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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[4] = {0,0,0,0}; |
28 | unsigned char MeineSlaveAdresse; |
28 | unsigned char MeineSlaveAdresse; |
- | 29 | unsigned char ConfirmFrame; |
|
29 | struct str_DebugOut DebugOut; |
30 | struct str_DebugOut DebugOut; |
30 | struct str_Debug DebugIn; |
31 | struct str_ExternControl ExternControl; |
31 | struct str_VersionInfo VersionInfo; |
32 | struct str_VersionInfo VersionInfo; |
32 | int Debug_Timer; |
33 | int Debug_Timer; |
33 | 34 | ||
34 | const unsigned char ANALOG_TEXT[32][16] = |
35 | const unsigned char ANALOG_TEXT[32][16] = |
35 | { |
36 | { |
36 | //1234567890123456 |
37 | //1234567890123456 |
37 | "IntegralNick ", //0 |
38 | "IntegralNick ", //0 |
38 | "IntegralRoll ", |
39 | "IntegralRoll ", |
39 | "AccNick ", |
40 | "AccNick ", |
40 | "AccRoll ", |
41 | "AccRoll ", |
41 | "GyroGier ", |
42 | "GyroGier ", |
42 | "HoehenWert ", //5 |
43 | "HoehenWert ", //5 |
43 | "AccZ ", |
44 | "AccZ ", |
44 | "Gas ", |
45 | "Gas ", |
45 | "KompassValue ", |
46 | "KompassValue ", |
46 | "Spannung ", |
47 | "Spannung ", |
47 | "Empfang ", //10 |
48 | "Empfang ", //10 |
48 | "Analog11 ", |
49 | "Analog11 ", |
49 | "Motor_Vorne ", |
50 | "Motor_Vorne ", |
50 | "Motor_Hinten ", |
51 | "Motor_Hinten ", |
51 | "Motor_Links ", |
52 | "Motor_Links ", |
52 | "Motor_Rechts ", //15 |
53 | "Motor_Rechts ", //15 |
53 | "Acc_Z ", |
54 | "Acc_Z ", |
54 | "MittelAccNick ", |
55 | "MittelAccNick ", |
55 | "MittelAccRoll ", |
56 | "MittelAccRoll ", |
56 | "IntegralErrNick ", |
57 | "IntegralErrNick ", |
57 | "IntegralErrRoll ", //20 |
58 | "IntegralErrRoll ", //20 |
58 | "MittelIntNick ", |
59 | "MittelIntNick ", |
59 | "MittelIntRoll ", |
60 | "MittelIntRoll ", |
60 | "NeutralNick ", |
61 | "NeutralNick ", |
61 | "RollOffset ", |
62 | "RollOffset ", |
62 | "IntRoll*Faktor ", //25 |
63 | "IntRoll*Faktor ", //25 |
63 | "Analog26 ", |
64 | "Analog26 ", |
64 | "DirektAusglRoll ", |
65 | "DirektAusglRoll ", |
65 | "MesswertRoll ", |
66 | "MesswertRoll ", |
66 | "AusgleichRoll ", |
67 | "AusgleichRoll ", |
67 | "I-LageRoll ", //30 |
68 | "I-LageRoll ", //30 |
68 | "StickRoll " |
69 | "StickRoll " |
69 | }; |
70 | }; |
70 | 71 | ||
71 | 72 | ||
72 | 73 | ||
73 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //++ Sende-Part der Datenübertragung |
75 | //++ Sende-Part der Datenübertragung |
75 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | SIGNAL(INT_VEC_TX) |
77 | SIGNAL(INT_VEC_TX) |
77 | { |
78 | { |
78 | static unsigned int ptr = 0; |
79 | static unsigned int ptr = 0; |
79 | unsigned char tmp_tx; |
80 | unsigned char tmp_tx; |
80 | if(!UebertragungAbgeschlossen) |
81 | if(!UebertragungAbgeschlossen) |
81 | { |
82 | { |
82 | ptr++; // die [0] wurde schon gesendet |
83 | ptr++; // die [0] wurde schon gesendet |
83 | tmp_tx = SendeBuffer[ptr]; |
84 | tmp_tx = SendeBuffer[ptr]; |
84 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
85 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
85 | { |
86 | { |
86 | ptr = 0; |
87 | ptr = 0; |
87 | UebertragungAbgeschlossen = 1; |
88 | UebertragungAbgeschlossen = 1; |
88 | } |
89 | } |
89 | UDR = tmp_tx; |
90 | UDR = tmp_tx; |
90 | } |
91 | } |
91 | else ptr = 0; |
92 | else ptr = 0; |
92 | } |
93 | } |
93 | 94 | ||
94 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
95 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
95 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
96 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
96 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | SIGNAL(INT_VEC_RX) |
98 | SIGNAL(INT_VEC_RX) |
98 | { |
99 | { |
99 | static unsigned int crc; |
100 | static unsigned int crc; |
