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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 | // + GPS read out: |
7 | // + GPS read out: |
8 | // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
8 | // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
9 | // + only for non-profit use |
9 | // + only for non-profit use |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | 11 | ||
12 | #include "main.h" |
12 | #include "main.h" |
13 | #include "uart.h" |
13 | #include "uart.h" |
14 | 14 | ||
15 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
15 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
16 | unsigned volatile char SioTmp = 0; |
16 | unsigned volatile char SioTmp = 0; |
17 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
17 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
18 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
18 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
19 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
19 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
20 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
20 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
21 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
21 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
22 | unsigned volatile char UebertragungAbgeschlossen = 1; |
22 | unsigned volatile char UebertragungAbgeschlossen = 1; |
23 | unsigned volatile char CntCrcError = 0; |
23 | unsigned volatile char CntCrcError = 0; |
24 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
24 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
25 | unsigned volatile char PC_DebugTimeout = 0; |
25 | unsigned volatile char PC_DebugTimeout = 0; |
26 | unsigned char PcZugriff = 100; |
26 | unsigned char PcZugriff = 100; |
27 | unsigned char MotorTest[4] = {0,0,0,0}; |
27 | unsigned char MotorTest[4] = {0,0,0,0}; |
28 | unsigned char MeineSlaveAdresse; |
28 | unsigned char MeineSlaveAdresse; |
29 | struct str_DebugOut DebugOut; |
29 | struct str_DebugOut DebugOut; |
30 | struct str_Debug DebugIn; |
30 | struct str_Debug DebugIn; |
31 | struct str_VersionInfo VersionInfo; |
31 | struct str_VersionInfo VersionInfo; |
32 | int Debug_Timer; |
32 | int Debug_Timer; |
33 | 33 | ||
34 | static uint8_t gpsState; |
34 | static uint8_t gpsState; |
35 | #define GPS_EMPTY 0 |
35 | #define GPS_EMPTY 0 |
36 | #define GPS_SYNC1 1 |
36 | #define GPS_SYNC1 1 |
37 | #define GPS_SYNC2 2 |
37 | #define GPS_SYNC2 2 |
38 | #define GPS_CLASS 3 |
38 | #define GPS_CLASS 3 |
39 | #define GPS_LEN1 4 |
39 | #define GPS_LEN1 4 |
40 | #define GPS_LEN2 5 |
40 | #define GPS_LEN2 5 |
41 | #define GPS_FILLING 6 |
41 | #define GPS_FILLING 6 |
42 | #define GPS_CKA 7 |
42 | #define GPS_CKA 7 |
43 | #define GPS_CKB 8 |
43 | #define GPS_CKB 8 |
44 | gpsInfo_t actualPos; // measured position (last gps record) |
44 | gpsInfo_t actualPos; // measured position (last gps record) |
45 | 45 | ||
46 | #define SYNC_CHAR1 0xb5 |
46 | #define SYNC_CHAR1 0xb5 |
47 | #define SYNC_CHAR2 0x62 |
47 | #define SYNC_CHAR2 0x62 |
48 | 48 | ||
49 | #define CLASS_NAV 0x01 |
49 | #define CLASS_NAV 0x01 |
50 | #define MSGID_POSECEF 0x01 |
50 | #define MSGID_POSECEF 0x01 |
51 | #define MSGID_STATUS 0x03 |
51 | #define MSGID_STATUS 0x03 |
52 | #define MSGID_VELECEF 0x11 |
52 | #define MSGID_VELECEF 0x11 |
53 | #define MSGID_POSUTM 0x08 |
53 | #define MSGID_POSUTM 0x08 |
54 | #define MSGID_VELNED 0x12 |
54 | #define MSGID_VELNED 0x12 |
55 | 55 | ||
56 | 56 | ||
57 | 57 | ||
58 | typedef struct { |
58 | typedef struct { |
59 | unsigned long ITOW; // time of week |
59 | unsigned long ITOW; // time of week |
60 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
60 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
61 | uint8_t Flags; // Navigation Status Flags |
61 | uint8_t Flags; // Navigation Status Flags |
62 | uint8_t DiffS; // Differential Status |
62 | uint8_t DiffS; // Differential Status |
63 | uint8_t res; // reserved |
63 | uint8_t res; // reserved |
64 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
64 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
65 | unsigned long MSSS; // Milliseconds since Startup / Reset |
65 | unsigned long MSSS; // Milliseconds since Startup / Reset |
66 | uint8_t packetStatus; |
66 | uint8_t packetStatus; |
67 | } NAV_STATUS_t; |
67 | } NAV_STATUS_t; |
68 | 68 | ||
69 | 69 | ||
70 | typedef struct { |
70 | typedef struct { |
71 | unsigned long ITOW; // time of week |
71 | unsigned long ITOW; // time of week |
72 | long LON; // longitude in 1e-07 deg |
72 | long LON; // longitude in 1e-07 deg |
73 | long LAT; // lattitude |
73 | long LAT; // lattitude |
74 | long HEIGHT; // height in mm |
74 | long HEIGHT; // height in mm |
75 | long HMSL; // height above mean sea level im mm |
75 | long HMSL; // height above mean sea level im mm |
76 | unsigned long Hacc; // horizontal accuracy in mm |
76 | unsigned long Hacc; // horizontal accuracy in mm |
