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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 727 | 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 | # 2009-08-15 0.1.3 rw SIG-Handler removed |
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| 46 | # 2009-10-05 0.1.4 rw COM-Ports > 9 + PortSetSkip configuration |
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| 47 | # Export Target-Hash to Simulator |
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| 48 | # 2009-10-24 0.3.0 rw NC 0.17b |
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| 49 | # 2010-02-10 0.4.0 rw Port read timout reduced from 100ms to 10ms |
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| 50 | # Serial Channel |
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| 51 | # Extern Control |
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| 52 | # Controls via joystick or 3D-Mouse |
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| 53 | # Navidata Current, Capacity |
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| 54 | # |
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| 55 | ############################################################################### |
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| 56 | |||
| 57 | $Version{'mkcomm.pl'} = "0.4.0 - 2010-02-10"; |
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| 58 | |||
| 59 | # MK Protokoll |
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| 60 | # http://www.mikrokopter.de/ucwiki/en/SerialCommands?highlight=(command) |
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| 61 | # http://www.mikrokopter.de/ucwiki/en/SerialProtocol?highlight=(protocol) |
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| 62 | |||
| 63 | # |
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| 64 | # Parameter |
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| 65 | # |
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| 66 | |||
| 67 | # Com Port of MK Comm-Device (BT, WI.232) |
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| 68 | if ( ! defined $Cfg->{'mkcomm'}->{'Port'} ) |
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| 69 | { |
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| 70 | # set default |
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| 71 | $Cfg->{'mkcomm'}->{'Port'} = "COM5"; |
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| 72 | } |
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| 73 | |||
| 74 | $AddrFC = "b"; |
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| 75 | $AddrNC = "c"; |
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| 76 | $AddrMK3MAG = "d"; |
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| 77 | |||
| 78 | |||
| 79 | if ( $0 =~ /mkcomm.pl$/i ) |
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| 80 | { |
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| 81 | # Program wurde direkt aufgerufen |
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| 82 | |||
| 83 | # change working directory to program path |
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| 84 | my $Cwd = substr ($0, 0, rindex ($0, "mkcomm.pl")); |
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| 85 | chdir $Cwd; |
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| 86 | |||
| 87 | # set path for local Perl libs |
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| 88 | push @INC, $Cwd . "perl/lib"; |
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| 89 | } |
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| 90 | |||
| 91 | |||
| 92 | # Packages |
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| 93 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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| 94 | # http://perldoc.perl.org/threads.html |
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| 95 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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| 96 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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| 97 | use Time::HiRes qw(usleep); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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| 98 | if ( $^O =~ /Win32/i ) |
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| 99 | { |
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| 100 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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| 101 | } |
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| 102 | else |
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| 103 | { |
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| 104 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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| 105 | } |
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| 106 | |||
| 107 | require "libmap.pl"; |
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| 108 | |||
| 109 | # Hashes exported to other threads and main-program |
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| 110 | share (%MkOsd); |
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| 111 | share (%MkTarget); |
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| 112 | share (%MkNcDebug); |
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| 113 | share (%Mk); |
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| 114 | share (%MkSSim); # Target info for simulator |
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| 115 | share (%MkSerialChannel); |
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| 116 | |||
| 117 | # Queue for Sending to MK |
