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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 RemotePollDisplayLine = 0; |
26 | unsigned char RemotePollDisplayLine = 0; |
27 | unsigned char NurKanalAnforderung = 0; |
27 | unsigned char NurKanalAnforderung = 0; |
28 | unsigned char DebugTextAnforderung = 255; |
28 | unsigned char DebugTextAnforderung = 255; |
29 | unsigned char PcZugriff = 100; |
29 | unsigned char PcZugriff = 100; |
30 | unsigned char MotorTest[4] = {0,0,0,0}; |
30 | unsigned char MotorTest[4] = {0,0,0,0}; |
31 | unsigned char DubWiseKeys[3] = {0,0,0}; |
31 | unsigned char DubWiseKeys[3] = {0,0,0}; |
32 | unsigned char MeineSlaveAdresse; |
32 | unsigned char MeineSlaveAdresse; |
33 | struct str_DebugOut DebugOut; |
33 | struct str_DebugOut DebugOut; |
34 | struct str_Debug DebugIn; |
34 | struct str_Debug DebugIn; |
35 | struct str_VersionInfo VersionInfo; |
35 | struct str_VersionInfo VersionInfo; |
36 | int Debug_Timer; |
36 | int Debug_Timer; |
37 | 37 | ||
38 | const unsigned char ANALOG_TEXT[32][16] = |
38 | const unsigned char ANALOG_TEXT[32][16] = |
39 | { |
39 | { |
40 | //1234567890123456 |
40 | //1234567890123456 |
41 | "IntegralNick____", //00 |
41 | "IntegralNick____", //00 |
42 | "IntegralRoll____", //01 |
42 | "IntegralRoll____", //01 |
43 | "AccNick_________", //02 |
43 | "AccNick_________", //02 |
44 | "AccRoll_________", //03 |
44 | "AccRoll_________", //03 |
45 | "UserParam1______", //04 |
45 | "P_GPS_Faktor____", //04 |
46 | "UserParam2______", //05 |
46 | "D_GPS_Faktor____", //05 |
47 | "Soll_Pos_North__", //06 |
47 | "Soll_Pos_North__", //06 |
48 | "Soll_Pos_East___", //07 |
48 | "Soll_Pos_East___", //07 |
49 | "KompassValue____", //08 |
49 | "KompassValue____", //08 |
50 | "UBat____________", //09 |
50 | "UBat____________", //09 |
51 | "SenderOkay______", //10 |
51 | "SenderOkay______", //10 |
52 | "GPSFix__________", //11 |
52 | "GPSFix__________", //11 |
53 | "Gesamtstrom_____", //12 |
53 | "Gesamtstrom_____", //12 |
54 | "Geschwindigkeit_", //13 |
54 | "Geschwindigkeit_", //13 |
55 | "Pos.north_______", //14 |
55 | "Pos.north_______", //14 |
56 | "Pos.east________", //15 |
56 | "Pos.east________", //15 |
57 | "Poti3___________", //16 |
57 | "Poti3___________", //16 |
58 | "Höhe_GPS________", //17 |
58 | "Höhe_GPS________", //17 |
59 | "Home_North______", //18 |
59 | "Home_North______", //18 |
60 | "Home_East_______", //19 |
60 | "Home_East_______", //19 |
61 | "Posabw_North____", //20 |
61 | "Posabw_North____", //20 |
62 | "Posabw_East_____", //21 |
62 | "Posabw_East_____", //21 |
63 | "P_Einfluss_North", //22 |
63 | "P_Einfluss_North", //22 |
64 | "P_Einfluss_East_", //23 |
64 | "P_Einfluss_East_", //23 |
65 | "D_Einfluss_North", //24 |
65 | "D_Einfluss_North", //24 |
66 | "D_Einfluss_East_", //25 |
66 | "D_Einfluss_East_", //25 |
67 | "NORTH_MITTEL____", //26 |
67 | "NORTH_MITTEL____", //26 |
68 | "EAST_MITTEL_____", //27 |
68 | "EAST_MITTEL_____", //27 |
69 | "GPS_Nick________", //28 |
69 | "GPS_Nick________", //28 |
70 | "GPS_Roll________", //29 |
70 | "GPS_Roll________", //29 |
71 | "StickNick_______", //30 |
71 | "StickNick_______", //30 |
72 | "StickRoll_______" //31 |
72 | "StickRoll_______" //31 |
73 | }; |
73 | }; |
74 | 74 | ||
75 | 75 | ||
76 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
76 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
77 | 77 | ||
78 | static uint8_t gpsState; |
78 | static uint8_t gpsState; |
79 | #define GPS_EMPTY 0 |
79 | #define GPS_EMPTY 0 |
80 | #define GPS_SYNC1 1 |
80 | #define GPS_SYNC1 1 |
81 | #define GPS_SYNC2 2 |
81 | #define GPS_SYNC2 2 |
82 | #define GPS_CLASS 3 |
82 | #define GPS_CLASS 3 |
83 | #define GPS_LEN1 4 |
83 | #define GPS_LEN1 4 |
84 | #define GPS_LEN2 5 |
84 | #define GPS_LEN2 5 |
85 | #define GPS_FILLING 6 |
85 | #define GPS_FILLING 6 |
86 | #define GPS_CKA 7 |
86 | #define GPS_CKA 7 |
87 | #define GPS_CKB 8 |
87 | #define GPS_CKB 8 |
88 | 88 | ||
89 | gpsInfo_t actualPos; // measured position (last gps record) |
89 | gpsInfo_t actualPos; // measured position (last gps record) |
90 | 90 | ||
91 | #define SYNC_CHAR1 0xb5 |
91 | #define SYNC_CHAR1 0xb5 |
92 | #define SYNC_CHAR2 0x62 |
92 | #define SYNC_CHAR2 0x62 |
93 | 93 | ||
94 | #define CLASS_NAV 0x01 |
94 | #define CLASS_NAV 0x01 |
95 | #define MSGID_STATUS 0x03 |
95 | #define MSGID_STATUS 0x03 |
96 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
96 | //#define MSGID_POSLLH 0x02 //(231107Kr) |
97 | #define MSGID_POSUTM 0x08 |
97 | #define MSGID_POSUTM 0x08 |
98 | #define MSGID_VELNED 0x12 |
98 | #define MSGID_VELNED 0x12 |
99 | 99 | ||
100 | 100 | ||
101 | 101 | ||
102 | typedef struct { |
102 | typedef struct { |
103 | unsigned long ITOW; // time of week |
103 | unsigned long ITOW; // time of week |
104 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
104 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
105 | uint8_t Flags; // Navigation Status Flags |