77 | unsigned long Vacc; // vertical accuracy in mm |
77 | unsigned long Vacc; // vertical accuracy in mm |
78 | uint8_t packetStatus; |
78 | uint8_t packetStatus; |
79 | } NAV_POSLLH_t; |
79 | } NAV_POSLLH_t; |
80 | 80 | ||
81 | 81 | ||
82 | typedef struct { |
82 | typedef struct { |
83 | unsigned long ITOW; // time of week |
83 | unsigned long ITOW; // time of week |
84 | long EAST; // cm UTM Easting |
84 | long EAST; // cm UTM Easting |
85 | long NORTH; // cm UTM Nording |
85 | long NORTH; // cm UTM Nording |
86 | long ALT; // cm altitude |
86 | long ALT; // cm altitude |
87 | uint8_t ZONE; // UTM zone number |
87 | uint8_t ZONE; // UTM zone number |
88 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
88 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
89 | uint8_t packetStatus; |
89 | uint8_t packetStatus; |
90 | } NAV_POSUTM_t; |
90 | } NAV_POSUTM_t; |
91 | 91 | ||
92 | 92 | ||
93 | typedef struct { |
93 | typedef struct { |
94 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
94 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
95 | long VEL_N; // cm/s NED north velocity |
95 | long VEL_N; // cm/s NED north velocity |
96 | long VEL_E; // cm/s NED east velocity |
96 | long VEL_E; // cm/s NED east velocity |
97 | long VEL_D; // cm/s NED down velocity |
97 | long VEL_D; // cm/s NED down velocity |
98 | unsigned long Speed; // cm/s Speed (3-D) |
98 | unsigned long Speed; // cm/s Speed (3-D) |
99 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
99 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
100 | long Heading; // deg (1e-05) Heading 2-D |
100 | long Heading; // deg (1e-05) Heading 2-D |
101 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
101 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
102 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
102 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
103 | uint8_t packetStatus; |
103 | uint8_t packetStatus; |
104 | } NAV_VELNED_t; |
104 | } NAV_VELNED_t; |
105 | 105 | ||
106 | 106 | ||
107 | typedef struct { |
107 | typedef struct { |
108 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
108 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
109 | long ECEF_X; // ecef x / cm |
109 | long ECEF_X; // ecef x / cm |
110 | long ECEF_Y; // ecef y / cm |
110 | long ECEF_Y; // ecef y / cm |
111 | long ECEF_Z; // ecef z / cm |
111 | long ECEF_Z; // ecef z / cm |
112 | unsigned long Pacc; // Abweichung |
112 | unsigned long Pacc; // Abweichung |
113 | uint8_t packetStatus; |
113 | uint8_t packetStatus; |
114 | } NAV_POSECEF_t ; |
114 | } NAV_POSECEF_t ; |
115 | 115 | ||
116 | typedef struct { |
116 | typedef struct { |
117 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
117 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
118 | long ECEFVX; // ecef x velocity cm/s |
118 | long ECEFVX; // ecef x velocity cm/s |
119 | long ECEFVY; // ecef y velocity cm/s |
119 | long ECEFVY; // ecef y velocity cm/s |
120 | long ECEFVZ; // ecef z velocity cm/s |
120 | long ECEFVZ; // ecef z velocity cm/s |
121 | unsigned long SAcc; // Abweichung |
121 | unsigned long SAcc; // Abweichung |
122 | uint8_t packetStatus; |
122 | uint8_t packetStatus; |
123 | } NAV_VELECEF_t; |
123 | } NAV_VELECEF_t; |
124 | 124 | ||
125 | 125 | ||
126 | NAV_STATUS_t navStatus; |
126 | NAV_STATUS_t navStatus; |
127 | NAV_POSECEF_t navPosECEF; |
127 | NAV_POSECEF_t navPosECEF; |
128 | NAV_VELECEF_t navVelECEF; |
128 | NAV_VELECEF_t navVelECEF; |
129 | NAV_POSUTM_t navPosUtm; |
129 | NAV_POSUTM_t navPosUtm; |
130 | NAV_VELNED_t navVelNed; |
130 | NAV_VELNED_t navVelNed; |
131 | 131 | ||
132 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
132 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
133 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
133 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
134 | volatile unsigned short msgLen; |
134 | volatile unsigned short msgLen; |
135 | volatile uint8_t msgID; |
135 | volatile uint8_t msgID; |
136 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
136 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
137 | 137 | ||
138 | 138 | ||
139 | // distance to target position |
139 | // distance to target position |
140 | long rollOffset; // in 10cm |
140 | long rollOffset; // in 10cm |
141 | long nickOffset; |
141 | long nickOffset; |
142 | 142 | ||
143 | #define GPS_INTCYCLES 100 |
143 | #define GPS_INTCYCLES 100 |
144 | #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
144 | #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
145 | 145 | ||
146 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
146 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
147 | extern volatile uint8_t v24state; |
147 | extern volatile uint8_t v24state; |
148 | char buf[200]; |
148 | char buf[200]; |
149 | char *bp; |
149 | char *bp; |
150 | char *ep; |
150 | char *ep; |
151 | #endif |
151 | #endif |
152 | 152 | ||
153 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
