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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 | 7 | ||
8 | #include "main.h" |
8 | #include "main.h" |
9 | #include "uart.h" |
9 | #include "uart.h" |
10 | 10 | ||
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
12 | unsigned volatile char SioTmp = 0; |
12 | unsigned volatile char SioTmp = 0; |
13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
13 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
16 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
17 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
18 | unsigned volatile char UebertragungAbgeschlossen = 1; |
19 | unsigned volatile char CntCrcError = 0; |
19 | unsigned volatile char CntCrcError = 0; |
20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
20 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
21 | unsigned volatile char PC_DebugTimeout = 0; |
21 | unsigned volatile char PC_DebugTimeout = 0; |
22 | unsigned char RemotePollDisplayLine = 0; |
22 | unsigned char RemotePollDisplayLine = 0; |
23 | unsigned char NurKanalAnforderung = 0; |
23 | unsigned char NurKanalAnforderung = 0; |
24 | unsigned char DebugTextAnforderung = 255; |
24 | unsigned char DebugTextAnforderung = 255; |
25 | unsigned char PcZugriff = 100; |
25 | unsigned char PcZugriff = 100; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
27 | unsigned char DubWiseKeys[3] = {0,0,0}; |
27 | unsigned char DubWiseKeys[3] = {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 | const unsigned char ANALOG_TEXT[32][16] = |
34 | const unsigned char ANALOG_TEXT[32][16] = |
35 | { |
35 | { |
36 | //1234567890123456 |
36 | //1234567890123456 |
37 | "IntegralNick ", //0 |
37 | "IntegralNick ", //0 |
38 | "IntegralRoll ", |
38 | "IntegralRoll ", |
39 | "AccNick ", |
39 | "AccNick ", |
40 | "AccRoll ", |
40 | "AccRoll ", |
41 | "GyroGier ", |
41 | "GyroGier ", |
42 | "HoehenWert ", //5 |
42 | "HoehenWert ", //5 |
43 | "AccZ ", |
43 | "AccZ ", |
44 | "Gas ", |
44 | "Gas ", |
45 | "KompassValue ", |
45 | "KompassValue ", |
46 | "MesswertNick ", |
46 | "Spannung ", |
47 | "10_SenderOkay ", //10 |
47 | "Empfang ", //10 |
48 | "11_MesswertRoll ", |
48 | "Analog11 ", |
49 | "Motor_Vorne ", |
49 | "Motor_Vorne ", |
50 | "Motor_Hinten ", |
50 | "Motor_Hinten ", |
51 | "Motor_Links ", |
51 | "Motor_Links ", |
52 | "Motor_Rechts ", //15 |
52 | "Motor_Rechts ", //15 |
53 | "16_Acc_Z ", |
53 | "Acc_Z ", |
54 | "17MittelAccNick ", |
54 | "MittelAccNick ", |
55 | "18_MittelAccRoll", |
55 | "MittelAccRoll ", |
56 | "Analog19 ", |
56 | "IntegralErrNick ", |
57 | "IntegralErrRoll ", //20 |
57 | "IntegralErrRoll ", //20 |
58 | "Analog21 ", |
58 | "MittelIntNick ", |
59 | "22_MittelGIngR ", |
59 | "MittelIntRoll ", |
60 | "Analog23 ", |
60 | "NeutralNick ", |
61 | "24RollOffset ", |
61 | "RollOffset ", |
62 | "25IntRoll*Fakt ", //25 |
62 | "IntRoll*Faktor ", //25 |
63 | "Analog26 ", |
63 | "Analog26 ", |
64 | "DirektAusglRoll ", |
64 | "DirektAusglRoll ", |
65 | "28MesswertRoll ", |
65 | "MesswertRoll ", |
66 | "29AusgleichRoll ", |
66 | "AusgleichRoll ", |
67 | "30_I-LageRoll ", //30 |
67 | "I-LageRoll ", //30 |
68 | "31_StickRoll " |
68 | "StickRoll " |
69 | }; |
69 | }; |
70 | 70 | ||
71 | 71 | ||
72 | 72 | ||
73 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
73 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //++ Sende-Part der Datenübertragung |
74 | //++ Sende-Part der Datenübertragung |
75 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
75 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | SIGNAL(INT_VEC_TX) |
76 | SIGNAL(INT_VEC_TX) |
77 | { |
77 | { |
78 | static unsigned int ptr = 0; |
78 | static unsigned int ptr = 0; |
79 | unsigned char tmp_tx; |
79 | unsigned char tmp_tx; |
80 | if(!UebertragungAbgeschlossen) |
80 | if(!UebertragungAbgeschlossen) |
81 | { |
81 | { |
82 | ptr++; // die [0] wurde schon gesendet |
82 | ptr++; // die [0] wurde schon gesendet |
83 | tmp_tx = SendeBuffer[ptr]; |
