Rev 717 | Rev 744 | Go to most recent revision | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 717 | Rev 720 | ||
---|---|---|---|
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | 7 | ||
8 | #include "main.h" |
8 | #include "main.h" |
9 | #include "uart.h" |
9 | #include "uart.h" |
10 | 10 | ||
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
12 | unsigned volatile char SioTmp = 0; |
12 | unsigned volatile char SioTmp = 0; |
13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
19 | unsigned volatile char CntCrcError = 0; |
19 | unsigned volatile char CntCrcError = 0; |
20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
21 | unsigned volatile char PC_DebugTimeout = 0; |
21 | unsigned volatile char PC_DebugTimeout = 0; |
22 | unsigned char RemotePollDisplayLine = 0; |
22 | unsigned char RemotePollDisplayLine = 0; |
23 | unsigned char NurKanalAnforderung = 0; |
23 | unsigned char NurKanalAnforderung = 0; |
24 | unsigned char DebugTextAnforderung = 255; |
24 | unsigned char DebugTextAnforderung = 255; |
25 | unsigned char PcZugriff = 100; |
25 | unsigned char PcZugriff = 100; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
27 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
27 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
28 | unsigned char MeineSlaveAdresse; |
28 | unsigned char MeineSlaveAdresse; |
29 | unsigned char ConfirmFrame; |
29 | unsigned char ConfirmFrame; |
30 | struct str_DebugOut DebugOut; |
30 | struct str_DebugOut DebugOut; |
31 | struct str_ExternControl ExternControl; |
31 | struct str_ExternControl ExternControl; |
32 | struct str_VersionInfo VersionInfo; |
32 | struct str_VersionInfo VersionInfo; |
33 | struct str_WinkelOut WinkelOut; |
33 | struct str_WinkelOut WinkelOut; |
34 | 34 | ||
35 | int Debug_Timer,Kompass_Timer; |
35 | int Debug_Timer,Kompass_Timer; |
36 | 36 | ||
37 | const unsigned char ANALOG_TEXT[32][16] = |
37 | const unsigned char ANALOG_TEXT[32][16] = |
38 | { |
38 | { |
39 | //1234567890123456 |
39 | //1234567890123456 |
40 | "IntegralNick ", //0 |
40 | "IntegralNick ", //0 |
41 | "IntegralRoll ", |
41 | "IntegralRoll ", |
42 | "AccNick ", |
42 | "AccNick ", |
43 | "AccRoll ", |
43 | "AccRoll ", |
44 | "GyroGier ", |
44 | "GyroGier ", |
45 | "HoehenWert ", //5 |
45 | "HoehenWert ", //5 |
46 | "AccZ ", |
46 | "AccZ ", |
47 | "Gas ", |
47 | "Gas ", |
48 | "KompassValue ", |
48 | "KompassValue ", |
49 | "Spannung ", |
49 | "Spannung ", |
50 | "Empfang ", //10 |
50 | "Empfang ", //10 |
51 | "Ersatzkompass ", |
51 | "Ersatzkompass ", |
52 | "Motor_Vorne ", |
52 | "Motor_Vorne ", |
53 | "Motor_Hinten ", |
53 | "Motor_Hinten ", |
54 | "Motor_Links ", |
54 | "Motor_Links ", |
55 | "Motor_Rechts ", //15 |
55 | "Motor_Rechts ", //15 |
56 | "Acc_Z ", |
56 | "Acc_Z ", |
57 | "MittelAccNick ", |
57 | " ", |
58 | "MittelAccRoll ", |
58 | " ", |
59 | "IntegralErrNick ", |
59 | " ", |
60 | "IntegralErrRoll ", //20 |
60 | " ", //20 |
61 | "MittelIntNick ", |
61 | " ", |
62 | "MittelIntRoll ", |
62 | " ", |
63 | "NeutralNick ", |
63 | " ", |
64 | "RollOffset ", |
64 | " ", |
65 | "IntRoll*Faktor ", //25 |
65 | " ", //25 |
66 | "Analog26 ", |
66 | " ", |
67 | "DirektAusglRoll ", |
67 | " ", |
68 | "MesswertRoll ", |
68 | " ", |
69 | "AusgleichRoll ", |
69 | " ", |
70 | "I-LageRoll ", //30 |
70 | "GPS_Nick ", //30 |
71 | "StickRoll " |
71 | "GPS_Roll " |
72 | }; |
72 | }; |
73 | 73 | ||
74 | 74 | ||
75 | 75 | ||
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
77 | //++ Sende-Part der Datenübertragung |
77 | //++ Sende-Part der Datenübertragung |
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
79 | SIGNAL(INT_VEC_TX) |
79 | SIGNAL(INT_VEC_TX) |
80 | { |
80 | { |
81 | static unsigned int ptr = 0; |
81 | static unsigned int ptr = 0; |
82 | unsigned char tmp_tx; |
82 | unsigned char tmp_tx; |
83 | if(!UebertragungAbgeschlossen) |
83 | if(!UebertragungAbgeschlossen) |
84 | { |
84 | { |
85 | ptr++; // die [0] wurde schon gesendet |
85 | ptr++; // die [0] wurde schon gesendet |
86 | tmp_tx = SendeBuffer[ptr]; |
86 | tmp_tx = SendeBuffer[ptr]; |
87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
88 | { |
88 | { |
89 | ptr = 0; |
89 | ptr = 0; |
90 | UebertragungAbgeschlossen = 1; |
90 | UebertragungAbgeschlossen = 1; |
91 | } |
91 | } |
92 | UDR = tmp_tx; |
92 | UDR = tmp_tx; |
93 | } |
93 | } |
94 | else ptr = 0; |