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| 118 | $MkSendQueue = Thread::Queue->new(); |
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| 119 | |||
| 120 | sub MkCommExit() |
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| 121 | { |
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| 122 | # close COM port |
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| 123 | &MkClose(); |
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| 124 | |||
| 125 | if ( defined threads->self() ) |
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| 126 | { |
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| 127 | threads->exit(); |
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| 128 | } |
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| 129 | exit; |
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| 130 | } |
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| 131 | |||
| 132 | |||
| 133 | sub MkInit() |
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| 134 | { |
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| 135 | if ( defined $MkPort ) |
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| 136 | { |
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| 137 | return; # already open |
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| 138 | } |
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| 139 | |||
| 140 | # open COM-Port |
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| 141 | my $MkComPort = $Cfg->{'mkcomm'}->{'Port'}; |
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| 142 | if ( $MkComPort =~ /^COM/i ) |
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| 143 | { |
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| 144 | $MkComPort = "\\\\.\\" . $MkComPort; # \\.\COMnn for nn > 9 |
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| 145 | } |
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| 146 | undef $MkPort; |
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| 147 | if ( $^O =~ m/Win32/ ) |
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| 148 | { |
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| 149 | $MkPort = Win32::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 150 | } |
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| 151 | else |
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| 152 | { |
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| 153 | $MkPort = Device::SerialPort->new ($MkComPort) || die "Error open $MkComPort\n"; |
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| 154 | } |
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| 155 | |||
| 156 | if ( ! ($Cfg->{'mkcomm'}->{'PortSetSkip'} =~ /y/i) ) |
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| 157 | { |
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| 158 | # Set COM parameters, don't set for Bluetooth device |
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| 159 | $MkPort->baudrate(57600); |
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| 160 | $MkPort->parity("none"); |
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| 161 | $MkPort->databits(8); |
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| 162 | $MkPort->stopbits(1); |
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| 163 | $MkPort->handshake('none'); |
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| 164 | $MkPort->write_settings; |
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| 165 | } |
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| 166 | |||
| 167 | $MkPort->read_const_time(10); # total = (avg * bytes) + const (ms) |
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| 168 | } |
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| 169 | |||
| 170 | # Read one line from MK |
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| 171 | # Check send-queue |
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| 172 | sub MkIOLine() |
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| 173 | { |
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| 174 | # Init serial port |
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| 175 | &MkInit(); |
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| 176 | |||
| 177 | my $RxLine = ""; |
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| 178 | while ( 1 ) |
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| 179 | { |
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| 180 | # Check Send-Queue |
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| 181 | my $Items = $MkSendQueue->pending(); |
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| 182 | if ( $Items >= 3 ) # Cmd, Addr, Data |
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| 183 | { |
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| 184 | my ($Id, $Addr, $Data) = $MkSendQueue->dequeue(3); |
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| 185 | &MkSend ($Id, $Addr, $Data); |
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| 186 | } |
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| 187 | |||
| 188 | # Zeichenweise lesen, blockierend mit Timeout |
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| 189 | my ($RxLen, $RxChar) = $MkPort->read(1); |
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| 190 | if ( $RxLen == 1 ) |
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| 191 | { |
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| 192 | if ( "$RxChar" eq "#" ) # 1st char of line |
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| 193 | { |
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| 194 | $RxLine = "#"; |