153 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
154 | //++ Sende-Part der Datenübertragung |
154 | //++ Sende-Part der Datenübertragung |
155 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
155 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
156 | SIGNAL(INT_VEC_TX) |
156 | SIGNAL(INT_VEC_TX) |
157 | { |
157 | { |
158 | static unsigned int ptr = 0; |
158 | static unsigned int ptr = 0; |
159 | unsigned char tmp_tx; |
159 | unsigned char tmp_tx; |
160 | if(!UebertragungAbgeschlossen) |
160 | if(!UebertragungAbgeschlossen) |
161 | { |
161 | { |
162 | ptr++; // die [0] wurde schon gesendet |
162 | ptr++; // die [0] wurde schon gesendet |
163 | tmp_tx = SendeBuffer[ptr]; |
163 | tmp_tx = SendeBuffer[ptr]; |
164 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
164 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
165 | { |
165 | { |
166 | ptr = 0; |
166 | ptr = 0; |
167 | UebertragungAbgeschlossen = 1; |
167 | UebertragungAbgeschlossen = 1; |
168 | } |
168 | } |
169 | UDR = tmp_tx; |
169 | UDR = tmp_tx; |
170 | } |
170 | } |
171 | else ptr = 0; |
171 | else ptr = 0; |
172 | } |
172 | } |
173 | 173 | ||
174 | void GPSscanData (void) |
174 | void GPSscanData (void) |
175 | { |
175 | { |
176 | 176 | ||
177 | 177 | ||
178 | if (navPosECEF.packetStatus == 1) // valid packet |
178 | if (navPosECEF.packetStatus == 1) // valid packet |
179 | { |
179 | { |
180 | actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
180 | actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
181 | actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
181 | actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
182 | actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
182 | actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
183 | navPosECEF.packetStatus = 0; |
183 | navPosECEF.packetStatus = 0; |
184 | } |
184 | } |
185 | 185 | ||
186 | 186 | ||
187 | if (navStatus.packetStatus == 1) // valid packet |
187 | if (navStatus.packetStatus == 1) // valid packet |
188 | { |
188 | { |
189 | actualPos.GPSFix = navStatus.GPSfix; |
189 | actualPos.GPSFix = navStatus.GPSfix; |
190 | actualPos.newData = navStatus.packetStatus; |
190 | actualPos.newData = navStatus.packetStatus; |
191 | navStatus.packetStatus = 0; |
191 | navStatus.packetStatus = 0; |
192 | } |
192 | } |
193 | 193 | ||
194 | if (navVelECEF.packetStatus == 1) // valid packet |
194 | if (navVelECEF.packetStatus == 1) // valid packet |
195 | { |
195 | { |
196 | actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
196 | actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
197 | actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
197 | actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
198 | actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
198 | actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
199 | navVelECEF.packetStatus = 0; |
199 | navVelECEF.packetStatus = 0; |
200 | } |
200 | } |
201 | 201 | ||
202 | if (navPosUtm.packetStatus == 1) // valid packet |
202 | if (navPosUtm.packetStatus == 1) // valid packet |
203 | { |
203 | { |
204 | actualPos.northing = navPosUtm.NORTH; |
204 | actualPos.northing = navPosUtm.NORTH; |
205 | actualPos.easting = navPosUtm.EAST; |
205 | actualPos.easting = navPosUtm.EAST; |
206 | actualPos.altitude = navPosUtm.ALT; |
206 | actualPos.altitude = navPosUtm.ALT; |
207 | navPosUtm.packetStatus = 0; |
207 | navPosUtm.packetStatus = 0; |
208 | } |
208 | } |
209 | 209 | ||
210 | 210 | ||
211 | if (navVelNed.packetStatus == 1) |
211 | if (navVelNed.packetStatus == 1) |
212 | { |
212 | { |
213 | actualPos.velNorth = navVelNed.VEL_N; |
213 | actualPos.velNorth = navVelNed.VEL_N; |
214 | actualPos.velEast = navVelNed.VEL_E; |
214 | actualPos.velEast = navVelNed.VEL_E; |
- | 215 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
|
215 | navVelNed.packetStatus = 0; |
216 | navVelNed.packetStatus = 0; |
216 | } |
217 | } |
217 | 218 | ||
218 | 219 | ||
219 | 220 | ||
220 | if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
221 | if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
221 | 222 | ||
222 | } |
223 | } |
223 | 224 | ||
224 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
225 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
225 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
226 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
226 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
227 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
227 | SIGNAL(INT_VEC_RX) |
228 | SIGNAL(INT_VEC_RX) |
228 | { |
229 | { |
229 | static unsigned int crc; |
230 | static unsigned int crc; |
230 | static unsigned char crc1,crc2,buf_ptr; |
231 | static unsigned char crc1,crc2,buf_ptr; |
231 | static unsigned char UartState = 0; |
232 | static unsigned char UartState = 0; |
232 | unsigned char CrcOkay = 0; |
233 | unsigned char CrcOkay = 0; |
233 | 234 | ||
234 | SioTmp = UDR; |
235 | SioTmp = UDR; |
235 | 236 | ||