83 | tmp_tx = SendeBuffer[ptr]; |
84 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
84 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
85 | { |
85 | { |
86 | ptr = 0; |
86 | ptr = 0; |
87 | UebertragungAbgeschlossen = 1; |
87 | UebertragungAbgeschlossen = 1; |
88 | } |
88 | } |
89 | UDR = tmp_tx; |
89 | UDR = tmp_tx; |
90 | } |
90 | } |
91 | else ptr = 0; |
91 | else ptr = 0; |
92 | } |
92 | } |
93 | 93 | ||
94 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
94 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
95 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
95 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
96 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
96 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | SIGNAL(INT_VEC_RX) |
97 | SIGNAL(INT_VEC_RX) |
98 | { |
98 | { |
99 | static unsigned int crc; |
99 | static unsigned int crc; |
100 | static unsigned char crc1,crc2,buf_ptr; |
100 | static unsigned char crc1,crc2,buf_ptr; |
101 | static unsigned char UartState = 0; |
101 | static unsigned char UartState = 0; |
102 | unsigned char CrcOkay = 0; |
102 | unsigned char CrcOkay = 0; |
103 | 103 | ||
104 | SioTmp = UDR; |
104 | SioTmp = UDR; |
105 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
105 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
106 | if(SioTmp == '\r' && UartState == 2) |
106 | if(SioTmp == '\r' && UartState == 2) |
107 | { |
107 | { |
108 | UartState = 0; |
108 | UartState = 0; |
109 | crc -= RxdBuffer[buf_ptr-2]; |
109 | crc -= RxdBuffer[buf_ptr-2]; |
110 | crc -= RxdBuffer[buf_ptr-1]; |
110 | crc -= RxdBuffer[buf_ptr-1]; |
111 | crc %= 4096; |
111 | crc %= 4096; |
112 | crc1 = '=' + crc / 64; |
112 | crc1 = '=' + crc / 64; |
113 | crc2 = '=' + crc % 64; |
113 | crc2 = '=' + crc % 64; |
114 | CrcOkay = 0; |
114 | CrcOkay = 0; |
115 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
115 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
116 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
116 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
117 | { |
117 | { |
118 | NeuerDatensatzEmpfangen = 1; |
118 | NeuerDatensatzEmpfangen = 1; |
119 | AnzahlEmpfangsBytes = buf_ptr; |
119 | AnzahlEmpfangsBytes = buf_ptr; |
120 | RxdBuffer[buf_ptr] = '\r'; |
120 | RxdBuffer[buf_ptr] = '\r'; |
121 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
121 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
122 | } |
122 | } |
123 | } |
123 | } |
124 | else |
124 | else |
125 | switch(UartState) |
125 | switch(UartState) |
126 | { |
126 | { |
127 | case 0: |
127 | case 0: |
128 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
128 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
129 | buf_ptr = 0; |
129 | buf_ptr = 0; |
130 | RxdBuffer[buf_ptr++] = SioTmp; |
130 | RxdBuffer[buf_ptr++] = SioTmp; |
131 | crc = SioTmp; |
131 | crc = SioTmp; |
132 | break; |
132 | break; |
133 | case 1: // Adresse auswerten |
133 | case 1: // Adresse auswerten |
134 | UartState++; |
134 | UartState++; |
135 | RxdBuffer[buf_ptr++] = SioTmp; |
135 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | crc += SioTmp; |
136 | crc += SioTmp; |
137 | break; |
137 | break; |
138 | case 2: // Eingangsdaten sammeln |
138 | case 2: // Eingangsdaten sammeln |
139 | RxdBuffer[buf_ptr] = SioTmp; |
139 | RxdBuffer[buf_ptr] = SioTmp; |
140 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
140 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
141 | else UartState = 0; |
141 | else UartState = 0; |
142 | crc += SioTmp; |
142 | crc += SioTmp; |
143 | break; |
143 | break; |
144 | default: |
144 | default: |
145 | UartState = 0; |
145 | UartState = 0; |
146 | break; |
146 | break; |
147 | } |
147 | } |
148 | } |
148 | } |
149 | 149 | ||
150 | 150 | ||
151 | // -------------------------------------------------------------------------- |
151 | // -------------------------------------------------------------------------- |
152 | void AddCRC(unsigned int wieviele) |