105 | uint8_t Flags; // Navigation Status Flags |
106 | uint8_t DiffS; // Differential Status |
106 | uint8_t DiffS; // Differential Status |
107 | uint8_t res; // reserved |
107 | uint8_t res; // reserved |
108 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
108 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
109 | unsigned long MSSS; // Milliseconds since Startup / Reset |
109 | unsigned long MSSS; // Milliseconds since Startup / Reset |
110 | uint8_t packetStatus; |
110 | uint8_t packetStatus; |
111 | } NAV_STATUS_t; |
111 | } NAV_STATUS_t; |
112 | 112 | ||
113 | /* |
113 | /* |
114 | typedef struct { //(231107Kr) |
114 | typedef struct { //(231107Kr) |
115 | unsigned long ITOW; // time of week |
115 | unsigned long ITOW; // time of week |
116 | long LON; // longitude in 1e-07 deg |
116 | long LON; // longitude in 1e-07 deg |
117 | long LAT; // lattitude |
117 | long LAT; // lattitude |
118 | long HEIGHT; // height in mm |
118 | long HEIGHT; // height in mm |
119 | long HMSL; // height above mean sea level im mm |
119 | long HMSL; // height above mean sea level im mm |
120 | unsigned long Hacc; // horizontal accuracy in mm |
120 | unsigned long Hacc; // horizontal accuracy in mm |
121 | unsigned long Vacc; // vertical accuracy in mm |
121 | unsigned long Vacc; // vertical accuracy in mm |
122 | uint8_t packetStatus; |
122 | uint8_t packetStatus; |
123 | } NAV_POSLLH_t; |
123 | } NAV_POSLLH_t; |
124 | */ |
124 | */ |
125 | 125 | ||
126 | typedef struct { |
126 | typedef struct { |
127 | unsigned long ITOW; // time of week |
127 | unsigned long ITOW; // time of week |
128 | long EAST; // cm UTM Easting |
128 | long EAST; // cm UTM Easting |
129 | long NORTH; // cm UTM Nording |
129 | long NORTH; // cm UTM Nording |
130 | long ALT; // cm altitude |
130 | long ALT; // cm altitude |
131 | uint8_t ZONE; // UTM zone number |
131 | uint8_t ZONE; // UTM zone number |
132 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
132 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
133 | uint8_t packetStatus; |
133 | uint8_t packetStatus; |
134 | } NAV_POSUTM_t; |
134 | } NAV_POSUTM_t; |
135 | 135 | ||
136 | 136 | ||
137 | typedef struct { |
137 | typedef struct { |
138 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
138 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
139 | long VEL_N; // cm/s NED north velocity |
139 | long VEL_N; // cm/s NED north velocity |
140 | long VEL_E; // cm/s NED east velocity |
140 | long VEL_E; // cm/s NED east velocity |
141 | long VEL_D; // cm/s NED down velocity |
141 | long VEL_D; // cm/s NED down velocity |
142 | unsigned long Speed; // cm/s Speed (3-D) |
142 | unsigned long Speed; // cm/s Speed (3-D) |
143 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
143 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
144 | long Heading; // deg (1e-05) Heading 2-D |
144 | long Heading; // deg (1e-05) Heading 2-D |
145 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
145 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
146 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
146 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
147 | uint8_t packetStatus; |
147 | uint8_t packetStatus; |
148 | } NAV_VELNED_t; |
148 | } NAV_VELNED_t; |
149 | 149 | ||
150 | 150 | ||
151 | 151 | ||
152 | NAV_STATUS_t navStatus; |
152 | NAV_STATUS_t navStatus; |
153 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
153 | //NAV_POSLLH_t navPosLlh; //(231107Kr) |
154 | NAV_POSUTM_t navPosUtm; |
154 | NAV_POSUTM_t navPosUtm; |
155 | NAV_VELNED_t navVelNed; |
155 | NAV_VELNED_t navVelNed; |
156 | 156 | ||
157 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
157 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
158 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
158 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
159 | volatile unsigned short msgLen; |
159 | volatile unsigned short msgLen; |
160 | volatile uint8_t msgID; |
160 | volatile uint8_t msgID; |
161 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
161 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
162 | 162 | ||
163 | 163 | ||
164 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
164 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
165 | extern volatile uint8_t v24state; |
165 | extern volatile uint8_t v24state; |
166 | char buf[200]; |
166 | char buf[200]; |
167 | char *bp; |
167 | char *bp; |
168 | char *ep; |
168 | char *ep; |
169 | #endif |
169 | #endif |
170 | 170 | ||
171 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
171 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
172 | //++ Sende-Part der Datenübertragung |
172 | //++ Sende-Part der Datenübertragung |
173 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
173 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
174 | SIGNAL(INT_VEC_TX) |
174 | SIGNAL(INT_VEC_TX) |
175 | { |
175 | { |
176 | static unsigned int ptr = 0; |
176 | static unsigned int ptr = 0; |
