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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 | // + |
- | |
7 | // + GPS read out: |
- | |
8 | // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
- | |
9 | // + only for non-profit use |
- | |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | 7 | ||
12 | #include "main.h" |
8 | #include "main.h" |
13 | #include "uart.h" |
9 | #include "uart.h" |
14 | 10 | ||
15 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
16 | unsigned volatile char SioTmp = 0; |
12 | unsigned volatile char SioTmp = 0; |
17 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
18 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
19 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
20 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
21 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
22 | unsigned volatile char UebertragungAbgeschlossen = 1; |
18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
23 | unsigned volatile char CntCrcError = 0; |
19 | unsigned volatile char CntCrcError = 0; |
24 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
25 | unsigned volatile char PC_DebugTimeout = 0; |
21 | unsigned volatile char PC_DebugTimeout = 0; |
26 | unsigned char PcZugriff = 100; |
22 | unsigned char PcZugriff = 100; |
27 | unsigned char MotorTest[4] = {0,0,0,0}; |
23 | unsigned char MotorTest[4] = {0,0,0,0}; |
28 | unsigned char MeineSlaveAdresse; |
24 | unsigned char MeineSlaveAdresse; |
29 | struct str_DebugOut DebugOut; |
25 | struct str_DebugOut DebugOut; |
30 | struct str_Debug DebugIn; |
26 | struct str_Debug DebugIn; |
31 | struct str_VersionInfo VersionInfo; |
27 | struct str_VersionInfo VersionInfo; |
32 | int Debug_Timer; |
28 | int Debug_Timer; |
33 | 29 | ||
34 | static uint8_t gpsState; |
30 | static uint8_t gpsState; |
35 | #define GPS_EMPTY 0 |
31 | #define GPS_EMPTY 0 |
36 | #define GPS_SYNC1 1 |
32 | #define GPS_SYNC1 1 |
37 | #define GPS_SYNC2 2 |
33 | #define GPS_SYNC2 2 |
38 | #define GPS_CLASS 3 |
34 | #define GPS_CLASS 3 |
39 | #define GPS_LEN1 4 |
35 | #define GPS_LEN1 4 |
40 | #define GPS_LEN2 5 |
36 | #define GPS_LEN2 5 |
41 | #define GPS_FILLING 6 |
37 | #define GPS_FILLING 6 |
42 | #define GPS_CKA 7 |
38 | #define GPS_CKA 7 |
43 | #define GPS_CKB 8 |
39 | #define GPS_CKB 8 |
44 | - | ||
45 | //gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported) |
- | |
46 | //gpsInfo_t *gpsTarget; // points to one of the targets |
40 | |
47 | gpsInfo_t actualPos; // measured position (last gps record) |
41 | gpsInfo_t actualPos; // measured position (last gps record) |
48 | 42 | ||
49 | #define SYNC_CHAR1 0xb5 |
43 | #define SYNC_CHAR1 0xb5 |
50 | #define SYNC_CHAR2 0x62 |
44 | #define SYNC_CHAR2 0x62 |
51 | 45 | ||
52 | #define CLASS_NAV 0x01 |
46 | #define CLASS_NAV 0x01 |
53 | #define MSGID_POSECEF 0x01 |
- | |
54 | #define MSGID_STATUS 0x03 |
47 | #define MSGID_STATUS 0x03 |
55 | //#define MSGID_POSLLH 0x02 |
- | |
56 | #define MSGID_VELECEF 0x11 |
- | |
57 | //#define MSGID_POSUTM 0x08 |
48 | #define MSGID_POSUTM 0x08 |
58 | //#define MSGID_VELNED 0x12 |
49 | #define MSGID_VELNED 0x12 |
59 | 50 | ||
60 | 51 | ||
61 | 52 | ||
62 | typedef struct { |
53 | typedef struct { |
63 | unsigned long ITOW; // time of week |
54 | unsigned long ITOW; // time of week |
64 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
55 | uint8_t GPSfix; // GPSfix Type, range 0..6 |
65 | uint8_t Flags; // Navigation Status Flags |
56 | uint8_t Flags; // Navigation Status Flags |
66 | uint8_t DiffS; // Differential Status |
57 | uint8_t DiffS; // Differential Status |
67 | uint8_t res; // reserved |
58 | uint8_t res; // reserved |
68 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
59 | unsigned long TTFF; // Time to first fix (millisecond time tag) |
69 | unsigned long MSSS; // Milliseconds since Startup / Reset |
60 | unsigned long MSSS; // Milliseconds since Startup / Reset |
70 | uint8_t packetStatus; |
61 | uint8_t packetStatus; |
71 | } NAV_STATUS_t; |
62 | } NAV_STATUS_t; |
72 | - | ||
73 | /* |
- | |
74 | typedef struct { |
- | |
75 | unsigned long ITOW; // time of week |
- | |
76 | long LON; // longitude in 1e-07 deg |
- | |
77 | long LAT; // lattitude |
- | |
78 | long HEIGHT; // height in mm |
- | |
79 | long HMSL; // height above mean sea level im mm |
- | |
80 | unsigned long Hacc; // horizontal accuracy in mm |
- | |
81 | unsigned long Vacc; // vertical accuracy in mm |
- | |
82 | uint8_t packetStatus; |
- | |
83 | } NAV_POSLLH_t; |
- | |
84 | 63 | ||
85 | 64 | ||
86 | typedef struct { |
65 | typedef struct { |
87 | unsigned long ITOW; // time of week |
66 | unsigned long ITOW; // time of week |
88 | long EAST; // cm UTM Easting |
67 | long EAST; // cm UTM Easting |
89 | long NORTH; // cm UTM Nording |