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| 195 | } |
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| 196 | elsif ( "$RxChar" eq "\r" ) # last char of line |
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| 197 | { |
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| 198 | return ($RxLine); |
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| 199 | } |
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| 200 | else |
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| 201 | { |
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| 202 | $RxLine = "$RxLine" . "$RxChar"; # collect char |
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| 203 | } |
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| 204 | } |
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| 205 | } |
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| 206 | } |
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| 207 | |||
| 208 | |||
| 209 | # Read and decode a command from MK |
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| 210 | # process send queue in &MkIOLine() |
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| 211 | sub MkIO() |
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| 212 | { |
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| 213 | my $RxData = &MkIOLine(); # Blocking Read for complete line |
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| 214 | |||
| 215 | # Zeile decodieren |
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| 216 | if ( substr ($RxData, 0, 1) eq '#' ) |
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| 217 | { |
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| 218 | # Zeile decodieren |
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| 219 | $Header = substr($RxData, 0, 3); |
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| 220 | $Chksum = substr($RxData, -2); |
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| 221 | $Data = substr($RxData, 3, length ($RxData) -5); |
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| 222 | |||
| 223 | # CRC prüfen |
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| 224 | if ( &CrcCheck ("$Header" . "$Data", $Chksum ) ) |
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| 225 | { |
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| 226 | # Base64 decodieren |
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| 227 | $Data = &Decode64($Data); |
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| 228 | |||
| 229 | # Daten auswerten und in shared Hash schreiben |
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| 230 | if ( &ProcessRx($Header, $Data) ) |
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| 231 | { |
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| 232 | return 1; # alles OK |
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| 233 | } |
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| 234 | } |
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| 235 | } |
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| 236 | |||
| 237 | return 0; # keine Daten empfangen |
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| 238 | } |
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| 239 | |||
| 240 | |||
| 241 | # Send a command to MK |
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| 242 | sub MkSend() |
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| 243 | { |
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| 244 | my ($Id, $Addr, $Data) = @_; |
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| 245 | |||
| 246 | # Init serial port |
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| 247 | &MkInit(); |
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| 248 | |||
| 249 | my $Base64Data = &Encode64($Data); |
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| 250 | |||
| 251 | my $TxData = "#" . "$Addr" . "$Id" . "$Base64Data"; |
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| 252 | my $Crc = &Crc($TxData); |
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| 253 | my $TxSend = "$TxData" . "$Crc" . "\r"; |
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| 254 | |||
| 255 | $MkPort->write($TxSend); |
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| 256 | } |
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| 257 | |||
| 258 | |||
| 259 | # close COM-Port |
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| 260 | sub MkClose() |
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| 261 | { |
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| 262 | undef $MkPort; |
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| 263 | } |
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| 264 | |||
| 265 | |||
| 266 | # CRC Prüfung |
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| 267 | sub CrcCheck () |
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| 268 | { |
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| 269 | my ($Data, $Crc) = @_; |
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| 270 | |||
| 271 | my $Check = &Crc($Data); |
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| 272 | if ( $Check ne $Crc ) |
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| 273 | { |
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| 274 | return 0; # CRC passt nicht |
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| 275 | } |
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| 276 | return (1); # CRC OK |
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| 277 | } |
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| 278 | |||