177 | unsigned char tmp_tx; |
177 | unsigned char tmp_tx; |
178 | if(!UebertragungAbgeschlossen) |
178 | if(!UebertragungAbgeschlossen) |
179 | { |
179 | { |
180 | ptr++; // die [0] wurde schon gesendet |
180 | ptr++; // die [0] wurde schon gesendet |
181 | tmp_tx = SendeBuffer[ptr]; |
181 | tmp_tx = SendeBuffer[ptr]; |
182 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
182 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
183 | { |
183 | { |
184 | ptr = 0; |
184 | ptr = 0; |
185 | UebertragungAbgeschlossen = 1; |
185 | UebertragungAbgeschlossen = 1; |
186 | } |
186 | } |
187 | UDR = tmp_tx; |
187 | UDR = tmp_tx; |
188 | } |
188 | } |
189 | else ptr = 0; |
189 | else ptr = 0; |
190 | } |
190 | } |
191 | 191 | ||
192 | void GPSscanData (void) |
192 | void GPSscanData (void) |
193 | { |
193 | { |
194 | 194 | ||
195 | 195 | ||
196 | 196 | ||
197 | 197 | ||
198 | if (navStatus.packetStatus == 1) // valid packet |
198 | if (navStatus.packetStatus == 1) // valid packet |
199 | { |
199 | { |
200 | actualPos.GPSFix = navStatus.GPSfix; |
200 | actualPos.GPSFix = navStatus.GPSfix; |
201 | actualPos.newData = navStatus.packetStatus; |
201 | actualPos.newData = navStatus.packetStatus; |
202 | navStatus.packetStatus = 0; |
202 | navStatus.packetStatus = 0; |
203 | } |
203 | } |
204 | 204 | ||
205 | /* |
205 | /* |
206 | if (navPosLlh.packetStatus == 1) // valid packet |
206 | if (navPosLlh.packetStatus == 1) // valid packet |
207 | { |
207 | { |
208 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
208 | actualPos.longi = navPosLlh.LON; //(231107Kr) |
209 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
209 | actualPos.lati = navPosLlh.LAT; //(231107Kr) |
210 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
210 | actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
211 | navPosLlh.packetStatus = 0; |
211 | navPosLlh.packetStatus = 0; |
212 | } |
212 | } |
213 | */ |
213 | */ |
214 | 214 | ||
215 | if (navPosUtm.packetStatus == 1) // valid packet |
215 | if (navPosUtm.packetStatus == 1) // valid packet |
216 | { |
216 | { |
217 | actualPos.northing = navPosUtm.NORTH; |
217 | actualPos.northing = navPosUtm.NORTH; |
218 | actualPos.easting = navPosUtm.EAST; |
218 | actualPos.easting = navPosUtm.EAST; |
219 | actualPos.altitude = navPosUtm.ALT; |
219 | actualPos.altitude = navPosUtm.ALT; |
220 | navPosUtm.packetStatus = 0; |
220 | navPosUtm.packetStatus = 0; |
221 | newData_navPosUtm = 1; // (211007Kr) |
221 | newData_navPosUtm = 1; // (211007Kr) |
222 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
222 | ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
223 | } |
223 | } |
224 | 224 | ||
225 | 225 | ||
226 | if (navVelNed.packetStatus == 1) // valid packet |
226 | if (navVelNed.packetStatus == 1) // valid packet |
227 | { |
227 | { |
228 | actualPos.velNorth = navVelNed.VEL_N; |
228 | actualPos.velNorth = navVelNed.VEL_N; |
229 | actualPos.velEast = navVelNed.VEL_E; |
229 | actualPos.velEast = navVelNed.VEL_E; |
230 | actualPos.velDown = navVelNed.VEL_D; |
230 | actualPos.velDown = navVelNed.VEL_D; |
231 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
231 | actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
232 | navVelNed.packetStatus = 0; |
232 | navVelNed.packetStatus = 0; |
233 | } |
233 | } |
234 | 234 | ||
235 | } |
235 | } |
236 | 236 | ||
237 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
237 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
238 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
238 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
239 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
239 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
240 | SIGNAL(INT_VEC_RX) |
240 | SIGNAL(INT_VEC_RX) |
241 | { |
241 | { |
242 | static unsigned int crc; |
242 | static unsigned int crc; |
243 | static unsigned char crc1,crc2,buf_ptr; |
243 | static unsigned char crc1,crc2,buf_ptr; |
244 | static unsigned char UartState = 0; |
244 | static unsigned char UartState = 0; |
245 | unsigned char CrcOkay = 0; |
245 | unsigned char CrcOkay = 0; |
246 | 246 | ||
247 | SioTmp = UDR; |
247 | SioTmp = UDR; |
248 | 248 | ||
249 | uint8_t c; |
249 | uint8_t c; |
250 | uint8_t re; |
250 | uint8_t re; |
251 | 251 | ||
252 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
252 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
253 | c = SioTmp; |
253 | c = SioTmp; |
254 | 254 | ||
255 | #ifdef GPS_DEBUG |
255 | #ifdef GPS_DEBUG |
256 | *bp++ = c; |
256 | *bp++ = c; |
257 | if (bp >= (buf+200)) bp = buf; |
257 | if (bp >= (buf+200)) bp = buf; |
258 | if (v24state == 0) |
258 | if (v24state == 0) |
259 | { |
259 | { |
260 | v24state = 1; |
260 | v24state = 1; |
261 | UDR0 = *ep++; |
261 | UDR0 = *ep++; |
262 | if (ep >= buf+200) |
262 | if (ep >= buf+200) |
263 | ep = buf; |
263 | ep = buf; |
264 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
264 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