68 | long NORTH; // cm UTM Nording |
90 | long ALT; // cm altitude |
69 | long ALT; // cm altitude |
91 | uint8_t ZONE; // UTM zone number |
70 | uint8_t ZONE; // UTM zone number |
92 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
71 | uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
93 | uint8_t packetStatus; |
72 | uint8_t packetStatus; |
94 | } NAV_POSUTM_t; |
73 | } NAV_POSUTM_t; |
95 | 74 | ||
96 | 75 | ||
97 | typedef struct { |
76 | typedef struct { |
98 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
77 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
99 | long VEL_N; // cm/s NED north velocity |
78 | long VEL_N; // cm/s NED north velocity |
100 | long VEL_E; // cm/s NED east velocity |
79 | long VEL_E; // cm/s NED east velocity |
101 | long VEL_D; // cm/s NED down velocity |
80 | long VEL_D; // cm/s NED down velocity |
102 | unsigned long Speed; // cm/s Speed (3-D) |
81 | unsigned long Speed; // cm/s Speed (3-D) |
103 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
82 | unsigned long GSpeed; // cm/s Ground Speed (2-D) |
104 | long Heading; // deg (1e-05) Heading 2-D |
83 | long Heading; // deg (1e-05) Heading 2-D |
105 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
84 | unsigned long SAcc; // cm/s Speed Accuracy Estimate |
106 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
85 | unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
107 | uint8_t packetStatus; |
86 | uint8_t packetStatus; |
108 | } NAV_VELNED_t; |
87 | } NAV_VELNED_t; |
109 | */ |
- | |
110 | - | ||
111 | typedef struct { |
- | |
112 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
- | |
113 | long ECEF_X; // ecef x / cm |
- | |
114 | long ECEF_Y; // ecef y / cm |
- | |
115 | long ECEF_Z; // ecef z / cm |
- | |
116 | unsigned long Pacc; // Abweichung |
- | |
117 | uint8_t packetStatus; |
- | |
118 | } NAV_POSECEF_t ; |
- | |
119 | - | ||
120 | typedef struct { |
- | |
121 | unsigned long ITOW; // ms GPS Millisecond Time of Week |
- | |
122 | long ECEFVX; // ecef x velocity cm/s |
- | |
123 | long ECEFVY; // ecef y velocity cm/s |
- | |
124 | long ECEFVZ; // ecef z velocity cm/s |
- | |
125 | unsigned long SAcc; // Abweichung |
- | |
126 | uint8_t packetStatus; |
- | |
127 | } NAV_VELECEF_t; |
- | |
128 | - | ||
129 | 88 | ||
130 | NAV_STATUS_t navStatus; |
- | |
131 | NAV_POSECEF_t navPosECEF; |
- | |
132 | NAV_VELECEF_t navVelECEF; |
- | |
133 | - | ||
134 | //NAV_POSLLH_t navPosLlh; |
89 | NAV_STATUS_t navStatus; |
135 | //NAV_POSUTM_t navPosUtm; |
90 | NAV_POSUTM_t navPosUtm; |
136 | //NAV_VELECEF avVelNed; |
91 | NAV_VELNED_t navVelNed; |
137 | 92 | ||
138 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
93 | volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
139 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
94 | volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
140 | volatile unsigned short msgLen; |
95 | volatile unsigned short msgLen; |
141 | volatile uint8_t msgID; |
96 | volatile uint8_t msgID; |
142 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
97 | volatile uint8_t ignorePacket; // true when previous packet was not processed |
143 | 98 | ||
144 | 99 | ||
145 | // distance to target position |
100 | // distance to target position |
146 | long rollOffset; // in 10cm |
101 | long rollOffset; // in 10cm |
147 | long nickOffset; |
102 | long nickOffset; |
148 | 103 | ||
149 | #define GPS_INTCYCLES 100 |
104 | #define GPS_INTCYCLES 100 |
150 | #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
105 | #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
151 | 106 | ||
152 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
107 | #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
153 | extern volatile uint8_t v24state; |
108 | extern volatile uint8_t v24state; |
154 | char buf[200]; |
109 | char buf[200]; |
155 | char *bp; |
110 | char *bp; |
156 | char *ep; |
111 | char *ep; |
157 | #endif |
112 | #endif |
158 | 113 | ||
159 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
114 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
160 | //++ Sende-Part der Datenübertragung |
115 | //++ Sende-Part der Datenübertragung |
161 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
116 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
162 | SIGNAL(INT_VEC_TX) |
117 | SIGNAL(INT_VEC_TX) |
163 | { |
118 | { |
164 | static unsigned int ptr = 0; |
119 | static unsigned int ptr = 0; |
165 | unsigned char tmp_tx; |
120 | unsigned char tmp_tx; |
166 | if(!UebertragungAbgeschlossen) |
121 | if(!UebertragungAbgeschlossen) |
167 | { |
122 | { |
168 | ptr++; // die [0] wurde schon gesendet |
123 | ptr++; // die [0] wurde schon gesendet |
169 | tmp_tx = SendeBuffer[ptr]; |
124 | tmp_tx = SendeBuffer[ptr]; |
