading = $Param{'-heading'}; |
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| 624 | my $ToleranceRadius = $Param{'-toleranceradius'}; |
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| 625 | my $Holdtime = $Param{'-holdtime'}; |
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| 626 | my $EventFlag = $Param{'-eventflag'}; |
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| 627 | my $Mode = $Param{'-mode'}; |
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| 628 | |||
| 629 | if ( $x ne "" and $y ne "" and $Lat eq "" and $Lon eq "" ) |
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| 630 | { |
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| 631 | ($Lat, $Lon) = &MapXY2Gps($x, $y); |
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| 632 | } |
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| 633 | |||
| 634 | if ( $Alt eq "" ) { $Alt = $MkOsd{'CurPos_Alt'}; } |
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| 635 | if ( $Heading eq "" ) { $Heading = $Cfg->{'waypoint'}->{'DefaultHeading'}; } |
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| 636 | if ( $ToleranceRadius eq "" ) { $ToleranceRadius = $Cfg->{'waypoint'}->{'DefaultToleranceRadius'}; } |
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| 637 | if ( $Holdtime eq "" ) { $Holdtime = $Cfg->{'waypoint'}->{'DefaultHoldtime'}; } |
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| 638 | if ( $EventFlag eq "" ) { $EventFlag = $Cfg->{'waypoint'}->{'DefaultEventFlag'}; } |
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| 639 | |||
| 640 | my $Status = 1; # valid |
||
| 641 | if ( $Mode =~ /delete/i ) |
||
| 642 | { |
||
| 643 | $Status = 0; # invalid -> delete NC WP-List |
||
| 644 | } |
||
| 645 | |||
| 646 | my $Lat_i = sprintf "%d", $Lat * 10000000; |
||
| 647 | my $Lon_i = sprintf "%d", $Lon * 10000000; |
||
| 648 | my $Alt_i = sprintf "%d", $Alt * 1000; |
||
| 649 | |||
| 650 | # Datenstruktur: |
||
| 651 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 652 | # s16 Heading; // orientation, future implementation |
||
| 653 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
| 654 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
| 655 | # // this time defines the delay before the next WP is triggered |
||
| 656 | # u8 Event_Flag; // future emplementation |
||
| 657 | # u8 reserve[12]; // reserved |
||
| 658 | |||
| 659 | my $Wp = pack ('lllCsC15', |
||
| 660 | $Lon_i, |
||
| 661 | $Lat_i, |
||
| 662 | $Alt_i, |
||
| 663 | $Status, |
||
| 664 | $Heading, |
||
| 665 | $ToleranceRadius, |
||
| 666 | $Holdtime, |
||
| 667 | $EventFlag, |
||
| 668 | 0,0,0,0,0,0,0,0,0,0,0,0, |
||
| 669 | ); |
||
| 670 | |||
| 671 | if ( $Mode =~ /waypoint/i ) |
||
| 672 | { |
||
| 673 | $MkSendQueue->enqueue( "w", "$AddrNC", $Wp ); |
||
| 674 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
| 675 | } |
||
| 676 | elsif ( $Mode =~ /target/i ) |
||
| 677 | { |
||
| 678 | $MkSendQueue->enqueue( "s", "$AddrNC", $Wp ); |
||
| 679 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
| 680 | } |
||
| 681 | else |
||
| 682 | { |
||
| 683 | # ignore |
||
| 684 | } |
||
| 685 | |||
| 686 | return 0; |
||
| 687 | } |
||
| 688 | |||
| 689 | |||
| 690 | # send External control to MK |
||
| 691 | sub ExternalControl() |
||
| 692 | { |
||
| 693 | my %Param = @_; |
||
| 694 | |||
| 695 | my $RemoteButtons = $Param{'-remotebuttons'}; |
||
| 696 | my $Nick = $Param{'-nick'}; |
||
| 697 | my $Roll = $Param{'-roll'}; |
||
| 698 | my $Yaw = $Param{'-yaw'}; |
||
| 699 | my $Gas = $Param{'-gas'}; |
||
| 700 | my $Hight = $Param{'-hight'}; |
||
| 701 | my $Free = $Param{'-free'}; |
||
| 702 | my $Frame = $Param{'-frame'}; |
||
| 703 | my $Config = $Param{'-config'}; |
||
| 704 | |||
| 705 | # Datenstruktur: |
||
| 706 | # u8 Digital[2]; |
||
| 707 | # u8 RemoteButtons; |
||
| 708 | # s8 Nick; |
||
| 709 | # s8 Roll; |
||
| 710 | # s8 Yaw; |
||
| 711 | # u8 Gas; |
||
| 712 | # s8 Height; |
||
| 713 | # u8 free; |
||
| 714 | # u8 Frame; |
||
| 715 | # u8 Config; |
||
| 716 | |||
| 717 | my $Ec = pack ('CCCcccCcCCC', |
||
| 718 | 0, 0, |
||
| 719 | $RemoteButtons, |
||
| 720 | $Nick, |
||
| 721 | $Roll, |
||
| 722 | $Yaw, |
||
| 723 | $Gas, |
||
| 724 | $Hight, |
||
| 725 | $Free, |
||
| 726 | $Frame, |
||
| 727 | $Config |
||
| 728 | ); |
||
| 729 | |||
| 730 | $MkSendQueue->enqueue( "b", "$AddrNC", $Ec ); |
||
| 731 | # &MkSend( "b", "$AddrNC", $Ec ); |
||
| 732 | |||
| 733 | return 0; |
||
| 734 | } |
||
| 735 | |||
| 736 | |||
| 737 | # when called as thread |
||
| 738 | sub MkCommLoop() |
||
| 739 | { |
||
| 740 | while (1) |
||
| 741 | { |
||
| 742 | &MkIO(); |
||
| 743 | } |
||
| 744 | } |
||
| 745 | |||
| 746 | |||
| 747 | # |
||
| 748 | # Hauptprgramm |
||
| 749 | # |
||
| 750 | |||
| 751 | if ( $0 =~ /mkcomm.pl$/i ) |
||
| 752 | { |
||
| 753 | # Program wurde direkt aufgerufen |
||
| 754 | &MkCommLoop(); |
||
| 755 | |||
| 756 | # should never exit |
||
| 757 | } |
||
| 758 | |||
| 759 | 1; |
||
| 760 | |||
| 761 | __END__ |
||
| 762 |