265 | } |
265 | } |
266 | #endif |
266 | #endif |
267 | 267 | ||
268 | if (re == 0) |
268 | if (re == 0) |
269 | { |
269 | { |
270 | switch (gpsState) |
270 | switch (gpsState) |
271 | { |
271 | { |
272 | case GPS_EMPTY: |
272 | case GPS_EMPTY: |
273 | if (c == SYNC_CHAR1) |
273 | if (c == SYNC_CHAR1) |
274 | gpsState = GPS_SYNC1; |
274 | gpsState = GPS_SYNC1; |
275 | break; |
275 | break; |
276 | case GPS_SYNC1: |
276 | case GPS_SYNC1: |
277 | if (c == SYNC_CHAR2) |
277 | if (c == SYNC_CHAR2) |
278 | gpsState = GPS_SYNC2; |
278 | gpsState = GPS_SYNC2; |
279 | else if (c != SYNC_CHAR1) |
279 | else if (c != SYNC_CHAR1) |
280 | gpsState = GPS_EMPTY; |
280 | gpsState = GPS_EMPTY; |
281 | break; |
281 | break; |
282 | case GPS_SYNC2: |
282 | case GPS_SYNC2: |
283 | if (c == CLASS_NAV) |
283 | if (c == CLASS_NAV) |
284 | gpsState = GPS_CLASS; |
284 | gpsState = GPS_CLASS; |
285 | else |
285 | else |
286 | gpsState = GPS_EMPTY; |
286 | gpsState = GPS_EMPTY; |
287 | break; |
287 | break; |
288 | case GPS_CLASS: // msg ID seen: init packed receive |
288 | case GPS_CLASS: // msg ID seen: init packed receive |
289 | msgID = c; |
289 | msgID = c; |
290 | CK_A = CLASS_NAV + c; |
290 | CK_A = CLASS_NAV + c; |
291 | CK_B = CLASS_NAV + CK_A; |
291 | CK_B = CLASS_NAV + CK_A; |
292 | gpsState = GPS_LEN1; |
292 | gpsState = GPS_LEN1; |
293 | 293 | ||
294 | switch (msgID) |
294 | switch (msgID) |
295 | { |
295 | { |
296 | case MSGID_STATUS: |
296 | case MSGID_STATUS: |
297 | ubxP = (char*)&navStatus; |
297 | ubxP = (char*)&navStatus; |
298 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
298 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
299 | ubxSp = (char*)&navStatus.packetStatus; |
299 | ubxSp = (char*)&navStatus.packetStatus; |
300 | ignorePacket = navStatus.packetStatus; |
300 | ignorePacket = navStatus.packetStatus; |
301 | break; |
301 | break; |
302 | /* |
302 | /* |
303 | case MSGID_POSLLH: //(231107Kr) |
303 | case MSGID_POSLLH: //(231107Kr) |
304 | ubxP = (char*)&navPosLlh; |
304 | ubxP = (char*)&navPosLlh; |
305 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
305 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
306 | ubxSp = (char*)&navPosLlh.packetStatus; |
306 | ubxSp = (char*)&navPosLlh.packetStatus; |
307 | ignorePacket = navPosLlh.packetStatus; |
307 | ignorePacket = navPosLlh.packetStatus; |
308 | break; |
308 | break; |
309 | */ |
309 | */ |
310 | case MSGID_POSUTM: |
310 | case MSGID_POSUTM: |
311 | ubxP = (char*)&navPosUtm; |
311 | ubxP = (char*)&navPosUtm; |
312 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
312 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
313 | ubxSp = (char*)&navPosUtm.packetStatus; |
313 | ubxSp = (char*)&navPosUtm.packetStatus; |
314 | ignorePacket = navPosUtm.packetStatus; |
314 | ignorePacket = navPosUtm.packetStatus; |
315 | break; |
315 | break; |
316 | case MSGID_VELNED: |
316 | case MSGID_VELNED: |
317 | ubxP = (char*)&navVelNed; |
317 | ubxP = (char*)&navVelNed; |
318 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
318 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
319 | ubxSp = (char*)&navVelNed.packetStatus; |
319 | ubxSp = (char*)&navVelNed.packetStatus; |
320 | ignorePacket = navVelNed.packetStatus; |
320 | ignorePacket = navVelNed.packetStatus; |
321 | break; |
321 | break; |
322 | 322 | ||
323 | 323 | ||
324 | default: |
324 | default: |
325 | ignorePacket = 1; |
325 | ignorePacket = 1; |
326 | ubxSp = (char*)0; |
326 | ubxSp = (char*)0; |
327 | } |
327 | } |
328 | break; |
328 | break; |
329 | case GPS_LEN1: // first len byte |
329 | case GPS_LEN1: // first len byte |
330 | msgLen = c; |
330 | msgLen = c; |
331 | CK_A += c; |
331 | CK_A += c; |
332 | CK_B += CK_A; |
332 | CK_B += CK_A; |
333 | gpsState = GPS_LEN2; |
333 | gpsState = GPS_LEN2; |
334 | break; |
334 | break; |
335 | case GPS_LEN2: // second len byte |
335 | case GPS_LEN2: // second len byte |
336 | msgLen = msgLen + (c * 256); |
336 | msgLen = msgLen + (c * 256); |
337 | CK_A += c; |
337 | CK_A += c; |
338 | CK_B += CK_A; |
338 | CK_B += CK_A; |
339 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
339 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
340 | break; |
340 | break; |
341 | case GPS_FILLING: |
341 | case GPS_FILLING: |
342 | CK_A += c; |
342 | CK_A += c; |
343 | CK_B += CK_A; |
343 | CK_B += CK_A; |
344 | 344 | ||
345 | if ( !ignorePacket && ubxP < ubxEp) |
345 | if ( !ignorePacket && ubxP < ubxEp) |
346 | *ubxP++ = c; |
346 | *ubxP++ = c; |
347 | 347 | ||
348 | if (--msgLen == 0) |
348 | if (--msgLen == 0) |
349 | gpsState = GPS_CKA; |
349 | gpsState = GPS_CKA; |
350 | 350 | ||
351 | break; |
351 | break; |
352 | case GPS_CKA: |
352 | case GPS_CKA: |
353 | if (c == CK_A) |
353 | if (c == CK_A) |
354 | gpsState = GPS_CKB; |
354 | gpsState = GPS_CKB; |
355 | else |
355 | else |
356 | gpsState = GPS_EMPTY; |
356 | gpsState = GPS_EMPTY; |
357 | break; |
357 | break; |