170 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
125 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
171 | { |
126 | { |
172 | ptr = 0; |
127 | ptr = 0; |
173 | UebertragungAbgeschlossen = 1; |
128 | UebertragungAbgeschlossen = 1; |
174 | } |
129 | } |
175 | UDR = tmp_tx; |
130 | UDR = tmp_tx; |
176 | } |
131 | } |
177 | else ptr = 0; |
132 | else ptr = 0; |
178 | } |
133 | } |
179 | 134 | ||
180 | void GPSscanData (void) |
135 | void GPSscanData (void) |
181 | { |
136 | { |
182 | 137 | ||
183 | - | ||
184 | if (navPosECEF.packetStatus == 1) // valid packet |
- | |
185 | { |
- | |
186 | actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
- | |
187 | actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
- | |
188 | actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
- | |
189 | navPosECEF.packetStatus = 0; |
- | |
190 | } |
- | |
191 | 138 | ||
192 | 139 | ||
193 | if (navStatus.packetStatus == 1) // valid packet |
140 | if (navStatus.packetStatus == 1) // valid packet |
194 | { |
141 | { |
195 | actualPos.state = navStatus.GPSfix; |
142 | actualPos.state = navStatus.GPSfix; |
196 | navStatus.packetStatus = 0; |
143 | navStatus.packetStatus = 0; |
197 | } |
144 | } |
198 | 145 | ||
199 | if (navVelECEF.packetStatus == 1) // valid packet |
- | |
200 | { |
- | |
201 | actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
- | |
202 | actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
- | |
203 | actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
- | |
204 | navVelECEF.packetStatus = 0; |
- | |
205 | } |
- | |
206 | /* |
- | |
207 | if (navPosUtm.packetStatus == 1) // valid packet |
146 | if (navPosUtm.packetStatus == 1) // valid packet |
208 | { |
147 | { |
209 | actualPos.northing = navPosUtm.NORTH; ///10; // in 10cm; |
148 | actualPos.northing = navPosUtm.NORTH; ///10; |
210 | actualPos.easting = navPosUtm.EAST; //10; |
149 | actualPos.easting = navPosUtm.EAST; //10; |
211 | actualPos.altitude = navPosUtm.ALT; //10; |
150 | actualPos.altitude = navPosUtm.ALT; //10; |
212 | navPosUtm.packetStatus = 0; |
151 | navPosUtm.packetStatus = 0; |
213 | } |
152 | } |
214 | - | ||
215 | - | ||
216 | if (navPosLlh.packetStatus == 1) |
- | |
217 | navPosLlh.packetStatus = 0; |
- | |
218 | |
153 | |
219 | if (navVelNed.packetStatus == 1){ |
154 | if (navVelNed.packetStatus == 1){ |
220 | actualPos.velNorth = navVelNed.VEL_N; |
155 | actualPos.velNorth = navVelNed.VEL_N; |
221 | actualPos.velEast = navVelNed.VEL_E; |
156 | actualPos.velEast = navVelNed.VEL_E; |
- | 157 | actualPos.velDown = navVelNed.VEL_D; |
|
222 | navVelNed.packetStatus = 0;} |
158 | navVelNed.packetStatus = 0;} |
223 | 159 | ||
224 | navPosLlh and navVelNed currently not used |
- | |
225 | */ |
- | |
226 | 160 | if (actualPos.state == 2){ROT_ON; gps_new=1;} //-> Rot blinkt mit 4Hz wenn GPS 2D-Fix |
|
227 | if (actualPos.state != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn GPS Signal brauchbar |
- | |
228 | 161 | else if (actualPos.state == 3){GRN_OFF; gps_new=1;} //-> Grün blinkt mit 4Hz wenn GPS 3D-Fix |
|
229 | } |
162 | } |
230 | 163 | ||
231 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
164 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
232 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
165 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
233 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
166 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
234 | SIGNAL(INT_VEC_RX) |
167 | SIGNAL(INT_VEC_RX) |
235 | { |
168 | { |
236 | static unsigned int crc; |
169 | static unsigned int crc; |
237 | static unsigned char crc1,crc2,buf_ptr; |
170 | static unsigned char crc1,crc2,buf_ptr; |
238 | static unsigned char UartState = 0; |
171 | static unsigned char UartState = 0; |
239 | unsigned char CrcOkay = 0; |
172 | unsigned char CrcOkay = 0; |
240 | 173 | ||
241 | SioTmp = UDR; |
174 | SioTmp = UDR; |
242 | - | ||
243 | - | ||
244 | - | ||
245 | 175 | ||
246 | uint8_t c; |
176 | uint8_t c; |
247 | uint8_t re; |
177 | uint8_t re; |
248 | 178 | ||
249 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
179 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
250 | c = SioTmp; |
180 | c = SioTmp; |
251 | 181 | ||
252 | #ifdef GPS_DEBUG |
182 | #ifdef GPS_DEBUG |
253 | *bp++ = c; |
183 | *bp++ = c; |
254 | if (bp >= (buf+200)) bp = buf; |
184 | if (bp >= (buf+200)) bp = buf; |
255 | if (v24state == 0) |
185 | if (v24state == 0) |
256 | { |
186 | { |
257 | v24state = 1; |
187 | v24state = 1; |
258 | UDR0 = *ep++; |
188 | UDR0 = *ep++; |
259 | if (ep >= buf+200) |
189 | if (ep >= buf+200) |
260 | ep = buf; |
190 | ep = buf; |
261 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
191 | UCSR0B |= _B1(UDRIE0); //enable further irqs |
262 | } |
192 | } |
263 | #endif |