| 279 | |||
| 280 | # CRC berechnen |
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| 281 | sub Crc () |
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| 282 | { |
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| 283 | my ($Data) = @_; |
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| 284 | my $TmpCrc = 0; |
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| 285 | my $Len = length $Data; |
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| 286 | |||
| 287 | for ($i=0; $i<$Len; $i++) |
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| 288 | { |
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| 289 | $TmpCrc += ord(substr($Data, $i, 1)); |
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| 290 | } |
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| 291 | |||
| 292 | $TmpCrc %= 4096; |
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| 293 | my $Crc1 = ord ("=") + $TmpCrc / 64; |
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| 294 | my $Crc2 = ord ("=") + $TmpCrc % 64; |
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| 295 | $Crc = pack("CC", $Crc1, $Crc2); |
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| 296 | |||
| 297 | return ($Crc); |
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| 298 | } |
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| 299 | |||
| 300 | |||
| 301 | # Empfangene Daten decodieren, modifiziertes Base64 |
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| 302 | sub Decode64() |
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| 303 | { |
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| 304 | my ($DataIn) = @_; |
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| 305 | |||
| 306 | my $ptrIn = 0; |
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| 307 | my $DataOut = ""; |
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| 308 | my $len = length ($DataIn); |
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| 309 | |||
| 310 | while ( $len > 0 ) |
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| 311 | { |
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| 312 | $a = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 313 | $b = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 314 | $c = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 315 | $d = ord (substr ($DataIn, $ptrIn ++, 1)) - ord ("="); |
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| 316 | |||
| 317 | $x = ($a << 2) | ($b >> 4); |
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| 318 | $y = (($b & 0x0f) << 4) | ($c >> 2); |
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| 319 | $z = (($c & 0x03) << 6) | $d; |
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| 320 | |||
| 321 | foreach $i ( $x, $y, $z ) |
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| 322 | { |
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| 323 | if ( $len--) |
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| 324 | { |
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| 325 | my $Tmp = pack ('C1', $i); |
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| 326 | $DataOut = "$DataOut" . "$Tmp"; |
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| 327 | } |
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| 328 | else |
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| 329 | { |
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| 330 | last; |
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| 331 | } |
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| 332 | } |
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| 333 | } |
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| 334 | |||
| 335 | return ($DataOut); |
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| 336 | } |
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| 337 | |||
| 338 | |||
| 339 | # zu sendende Daten codieren, modifiziertes Base64 |
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| 340 | sub Encode64() |
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| 341 | { |
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| 342 | my ($Data) = @_; |
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| 343 | |||
| 344 | my $Length = length $Data; |
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| 345 | my $TxBuf = ""; |
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| 346 | my $ptr = 0; |
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| 347 | |||
| 348 | while( $Length > 0 ) |
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| 349 | { |
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| 350 | my $a = 0; |
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| 351 | my $b = 0; |
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| 352 | my $c = 0; |
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| 353 | if ($Length) {$a = ord(substr ($Data, $ptr++, $Length--));} |
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| 354 | if ($Length) {$b = ord(substr ($Data, $ptr++, $Length--));} |
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| 355 | if ($Length) {$c = ord(substr ($Data, $ptr++, $Length--));} |
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| 356 | |||
| 357 | my $ac = ord("=") + ($a >> 2); |
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| 358 | my $bc = ord("=") + ( (($a & 0x03) << 4) | (($b & 0xf0) >> 4) ); |
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| 359 | my $cc = ord("=") + ( (($b & 0x0f) << 2) | (($c & 0xc0) >> 6) ); |
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| 360 | my $dc = ord("=") + ($c & 0x3f); |