152 | void AddCRC(unsigned int wieviele) |
153 | { |
153 | { |
154 | unsigned int tmpCRC = 0,i; |
154 | unsigned int tmpCRC = 0,i; |
155 | for(i = 0; i < wieviele;i++) |
155 | for(i = 0; i < wieviele;i++) |
156 | { |
156 | { |
157 | tmpCRC += SendeBuffer[i]; |
157 | tmpCRC += SendeBuffer[i]; |
158 | } |
158 | } |
159 | tmpCRC %= 4096; |
159 | tmpCRC %= 4096; |
160 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
160 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
161 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
161 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
162 | SendeBuffer[i++] = '\r'; |
162 | SendeBuffer[i++] = '\r'; |
163 | UebertragungAbgeschlossen = 0; |
163 | UebertragungAbgeschlossen = 0; |
164 | UDR = SendeBuffer[0]; |
164 | UDR = SendeBuffer[0]; |
165 | } |
165 | } |
166 | 166 | ||
167 | 167 | ||
168 | 168 | ||
169 | // -------------------------------------------------------------------------- |
169 | // -------------------------------------------------------------------------- |
170 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
170 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
171 | { |
171 | { |
172 | unsigned int pt = 0; |
172 | unsigned int pt = 0; |
173 | unsigned char a,b,c; |
173 | unsigned char a,b,c; |
174 | unsigned char ptr = 0; |
174 | unsigned char ptr = 0; |
175 | 175 | ||
176 | SendeBuffer[pt++] = '#'; // Startzeichen |
176 | SendeBuffer[pt++] = '#'; // Startzeichen |
177 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
177 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
178 | SendeBuffer[pt++] = cmd; // Commando |
178 | SendeBuffer[pt++] = cmd; // Commando |
179 | 179 | ||
180 | while(len) |
180 | while(len) |
181 | { |
181 | { |
182 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
182 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
183 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
183 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
184 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
184 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
185 | SendeBuffer[pt++] = '=' + (a >> 2); |
185 | SendeBuffer[pt++] = '=' + (a >> 2); |
186 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
186 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
187 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
187 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
188 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
188 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
189 | } |
189 | } |
190 | AddCRC(pt); |
190 | AddCRC(pt); |
191 | } |
191 | } |
192 | 192 | ||
193 | 193 | ||
194 | // -------------------------------------------------------------------------- |
194 | // -------------------------------------------------------------------------- |
195 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
195 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
196 | { |
196 | { |
197 | unsigned char a,b,c,d; |
197 | unsigned char a,b,c,d; |
198 | unsigned char ptr = 0; |
198 | unsigned char ptr = 0; |
199 | unsigned char x,y,z; |
199 | unsigned char x,y,z; |
200 | while(len) |
200 | while(len) |
201 | { |
201 | { |
202 | a = RxdBuffer[ptrIn++] - '='; |
202 | a = RxdBuffer[ptrIn++] - '='; |
203 | b = RxdBuffer[ptrIn++] - '='; |
203 | b = RxdBuffer[ptrIn++] - '='; |
204 | c = RxdBuffer[ptrIn++] - '='; |
204 | c = RxdBuffer[ptrIn++] - '='; |
205 | d = RxdBuffer[ptrIn++] - '='; |
205 | d = RxdBuffer[ptrIn++] - '='; |
206 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
206 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
207 | 207 | ||
208 | x = (a << 2) | (b >> 4); |
208 | x = (a << 2) | (b >> 4); |
209 | y = ((b & 0x0f) << 4) | (c >> 2); |
209 | y = ((b & 0x0f) << 4) | (c >> 2); |
210 | z = ((c & 0x03) << 6) | d; |
210 | z = ((c & 0x03) << 6) | d; |
211 | 211 | ||
212 | if(len--) ptrOut[ptr++] = x; else break; |
212 | if(len--) ptrOut[ptr++] = x; else break; |
213 | if(len--) ptrOut[ptr++] = y; else break; |