193 | #endif |
264 | 194 | ||
265 | if (re == 0) |
195 | if (re == 0) |
266 | { |
196 | { |
267 | switch (gpsState) |
197 | switch (gpsState) |
268 | { |
198 | { |
269 | case GPS_EMPTY: |
199 | case GPS_EMPTY: |
270 | if (c == SYNC_CHAR1) |
200 | if (c == SYNC_CHAR1) |
271 | gpsState = GPS_SYNC1; |
201 | gpsState = GPS_SYNC1; |
272 | break; |
202 | break; |
273 | case GPS_SYNC1: |
203 | case GPS_SYNC1: |
274 | if (c == SYNC_CHAR2) |
204 | if (c == SYNC_CHAR2) |
275 | gpsState = GPS_SYNC2; |
205 | gpsState = GPS_SYNC2; |
276 | else if (c != SYNC_CHAR1) |
206 | else if (c != SYNC_CHAR1) |
277 | gpsState = GPS_EMPTY; |
207 | gpsState = GPS_EMPTY; |
278 | break; |
208 | break; |
279 | case GPS_SYNC2: |
209 | case GPS_SYNC2: |
280 | if (c == CLASS_NAV) |
210 | if (c == CLASS_NAV) |
281 | gpsState = GPS_CLASS; |
211 | gpsState = GPS_CLASS; |
282 | else |
212 | else |
283 | gpsState = GPS_EMPTY; |
213 | gpsState = GPS_EMPTY; |
284 | break; |
214 | break; |
285 | case GPS_CLASS: // msg ID seen: init packed receive |
215 | case GPS_CLASS: // msg ID seen: init packed receive |
286 | msgID = c; |
216 | msgID = c; |
287 | CK_A = CLASS_NAV + c; |
217 | CK_A = CLASS_NAV + c; |
288 | CK_B = CLASS_NAV + CK_A; |
218 | CK_B = CLASS_NAV + CK_A; |
289 | gpsState = GPS_LEN1; |
219 | gpsState = GPS_LEN1; |
290 | 220 | ||
291 | switch (msgID) |
221 | switch (msgID) |
292 | { |
222 | { |
293 | case MSGID_STATUS: |
223 | case MSGID_STATUS: |
294 | ubxP = (char*)&navStatus; |
224 | ubxP = (char*)&navStatus; |
295 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
225 | ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
296 | ubxSp = (char*)&navStatus.packetStatus; |
226 | ubxSp = (char*)&navStatus.packetStatus; |
297 | ignorePacket = navStatus.packetStatus; |
227 | ignorePacket = navStatus.packetStatus; |
298 | break; |
228 | break; |
299 | case MSGID_POSECEF: |
- | |
300 | ubxP = (char*)&navPosECEF; |
- | |
301 | ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
- | |
302 | ubxSp = (char*)&navPosECEF.packetStatus; |
- | |
303 | ignorePacket = navPosECEF.packetStatus; |
- | |
304 | break; |
- | |
305 | case MSGID_VELECEF: |
- | |
306 | ubxP = (char*)&navVelECEF; |
- | |
307 | ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
- | |
308 | ubxSp = (char*)&navVelECEF.packetStatus; |
- | |
309 | ignorePacket = navVelECEF.packetStatus; |
- | |
310 | break; |
- | |
311 | - | ||
312 | /* |
- | |
313 | case MSGID_POSLLH: |
- | |
314 | ubxP = (char*)&navPosLlh; |
- | |
315 | ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
- | |
316 | ubxSp = (char*)&navPosLlh.packetStatus; |
- | |
317 | ignorePacket = navPosLlh.packetStatus; |
- | |
318 | break; |
- | |
319 | case MSGID_POSUTM: |
229 | case MSGID_POSUTM: |
320 | ubxP = (char*)&navPosUtm; |
230 | ubxP = (char*)&navPosUtm; |
321 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
231 | ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
322 | ubxSp = (char*)&navPosUtm.packetStatus; |
232 | ubxSp = (char*)&navPosUtm.packetStatus; |
323 | ignorePacket = navPosUtm.packetStatus; |
233 | ignorePacket = navPosUtm.packetStatus; |
324 | break; |
234 | break; |
325 | case MSGID_VELNED: |
235 | case MSGID_VELNED: |
326 | ubxP = (char*)&navVelNed; |
236 | ubxP = (char*)&navVelNed; |
327 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
237 | ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
328 | ubxSp = (char*)&navVelNed.packetStatus; |
238 | ubxSp = (char*)&navVelNed.packetStatus; |
329 | ignorePacket = navVelNed.packetStatus; |
239 | ignorePacket = navVelNed.packetStatus; |
330 | break; |
240 | break; |
331 | */ |
241 | |
332 | 242 | ||
333 | default: |
243 | default: |
334 | ignorePacket = 1; |
244 | ignorePacket = 1; |
335 | ubxSp = (char*)0; |
245 | ubxSp = (char*)0; |
336 | } |
246 | } |
337 | break; |
247 | break; |
338 | case GPS_LEN1: // first len byte |
248 | case GPS_LEN1: // first len byte |
339 | msgLen = c; |
249 | msgLen = c; |
340 | CK_A += c; |
250 | CK_A += c; |
341 | CK_B += CK_A; |
251 | CK_B += CK_A; |
342 | gpsState = GPS_LEN2; |
252 | gpsState = GPS_LEN2; |
343 | break; |
253 | break; |
344 | case GPS_LEN2: // second len byte |
254 | case GPS_LEN2: // second len byte |
345 | msgLen = msgLen + (c * 256); |
255 | msgLen = msgLen + (c * 256); |
346 | CK_A += c; |
256 | CK_A += c; |
347 | CK_B += CK_A; |
257 | CK_B += CK_A; |
348 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
258 | gpsState = GPS_FILLING; // next data will be stored in packet struct |
349 | break; |
259 | break; |
350 | case GPS_FILLING: |
260 | case GPS_FILLING: |
351 | CK_A += c; |
261 | CK_A += c; |
352 | CK_B += CK_A; |
262 | CK_B += CK_A; |
353 | 263 | ||
354 | if ( !ignorePacket && ubxP < ubxEp) |
264 | if ( !ignorePacket && ubxP < ubxEp) |