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| 361 | $TxBuf = "$TxBuf" . pack ("C4", $ac, $bc, $cc, $dc); |
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| 362 | } |
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| 363 | return ($TxBuf); |
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| 364 | } |
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| 365 | |||
| 366 | |||
| 367 | # Empfangenen Datensatz verarbeiten |
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| 368 | sub ProcessRx() |
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| 369 | { |
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| 370 | my ($Header, $Data) = @_; |
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| 371 | |||
| 372 | my $Adr = substr ($Header, 1, 1); # b=FC, c=NC, d=MK3MAG |
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| 373 | my $Id = substr ($Header, 2, 1); |
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| 374 | |||
| 375 | if ( $Id eq "O" ) |
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| 376 | { |
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| 377 | # |
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| 378 | # OSD-Daten nach %MkOsd einlesen |
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| 379 | # |
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| 380 | |||
| 381 | # Struktur Datensatz: |
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| 382 | # u8 Version // version of the data structure |
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| 383 | # GPS_Pos_t CurrentPosition; |
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| 384 | # GPS_Pos_t TargetPosition; |
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| 385 | # GPS_PosDev_t TargetPositionDeviation; |
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| 386 | # GPS_Pos_t HomePosition; |
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| 387 | # GPS_PosDev_t HomePositionDeviation; |
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| 388 | # u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
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| 389 | # u8 WaypointNumber; // number of stored waypoints |
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| 390 | # u8 SatsInUse; // no of satellites used for position solution |
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| 391 | # s16 Altimeter; // hight according to air pressure |
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| 392 | # s16 Variometer; // climb(+) and sink(-) rate |
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| 393 | # u16 FlyingTime; // in seconds |
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| 394 | # u8 UBat; // Battery Voltage in 0.1 Volts |
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| 395 | # u16 GroundSpeed; // speed over ground in cm/s (2D) |
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| 396 | # s16 Heading; // current flight direction in deg as angle to north |
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| 397 | # s16 CompassHeading; // current compass value |
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| 398 | # s8 AngleNick; // current Nick angle in 1° |
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| 399 | # s8 AngleRoll; // current Rick angle in 1° |
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| 400 | # u8 RC_Quality; // RC_Quality |
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| 401 | # u8 MKFlags; // Flags from FC |
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| 402 | # u8 NCFlags; // Flags from NC |
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| 403 | # u8 Errorcode; // 0 --> okay |
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| 404 | # u8 OperatingRadius // current operation radius around the Home Position in m |
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| 405 | # s16 TopSpeed; // velocity in vertical direction in cm/s |
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| 406 | # u8 TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
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| 407 | # u8 RC_RSSI; // Receiver signal strength (since version 2 added) |
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| 408 | # s16 SetpointAltitude; // setpoint for altitude |
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| 409 | # u8 Gas; // for future use |
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| 410 | # u16 Current; // actual current in 0.1A steps |
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| 411 | # u16 UsedCapacity; // used capacity in mAh |
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| 412 | |||
| 413 | |||
| 414 | # GPS_Pos_t: |
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| 415 | # s32 Longitude; // in 1E-7 deg |
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| 416 | # s32 Latitude; // in 1E-7 deg |
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| 417 | # s32 Altitude; // in mm |
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| 418 | # u8 Status; // validity of data |
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| 419 | |||
| 420 | # GPS_PosDev_t: |
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| 421 | # s16 Distance; // distance to target in dm |
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| 422 | # s16 Bearing; // course to target in deg |
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| 423 | |||
| 424 | # Status: |
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| 425 | # INVALID = 0 |
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| 426 | # NEWDATA = 1 |