358 | case GPS_CKB: |
358 | case GPS_CKB: |
359 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
359 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
360 | *ubxSp = 1; // set packetStatus in struct |
360 | *ubxSp = 1; // set packetStatus in struct |
361 | gpsState = GPS_EMPTY; // ready for next packet |
361 | gpsState = GPS_EMPTY; // ready for next packet |
362 | break; |
362 | break; |
363 | default: |
363 | default: |
364 | gpsState = GPS_EMPTY; // ready for next packet |
364 | gpsState = GPS_EMPTY; // ready for next packet |
365 | } |
365 | } |
366 | } |
366 | } |
367 | else // discard any data if error occured |
367 | else // discard any data if error occured |
368 | { |
368 | { |
369 | gpsState = GPS_EMPTY; |
369 | gpsState = GPS_EMPTY; |
370 | } |
370 | } |
371 | GPSscanData (); |
371 | GPSscanData (); |
372 | 372 | ||
373 | 373 | ||
374 | 374 | ||
375 | 375 | ||
376 | 376 | ||
377 | 377 | ||
378 | 378 | ||
379 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
379 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
380 | if(SioTmp == '\r' && UartState == 2) |
380 | if(SioTmp == '\r' && UartState == 2) |
381 | { |
381 | { |
382 | UartState = 0; |
382 | UartState = 0; |
383 | crc -= RxdBuffer[buf_ptr-2]; |
383 | crc -= RxdBuffer[buf_ptr-2]; |
384 | crc -= RxdBuffer[buf_ptr-1]; |
384 | crc -= RxdBuffer[buf_ptr-1]; |
385 | crc %= 4096; |
385 | crc %= 4096; |
386 | crc1 = '=' + crc / 64; |
386 | crc1 = '=' + crc / 64; |
387 | crc2 = '=' + crc % 64; |
387 | crc2 = '=' + crc % 64; |
388 | CrcOkay = 0; |
388 | CrcOkay = 0; |
389 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
389 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
390 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
390 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
391 | { |
391 | { |
392 | NeuerDatensatzEmpfangen = 1; |
392 | NeuerDatensatzEmpfangen = 1; |
393 | AnzahlEmpfangsBytes = buf_ptr; |
393 | AnzahlEmpfangsBytes = buf_ptr; |
394 | RxdBuffer[buf_ptr] = '\r'; |
394 | RxdBuffer[buf_ptr] = '\r'; |
395 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
395 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
396 | } |
396 | } |
397 | } |
397 | } |
398 | else |
398 | else |
399 | switch(UartState) |
399 | switch(UartState) |
400 | { |
400 | { |
401 | case 0: |
401 | case 0: |
402 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
402 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
403 | buf_ptr = 0; |
403 | buf_ptr = 0; |
404 | RxdBuffer[buf_ptr++] = SioTmp; |
404 | RxdBuffer[buf_ptr++] = SioTmp; |
405 | crc = SioTmp; |
405 | crc = SioTmp; |
406 | break; |
406 | break; |
407 | case 1: // Adresse auswerten |
407 | case 1: // Adresse auswerten |
408 | UartState++; |
408 | UartState++; |
409 | RxdBuffer[buf_ptr++] = SioTmp; |
409 | RxdBuffer[buf_ptr++] = SioTmp; |
410 | crc += SioTmp; |
410 | crc += SioTmp; |
411 | break; |
411 | break; |
412 | case 2: // Eingangsdaten sammeln |
412 | case 2: // Eingangsdaten sammeln |
413 | RxdBuffer[buf_ptr] = SioTmp; |
413 | RxdBuffer[buf_ptr] = SioTmp; |
414 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
414 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
415 | else UartState = 0; |
415 | else UartState = 0; |
416 | crc += SioTmp; |
416 | crc += SioTmp; |
417 | break; |
417 | break; |
418 | default: |
418 | default: |
419 | UartState = 0; |
419 | UartState = 0; |
420 | break; |
420 | break; |
421 | } |
421 | } |
422 | } |
422 | } |
423 | 423 | ||
424 | 424 | ||
425 | // -------------------------------------------------------------------------- |
425 | // -------------------------------------------------------------------------- |
426 | void AddCRC(unsigned int wieviele) |
426 | void AddCRC(unsigned int wieviele) |
427 | { |
427 | { |
428 | unsigned int tmpCRC = 0,i; |
428 | unsigned int tmpCRC = 0,i; |
429 | for(i = 0; i < wieviele;i++) |
429 | for(i = 0; i < wieviele;i++) |
430 | { |
430 | { |
431 | tmpCRC += SendeBuffer[i]; |
431 | tmpCRC += SendeBuffer[i]; |
432 | } |
432 | } |
433 | tmpCRC %= 4096; |
433 | tmpCRC %= 4096; |
434 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
434 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
435 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
435 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
436 | SendeBuffer[i++] = '\r'; |
436 | SendeBuffer[i++] = '\r'; |
437 | UebertragungAbgeschlossen = 0; |
437 | UebertragungAbgeschlossen = 0; |
438 | UDR = SendeBuffer[0]; |
438 | UDR = SendeBuffer[0]; |
439 | } |
439 | } |
440 | 440 | ||
441 | 441 | ||
442 | // -------------------------------------------------------------------------- |
442 | // -------------------------------------------------------------------------- |
443 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
443 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
444 | { |
444 | { |
445 | unsigned int pt = 0; |
445 | unsigned int pt = 0; |
446 | unsigned char a,b,c; |