355 | *ubxP++ = c; |
265 | *ubxP++ = c; |
356 | 266 | ||
357 | if (--msgLen == 0) |
267 | if (--msgLen == 0) |
358 | gpsState = GPS_CKA; |
268 | gpsState = GPS_CKA; |
359 | 269 | ||
360 | break; |
270 | break; |
361 | case GPS_CKA: |
271 | case GPS_CKA: |
362 | if (c == CK_A) |
272 | if (c == CK_A) |
363 | gpsState = GPS_CKB; |
273 | gpsState = GPS_CKB; |
364 | else |
274 | else |
365 | gpsState = GPS_EMPTY; |
275 | gpsState = GPS_EMPTY; |
366 | break; |
276 | break; |
367 | case GPS_CKB: |
277 | case GPS_CKB: |
368 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
278 | if (c == CK_B && ubxSp) // No error -> packet received successfully |
369 | *ubxSp = 1; // set packetStatus in struct |
279 | *ubxSp = 1; // set packetStatus in struct |
370 | gpsState = GPS_EMPTY; // ready for next packet |
280 | gpsState = GPS_EMPTY; // ready for next packet |
371 | break; |
281 | break; |
372 | default: |
282 | default: |
373 | gpsState = GPS_EMPTY; // ready for next packet |
283 | gpsState = GPS_EMPTY; // ready for next packet |
374 | } |
284 | } |
375 | } |
285 | } |
376 | else // discard any data if error occured |
286 | else // discard any data if error occured |
377 | { |
287 | { |
378 | gpsState = GPS_EMPTY; |
288 | gpsState = GPS_EMPTY; |
379 | GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
289 | GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
380 | } |
290 | } |
381 | GPSscanData (); |
291 | GPSscanData (); |
382 | - | ||
383 | 292 | ||
384 | - | ||
385 | - | ||
386 | - | ||
387 | - | ||
388 | 293 | ||
389 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
294 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
390 | if(SioTmp == '\r' && UartState == 2) |
295 | if(SioTmp == '\r' && UartState == 2) |
391 | { |
296 | { |
392 | UartState = 0; |
297 | UartState = 0; |
393 | crc -= RxdBuffer[buf_ptr-2]; |
298 | crc -= RxdBuffer[buf_ptr-2]; |
394 | crc -= RxdBuffer[buf_ptr-1]; |
299 | crc -= RxdBuffer[buf_ptr-1]; |
395 | crc %= 4096; |
300 | crc %= 4096; |
396 | crc1 = '=' + crc / 64; |
301 | crc1 = '=' + crc / 64; |
397 | crc2 = '=' + crc % 64; |
302 | crc2 = '=' + crc % 64; |
398 | CrcOkay = 0; |
303 | CrcOkay = 0; |
399 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
304 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
400 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
305 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
401 | { |
306 | { |
402 | NeuerDatensatzEmpfangen = 1; |
307 | NeuerDatensatzEmpfangen = 1; |
403 | AnzahlEmpfangsBytes = buf_ptr; |
308 | AnzahlEmpfangsBytes = buf_ptr; |
404 | RxdBuffer[buf_ptr] = '\r'; |
309 | RxdBuffer[buf_ptr] = '\r'; |
405 | if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
310 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
406 | } |
311 | } |
407 | } |
312 | } |
408 | else |
313 | else |
409 | switch(UartState) |
314 | switch(UartState) |
410 | { |
315 | { |
411 | case 0: |
316 | case 0: |
412 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
317 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
413 | buf_ptr = 0; |
318 | buf_ptr = 0; |
414 | RxdBuffer[buf_ptr++] = SioTmp; |
319 | RxdBuffer[buf_ptr++] = SioTmp; |
415 | crc = SioTmp; |
320 | crc = SioTmp; |
416 | break; |
321 | break; |
417 | case 1: // Adresse auswerten |
322 | case 1: // Adresse auswerten |
418 | UartState++; |
323 | UartState++; |
419 | RxdBuffer[buf_ptr++] = SioTmp; |
324 | RxdBuffer[buf_ptr++] = SioTmp; |
420 | crc += SioTmp; |
325 | crc += SioTmp; |
421 | break; |
326 | break; |
422 | case 2: // Eingangsdaten sammeln |
327 | case 2: // Eingangsdaten sammeln |
423 | RxdBuffer[buf_ptr] = SioTmp; |
328 | RxdBuffer[buf_ptr] = SioTmp; |
424 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
329 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
425 | else UartState = 0; |
330 | else UartState = 0; |
426 | crc += SioTmp; |
331 | crc += SioTmp; |
427 | break; |
332 | break; |
428 | default: |
333 | default: |
429 | UartState = 0; |
334 | UartState = 0; |
430 | break; |
335 | break; |
431 | } |
336 | } |
432 | } |
337 | } |
433 | 338 | ||
434 | 339 | ||
435 | // -------------------------------------------------------------------------- |
340 | // -------------------------------------------------------------------------- |
436 | void AddCRC(unsigned int wieviele) |
341 | void AddCRC(unsigned int wieviele) |
437 | { |
342 | { |
438 | unsigned int tmpCRC = 0,i; |
343 | unsigned int tmpCRC = 0,i; |
439 | for(i = 0; i < wieviele;i++) |
344 | for(i = 0; i < wieviele;i++) |
440 | { |
345 | { |
441 | tmpCRC += SendeBuffer[i]; |
346 | tmpCRC += SendeBuffer[i]; |
442 | } |
347 | } |
443 | tmpCRC %= 4096; |
348 | tmpCRC %= 4096; |
444 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
349 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