213 | if(len--) ptrOut[ptr++] = y; else break; |
214 | if(len--) ptrOut[ptr++] = z; else break; |
214 | if(len--) ptrOut[ptr++] = z; else break; |
215 | } |
215 | } |
216 | 216 | ||
217 | } |
217 | } |
218 | 218 | ||
219 | // -------------------------------------------------------------------------- |
219 | // -------------------------------------------------------------------------- |
220 | void BearbeiteRxDaten(void) |
220 | void BearbeiteRxDaten(void) |
221 | { |
221 | { |
222 | if(!NeuerDatensatzEmpfangen) return; |
222 | if(!NeuerDatensatzEmpfangen) return; |
223 | 223 | ||
224 | // unsigned int tmp_int_arr1[1]; |
224 | // unsigned int tmp_int_arr1[1]; |
225 | // unsigned int tmp_int_arr2[2]; |
225 | // unsigned int tmp_int_arr2[2]; |
226 | // unsigned int tmp_int_arr3[3]; |
226 | // unsigned int tmp_int_arr3[3]; |
227 | unsigned char tmp_char_arr2[2]; |
227 | unsigned char tmp_char_arr2[2]; |
228 | // unsigned char tmp_char_arr3[3]; |
228 | // unsigned char tmp_char_arr3[3]; |
229 | // unsigned char tmp_char_arr4[4]; |
229 | // unsigned char tmp_char_arr4[4]; |
230 | //if(!MotorenEin) |
230 | //if(!MotorenEin) |
231 | PcZugriff = 255; |
231 | PcZugriff = 255; |
232 | switch(RxdBuffer[2]) |
232 | switch(RxdBuffer[2]) |
233 | { |
233 | { |
234 | case 'a':// Texte der Analogwerte |
234 | case 'a':// Texte der Analogwerte |
235 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
235 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
236 | DebugTextAnforderung = tmp_char_arr2[0]; |
236 | DebugTextAnforderung = tmp_char_arr2[0]; |
237 | break; |
237 | break; |
238 | case 'c':// Debugdaten incl. Externe IOs usw |
238 | case 'c':// Debugdaten incl. Externe IOs usw |
239 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
239 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
240 | /* for(unsigned char i=0; i<4;i++) |
240 | /* for(unsigned char i=0; i<4;i++) |
241 | { |
241 | { |
242 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
242 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
243 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
243 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
244 | }*/ |
244 | }*/ |
245 | RemoteTasten |= DebugIn.RemoteTasten; |
245 | RemoteTasten |= DebugIn.RemoteTasten; |
246 | DebugDataAnforderung = 1; |
246 | DebugDataAnforderung = 1; |
247 | break; |
247 | break; |
248 | case 'h':// x-1 Displayzeilen |
248 | case 'h':// x-1 Displayzeilen |
249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
250 | RemoteTasten |= tmp_char_arr2[0]; |
250 | RemoteTasten |= tmp_char_arr2[0]; |
251 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
251 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
252 | DebugDisplayAnforderung = 1; |
252 | DebugDisplayAnforderung = 1; |
253 | break; |
253 | break; |
254 | case 't':// Motortest |
254 | case 't':// Motortest |
255 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
255 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
256 | break; |
256 | break; |
257 | case 'k':// Keys von DubWise |
257 | case 'k':// Keys von DubWise |
258 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
258 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
259 | break; |
259 | break; |
260 | case 'v': // Version-Anforderung und Ausbaustufe |
260 | case 'v': // Version-Anforderung und Ausbaustufe |
261 | GetVersionAnforderung = 1; |
261 | GetVersionAnforderung = 1; |
262 | break; |
262 | break; |
263 | case 'g':// "Get"-Anforderung für Debug-Daten |
263 | case 'g':// "Get"-Anforderung für Debug-Daten |
264 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
264 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
265 | DebugGetAnforderung = 1; |
265 | DebugGetAnforderung = 1; |
266 | break; |
266 | break; |
267 | case 'q':// "Get"-Anforderung für Settings |
267 | case 'q':// "Get"-Anforderung für Settings |
268 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
268 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