446 | unsigned char a,b,c; |
447 | unsigned char ptr = 0; |
447 | unsigned char ptr = 0; |
448 | 448 | ||
449 | SendeBuffer[pt++] = '#'; // Startzeichen |
449 | SendeBuffer[pt++] = '#'; // Startzeichen |
450 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
450 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
451 | SendeBuffer[pt++] = cmd; // Commando |
451 | SendeBuffer[pt++] = cmd; // Commando |
452 | 452 | ||
453 | while(len) |
453 | while(len) |
454 | { |
454 | { |
455 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
455 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
456 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
456 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
457 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
457 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
458 | SendeBuffer[pt++] = '=' + (a >> 2); |
458 | SendeBuffer[pt++] = '=' + (a >> 2); |
459 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
459 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
460 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
460 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
461 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
461 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
462 | } |
462 | } |
463 | AddCRC(pt); |
463 | AddCRC(pt); |
464 | } |
464 | } |
465 | 465 | ||
466 | 466 | ||
467 | // -------------------------------------------------------------------------- |
467 | // -------------------------------------------------------------------------- |
468 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
468 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
469 | { |
469 | { |
470 | unsigned char a,b,c,d; |
470 | unsigned char a,b,c,d; |
471 | unsigned char ptr = 0; |
471 | unsigned char ptr = 0; |
472 | unsigned char x,y,z; |
472 | unsigned char x,y,z; |
473 | while(len) |
473 | while(len) |
474 | { |
474 | { |
475 | a = RxdBuffer[ptrIn++] - '='; |
475 | a = RxdBuffer[ptrIn++] - '='; |
476 | b = RxdBuffer[ptrIn++] - '='; |
476 | b = RxdBuffer[ptrIn++] - '='; |
477 | c = RxdBuffer[ptrIn++] - '='; |
477 | c = RxdBuffer[ptrIn++] - '='; |
478 | d = RxdBuffer[ptrIn++] - '='; |
478 | d = RxdBuffer[ptrIn++] - '='; |
479 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
479 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
480 | 480 | ||
481 | x = (a << 2) | (b >> 4); |
481 | x = (a << 2) | (b >> 4); |
482 | y = ((b & 0x0f) << 4) | (c >> 2); |
482 | y = ((b & 0x0f) << 4) | (c >> 2); |
483 | z = ((c & 0x03) << 6) | d; |
483 | z = ((c & 0x03) << 6) | d; |
484 | 484 | ||
485 | if(len--) ptrOut[ptr++] = x; else break; |
485 | if(len--) ptrOut[ptr++] = x; else break; |
486 | if(len--) ptrOut[ptr++] = y; else break; |
486 | if(len--) ptrOut[ptr++] = y; else break; |
487 | if(len--) ptrOut[ptr++] = z; else break; |
487 | if(len--) ptrOut[ptr++] = z; else break; |
488 | } |
488 | } |
489 | 489 | ||
490 | } |
490 | } |
491 | 491 | ||
492 | // -------------------------------------------------------------------------- |
492 | // -------------------------------------------------------------------------- |
493 | void BearbeiteRxDaten(void) |
493 | void BearbeiteRxDaten(void) |
494 | { |
494 | { |
495 | if(!NeuerDatensatzEmpfangen) return; |
495 | if(!NeuerDatensatzEmpfangen) return; |
496 | 496 | ||
497 | // unsigned int tmp_int_arr1[1]; |
497 | // unsigned int tmp_int_arr1[1]; |
498 | // unsigned int tmp_int_arr2[2]; |
498 | // unsigned int tmp_int_arr2[2]; |
499 | // unsigned int tmp_int_arr3[3]; |
499 | // unsigned int tmp_int_arr3[3]; |
500 | unsigned char tmp_char_arr2[2]; |
500 | unsigned char tmp_char_arr2[2]; |
501 | // unsigned char tmp_char_arr3[3]; |
501 | // unsigned char tmp_char_arr3[3]; |
502 | // unsigned char tmp_char_arr4[4]; |
502 | // unsigned char tmp_char_arr4[4]; |
503 | //if(!MotorenEin) |
503 | //if(!MotorenEin) |
504 | PcZugriff = 255; |
504 | PcZugriff = 255; |
505 | switch(RxdBuffer[2]) |
505 | switch(RxdBuffer[2]) |
506 | { |
506 | { |
507 | case 'a':// Texte der Analogwerte |
507 | case 'a':// Texte der Analogwerte |
508 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
508 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
509 | DebugTextAnforderung = tmp_char_arr2[0]; |
509 | DebugTextAnforderung = tmp_char_arr2[0]; |
510 | break; |
510 | break; |
511 | case 'c':// Debugdaten incl. Externe IOs usw |
511 | case 'c':// Debugdaten incl. Externe IOs usw |
512 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
512 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
513 | /* for(unsigned char i=0; i<4;i++) |
513 | /* for(unsigned char i=0; i<4;i++) |
514 | { |
514 | { |
515 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
515 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
516 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
516 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
517 | }*/ |
517 | }*/ |
518 | RemoteTasten |= DebugIn.RemoteTasten; |