236 | uint8_t c; |
237 | uint8_t c; |
237 | uint8_t re; |
238 | uint8_t re; |
238 | 239 | ||
239 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
240 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
240 | c = SioTmp; |
241 | c = SioTmp; |
241 | 242 | ||
242 | #ifdef GPS_DEBUG |
243 | #ifdef GPS_DEBUG |
243 | *bp++ = c; |
244 | *bp++ = c; |
244 | if (bp >= (buf+200)) bp = buf; |
245 | if (bp >= (buf+200)) bp = buf; |
245 | if (v24state == 0) |
246 | if (v24state == 0) |
246 | { |
247 | { |
247 | v24state = 1; |
248 | v24state = 1; |
248 | UDR0 = *ep++; |
249 | UDR0 = *ep++; |
249 | if (ep >= buf+200) |
250 | if (ep >= buf+200) |
250 | ep = buf; |
251 | ep = buf; |
251 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
252 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
252 | } |
253 | } |
253 | #endif |
254 | #endif |
254 | 255 | ||
255 | if (re == 0) |
256 | if (re == 0) |
256 | { |
257 | { |
257 | switch (gpsState) |
258 | switch (gpsState) |
258 | { |
259 | { |
259 | case GPS_EMPTY: |
260 | case GPS_EMPTY: |
260 | if (c == SYNC_CHAR1) |
261 | if (c == SYNC_CHAR1) |
261 | gpsState = GPS_SYNC1; |
262 | gpsState = GPS_SYNC1; |
262 | break; |
263 | break; |
263 | case GPS_SYNC1: |
264 | case GPS_SYNC1: |
264 | if (c == SYNC_CHAR2) |
265 | if (c == SYNC_CHAR2) |
265 | gpsState = GPS_SYNC2; |
266 | gpsState = GPS_SYNC2; |
266 | else if (c != SYNC_CHAR1) |
267 | else if (c != SYNC_CHAR1) |
267 | gpsState = GPS_EMPTY; |
268 | gpsState = GPS_EMPTY; |
268 | break; |
269 | break; |
269 | case GPS_SYNC2: |
270 | case GPS_SYNC2: |
270 | if (c == CLASS_NAV) |
271 | if (c == CLASS_NAV) |
271 | gpsState = GPS_CLASS; |
272 | gpsState = GPS_CLASS; |
272 | else |
273 | else |
273 | gpsState = GPS_EMPTY; |
274 | gpsState = GPS_EMPTY; |
274 | break; |
275 | break; |
275 | case GPS_CLASS: // msg ID seen: init packed receive |
276 | case GPS_CLASS: // msg ID seen: init packed receive |
276 | msgID = c; |
277 | msgID = c; |
277 | CK_A = CLASS_NAV + c; |
278 | CK_A = CLASS_NAV + c; |
278 | CK_B = CLASS_NAV + CK_A; |
279 | CK_B = CLASS_NAV + CK_A; |
279 | gpsState = GPS_LEN1; |
280 | gpsState = GPS_LEN1; |
280 | 281 | ||
281 | switch (msgID) |
282 | switch (msgID) |
282 | { |
283 | { |
283 | case MSGID_STATUS: |
284 | case MSGID_STATUS: |
284 | ubxP = (char*)&navStatus; |
285 | ubxP = (char*)&navStatus; |
285 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
286 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
286 | ubxSp = (char*)&navStatus.packetStatus; |
287 | ubxSp = (char*)&navStatus.packetStatus; |
287 | ignorePacket = navStatus.packetStatus; |
288 | ignorePacket = navStatus.packetStatus; |
288 | break; |
289 | break; |
289 | case MSGID_POSECEF: |
290 | case MSGID_POSECEF: |
290 | ubxP = (char*)&navPosECEF; |
291 | ubxP = (char*)&navPosECEF; |
291 | ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
292 | ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
292 | ubxSp = (char*)&navPosECEF.packetStatus; |
293 | ubxSp = (char*)&navPosECEF.packetStatus; |
293 | ignorePacket = navPosECEF.packetStatus; |
294 | ignorePacket = navPosECEF.packetStatus; |
294 | break; |
295 | break; |
295 | case MSGID_VELECEF: |
296 | case MSGID_VELECEF: |
296 | ubxP = (char*)&navVelECEF; |
297 | ubxP = (char*)&navVelECEF; |
297 | ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
298 | ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
298 | ubxSp = (char*)&navVelECEF.packetStatus; |
299 | ubxSp = (char*)&navVelECEF.packetStatus; |
299 | ignorePacket = navVelECEF.packetStatus; |
300 | ignorePacket = navVelECEF.packetStatus; |
300 | break; |
301 | break; |
301 | case MSGID_POSUTM: |
302 | case MSGID_POSUTM: |
302 | ubxP = (char*)&navPosUtm; |
303 | ubxP = (char*)&navPosUtm; |
303 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
304 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
304 | ubxSp = (char*)&navPosUtm.packetStatus; |
305 | ubxSp = (char*)&navPosUtm.packetStatus; |
305 | ignorePacket = navPosUtm.packetStatus; |
306 | ignorePacket = navPosUtm.packetStatus; |
306 | break; |
307 | break; |
307 | case MSGID_VELNED: |
308 | case MSGID_VELNED: |
308 | ubxP = (char*)&navVelNed; |
309 | ubxP = (char*)&navVelNed; |
309 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
310 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
310 | ubxSp = (char*)&navVelNed.packetStatus; |
311 | ubxSp = (char*)&navVelNed.packetStatus; |
311 | ignorePacket = navVelNed.packetStatus; |
312 | ignorePacket = navVelNed.packetStatus; |
312 | break; |
313 | break; |
313 | 314 | ||
314 | 315 | ||
315 | default: |
316 | default: |
316 | ignorePacket = 1; |
317 | ignorePacket = 1; |
317 | ubxSp = (char*)0; |
318 | ubxSp = (char*)0; |
318 | } |
319 | } |
319 | break; |
320 | break; |
320 | case GPS_LEN1: // first len byte |
321 | case GPS_LEN1: // first len byte |
321 | msgLen = c; |
322 | msgLen = c; |
322 | CK_A += c; |
323 | CK_A += c; |
323 | CK_B += CK_A; |
324 | CK_B += CK_A; |