94 | else ptr = 0; |
95 | } |
95 | } |
96 | 96 | ||
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | SIGNAL(INT_VEC_RX) |
100 | SIGNAL(INT_VEC_RX) |
101 | { |
101 | { |
102 | static unsigned int crc; |
102 | static unsigned int crc; |
103 | static unsigned char crc1,crc2,buf_ptr; |
103 | static unsigned char crc1,crc2,buf_ptr; |
104 | static unsigned char UartState = 0; |
104 | static unsigned char UartState = 0; |
105 | unsigned char CrcOkay = 0; |
105 | unsigned char CrcOkay = 0; |
106 | 106 | ||
107 | SioTmp = UDR; |
107 | SioTmp = UDR; |
108 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
108 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
109 | if(SioTmp == '\r' && UartState == 2) |
109 | if(SioTmp == '\r' && UartState == 2) |
110 | { |
110 | { |
111 | UartState = 0; |
111 | UartState = 0; |
112 | crc -= RxdBuffer[buf_ptr-2]; |
112 | crc -= RxdBuffer[buf_ptr-2]; |
113 | crc -= RxdBuffer[buf_ptr-1]; |
113 | crc -= RxdBuffer[buf_ptr-1]; |
114 | crc %= 4096; |
114 | crc %= 4096; |
115 | crc1 = '=' + crc / 64; |
115 | crc1 = '=' + crc / 64; |
116 | crc2 = '=' + crc % 64; |
116 | crc2 = '=' + crc % 64; |
117 | CrcOkay = 0; |
117 | CrcOkay = 0; |
118 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
118 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
119 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
119 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
120 | { |
120 | { |
121 | NeuerDatensatzEmpfangen = 1; |
121 | NeuerDatensatzEmpfangen = 1; |
122 | AnzahlEmpfangsBytes = buf_ptr; |
122 | AnzahlEmpfangsBytes = buf_ptr; |
123 | RxdBuffer[buf_ptr] = '\r'; |
123 | RxdBuffer[buf_ptr] = '\r'; |
124 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
124 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
125 | } |
125 | } |
126 | } |
126 | } |
127 | else |
127 | else |
128 | switch(UartState) |
128 | switch(UartState) |
129 | { |
129 | { |
130 | case 0: |
130 | case 0: |
131 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
131 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
132 | buf_ptr = 0; |
132 | buf_ptr = 0; |
133 | RxdBuffer[buf_ptr++] = SioTmp; |
133 | RxdBuffer[buf_ptr++] = SioTmp; |
134 | crc = SioTmp; |
134 | crc = SioTmp; |
135 | break; |
135 | break; |
136 | case 1: // Adresse auswerten |
136 | case 1: // Adresse auswerten |
137 | UartState++; |
137 | UartState++; |
138 | RxdBuffer[buf_ptr++] = SioTmp; |
138 | RxdBuffer[buf_ptr++] = SioTmp; |
139 | crc += SioTmp; |
139 | crc += SioTmp; |
140 | break; |
140 | break; |
141 | case 2: // Eingangsdaten sammeln |
141 | case 2: // Eingangsdaten sammeln |
142 | RxdBuffer[buf_ptr] = SioTmp; |
142 | RxdBuffer[buf_ptr] = SioTmp; |
143 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
143 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
144 | else UartState = 0; |
144 | else UartState = 0; |
145 | crc += SioTmp; |
145 | crc += SioTmp; |
146 | break; |
146 | break; |
147 | default: |
147 | default: |
148 | UartState = 0; |
148 | UartState = 0; |
149 | break; |
149 | break; |
150 | } |
150 | } |
151 | } |
151 | } |
152 | 152 | ||
153 | 153 | ||
154 | // -------------------------------------------------------------------------- |
154 | // -------------------------------------------------------------------------- |
155 | void AddCRC(unsigned int wieviele) |
155 | void AddCRC(unsigned int wieviele) |
156 | { |
156 | { |
157 | unsigned int tmpCRC = 0,i; |
157 | unsigned int tmpCRC = 0,i; |
158 | for(i = 0; i < wieviele;i++) |
158 | for(i = 0; i < wieviele;i++) |
159 | { |
159 | { |
160 | tmpCRC += SendeBuffer[i]; |
160 | tmpCRC += SendeBuffer[i]; |
161 | } |
161 | } |
162 | tmpCRC %= 4096; |
162 | tmpCRC %= 4096; |
163 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
163 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
164 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
164 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
165 | SendeBuffer[i++] = '\r'; |
165 | SendeBuffer[i++] = '\r'; |
166 | UebertragungAbgeschlossen = 0; |
166 | UebertragungAbgeschlossen = 0; |
167 | UDR = SendeBuffer[0]; |
167 | UDR = SendeBuffer[0]; |
168 | } |
168 | } |
169 | 169 | ||
170 | 170 | ||
171 | 171 | ||
172 | // -------------------------------------------------------------------------- |
172 | // -------------------------------------------------------------------------- |