100 | static unsigned char crc1,crc2,buf_ptr; |
101 | static unsigned char crc1,crc2,buf_ptr; |
101 | static unsigned char UartState = 0; |
102 | static unsigned char UartState = 0; |
102 | unsigned char CrcOkay = 0; |
103 | unsigned char CrcOkay = 0; |
103 | 104 | ||
104 | SioTmp = UDR; |
105 | SioTmp = UDR; |
105 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
106 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
106 | if(SioTmp == '\r' && UartState == 2) |
107 | if(SioTmp == '\r' && UartState == 2) |
107 | { |
108 | { |
108 | UartState = 0; |
109 | UartState = 0; |
109 | crc -= RxdBuffer[buf_ptr-2]; |
110 | crc -= RxdBuffer[buf_ptr-2]; |
110 | crc -= RxdBuffer[buf_ptr-1]; |
111 | crc -= RxdBuffer[buf_ptr-1]; |
111 | crc %= 4096; |
112 | crc %= 4096; |
112 | crc1 = '=' + crc / 64; |
113 | crc1 = '=' + crc / 64; |
113 | crc2 = '=' + crc % 64; |
114 | crc2 = '=' + crc % 64; |
114 | CrcOkay = 0; |
115 | CrcOkay = 0; |
115 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
116 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
116 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
117 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
117 | { |
118 | { |
118 | NeuerDatensatzEmpfangen = 1; |
119 | NeuerDatensatzEmpfangen = 1; |
119 | AnzahlEmpfangsBytes = buf_ptr; |
120 | AnzahlEmpfangsBytes = buf_ptr; |
120 | RxdBuffer[buf_ptr] = '\r'; |
121 | RxdBuffer[buf_ptr] = '\r'; |
121 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
122 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
122 | } |
123 | } |
123 | } |
124 | } |
124 | else |
125 | else |
125 | switch(UartState) |
126 | switch(UartState) |
126 | { |
127 | { |
127 | case 0: |
128 | case 0: |
128 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
129 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
129 | buf_ptr = 0; |
130 | buf_ptr = 0; |
130 | RxdBuffer[buf_ptr++] = SioTmp; |
131 | RxdBuffer[buf_ptr++] = SioTmp; |
131 | crc = SioTmp; |
132 | crc = SioTmp; |
132 | break; |
133 | break; |
133 | case 1: // Adresse auswerten |
134 | case 1: // Adresse auswerten |
134 | UartState++; |
135 | UartState++; |
135 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | crc += SioTmp; |
137 | crc += SioTmp; |
137 | break; |
138 | break; |
138 | case 2: // Eingangsdaten sammeln |
139 | case 2: // Eingangsdaten sammeln |
139 | RxdBuffer[buf_ptr] = SioTmp; |
140 | RxdBuffer[buf_ptr] = SioTmp; |
140 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
141 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
141 | else UartState = 0; |
142 | else UartState = 0; |
142 | crc += SioTmp; |
143 | crc += SioTmp; |
143 | break; |
144 | break; |
144 | default: |
145 | default: |
145 | UartState = 0; |
146 | UartState = 0; |
146 | break; |
147 | break; |
147 | } |
148 | } |
148 | } |
149 | } |
149 | 150 | ||
150 | 151 | ||
151 | // -------------------------------------------------------------------------- |
152 | // -------------------------------------------------------------------------- |
152 | void AddCRC(unsigned int wieviele) |
153 | void AddCRC(unsigned int wieviele) |
153 | { |
154 | { |
154 | unsigned int tmpCRC = 0,i; |
155 | unsigned int tmpCRC = 0,i; |
155 | for(i = 0; i < wieviele;i++) |
156 | for(i = 0; i < wieviele;i++) |
156 | { |
157 | { |
157 | tmpCRC += SendeBuffer[i]; |
158 | tmpCRC += SendeBuffer[i]; |
158 | } |
159 | } |
159 | tmpCRC %= 4096; |
160 | tmpCRC %= 4096; |
160 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
161 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
161 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
162 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
162 | SendeBuffer[i++] = '\r'; |
163 | SendeBuffer[i++] = '\r'; |
163 | UebertragungAbgeschlossen = 0; |