269 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
269 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
270 | if(tmp_char_arr2[0] != 0xff) |
270 | if(tmp_char_arr2[0] != 0xff) |
271 | { |
271 | { |
272 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
272 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
273 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
273 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
274 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
274 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
275 | } |
275 | } |
276 | else |
276 | else |
277 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
277 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
278 | 278 | ||
279 | break; |
279 | break; |
280 | 280 | ||
281 | case 'l': |
281 | case 'l': |
282 | case 'm': |
282 | case 'm': |
283 | case 'n': |
283 | case 'n': |
284 | case 'o': |
284 | case 'o': |
285 | case 'p': // Parametersatz speichern |
285 | case 'p': // Parametersatz speichern |
286 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
286 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
287 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
287 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
288 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
288 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
289 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
289 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
290 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
290 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
291 | Piep(GetActiveParamSetNumber()); |
291 | Piep(GetActiveParamSetNumber()); |
292 | break; |
292 | break; |
293 | 293 | ||
294 | 294 | ||
295 | } |
295 | } |
296 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
296 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
297 | NeuerDatensatzEmpfangen = 0; |
297 | NeuerDatensatzEmpfangen = 0; |
298 | } |
298 | } |
299 | 299 | ||
300 | //############################################################################ |
300 | //############################################################################ |
301 | //Routine für die Serielle Ausgabe |
301 | //Routine für die Serielle Ausgabe |
302 | int uart_putchar (char c) |
302 | int uart_putchar (char c) |
303 | //############################################################################ |
303 | //############################################################################ |
304 | { |
304 | { |
305 | if (c == '\n') |
305 | if (c == '\n') |
306 | uart_putchar('\r'); |
306 | uart_putchar('\r'); |
307 | //Warten solange bis Zeichen gesendet wurde |
307 | //Warten solange bis Zeichen gesendet wurde |
308 | loop_until_bit_is_set(USR, UDRE); |
308 | loop_until_bit_is_set(USR, UDRE); |
309 | //Ausgabe des Zeichens |
309 | //Ausgabe des Zeichens |
310 | UDR = c; |
310 | UDR = c; |
311 | 311 | ||
312 | return (0); |
312 | return (0); |
313 | } |
313 | } |
314 | 314 | ||
315 | // -------------------------------------------------------------------------- |
315 | // -------------------------------------------------------------------------- |
316 | void WriteProgramData(unsigned int pos, unsigned char wert) |
316 | void WriteProgramData(unsigned int pos, unsigned char wert) |
317 | { |
317 | { |
318 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
318 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
319 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
319 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
320 | // Buffer[pos] = wert; |
320 | // Buffer[pos] = wert; |
321 | } |
321 | } |
322 | 322 | ||
323 | //############################################################################ |
323 | //############################################################################ |
324 | //INstallation der Seriellen Schnittstelle |
324 | //INstallation der Seriellen Schnittstelle |
325 | void UART_Init (void) |
325 | void UART_Init (void) |
326 | //############################################################################ |