173 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
173 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
174 | { |
174 | { |
175 | unsigned int pt = 0; |
175 | unsigned int pt = 0; |
176 | unsigned char a,b,c; |
176 | unsigned char a,b,c; |
177 | unsigned char ptr = 0; |
177 | unsigned char ptr = 0; |
178 | 178 | ||
179 | SendeBuffer[pt++] = '#'; // Startzeichen |
179 | SendeBuffer[pt++] = '#'; // Startzeichen |
180 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
180 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
181 | SendeBuffer[pt++] = cmd; // Commando |
181 | SendeBuffer[pt++] = cmd; // Commando |
182 | 182 | ||
183 | while(len) |
183 | while(len) |
184 | { |
184 | { |
185 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
185 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
186 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
186 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
187 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
187 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
188 | SendeBuffer[pt++] = '=' + (a >> 2); |
188 | SendeBuffer[pt++] = '=' + (a >> 2); |
189 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
189 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
190 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
190 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
191 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
191 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
192 | } |
192 | } |
193 | AddCRC(pt); |
193 | AddCRC(pt); |
194 | } |
194 | } |
195 | 195 | ||
196 | 196 | ||
197 | // -------------------------------------------------------------------------- |
197 | // -------------------------------------------------------------------------- |
198 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
198 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
199 | { |
199 | { |
200 | unsigned char a,b,c,d; |
200 | unsigned char a,b,c,d; |
201 | unsigned char ptr = 0; |
201 | unsigned char ptr = 0; |
202 | unsigned char x,y,z; |
202 | unsigned char x,y,z; |
203 | while(len) |
203 | while(len) |
204 | { |
204 | { |
205 | a = RxdBuffer[ptrIn++] - '='; |
205 | a = RxdBuffer[ptrIn++] - '='; |
206 | b = RxdBuffer[ptrIn++] - '='; |
206 | b = RxdBuffer[ptrIn++] - '='; |
207 | c = RxdBuffer[ptrIn++] - '='; |
207 | c = RxdBuffer[ptrIn++] - '='; |
208 | d = RxdBuffer[ptrIn++] - '='; |
208 | d = RxdBuffer[ptrIn++] - '='; |
209 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
209 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
210 | 210 | ||
211 | x = (a << 2) | (b >> 4); |
211 | x = (a << 2) | (b >> 4); |
212 | y = ((b & 0x0f) << 4) | (c >> 2); |
212 | y = ((b & 0x0f) << 4) | (c >> 2); |
213 | z = ((c & 0x03) << 6) | d; |
213 | z = ((c & 0x03) << 6) | d; |
214 | 214 | ||
215 | if(len--) ptrOut[ptr++] = x; else break; |
215 | if(len--) ptrOut[ptr++] = x; else break; |
216 | if(len--) ptrOut[ptr++] = y; else break; |
216 | if(len--) ptrOut[ptr++] = y; else break; |
217 | if(len--) ptrOut[ptr++] = z; else break; |
217 | if(len--) ptrOut[ptr++] = z; else break; |
218 | } |
218 | } |
219 | 219 | ||
220 | } |
220 | } |
221 | 221 | ||
222 | // -------------------------------------------------------------------------- |
222 | // -------------------------------------------------------------------------- |
223 | void BearbeiteRxDaten(void) |
223 | void BearbeiteRxDaten(void) |
224 | { |
224 | { |
225 | if(!NeuerDatensatzEmpfangen) return; |
225 | if(!NeuerDatensatzEmpfangen) return; |
226 | 226 | ||
227 | unsigned int tmp_int_arr1[1]; |
227 | unsigned int tmp_int_arr1[1]; |
228 | // unsigned int tmp_int_arr2[2]; |
228 | // unsigned int tmp_int_arr2[2]; |
229 | // unsigned int tmp_int_arr3[3]; |
229 | // unsigned int tmp_int_arr3[3]; |
230 | unsigned char tmp_char_arr2[2]; |
230 | unsigned char tmp_char_arr2[2]; |
231 | // unsigned char tmp_char_arr3[3]; |
231 | // unsigned char tmp_char_arr3[3]; |
232 | // unsigned char tmp_char_arr4[4]; |
232 | // unsigned char tmp_char_arr4[4]; |
233 | //if(!MotorenEin) |
233 | //if(!MotorenEin) |
234 | switch(RxdBuffer[2]) |
234 | switch(RxdBuffer[2]) |
235 | { |
235 | { |
236 | case 'K':// Kompasswert |
236 | case 'K':// Kompasswert |
237 | Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes); |
237 | Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes); |