518 | RemoteTasten |= DebugIn.RemoteTasten; |
519 | DebugDataAnforderung = 1; |
519 | DebugDataAnforderung = 1; |
520 | break; |
520 | break; |
521 | case 'h':// x-1 Displayzeilen |
521 | case 'h':// x-1 Displayzeilen |
522 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
522 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
523 | RemoteTasten |= tmp_char_arr2[0]; |
523 | RemoteTasten |= tmp_char_arr2[0]; |
524 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
524 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
525 | DebugDisplayAnforderung = 1; |
525 | DebugDisplayAnforderung = 1; |
526 | break; |
526 | break; |
527 | case 't':// Motortest |
527 | case 't':// Motortest |
528 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
528 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
529 | break; |
529 | break; |
530 | case 'k':// Keys von DubWise |
530 | case 'k':// Keys von DubWise |
531 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
531 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
532 | break; |
532 | break; |
533 | case 'v': // Version-Anforderung und Ausbaustufe |
533 | case 'v': // Version-Anforderung und Ausbaustufe |
534 | GetVersionAnforderung = 1; |
534 | GetVersionAnforderung = 1; |
535 | break; |
535 | break; |
536 | case 'g':// "Get"-Anforderung für Debug-Daten |
536 | case 'g':// "Get"-Anforderung für Debug-Daten |
537 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
537 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
538 | DebugGetAnforderung = 1; |
538 | DebugGetAnforderung = 1; |
539 | break; |
539 | break; |
540 | case 'q':// "Get"-Anforderung für Settings |
540 | case 'q':// "Get"-Anforderung für Settings |
541 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
541 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
542 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
542 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
543 | if(tmp_char_arr2[0] != 0xff) |
543 | if(tmp_char_arr2[0] != 0xff) |
544 | { |
544 | { |
545 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
545 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
546 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
546 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
547 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
547 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
548 | } |
548 | } |
549 | else |
549 | else |
550 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
550 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
551 | 551 | ||
552 | break; |
552 | break; |
553 | 553 | ||
554 | case 'l': |
554 | case 'l': |
555 | case 'm': |
555 | case 'm': |
556 | case 'n': |
556 | case 'n': |
557 | case 'o': |
557 | case 'o': |
558 | case 'p': // Parametersatz speichern |
558 | case 'p': // Parametersatz speichern |
559 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
559 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
560 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
560 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
561 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
561 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
562 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
562 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
563 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
563 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
564 | Piep(GetActiveParamSetNumber()); |
564 | Piep(GetActiveParamSetNumber()); |
565 | break; |
565 | break; |
566 | 566 | ||
567 | 567 | ||
568 | } |
568 | } |
569 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
569 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
570 | NeuerDatensatzEmpfangen = 0; |
570 | NeuerDatensatzEmpfangen = 0; |
571 | } |
571 | } |
572 | 572 | ||
573 | //############################################################################ |
573 | //############################################################################ |
574 | //Routine für die Serielle Ausgabe |
574 | //Routine für die Serielle Ausgabe |
575 | int uart_putchar (char c) |
575 | int uart_putchar (char c) |
576 | //############################################################################ |
576 | //############################################################################ |
577 | { |
577 | { |
578 | if (c == '\n') |
578 | if (c == '\n') |
579 | uart_putchar('\r'); |
579 | uart_putchar('\r'); |
580 | //Warten solange bis Zeichen gesendet wurde |
580 | //Warten solange bis Zeichen gesendet wurde |
581 | loop_until_bit_is_set(USR, UDRE); |
581 | loop_until_bit_is_set(USR, UDRE); |
582 | //Ausgabe des Zeichens |
582 | //Ausgabe des Zeichens |
583 | UDR = c; |
583 | UDR = c; |
584 | 584 | ||
585 | return (0); |
585 | return (0); |
586 | } |
586 | } |
587 | 587 | ||
588 | // -------------------------------------------------------------------------- |
588 | // -------------------------------------------------------------------------- |