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| 427 | # PROCESSED = 2 |
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| 428 | |||
| 429 | # MKFlags 0x01: MOTOR_RUN, 0x02 FLY, 0x04: CALIBRATE, 0x08: START, 0x10: EMERGENCY_LANDING |
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| 430 | # NCFlags 0x01: FLAG_FREE, 0x02: FLAG_PH, 0x04: FLAG_CH, 0x08: FLAG_RANGE_LIMIT |
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| 431 | # 0x10: FLAG_NOSERIALLINK, 0x20: FLAG_TARGET_REACHED, FLAG_MANUAL_CONTROL: 0x40 |
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| 432 | # 0x80: FLAG_8 |
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| 433 | |||
| 434 | lock (%MkOsd); # until end of Block |
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| 435 | |||
| 436 | ( |
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| 437 | $MkOsd{'Version'}, |
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| 438 | $MkOsd{'CurPos_Lon'}, |
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| 439 | $MkOsd{'CurPos_Lat'}, |
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| 440 | $MkOsd{'CurPos_Alt'}, |
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| 441 | $MkOsd{'CurPos_Stat'}, |
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| 442 | $MkOsd{'TargetPos_Lon'}, |
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| 443 | $MkOsd{'TargetPos_Lat'}, |
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| 444 | $MkOsd{'TargetPos_Alt'}, |
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| 445 | $MkOsd{'TargetPos_Stat'}, |
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| 446 | $MkOsd{'TargetPosDev_Dist'}, |
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| 447 | $MkOsd{'TargetPosDev_Bearing'}, |
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| 448 | $MkOsd{'HomePos_Lon'}, |
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| 449 | $MkOsd{'HomePos_Lat'}, |
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| 450 | $MkOsd{'HomePos_Alt'}, |
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| 451 | $MkOsd{'HomePos_Stat'}, |
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| 452 | $MkOsd{'HomePosDev_Dist'}, |
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| 453 | $MkOsd{'HomePosDev_Bearing'}, |
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| 454 | $MkOsd{'WaypointIndex'}, |
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| 455 | $MkOsd{'WaypointNumber'}, |
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| 456 | $MkOsd{'SatsInUse'}, |
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| 457 | $MkOsd{'Altimeter'}, |
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| 458 | $MkOsd{'Variometer'}, |
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| 459 | $MkOsd{'FlyingTime'}, |
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| 460 | $MkOsd{'UBat'}, |
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| 461 | $MkOsd{'GroundSpeed'}, |
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| 462 | $MkOsd{'Heading'}, |
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| 463 | $MkOsd{'CompassHeading'}, |
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| 464 | $MkOsd{'AngleNick'}, |
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| 465 | $MkOsd{'AngleRoll'}, |
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| 466 | $MkOsd{'RC_Quality'}, |
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| 467 | $MkOsd{'MKFlags'}, |
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| 468 | $MkOsd{'NCFlags'}, |
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| 469 | $MkOsd{'Errorcode'}, |
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| 470 | $MkOsd{'OperatingRadius'}, |
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| 471 | $MkOsd{'TopSpeed'}, |
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| 472 | $MkOsd{'TargetHoldTime'}, |
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| 473 | $MkOsd{'RC_RSSI'}, |
||
| 474 | $MkOsd{'SetPointAltitude'}, |
||
| 475 | $MkOsd{'Gas'}, |
||
| 476 | $MkOsd{'Current'}, |
||
| 477 | $MkOsd{'UsedCapacity'}, |
||
| 478 | ) = unpack ('ClllClllCsslllCssCCCssSCSssccCCCCCsCCsCSS', $Data); |
||
| 479 | |||
| 480 | $MkOsd{'CurPos_Lon'} = sprintf("%.7f", $MkOsd{'CurPos_Lon'} / 10000000); |
||
| 481 | $MkOsd{'CurPos_Lat'} = sprintf("%.7f", $MkOsd{'CurPos_Lat'} / 10000000); |
||
| 482 | $MkOsd{'CurPos_Alt'} = sprintf("%.3f", $MkOsd{'CurPos_Alt'} / 1000); |
||
| 483 | $MkOsd{'TargetPos_Lon'} = sprintf("%.7f", $MkOsd{'TargetPos_Lon'} / 10000000); |
||
| 484 | $MkOsd{'TargetPos_Lat'} = sprintf("%.7f", $MkOsd{'TargetPos_Lat'} / 10000000); |
||
| 485 | $MkOsd{'TargetPos_Alt'} = sprintf("%.3f", $MkOsd{'TargetPos_Alt'} / 1000); |
||
| 486 | $MkOsd{'HomePos_Lon'} = sprintf("%.7f", $MkOsd{'HomePos_Lon'} / 10000000); |
||
| 487 | $MkOsd{'HomePos_Lat'} = sprintf("%.7f", $MkOsd{'HomePos_Lat'} / 10000000); |
||
| 488 | $MkOsd{'HomePos_Alt'} = sprintf("%.3f", $MkOsd{'HomePos_Alt'} / 1000); |
||
| 489 | $MkOsd{'UBat'} = sprintf("%.1f", $MkOsd{'UBat'} / 10); |
||
| 490 | $MkOsd{'Current'} = sprintf("%.1f", $MkOsd{'Current'} / 10); |
||
| 491 | |||
| 492 | # Timestamp, wann der Datensatz geschtieben wurde |
||
| 493 | $MkOsd{'_Timestamp'} = time; |
||
| 494 | } |
||
| 495 | |||
| 496 | elsif ( $Id eq "s" ) |
||
| 497 | { |
||
| 498 | # |
||
| 499 | # NC Target position in %MkTarget |
||
| 500 | # |
||
| 501 | # Datenstruktur: |
||
| 502 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 503 | # s16 Heading; // orientation, future implementation |
||
| 504 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