238 | KompassValue = tmp_int_arr1[0]; |
238 | KompassValue = tmp_int_arr1[0]; |
239 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
239 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
240 | break; |
240 | break; |
241 | case 'a':// Texte der Analogwerte |
241 | case 'a':// Texte der Analogwerte |
242 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
242 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
243 | DebugTextAnforderung = tmp_char_arr2[0]; |
243 | DebugTextAnforderung = tmp_char_arr2[0]; |
244 | PcZugriff = 255; |
244 | PcZugriff = 255; |
245 | break; |
245 | break; |
246 | case 'b': |
246 | case 'b': |
247 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
247 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
248 | RemoteTasten |= ExternControl.RemoteTasten; |
248 | RemoteTasten |= ExternControl.RemoteTasten; |
249 | ConfirmFrame = ExternControl.Frame; |
249 | ConfirmFrame = ExternControl.Frame; |
250 | break; |
250 | break; |
251 | case 'c': |
251 | case 'c': |
252 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
252 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
253 | RemoteTasten |= ExternControl.RemoteTasten; |
253 | RemoteTasten |= ExternControl.RemoteTasten; |
254 | ConfirmFrame = ExternControl.Frame; |
254 | ConfirmFrame = ExternControl.Frame; |
255 | DebugDataAnforderung = 1; |
255 | DebugDataAnforderung = 1; |
256 | PcZugriff = 255; |
256 | PcZugriff = 255; |
257 | break; |
257 | break; |
258 | case 'h':// x-1 Displayzeilen |
258 | case 'h':// x-1 Displayzeilen |
259 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
259 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
260 | RemoteTasten |= tmp_char_arr2[0]; |
260 | RemoteTasten |= tmp_char_arr2[0]; |
261 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
261 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
262 | DebugDisplayAnforderung = 1; |
262 | DebugDisplayAnforderung = 1; |
263 | break; |
263 | break; |
264 | case 't':// Motortest |
264 | case 't':// Motortest |
265 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
265 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
266 | PcZugriff = 255; |
266 | PcZugriff = 255; |
267 | break; |
267 | break; |
268 | case 'k':// Keys von DubWise |
268 | case 'k':// Keys von DubWise |
269 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
269 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
270 | ConfirmFrame = DubWiseKeys[3]; |
270 | ConfirmFrame = DubWiseKeys[3]; |
271 | PcZugriff = 255; |
271 | PcZugriff = 255; |
272 | break; |
272 | break; |
273 | case 'v': // Version-Anforderung und Ausbaustufe |
273 | case 'v': // Version-Anforderung und Ausbaustufe |
274 | GetVersionAnforderung = 1; |
274 | GetVersionAnforderung = 1; |
275 | break; |
275 | break; |
276 | case 'g':// "Get"-Anforderung für Debug-Daten |
276 | case 'g':// "Get"-Anforderung für Debug-Daten |
277 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
277 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
278 | DebugGetAnforderung = 1; |
278 | DebugGetAnforderung = 1; |
279 | break; |
279 | break; |
280 | case 'q':// "Get"-Anforderung für Settings |
280 | case 'q':// "Get"-Anforderung für Settings |
281 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
281 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
282 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
282 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
283 | if(tmp_char_arr2[0] != 0xff) |
283 | if(tmp_char_arr2[0] != 0xff) |
284 | { |
284 | { |
285 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
285 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
286 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
286 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
287 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
287 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
288 | } |
288 | } |
289 | else |
289 | else |
290 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
290 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
291 | 291 | ||
292 | break; |
292 | break; |
293 | 293 | ||
294 | case 'l': |
294 | case 'l': |
295 | case 'm': |
295 | case 'm': |
296 | case 'n': |
296 | case 'n': |
297 | case 'o': |
297 | case 'o': |
298 | case 'p': // Parametersatz speichern |
298 | case 'p': // Parametersatz speichern |