589 | void WriteProgramData(unsigned int pos, unsigned char wert) |
589 | void WriteProgramData(unsigned int pos, unsigned char wert) |
590 | { |
590 | { |
591 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
591 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
592 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
592 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
593 | // Buffer[pos] = wert; |
593 | // Buffer[pos] = wert; |
594 | } |
594 | } |
595 | 595 | ||
596 | //############################################################################ |
596 | //############################################################################ |
597 | //INstallation der Seriellen Schnittstelle |
597 | //INstallation der Seriellen Schnittstelle |
598 | void UART_Init (void) |
598 | void UART_Init (void) |
599 | //############################################################################ |
599 | //############################################################################ |
600 | { |
600 | { |
601 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
601 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
602 | 602 | ||
603 | UCR=(1 << TXEN) | (1 << RXEN); |
603 | UCR=(1 << TXEN) | (1 << RXEN); |
604 | // UART Double Speed (U2X) |
604 | // UART Double Speed (U2X) |
605 | USR |= (1<<U2X); |
605 | USR |= (1<<U2X); |
606 | // RX-Interrupt Freigabe |
606 | // RX-Interrupt Freigabe |
607 | UCSRB |= (1<<RXCIE); |
607 | UCSRB |= (1<<RXCIE); |
608 | // TX-Interrupt Freigabe |
608 | // TX-Interrupt Freigabe |
609 | UCSRB |= (1<<TXCIE); |
609 | UCSRB |= (1<<TXCIE); |
610 | 610 | ||
611 | //Teiler wird gesetzt |
611 | //Teiler wird gesetzt |
612 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
612 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
613 | //UBRR = 33; |
613 | //UBRR = 33; |
614 | //öffnet einen Kanal für printf (STDOUT) |
614 | //öffnet einen Kanal für printf (STDOUT) |
615 | //fdevopen (uart_putchar, 0); |
615 | //fdevopen (uart_putchar, 0); |
616 | //sbi(PORTD,4); |
616 | //sbi(PORTD,4); |
617 | Debug_Timer = SetDelay(200); |
617 | Debug_Timer = SetDelay(200); |
618 | 618 | ||
619 | gpsState = GPS_EMPTY; |
619 | gpsState = GPS_EMPTY; |
620 | } |
620 | } |
621 | 621 | ||
622 | //--------------------------------------------------------------------------------------------- |
622 | //--------------------------------------------------------------------------------------------- |
623 | void DatenUebertragung(void) |
623 | void DatenUebertragung(void) |
624 | { |
624 | { |
625 | if(!UebertragungAbgeschlossen) return; |
625 | if(!UebertragungAbgeschlossen) return; |
626 | 626 | ||
627 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
627 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
628 | { |
628 | { |
629 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
629 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
630 | DebugGetAnforderung = 0; |
630 | DebugGetAnforderung = 0; |
631 | } |
631 | } |
632 | 632 | ||
633 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
633 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
634 | { |
634 | { |
635 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
635 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
636 | DebugDataAnforderung = 0; |
636 | DebugDataAnforderung = 0; |
637 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
637 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
638 | } |
638 | } |
639 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
639 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
640 | { |
640 | { |
641 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
641 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
642 | DebugTextAnforderung = 255; |
642 | DebugTextAnforderung = 255; |
643 | } |
643 | } |
644 | 644 | ||
645 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
645 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
646 | { |
646 | { |
647 | Menu(); |
647 | Menu(); |
648 | DebugDisplayAnforderung = 0; |
648 | DebugDisplayAnforderung = 0; |
649 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
649 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
650 | { |
650 | { |
651 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
651 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
652 | RemotePollDisplayLine = -1; |
652 | RemotePollDisplayLine = -1; |
653 | } |
653 | } |
654 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
654 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
655 | } |
655 | } |
656 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
656 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
657 | { |
657 | { |
658 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
658 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
659 | GetVersionAnforderung = 0; |
659 | GetVersionAnforderung = 0; |
660 | } |
660 | } |
661 | 661 | ||
662 | } |
662 | } |
663 | 663 | ||
664 | 664 |