326 | //############################################################################ |
327 | { |
327 | { |
328 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
328 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
329 | 329 | ||
330 | UCR=(1 << TXEN) | (1 << RXEN); |
330 | UCR=(1 << TXEN) | (1 << RXEN); |
331 | // UART Double Speed (U2X) |
331 | // UART Double Speed (U2X) |
332 | USR |= (1<<U2X); |
332 | USR |= (1<<U2X); |
333 | // RX-Interrupt Freigabe |
333 | // RX-Interrupt Freigabe |
334 | UCSRB |= (1<<RXCIE); |
334 | UCSRB |= (1<<RXCIE); |
335 | // TX-Interrupt Freigabe |
335 | // TX-Interrupt Freigabe |
336 | UCSRB |= (1<<TXCIE); |
336 | UCSRB |= (1<<TXCIE); |
337 | 337 | ||
338 | //Teiler wird gesetzt |
338 | //Teiler wird gesetzt |
339 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
339 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
340 | //UBRR = 33; |
340 | //UBRR = 33; |
341 | //öffnet einen Kanal für printf (STDOUT) |
341 | //öffnet einen Kanal für printf (STDOUT) |
342 | //fdevopen (uart_putchar, 0); |
342 | //fdevopen (uart_putchar, 0); |
343 | //sbi(PORTD,4); |
343 | //sbi(PORTD,4); |
344 | Debug_Timer = SetDelay(200); |
344 | Debug_Timer = SetDelay(200); |
345 | } |
345 | } |
346 | 346 | ||
347 | //--------------------------------------------------------------------------------------------- |
347 | //--------------------------------------------------------------------------------------------- |
348 | void DatenUebertragung(void) |
348 | void DatenUebertragung(void) |
349 | { |
349 | { |
350 | if(!UebertragungAbgeschlossen) return; |
350 | if(!UebertragungAbgeschlossen) return; |
351 | 351 | ||
352 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
352 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
353 | { |
353 | { |
354 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
354 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
355 | DebugGetAnforderung = 0; |
355 | DebugGetAnforderung = 0; |
356 | } |
356 | } |
357 | 357 | ||
358 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
358 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
359 | { |
359 | { |
360 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
360 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
361 | DebugDataAnforderung = 0; |
361 | DebugDataAnforderung = 0; |
362 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
362 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
363 | } |
363 | } |
364 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
364 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
365 | { |
365 | { |
366 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
366 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
367 | DebugTextAnforderung = 255; |
367 | DebugTextAnforderung = 255; |
368 | } |
368 | } |
369 | 369 | ||
370 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
370 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
371 | { |
371 | { |
372 | Menu(); |
372 | Menu(); |
373 | DebugDisplayAnforderung = 0; |
373 | DebugDisplayAnforderung = 0; |
374 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
374 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
375 | { |
375 | { |
376 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
376 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
377 | RemotePollDisplayLine = -1; |
377 | RemotePollDisplayLine = -1; |
378 | } |
378 | } |
379 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
379 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
380 | } |
380 | } |
381 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
381 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
382 | { |
382 | { |
383 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
383 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
384 | GetVersionAnforderung = 0; |
384 | GetVersionAnforderung = 0; |
385 | } |
385 | } |
386 | 386 | ||
387 | } |
387 | } |
388 | 388 | ||
389 | 389 |