299 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
299 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
300 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
300 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
301 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
301 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
302 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
302 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
303 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
303 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
304 | Piep(GetActiveParamSetNumber()); |
304 | Piep(GetActiveParamSetNumber()); |
305 | break; |
305 | break; |
306 | 306 | ||
307 | 307 | ||
308 | } |
308 | } |
309 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
309 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
310 | NeuerDatensatzEmpfangen = 0; |
310 | NeuerDatensatzEmpfangen = 0; |
311 | } |
311 | } |
312 | 312 | ||
313 | //############################################################################ |
313 | //############################################################################ |
314 | //Routine für die Serielle Ausgabe |
314 | //Routine für die Serielle Ausgabe |
315 | int uart_putchar (char c) |
315 | int uart_putchar (char c) |
316 | //############################################################################ |
316 | //############################################################################ |
317 | { |
317 | { |
318 | if (c == '\n') |
318 | if (c == '\n') |
319 | uart_putchar('\r'); |
319 | uart_putchar('\r'); |
320 | //Warten solange bis Zeichen gesendet wurde |
320 | //Warten solange bis Zeichen gesendet wurde |
321 | loop_until_bit_is_set(USR, UDRE); |
321 | loop_until_bit_is_set(USR, UDRE); |
322 | //Ausgabe des Zeichens |
322 | //Ausgabe des Zeichens |
323 | UDR = c; |
323 | UDR = c; |
324 | 324 | ||
325 | return (0); |
325 | return (0); |
326 | } |
326 | } |
327 | 327 | ||
328 | // -------------------------------------------------------------------------- |
328 | // -------------------------------------------------------------------------- |
329 | void WriteProgramData(unsigned int pos, unsigned char wert) |
329 | void WriteProgramData(unsigned int pos, unsigned char wert) |
330 | { |
330 | { |
331 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
331 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
332 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
332 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
333 | // Buffer[pos] = wert; |
333 | // Buffer[pos] = wert; |
334 | } |
334 | } |
335 | 335 | ||
336 | //############################################################################ |
336 | //############################################################################ |
337 | //INstallation der Seriellen Schnittstelle |
337 | //INstallation der Seriellen Schnittstelle |
338 | void UART_Init (void) |
338 | void UART_Init (void) |
339 | //############################################################################ |
339 | //############################################################################ |
340 | { |
340 | { |
341 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
341 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
342 | 342 | ||
343 | UCR=(1 << TXEN) | (1 << RXEN); |
343 | UCR=(1 << TXEN) | (1 << RXEN); |
344 | // UART Double Speed (U2X) |
344 | // UART Double Speed (U2X) |
345 | USR |= (1<<U2X); |
345 | USR |= (1<<U2X); |
346 | // RX-Interrupt Freigabe |
346 | // RX-Interrupt Freigabe |
347 | UCSRB |= (1<<RXCIE); |
347 | UCSRB |= (1<<RXCIE); |
348 | // TX-Interrupt Freigabe |
348 | // TX-Interrupt Freigabe |
349 | UCSRB |= (1<<TXCIE); |
349 | UCSRB |= (1<<TXCIE); |
350 | 350 | ||
351 | //Teiler wird gesetzt |
351 | //Teiler wird gesetzt |
352 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
352 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
353 | //UBRR = 33; |
353 | //UBRR = 33; |
354 | //öffnet einen Kanal für printf (STDOUT) |
354 | //öffnet einen Kanal für printf (STDOUT) |
355 | //fdevopen (uart_putchar, 0); |
355 | //fdevopen (uart_putchar, 0); |
356 | //sbi(PORTD,4); |
356 | //sbi(PORTD,4); |
357 | Debug_Timer = SetDelay(200); |
357 | Debug_Timer = SetDelay(200); |
358 | Kompass_Timer = SetDelay(220); |
358 | Kompass_Timer = SetDelay(220); |
359 | } |
359 | } |