324 | gpsState = GPS_LEN2; |
325 | gpsState = GPS_LEN2; |
325 | break; |
326 | break; |
326 | case GPS_LEN2: // second len byte |
327 | case GPS_LEN2: // second len byte |
327 | msgLen = msgLen + (c * 256); |
328 | msgLen = msgLen + (c * 256); |
328 | CK_A += c; |
329 | CK_A += c; |
329 | CK_B += CK_A; |
330 | CK_B += CK_A; |
330 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
331 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
331 | break; |
332 | break; |
332 | case GPS_FILLING: |
333 | case GPS_FILLING: |
333 | CK_A += c; |
334 | CK_A += c; |
334 | CK_B += CK_A; |
335 | CK_B += CK_A; |
335 | 336 | ||
336 | if ( !ignorePacket && ubxP < ubxEp) |
337 | if ( !ignorePacket && ubxP < ubxEp) |
337 | *ubxP++ = c; |
338 | *ubxP++ = c; |
338 | 339 | ||
339 | if (--msgLen == 0) |
340 | if (--msgLen == 0) |
340 | gpsState = GPS_CKA; |
341 | gpsState = GPS_CKA; |
341 | 342 | ||
342 | break; |
343 | break; |
343 | case GPS_CKA: |
344 | case GPS_CKA: |
344 | if (c == CK_A) |
345 | if (c == CK_A) |
345 | gpsState = GPS_CKB; |
346 | gpsState = GPS_CKB; |
346 | else |
347 | else |
347 | gpsState = GPS_EMPTY; |
348 | gpsState = GPS_EMPTY; |
348 | break; |
349 | break; |
349 | case GPS_CKB: |
350 | case GPS_CKB: |
350 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
351 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
351 | *ubxSp = 1; // set packetStatus in struct |
352 | *ubxSp = 1; // set packetStatus in struct |
352 | gpsState = GPS_EMPTY; // ready for next packet |
353 | gpsState = GPS_EMPTY; // ready for next packet |
353 | break; |
354 | break; |
354 | default: |
355 | default: |
355 | gpsState = GPS_EMPTY; // ready for next packet |
356 | gpsState = GPS_EMPTY; // ready for next packet |
356 | } |
357 | } |
357 | } |
358 | } |
358 | else // discard any data if error occured |
359 | else // discard any data if error occured |
359 | { |
360 | { |
360 | gpsState = GPS_EMPTY; |
361 | gpsState = GPS_EMPTY; |
361 | GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
362 | GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
362 | } |
363 | } |
363 | GPSscanData (); |
364 | GPSscanData (); |
364 | 365 | ||
365 | 366 | ||
366 | 367 | ||
367 | 368 | ||
368 | 369 | ||
369 | 370 | ||
370 | 371 | ||
371 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
372 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
372 | if(SioTmp == '\r' && UartState == 2) |
373 | if(SioTmp == '\r' && UartState == 2) |
373 | { |
374 | { |
374 | UartState = 0; |
375 | UartState = 0; |
375 | crc -= RxdBuffer[buf_ptr-2]; |
376 | crc -= RxdBuffer[buf_ptr-2]; |
376 | crc -= RxdBuffer[buf_ptr-1]; |
377 | crc -= RxdBuffer[buf_ptr-1]; |
377 | crc %= 4096; |
378 | crc %= 4096; |
378 | crc1 = '=' + crc / 64; |
379 | crc1 = '=' + crc / 64; |
379 | crc2 = '=' + crc % 64; |
380 | crc2 = '=' + crc % 64; |
380 | CrcOkay = 0; |
381 | CrcOkay = 0; |
381 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
382 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
382 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
383 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
383 | { |
384 | { |
384 | NeuerDatensatzEmpfangen = 1; |
385 | NeuerDatensatzEmpfangen = 1; |
385 | AnzahlEmpfangsBytes = buf_ptr; |
386 | AnzahlEmpfangsBytes = buf_ptr; |
386 | RxdBuffer[buf_ptr] = '\r'; |
387 | RxdBuffer[buf_ptr] = '\r'; |
387 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
388 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
388 | } |
389 | } |
389 | } |
390 | } |
390 | else |
391 | else |
391 | switch(UartState) |
392 | switch(UartState) |
392 | { |
393 | { |
393 | case 0: |
394 | case 0: |
394 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
395 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
395 | buf_ptr = 0; |
396 | buf_ptr = 0; |
396 | RxdBuffer[buf_ptr++] = SioTmp; |
397 | RxdBuffer[buf_ptr++] = SioTmp; |
397 | crc = SioTmp; |
398 | crc = SioTmp; |
398 | break; |
399 | break; |
399 | case 1: // Adresse auswerten |
400 | case 1: // Adresse auswerten |
400 | UartState++; |
401 | UartState++; |
401 | RxdBuffer[buf_ptr++] = SioTmp; |
402 | RxdBuffer[buf_ptr++] = SioTmp; |
402 | crc += SioTmp; |
403 | crc += SioTmp; |
403 | break; |
404 | break; |
404 | case 2: // Eingangsdaten sammeln |
405 | case 2: // Eingangsdaten sammeln |
405 | RxdBuffer[buf_ptr] = SioTmp; |
406 | RxdBuffer[buf_ptr] = SioTmp; |
406 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
407 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
407 | else UartState = 0; |
408 | else UartState = 0; |
408 | crc += SioTmp; |
409 | crc += SioTmp; |
409 | break; |
410 | break; |
410 | default: |
411 | default: |
411 | UartState = 0; |
412 | UartState = 0; |
412 | break; |
413 | break; |
413 | } |
414 | } |
414 | } |
415 | } |
415 | 416 | ||
416 | 417 | ||
417 | // -------------------------------------------------------------------------- |
418 | // -------------------------------------------------------------------------- |