445 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
350 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
446 | SendeBuffer[i++] = '\r'; |
351 | SendeBuffer[i++] = '\r'; |
447 | UebertragungAbgeschlossen = 0; |
352 | UebertragungAbgeschlossen = 0; |
448 | UDR = SendeBuffer[0]; |
353 | UDR = SendeBuffer[0]; |
449 | } |
354 | } |
450 | 355 | ||
- | 356 | ||
451 | 357 | ||
452 | // -------------------------------------------------------------------------- |
358 | // -------------------------------------------------------------------------- |
453 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
359 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
454 | { |
360 | { |
455 | unsigned int pt = 0; |
361 | unsigned int pt = 0; |
456 | unsigned char a,b,c; |
362 | unsigned char a,b,c; |
457 | unsigned char ptr = 0; |
363 | unsigned char ptr = 0; |
458 | 364 | ||
459 | SendeBuffer[pt++] = '#'; // Startzeichen |
365 | SendeBuffer[pt++] = '#'; // Startzeichen |
460 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
366 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
461 | SendeBuffer[pt++] = cmd; // Commando |
367 | SendeBuffer[pt++] = cmd; // Commando |
462 | 368 | ||
463 | while(len) |
369 | while(len) |
464 | { |
370 | { |
465 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
371 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
466 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
372 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
467 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
373 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
468 | SendeBuffer[pt++] = '=' + (a >> 2); |
374 | SendeBuffer[pt++] = '=' + (a >> 2); |
469 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
375 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
470 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
376 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
471 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
377 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
472 | } |
378 | } |
473 | AddCRC(pt); |
379 | AddCRC(pt); |
474 | } |
380 | } |
475 | 381 | ||
476 | 382 | ||
477 | // -------------------------------------------------------------------------- |
383 | // -------------------------------------------------------------------------- |
478 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
384 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
479 | { |
385 | { |
480 | unsigned char a,b,c,d; |
386 | unsigned char a,b,c,d; |
481 | unsigned char ptr = 0; |
387 | unsigned char ptr = 0; |
482 | unsigned char x,y,z; |
388 | unsigned char x,y,z; |
483 | while(len) |
389 | while(len) |
484 | { |
390 | { |
485 | a = RxdBuffer[ptrIn++] - '='; |
391 | a = RxdBuffer[ptrIn++] - '='; |
486 | b = RxdBuffer[ptrIn++] - '='; |
392 | b = RxdBuffer[ptrIn++] - '='; |
487 | c = RxdBuffer[ptrIn++] - '='; |
393 | c = RxdBuffer[ptrIn++] - '='; |
488 | d = RxdBuffer[ptrIn++] - '='; |
394 | d = RxdBuffer[ptrIn++] - '='; |
489 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
395 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
490 | 396 | ||
491 | x = (a << 2) | (b >> 4); |
397 | x = (a << 2) | (b >> 4); |
492 | y = ((b & 0x0f) << 4) | (c >> 2); |
398 | y = ((b & 0x0f) << 4) | (c >> 2); |
493 | z = ((c & 0x03) << 6) | d; |
399 | z = ((c & 0x03) << 6) | d; |
494 | 400 | ||
495 | if(len--) ptrOut[ptr++] = x; else break; |
401 | if(len--) ptrOut[ptr++] = x; else break; |
496 | if(len--) ptrOut[ptr++] = y; else break; |
402 | if(len--) ptrOut[ptr++] = y; else break; |
497 | if(len--) ptrOut[ptr++] = z; else break; |
403 | if(len--) ptrOut[ptr++] = z; else break; |
498 | } |
404 | } |
499 | 405 | ||
500 | } |
406 | } |
501 | 407 | ||
502 | // -------------------------------------------------------------------------- |
408 | // -------------------------------------------------------------------------- |
503 | void BearbeiteRxDaten(void) |
409 | void BearbeiteRxDaten(void) |
504 | { |
410 | { |
505 | if(!NeuerDatensatzEmpfangen) return; |
411 | if(!NeuerDatensatzEmpfangen) return; |
506 | 412 | ||
507 | unsigned int tmp_int_arr1[1]; |
413 | unsigned int tmp_int_arr1[1]; |
508 | unsigned int tmp_int_arr2[2]; |
414 | unsigned int tmp_int_arr2[2]; |
509 | unsigned int tmp_int_arr3[3]; |
415 | unsigned int tmp_int_arr3[3]; |
510 | unsigned char tmp_char_arr2[2]; |
416 | unsigned char tmp_char_arr2[2]; |
511 | unsigned char tmp_char_arr3[3]; |
417 | unsigned char tmp_char_arr3[3]; |
512 | unsigned char tmp_char_arr4[4]; |
418 | unsigned char tmp_char_arr4[4]; |
513 | //if(!MotorenEin) |
419 | //if(!MotorenEin) |
514 | PcZugriff = 255; |
420 | PcZugriff = 255; |
515 | switch(RxdBuffer[2]) |
421 | switch(RxdBuffer[2]) |
516 | { |
422 | { |