| 505 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
| 506 | # // this time defines the delay before the next WP is triggered |
||
| 507 | # u8 Event_Flag; // future emplementation |
||
| 508 | # u8 reserve[12]; // reserved |
||
| 509 | |||
| 510 | lock (%MkTarget); # until end of block |
||
| 511 | |||
| 512 | ( |
||
| 513 | $MkTarget{'Pos_Lon'}, |
||
| 514 | $MkTarget{'Pos_Lat'}, |
||
| 515 | $MkTarget{'Pos_Alt'}, |
||
| 516 | $MkTarget{'Pos_Stat'}, |
||
| 517 | $MkTarget{'Heading'}, |
||
| 518 | $MkTarget{'ToleranceRadius'}, |
||
| 519 | $MkTarget{'HoldTime'}, |
||
| 520 | $MkTarget{'EventFlag'}, |
||
| 521 | ) = unpack ('lllCsCCC', $Data); |
||
| 522 | |||
| 523 | $MkTarget{'Pos_Lon'} = sprintf("%.7f", $MkTarget{'Pos_Lon'} / 10000000); |
||
| 524 | $MkTarget{'Pos_Lat'} = sprintf("%.7f", $MkTarget{'Pos_Lat'} / 10000000); |
||
| 525 | $MkTarget{'Pos_Alt'} = sprintf("%.3f", $MkTarget{'Pos_Alt'} / 1000); |
||
| 526 | |||
| 527 | # Timestamp, wann der Datensatz geschrieben wurde |
||
| 528 | $MkTarget{'_Timestamp'} = time; |
||
| 529 | } |
||
| 530 | |||
| 531 | elsif ( $Id eq "W" ) |
||
| 532 | { |
||
| 533 | # |
||
| 534 | # Request new waypoint |
||
| 535 | # |
||
| 536 | # Datenstruktur: |
||
| 537 | # u8 Number of waypoint |
||
| 538 | |||
| 539 | ($WpNumber) = unpack ('C', $Data); |
||
| 540 | |||
| 541 | # keine Ahnung wofuer das gut sein soll |
||
| 542 | |||
| 543 | # print "Request new Waypoint Number: $WpNumber\n"; |
||
| 544 | |||
| 545 | } |
||
| 546 | |||
| 547 | elsif ( $Id eq "V" ) |
||
| 548 | { |
||
| 549 | # |
||
| 550 | # Version |
||
| 551 | # |
||
| 552 | # Datenstruktur: |
||
| 553 | # u8 SWMajor |
||
| 554 | # u8 SWMinor |
||
| 555 | # u8 ProtoMajor |
||
| 556 | # u8 ProtoMinor |
||
| 557 | # u8 SWPatch |
||
| 558 | # u8 Reserved[5] |
||
| 559 | |||
| 560 | ( |
||
| 561 | $Mk{'SWMajor'}, |
||
| 562 | $Mk{'SWMinor'}, |
||
| 563 | $Mk{'ProtoMajor'}, |
||
| 564 | $Mk{'ProtoMinor'}, |
||
| 565 | $Mk{'SWPatch'}, |
||
| 566 | ) = unpack ('C5', $Data); |
||
| 567 | |||
| 568 | $Mk{'_Timestamp'} = time; |
||
| 569 | } |
||
| 570 | |||
| 571 | elsif ( $Id eq "E" ) |
||
| 572 | { |
||
| 573 | # |
||
| 574 | # Error Text |
||
| 575 | # |
||
| 576 | # Datenstruktur: |
||
| 577 | # s8 ErrorMsg[25] |
||
| 578 | |||
| 579 | $Mk{'ErrorMsg'} = unpack ('Z25', $Data); |
||
| 580 | } |
||
| 581 | |||
| 582 | elsif ( $Id eq "D" ) |
||
| 583 | { |
||
| 584 | # |
||
| 585 | # NC Debug %MkNcDebug |
||
| 586 | # |
||
| 587 | # Datenstruktur: |
||
| 588 | # u8 Digital[2]; |
||
| 589 | # u16 Analog[32]; |
||
| 590 | |||
| 591 | lock (%MkNcDebug); # until end of block |
||
| 592 | |||
| 593 | ( |
||
| 594 | $MkNcDebug{'Digital_00'}, |
||
| 595 | $MkNcDebug{'Digital_01'}, |
||
| 596 | $MkNcDebug{'Analog_00'}, |
||
| 597 | $MkNcDebug{'Analog_01'}, |
||
| 598 | $MkNcDebug{'Analog_02'}, |
||
| 599 | $MkNcDebug{'Analog_03'}, |
||
| 600 | $MkNcDebug{'Analog_04'}, |
||
| 601 | $MkNcDebug{'Analog_05'}, |
||
| 602 | $MkNcDebug{'Analog_06'}, |
||
| 603 | $MkNcDebug{'Analog_07'}, |
||
| 604 | $MkNcDebug{'Analog_08'}, |
||
| 605 | $MkNcDebug{'Analog_09'}, |
||
| 606 | $MkNcDebug{'Analog_10'}, |
||
| 607 | $MkNcDebug{'Analog_11'}, |
||
| 608 | $MkNcDebug{'Analog_12'}, |
||
| 609 | $MkNcDebug{'Analog_13'}, |
||
| 610 | $MkNcDebug{'Analog_14'}, |
||
| 611 | $MkNcDebug{'Analog_15'}, |
||
| 612 | $MkNcDebug{'Analog_16'}, |
||
| 613 | $MkNcDebug{'Analog_17'}, |
||
| 614 | $MkNcDebug{'Analog_18'}, |
||
| 615 | $MkNcDebug{'Analog_19'}, |
||
| 616 | $MkNcDebug{'Analog_20'}, |
||
| 617 | $MkNcDebug{'Analog_21'}, |
||
| 618 | $MkNcDebug{'Analog_22'}, |
||
| 619 | $MkNcDebug{'Analog_23'}, |
||
| 620 | $MkNcDebug{'Analog_24'}, |
||
| 621 | $MkNcDebug{'Analog_25'}, |
||
| 622 | $MkNcDebug{'Analog_26'}, |
||
| 623 | $MkNcDebug{'Analog_27'}, |
||
| 624 | $MkNcDebug{'Analog_28'}, |
||
| 625 | $MkNcDebug{'Analog_29'}, |
||
| 626 | $MkNcDebug{'Analog_30'}, |
||
| 627 | $MkNcDebug{'Analog_31'}, |
||
| 628 | ) = unpack ('C2s32', $Data); |
||
| 629 | |||
| 630 | # Timestamp, wann der Datensatz geschrieben wurde |
||
| 631 | $MkNcDebug{'_Timestamp'} = time; |
||
| 632 | } |
||
| 633 | |||
| 634 | elsif ( $Id eq "B" ) |
||
| 635 | { |
||
| 636 | # |
||
| 637 | # External Control |
||
| 638 | # |
||
| 639 | # Datenstruktur: |
||
| 640 | # u8 ConfirmFrame; |
||
| 641 | |||
| 642 | my ($ConfirmFrame) = unpack ('C5', $Data); |
||
| 643 | |||
| 644 | } |
||
| 645 | else |
||
| 646 | { |
||
| 647 | print "Unknown Command: $Header $Data\n"; |
||
| 648 | } |
||
| 649 | } |
||
| 650 | |||
| 651 | |||
| 652 | # send Target or Waypoint to MK |
||
| 653 | sub MkFlyTo() |
||
| 654 | { |
||
| 655 | my %Param = @_; |
||
| 656 | |||
| 657 | my $x = $Param{'-x'}; |
||
| 658 | my $y = $Param{'-y'}; |
||
| 659 | my $Lat = $Param{'-lat'}; |
||
| 660 | my $Lon = $Param{'-lon'}; |
||
| 661 | my $Alt = $Param{'-alt'}; |
||
| 662 | my $Heading = $Param{'-heading'}; |
||
| 663 | my $ToleranceRadius = $Param{'-toleranceradius'}; |
||
| 664 | my $Holdtime = $Param{'-holdtime'}; |
||
| 665 | my $EventFlag = $Param{'-eventflag'}; |
||
| 666 | my $Mode = $Param{'-mode'}; |
||
| 667 | my $Index = $Param{'-index'}; # 1..n |
||
| 668 | |||
| 669 | if ( $x ne "" and $y ne "" and $Lat eq "" and $Lon eq "" ) |
||
| 670 | { |
||
| 671 | ($Lat, $Lon) = &MapXY2Gps($x, $y); |
||
| 672 | } |
||
| 673 | |||
| 674 | if ( $Alt eq "" ) { $Alt = $MkOsd{'CurPos_Alt'}; } |
||
| 675 | if ( $Heading eq "" ) { $Heading = $Cfg->{'waypoint'}->{'DefaultHeading'}; } |
||
| 676 | if ( $ToleranceRadius eq "" ) { $ToleranceRadius = $Cfg->{'waypoint'}->{'DefaultToleranceRadius'}; } |
||
| 677 | if ( $Holdtime eq "" ) { $Holdtime = $Cfg->{'waypoint'}->{'DefaultHoldtime'}; } |