418 | void AddCRC(unsigned int wieviele) |
419 | void AddCRC(unsigned int wieviele) |
419 | { |
420 | { |
420 | unsigned int tmpCRC = 0,i; |
421 | unsigned int tmpCRC = 0,i; |
421 | for(i = 0; i < wieviele;i++) |
422 | for(i = 0; i < wieviele;i++) |
422 | { |
423 | { |
423 | tmpCRC += SendeBuffer[i]; |
424 | tmpCRC += SendeBuffer[i]; |
424 | } |
425 | } |
425 | tmpCRC %= 4096; |
426 | tmpCRC %= 4096; |
426 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
427 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
427 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
428 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
428 | SendeBuffer[i++] = '\r'; |
429 | SendeBuffer[i++] = '\r'; |
429 | UebertragungAbgeschlossen = 0; |
430 | UebertragungAbgeschlossen = 0; |
430 | UDR = SendeBuffer[0]; |
431 | UDR = SendeBuffer[0]; |
431 | } |
432 | } |
432 | 433 | ||
433 | 434 | ||
434 | // -------------------------------------------------------------------------- |
435 | // -------------------------------------------------------------------------- |
435 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
436 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
436 | { |
437 | { |
437 | unsigned int pt = 0; |
438 | unsigned int pt = 0; |
438 | unsigned char a,b,c; |
439 | unsigned char a,b,c; |
439 | unsigned char ptr = 0; |
440 | unsigned char ptr = 0; |
440 | 441 | ||
441 | SendeBuffer[pt++] = '#'; // Startzeichen |
442 | SendeBuffer[pt++] = '#'; // Startzeichen |
442 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
443 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
443 | SendeBuffer[pt++] = cmd; // Commando |
444 | SendeBuffer[pt++] = cmd; // Commando |
444 | 445 | ||
445 | while(len) |
446 | while(len) |
446 | { |
447 | { |
447 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
448 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
448 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
449 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
449 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
450 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
450 | SendeBuffer[pt++] = '=' + (a >> 2); |
451 | SendeBuffer[pt++] = '=' + (a >> 2); |
451 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
452 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
452 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
453 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
453 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
454 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
454 | } |
455 | } |
455 | AddCRC(pt); |
456 | AddCRC(pt); |
456 | } |
457 | } |
457 | 458 | ||
458 | 459 | ||
459 | // -------------------------------------------------------------------------- |
460 | // -------------------------------------------------------------------------- |
460 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
461 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
461 | { |
462 | { |
462 | unsigned char a,b,c,d; |
463 | unsigned char a,b,c,d; |
463 | unsigned char ptr = 0; |
464 | unsigned char ptr = 0; |
464 | unsigned char x,y,z; |
465 | unsigned char x,y,z; |
465 | while(len) |
466 | while(len) |
466 | { |
467 | { |
467 | a = RxdBuffer[ptrIn++] - '='; |
468 | a = RxdBuffer[ptrIn++] - '='; |
468 | b = RxdBuffer[ptrIn++] - '='; |
469 | b = RxdBuffer[ptrIn++] - '='; |
469 | c = RxdBuffer[ptrIn++] - '='; |
470 | c = RxdBuffer[ptrIn++] - '='; |
470 | d = RxdBuffer[ptrIn++] - '='; |
471 | d = RxdBuffer[ptrIn++] - '='; |
471 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
472 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
472 | 473 | ||
473 | x = (a << 2) | (b >> 4); |
474 | x = (a << 2) | (b >> 4); |
474 | y = ((b & 0x0f) << 4) | (c >> 2); |
475 | y = ((b & 0x0f) << 4) | (c >> 2); |
475 | z = ((c & 0x03) << 6) | d; |
476 | z = ((c & 0x03) << 6) | d; |
476 | 477 | ||
477 | if(len--) ptrOut[ptr++] = x; else break; |
478 | if(len--) ptrOut[ptr++] = x; else break; |
478 | if(len--) ptrOut[ptr++] = y; else break; |
479 | if(len--) ptrOut[ptr++] = y; else break; |
479 | if(len--) ptrOut[ptr++] = z; else break; |
480 | if(len--) ptrOut[ptr++] = z; else break; |
480 | } |
481 | } |
481 | 482 | ||
482 | } |
483 | } |
483 | 484 | ||
484 | // -------------------------------------------------------------------------- |
485 | // -------------------------------------------------------------------------- |
485 | void BearbeiteRxDaten(void) |
486 | void BearbeiteRxDaten(void) |
486 | { |
487 | { |
487 | if(!NeuerDatensatzEmpfangen) return; |
488 | if(!NeuerDatensatzEmpfangen) return; |
488 | 489 | ||
489 | unsigned int tmp_int_arr1[1]; |
490 | unsigned int tmp_int_arr1[1]; |
490 | unsigned int tmp_int_arr2[2]; |
491 | unsigned int tmp_int_arr2[2]; |
491 | unsigned int tmp_int_arr3[3]; |
492 | unsigned int tmp_int_arr3[3]; |
492 | unsigned char tmp_char_arr2[2]; |
493 | unsigned char tmp_char_arr2[2]; |
493 | unsigned char tmp_char_arr3[3]; |