517 | case 'c':// Debugdaten incl. Externe IOs usw |
423 | case 'c':// Debugdaten incl. Externe IOs usw |
518 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
424 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
519 | /* for(unsigned char i=0; i<4;i++) |
425 | /* for(unsigned char i=0; i<4;i++) |
520 | { |
426 | { |
521 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
427 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
522 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
428 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
523 | }*/ |
429 | }*/ |
524 | RemoteTasten |= DebugIn.RemoteTasten; |
430 | //RemoteTasten |= DebugIn.RemoteTasten; |
525 | DebugDataAnforderung = 1; |
431 | DebugDataAnforderung = 1; |
526 | break; |
432 | break; |
527 | 433 | ||
528 | case 'h':// x-1 Displayzeilen |
434 | case 'h':// x-1 Displayzeilen |
529 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
435 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
530 | RemoteTasten |= tmp_char_arr2[0]; |
436 | RemoteTasten |= tmp_char_arr2[0]; |
531 | DebugDisplayAnforderung = 1; |
437 | DebugDisplayAnforderung = 1; |
532 | break; |
438 | break; |
533 | case 't':// Motortest |
439 | case 't':// Motortest |
534 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
440 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
535 | break; |
441 | break; |
536 | case 'v': // Version-Anforderung und Ausbaustufe |
442 | case 'v': // Version-Anforderung und Ausbaustufe |
537 | GetVersionAnforderung = 1; |
443 | GetVersionAnforderung = 1; |
538 | break; |
444 | break; |
539 | case 'g':// "Get"-Anforderung für Debug-Daten |
445 | case 'g':// "Get"-Anforderung für Debug-Daten |
540 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
446 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
541 | DebugGetAnforderung = 1; |
447 | DebugGetAnforderung = 1; |
542 | break; |
448 | break; |
543 | case 'q':// "Get"-Anforderung für Settings |
449 | case 'q':// "Get"-Anforderung für Settings |
544 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
450 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
545 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
451 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
546 | if(tmp_char_arr2[0] != 0xff) |
452 | if(tmp_char_arr2[0] != 0xff) |
547 | { |
453 | { |
548 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
454 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
549 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
455 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
550 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
456 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
551 | } |
457 | } |
552 | else |
458 | else |
553 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
459 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
554 | 460 | ||
555 | break; |
461 | break; |
556 | 462 | ||
557 | case 'l': |
463 | case 'l': |
558 | case 'm': |
464 | case 'm': |
559 | case 'n': |
465 | case 'n': |
560 | case 'o': |
466 | case 'o': |
561 | case 'p': // Parametersatz speichern |
467 | case 'p': // Parametersatz speichern |
562 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
468 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
563 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
469 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
564 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
470 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
565 | Piep(GetActiveParamSetNumber()); |
471 | Piep(GetActiveParamSetNumber()); |
566 | break; |
472 | break; |
567 | 473 | ||
568 | 474 | ||
569 | } |
475 | } |
570 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
476 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
571 | NeuerDatensatzEmpfangen = 0; |
477 | NeuerDatensatzEmpfangen = 0; |
572 | } |
478 | } |
573 | 479 | ||
574 | //############################################################################ |
480 | //############################################################################ |
575 | //Routine für die Serielle Ausgabe |
481 | //Routine für die Serielle Ausgabe |
576 | int uart_putchar (char c) |
482 | int uart_putchar (char c) |
577 | //############################################################################ |
483 | //############################################################################ |
578 | { |
484 | { |
579 | if (c == '\n') |
485 | if (c == '\n') |
580 | uart_putchar('\r'); |
486 | uart_putchar('\r'); |
581 | //Warten solange bis Zeichen gesendet wurde |
487 | //Warten solange bis Zeichen gesendet wurde |
582 | loop_until_bit_is_set(USR, UDRE); |
488 | loop_until_bit_is_set(USR, UDRE); |
583 | //Ausgabe des Zeichens |
489 | //Ausgabe des Zeichens |
584 | UDR = c; |
490 | UDR = c; |