||
| 678 | if ( $EventFlag eq "" ) { $EventFlag = $Cfg->{'waypoint'}->{'DefaultEventFlag'}; } |
||
| 679 | |||
| 680 | my $Status = 1; # valid |
||
| 681 | if ( $Mode =~ /delete/i ) |
||
| 682 | { |
||
| 683 | $Status = 0; # invalid -> delete NC WP-List |
||
| 684 | } |
||
| 685 | |||
| 686 | my $Lat_i = sprintf "%d", $Lat * 10000000; |
||
| 687 | my $Lon_i = sprintf "%d", $Lon * 10000000; |
||
| 688 | my $Alt_i = sprintf "%d", $Alt * 1000; |
||
| 689 | |||
| 690 | # Datenstruktur: |
||
| 691 | # GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
||
| 692 | # s16 Heading; // orientation, future implementation |
||
| 693 | # u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is |
||
| 694 | # u8 HoldTime; // in seconds, if the MK was once in the tolerance area around a WP, |
||
| 695 | # // this time defines the delay before the next WP is triggered |
||
| 696 | # u8 Event_Flag; // future emplementation |
||
| 697 | # u8 Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
||
| 698 | # u8 reserve[11]; // reserved |
||
| 699 | |||
| 700 | my $Wp = pack ('lllCsC15', |
||
| 701 | $Lon_i, |
||
| 702 | $Lat_i, |
||
| 703 | $Alt_i, |
||
| 704 | $Status, |
||
| 705 | $Heading, |
||
| 706 | $ToleranceRadius, |
||
| 707 | $Holdtime, |
||
| 708 | $EventFlag, |
||
| 709 | $Index + 1, |
||
| 710 | 0,0,0,0,0,0,0,0,0,0,0, |
||
| 711 | ); |
||
| 712 | |||
| 713 | if ( $Mode =~ /waypoint/i ) |
||
| 714 | { |
||
| 715 | $MkSendQueue->enqueue( "w", "$AddrNC", $Wp ); |
||
| 716 | # &MkSend( "w", "$AddrNC", $Wp ); |
||
| 717 | } |
||
| 718 | elsif ( $Mode =~ /target/i ) |
||
| 719 | { |
||
| 720 | $MkSendQueue->enqueue( "s", "$AddrNC", $Wp ); |
||
| 721 | # &MkSend( "s", "$AddrNC", $Wp ); |
||
| 722 | |||
| 723 | # set Target information for Simulator |
||
| 724 | $MkSim{'Target_Lat'} = $Lat; |
||
| 725 | $MkSim{'Target_Lon'} = $Lon; |
||
| 726 | $MkSim{'Target_Alt'} = $Alt; |
||
| 727 | $MkSim{'Target_Status'} = $Status; |
||
| 728 | $MkSim{'Target_Heading'} = $Heading; |
||
| 729 | $MkSim{'Target_ToleranceRadius'} = $ToleranceRadius; |
||
| 730 | $MkSim{'Target_Holdtime'} = $Holdtime; |
||
| 731 | $MkSim{'Target_EventFlag'} = $EventFlag; |
||
| 732 | |||
| 733 | # Timestamp, wann der Datensatz geschtieben wurde |
||
| 734 | $MkSim{'_Timestamp'} = time; |
||
| 735 | } |
||
| 736 | else |
||
| 737 | { |
||
| 738 | # ignore |
||
| 739 | } |
||
| 740 | |||
| 741 | return 0; |
||
| 742 | } |
||
| 743 | |||
| 744 | |||
| 745 | # send External control to MK |
||
| 746 | sub SendExternalControl() |
||
| 747 | { |
||
| 748 | my %Param = @_; |
||
| 749 | |||
| 750 | my $RemoteButtons = $Param{'-remotebuttons'}; |
||
| 751 | my $Nick = $Param{'-nick'}; |
||
| 752 | my $Roll = $Param{'-roll'}; |
||
| 753 | my $Gier = $Param{'-gier'}; |
||
| 754 | my $Gas = $Param{'-gas'}; |
||
| 755 | my $Hight = $Param{'-hight'}; |
||
| 756 | my $Free = $Param{'-free'}; |
||
| 757 | my $Frame = $Param{'-frame'}; |
||
| 758 | my $Config = $Param{'-config'}; |
||
| 759 | |||
| 760 | # Datenstruktur: |
||
| 761 | # u8 Digital[2]; |
||
| 762 | # u8 RemoteButtons; |
||
| 763 | # s8 Nick; |
||
| 764 | # s8 Roll; |
||
| 765 | # s8 Yaw; |
||
| 766 | # u8 Gas; |
||
| 767 | # s8 Height; |
||
| 768 | # u8 free; |
||
| 769 | # u8 Frame; |
||
| 770 | # u8 Config; |
||
| 771 | |||
| 772 | # Config/Bit 0 and FC-Parameter ExternControl > 128: |
||
| 773 | # Nich/Roll/Yaw added to RC-Channel |
||
| 774 | # Gas wird auf max. RC-Gas begrenzt |
||
| 775 | |||
| 776 | my $Ec = pack ('CCCcccCcCCC', |
||
| 777 | 0, 0, |
||
| 778 | $RemoteButtons, |
||
| 779 | $Nick, |
||
| 780 | $Roll, |
||
| 781 | $Gier, |
||
| 782 | $Gas, |
||
| 783 | $Hight, |
||
| 784 | $Free, |
||
| 785 | $Frame, # Frame/Command counter, ungleich 0 |
||
| 786 | $Config, |
||
| 787 | ); |
||
| 788 | |||
| 789 | $MkSendQueue->enqueue( "b", "$AddrFC", $Ec ); |
||
| 790 | # &MkSend( "b", "$AddrFC", $Ec ); |
||
| 791 | |||
| 792 | return 0; |
||
| 793 | } |
||
| 794 | |||
| 795 | |||
| 796 | # send serial Channel values from %MkSerialChannel to MK/FC |
||
| 797 | sub SendSerialChannel() |
||
| 798 | { |
||
| 799 | |||
| 800 | # Datenstruktur: |
||
| 801 | # s8 Channel[12]; |
||
| 802 | |||
| 803 | lock (%MkSerialChannel); # until end of block |
||
| 804 | |||
| 805 | my $SP = pack ('c12', |
||
| 806 | $MkSerialChannel{'SerialChannel01'}, |
||
| 807 | $MkSerialChannel{'SerialChannel02'}, |
||
| 808 | $MkSerialChannel{'SerialChannel03'}, |
||
| 809 | $MkSerialChannel{'SerialChannel04'}, |
||
| 810 | $MkSerialChannel{'SerialChannel05'}, |
||
| 811 | $MkSerialChannel{'SerialChannel06'}, |
||
| 812 | $MkSerialChannel{'SerialChannel07'}, |
||
| 813 | $MkSerialChannel{'SerialChannel08'}, |
||
| 814 | $MkSerialChannel{'SerialChannel09'}, |
||
| 815 | $MkSerialChannel{'SerialChannel10'}, |
||
| 816 | $MkSerialChannel{'SerialChannel11'}, |
||
| 817 | $MkSerialChannel{'SerialChannel12'}, |
||
| 818 | ); |
||
| 819 | |||
| 820 | $MkSendQueue->enqueue( "y", "$AddrFC", $SP ); |
||
| 821 | # &MkSend( "y", "$AddrFC", $SP ); |
||
| 822 | |||
| 823 | return 0; |
||
| 824 | } |
||
| 825 | |||
| 826 | |||
| 827 | # when called as thread |
||
| 828 | sub MkCommLoop() |
||
| 829 | { |
||
| 830 | while (1) |
||
| 831 | { |
||
| 832 | &MkIO(); |
||
| 833 | } |
||
| 834 | } |
||
| 835 | |||
| 836 | |||
| 837 | # |
||
| 838 | # Hauptprgramm |
||
| 839 | # |
||
| 840 | |||
| 841 | if ( $0 =~ /mkcomm.pl$/i ) |
||
| 842 | { |
||
| 843 | # Program wurde direkt aufgerufen |
||
| 844 | &MkCommLoop(); |
||
| 845 | |||
| 846 | # should never exit |
||
| 847 | } |
||
| 848 | |||
| 849 | 1; |
||
| 850 | |||
| 851 | __END__ |
||
| 852 |