494 | unsigned char tmp_char_arr3[3]; |
494 | unsigned char tmp_char_arr4[4]; |
495 | unsigned char tmp_char_arr4[4]; |
495 | //if(!MotorenEin) |
496 | //if(!MotorenEin) |
496 | PcZugriff = 255; |
497 | PcZugriff = 255; |
497 | switch(RxdBuffer[2]) |
498 | switch(RxdBuffer[2]) |
498 | { |
499 | { |
499 | case 'c':// Debugdaten incl. Externe IOs usw |
500 | case 'c':// Debugdaten incl. Externe IOs usw |
500 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
501 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
501 | /* for(unsigned char i=0; i<4;i++) |
502 | /* for(unsigned char i=0; i<4;i++) |
502 | { |
503 | { |
503 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
504 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
504 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
505 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
505 | }*/ |
506 | }*/ |
506 | //RemoteTasten |= DebugIn.RemoteTasten; |
507 | //RemoteTasten |= DebugIn.RemoteTasten; |
507 | DebugDataAnforderung = 1; |
508 | DebugDataAnforderung = 1; |
508 | break; |
509 | break; |
509 | 510 | ||
510 | case 'h':// x-1 Displayzeilen |
511 | case 'h':// x-1 Displayzeilen |
511 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
512 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
512 | RemoteTasten |= tmp_char_arr2[0]; |
513 | RemoteTasten |= tmp_char_arr2[0]; |
513 | DebugDisplayAnforderung = 1; |
514 | DebugDisplayAnforderung = 1; |
514 | break; |
515 | break; |
515 | case 't':// Motortest |
516 | case 't':// Motortest |
516 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
517 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
517 | break; |
518 | break; |
518 | case 'v': // Version-Anforderung und Ausbaustufe |
519 | case 'v': // Version-Anforderung und Ausbaustufe |
519 | GetVersionAnforderung = 1; |
520 | GetVersionAnforderung = 1; |
520 | break; |
521 | break; |
521 | case 'g':// "Get"-Anforderung für Debug-Daten |
522 | case 'g':// "Get"-Anforderung für Debug-Daten |
522 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
523 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
523 | DebugGetAnforderung = 1; |
524 | DebugGetAnforderung = 1; |
524 | break; |
525 | break; |
525 | case 'q':// "Get"-Anforderung für Settings |
526 | case 'q':// "Get"-Anforderung für Settings |
526 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
527 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
527 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
528 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
528 | if(tmp_char_arr2[0] != 0xff) |
529 | if(tmp_char_arr2[0] != 0xff) |
529 | { |
530 | { |
530 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
531 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
531 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
532 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
532 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
533 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
533 | } |
534 | } |
534 | else |
535 | else |
535 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
536 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
536 | 537 | ||
537 | break; |
538 | break; |
538 | 539 | ||
539 | case 'l': |
540 | case 'l': |
540 | case 'm': |
541 | case 'm': |
541 | case 'n': |
542 | case 'n': |
542 | case 'o': |
543 | case 'o': |
543 | case 'p': // Parametersatz speichern |
544 | case 'p': // Parametersatz speichern |
544 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
545 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
545 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
546 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
546 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
547 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
547 | Piep(GetActiveParamSetNumber()); |
548 | Piep(GetActiveParamSetNumber()); |
548 | break; |
549 | break; |
549 | 550 | ||
550 | 551 | ||
551 | } |
552 | } |
552 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
553 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
553 | NeuerDatensatzEmpfangen = 0; |
554 | NeuerDatensatzEmpfangen = 0; |
554 | } |
555 | } |
555 | 556 | ||
556 | //############################################################################ |
557 | //############################################################################ |
557 | //Routine für die Serielle Ausgabe |
558 | //Routine für die Serielle Ausgabe |
558 | int uart_putchar (char c) |
559 | int uart_putchar (char c) |
559 | //############################################################################ |
560 | //############################################################################ |
560 | { |
561 | { |
561 | if (c == '\n') |
562 | if (c == '\n') |
562 | uart_putchar('\r'); |
563 | uart_putchar('\r'); |
563 | //Warten solange bis Zeichen gesendet wurde |
564 | //Warten solange bis Zeichen gesendet wurde |
564 | loop_until_bit_is_set(USR, UDRE); |
565 | loop_until_bit_is_set(USR, UDRE); |