585 | 491 | ||
586 | return (0); |
492 | return (0); |
587 | } |
493 | } |
588 | 494 | ||
589 | // -------------------------------------------------------------------------- |
495 | // -------------------------------------------------------------------------- |
590 | void WriteProgramData(unsigned int pos, unsigned char wert) |
496 | void WriteProgramData(unsigned int pos, unsigned char wert) |
591 | { |
497 | { |
592 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
498 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
593 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
499 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
594 | // Buffer[pos] = wert; |
500 | // Buffer[pos] = wert; |
595 | } |
501 | } |
596 | 502 | ||
597 | //############################################################################ |
503 | //############################################################################ |
598 | //INstallation der Seriellen Schnittstelle |
504 | //INstallation der Seriellen Schnittstelle |
599 | void UART_Init (void) |
505 | void UART_Init (void) |
600 | //############################################################################ |
506 | //############################################################################ |
601 | { |
507 | { |
602 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
508 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
603 | 509 | ||
604 | UCR=(1 << TXEN) | (1 << RXEN); |
510 | UCR=(1 << TXEN) | (1 << RXEN); |
605 | // UART Double Speed (U2X) |
511 | // UART Double Speed (U2X) |
606 | USR |= (1<<U2X); |
512 | USR |= (1<<U2X); |
607 | // RX-Interrupt Freigabe |
513 | // RX-Interrupt Freigabe |
608 | UCSRB |= (1<<RXCIE); |
514 | UCSRB |= (1<<RXCIE); |
609 | // TX-Interrupt Freigabe |
515 | // TX-Interrupt Freigabe |
610 | UCSRB |= (1<<TXCIE); |
516 | UCSRB |= (1<<TXCIE); |
611 | 517 | ||
612 | //Teiler wird gesetzt |
518 | //Teiler wird gesetzt |
613 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
519 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
614 | //UBRR = 33; |
520 | //UBRR = 33; |
615 | //öffnet einen Kanal für printf (STDOUT) |
521 | //öffnet einen Kanal für printf (STDOUT) |
616 | //fdevopen (uart_putchar, 0); |
522 | //fdevopen (uart_putchar, 0); |
617 | //sbi(PORTD,4); |
523 | //sbi(PORTD,4); |
618 | Debug_Timer = SetDelay(200); |
524 | Debug_Timer = SetDelay(200); |
619 | - | ||
620 | gpsState = GPS_EMPTY; |
- | |
621 | } |
525 | } |
622 | 526 | ||
623 | //--------------------------------------------------------------------------------------------- |
527 | //--------------------------------------------------------------------------------------------- |
624 | void DatenUebertragung(void) |
528 | void DatenUebertragung(void) |
625 | { |
529 | { |
626 | static char dis_zeile = 0; |
530 | static char dis_zeile = 0; |
627 | if(!UebertragungAbgeschlossen) return; |
531 | if(!UebertragungAbgeschlossen) return; |
628 | 532 | ||
629 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
533 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
630 | { |
534 | { |
631 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
535 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
632 | DebugGetAnforderung = 0; |
536 | DebugGetAnforderung = 0; |
633 | } |
537 | } |
634 | 538 | ||
635 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
539 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
636 | { |
540 | { |
637 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
541 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
638 | DebugDataAnforderung = 0; |
542 | DebugDataAnforderung = 0; |
639 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
543 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
640 | } |
544 | } |
641 | 545 | ||
642 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
546 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
643 | { |
547 | { |
644 | Menu(); |
548 | Menu(); |
645 | DebugDisplayAnforderung = 0; |
549 | DebugDisplayAnforderung = 0; |
646 | if(++dis_zeile == 4) dis_zeile = 0; |
550 | if(++dis_zeile == 4) |
- | 551 | { |
|
- | 552 | SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
|
- | 553 | dis_zeile = -1; |
|
- | 554 | } |
|
647 | SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
555 | else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
648 | } |
556 | } |
649 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
557 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
650 | { |
558 | { |
651 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
559 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
652 | GetVersionAnforderung = 0; |
560 | GetVersionAnforderung = 0; |
653 | } |
561 | } |
654 | 562 | ||
655 | } |
563 | } |
656 | 564 | ||
657 | 565 |