360 | 360 | ||
361 | //--------------------------------------------------------------------------------------------- |
361 | //--------------------------------------------------------------------------------------------- |
362 | void DatenUebertragung(void) |
362 | void DatenUebertragung(void) |
363 | { |
363 | { |
364 | if(!UebertragungAbgeschlossen) return; |
364 | if(!UebertragungAbgeschlossen) return; |
365 | 365 | ||
366 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
366 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
367 | { |
367 | { |
368 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
368 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
369 | DebugGetAnforderung = 0; |
369 | DebugGetAnforderung = 0; |
370 | } |
370 | } |
371 | 371 | ||
372 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
372 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
373 | { |
373 | { |
374 | WinkelOut.Winkel[0] = IntegralNick / 1024; // etwa in Grad |
374 | WinkelOut.Winkel[0] = IntegralNick / 1024; // etwa in Grad |
375 | WinkelOut.Winkel[1] = IntegralRoll / 1024; // etwa in Grad |
375 | WinkelOut.Winkel[1] = IntegralRoll / 1024; // etwa in Grad |
376 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
376 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
377 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
377 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
378 | WinkelOut.UserParameter[2] = Parameter_UserParam3; |
378 | WinkelOut.UserParameter[2] = Parameter_UserParam3; |
379 | WinkelOut.UserParameter[3] = Parameter_UserParam4; |
379 | WinkelOut.UserParameter[3] = Parameter_UserParam4; |
380 | SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
380 | SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
381 | Kompass_Timer = SetDelay(99); |
381 | Kompass_Timer = SetDelay(99); |
382 | } |
382 | } |
383 | 383 | ||
384 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
384 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
385 | { |
385 | { |
386 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
386 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
387 | DebugDataAnforderung = 0; |
387 | DebugDataAnforderung = 0; |
388 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
388 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
389 | } |
389 | } |
390 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
390 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
391 | { |
391 | { |
392 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
392 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
393 | DebugTextAnforderung = 255; |
393 | DebugTextAnforderung = 255; |
394 | } |
394 | } |
395 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
395 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
396 | { |
396 | { |
397 | SendeBuffer[0] = '#'; |
397 | SendeBuffer[0] = '#'; |
398 | SendeBuffer[1] = ConfirmFrame; |
398 | SendeBuffer[1] = ConfirmFrame; |
399 | SendeBuffer[2] = '\r'; |
399 | SendeBuffer[2] = '\r'; |
400 | UebertragungAbgeschlossen = 0; |
400 | UebertragungAbgeschlossen = 0; |
401 | ConfirmFrame = 0; |
401 | ConfirmFrame = 0; |
402 | UDR = SendeBuffer[0]; |
402 | UDR = SendeBuffer[0]; |
403 | } |
403 | } |
404 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
404 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
405 | { |
405 | { |
406 | Menu(); |
406 | Menu(); |
407 | DebugDisplayAnforderung = 0; |
407 | DebugDisplayAnforderung = 0; |
408 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
408 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
409 | { |
409 | { |
410 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
410 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
411 | RemotePollDisplayLine = -1; |
411 | RemotePollDisplayLine = -1; |
412 | } |
412 | } |
413 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
413 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
414 | } |
414 | } |
415 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
415 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
416 | { |
416 | { |
417 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
417 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
418 | GetVersionAnforderung = 0; |
418 | GetVersionAnforderung = 0; |
419 | } |
419 | } |
420 | 420 | ||
421 | } |
421 | } |
422 | 422 | ||
423 | 423 |