565 | //Ausgabe des Zeichens |
566 | //Ausgabe des Zeichens |
566 | UDR = c; |
567 | UDR = c; |
567 | 568 | ||
568 | return (0); |
569 | return (0); |
569 | } |
570 | } |
570 | 571 | ||
571 | // -------------------------------------------------------------------------- |
572 | // -------------------------------------------------------------------------- |
572 | void WriteProgramData(unsigned int pos, unsigned char wert) |
573 | void WriteProgramData(unsigned int pos, unsigned char wert) |
573 | { |
574 | { |
574 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
575 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
575 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
576 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
576 | // Buffer[pos] = wert; |
577 | // Buffer[pos] = wert; |
577 | } |
578 | } |
578 | 579 | ||
579 | //############################################################################ |
580 | //############################################################################ |
580 | //INstallation der Seriellen Schnittstelle |
581 | //INstallation der Seriellen Schnittstelle |
581 | void UART_Init (void) |
582 | void UART_Init (void) |
582 | //############################################################################ |
583 | //############################################################################ |
583 | { |
584 | { |
584 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
585 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
585 | 586 | ||
586 | UCR=(1 << TXEN) | (1 << RXEN); |
587 | UCR=(1 << TXEN) | (1 << RXEN); |
587 | // UART Double Speed (U2X) |
588 | // UART Double Speed (U2X) |
588 | USR |= (1<<U2X); |
589 | USR |= (1<<U2X); |
589 | // RX-Interrupt Freigabe |
590 | // RX-Interrupt Freigabe |
590 | UCSRB |= (1<<RXCIE); |
591 | UCSRB |= (1<<RXCIE); |
591 | // TX-Interrupt Freigabe |
592 | // TX-Interrupt Freigabe |
592 | UCSRB |= (1<<TXCIE); |
593 | UCSRB |= (1<<TXCIE); |
593 | 594 | ||
594 | //Teiler wird gesetzt |
595 | //Teiler wird gesetzt |
595 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
596 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
596 | //UBRR = 33; |
597 | //UBRR = 33; |
597 | //öffnet einen Kanal für printf (STDOUT) |
598 | //öffnet einen Kanal für printf (STDOUT) |
598 | //fdevopen (uart_putchar, 0); |
599 | //fdevopen (uart_putchar, 0); |
599 | //sbi(PORTD,4); |
600 | //sbi(PORTD,4); |
600 | Debug_Timer = SetDelay(200); |
601 | Debug_Timer = SetDelay(200); |
601 | 602 | ||
602 | gpsState = GPS_EMPTY; |
603 | gpsState = GPS_EMPTY; |
603 | } |
604 | } |
604 | 605 | ||
605 | //--------------------------------------------------------------------------------------------- |
606 | //--------------------------------------------------------------------------------------------- |
606 | void DatenUebertragung(void) |
607 | void DatenUebertragung(void) |
607 | { |
608 | { |
608 | static char dis_zeile = 0; |
609 | static char dis_zeile = 0; |
609 | if(!UebertragungAbgeschlossen) return; |
610 | if(!UebertragungAbgeschlossen) return; |
610 | 611 | ||
611 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
612 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
612 | { |
613 | { |
613 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
614 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
614 | DebugGetAnforderung = 0; |
615 | DebugGetAnforderung = 0; |
615 | } |
616 | } |
616 | 617 | ||
617 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
618 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
618 | { |
619 | { |
619 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
620 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
620 | DebugDataAnforderung = 0; |
621 | DebugDataAnforderung = 0; |
621 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
622 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
622 | } |
623 | } |
623 | 624 | ||
624 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
625 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
625 | { |
626 | { |
626 | Menu(); |
627 | Menu(); |
627 | DebugDisplayAnforderung = 0; |
628 | DebugDisplayAnforderung = 0; |
628 | if(++dis_zeile == 4) |
629 | if(++dis_zeile == 4) |
629 | { |
630 | { |
630 | SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
631 | SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
631 | dis_zeile = -1; |
632 | dis_zeile = -1; |
632 | } |
633 | } |
633 | else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
634 | else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
634 | } |
635 | } |
635 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
636 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
636 | { |
637 | { |
637 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
638 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
638 | GetVersionAnforderung = 0; |
639 | GetVersionAnforderung = 0; |
639 | } |
640 | } |
640 | 641 | ||
641 | } |
642 | } |
642 | 643 | ||
643 | 644 |