164 | UebertragungAbgeschlossen = 0; |
164 | UDR = SendeBuffer[0]; |
165 | UDR = SendeBuffer[0]; |
165 | } |
166 | } |
166 | 167 | ||
167 | 168 | ||
168 | 169 | ||
169 | // -------------------------------------------------------------------------- |
170 | // -------------------------------------------------------------------------- |
170 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
171 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
171 | { |
172 | { |
172 | unsigned int pt = 0; |
173 | unsigned int pt = 0; |
173 | unsigned char a,b,c; |
174 | unsigned char a,b,c; |
174 | unsigned char ptr = 0; |
175 | unsigned char ptr = 0; |
175 | 176 | ||
176 | SendeBuffer[pt++] = '#'; // Startzeichen |
177 | SendeBuffer[pt++] = '#'; // Startzeichen |
177 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
178 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
178 | SendeBuffer[pt++] = cmd; // Commando |
179 | SendeBuffer[pt++] = cmd; // Commando |
179 | 180 | ||
180 | while(len) |
181 | while(len) |
181 | { |
182 | { |
182 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
183 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
183 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
184 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
184 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
185 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
185 | SendeBuffer[pt++] = '=' + (a >> 2); |
186 | SendeBuffer[pt++] = '=' + (a >> 2); |
186 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
187 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
187 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
188 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
188 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
189 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
189 | } |
190 | } |
190 | AddCRC(pt); |
191 | AddCRC(pt); |
191 | } |
192 | } |
192 | 193 | ||
193 | 194 | ||
194 | // -------------------------------------------------------------------------- |
195 | // -------------------------------------------------------------------------- |
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 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
196 | { |
197 | { |
197 | unsigned char a,b,c,d; |
198 | unsigned char a,b,c,d; |
198 | unsigned char ptr = 0; |
199 | unsigned char ptr = 0; |
199 | unsigned char x,y,z; |
200 | unsigned char x,y,z; |
200 | while(len) |
201 | while(len) |
201 | { |
202 | { |
202 | a = RxdBuffer[ptrIn++] - '='; |
203 | a = RxdBuffer[ptrIn++] - '='; |
203 | b = RxdBuffer[ptrIn++] - '='; |
204 | b = RxdBuffer[ptrIn++] - '='; |
204 | c = RxdBuffer[ptrIn++] - '='; |
205 | c = RxdBuffer[ptrIn++] - '='; |
205 | d = RxdBuffer[ptrIn++] - '='; |
206 | d = RxdBuffer[ptrIn++] - '='; |
206 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
207 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
207 | 208 | ||
208 | x = (a << 2) | (b >> 4); |
209 | x = (a << 2) | (b >> 4); |
209 | y = ((b & 0x0f) << 4) | (c >> 2); |
210 | y = ((b & 0x0f) << 4) | (c >> 2); |
210 | z = ((c & 0x03) << 6) | d; |
211 | z = ((c & 0x03) << 6) | d; |
211 | 212 | ||
212 | if(len--) ptrOut[ptr++] = x; else break; |
213 | if(len--) ptrOut[ptr++] = x; else break; |
213 | if(len--) ptrOut[ptr++] = y; else break; |
214 | if(len--) ptrOut[ptr++] = y; else break; |
214 | if(len--) ptrOut[ptr++] = z; else break; |
215 | if(len--) ptrOut[ptr++] = z; else break; |
215 | } |
216 | } |
216 | 217 | ||
217 | } |
218 | } |
218 | 219 | ||
219 | // -------------------------------------------------------------------------- |
220 | // -------------------------------------------------------------------------- |
220 | void BearbeiteRxDaten(void) |
221 | void BearbeiteRxDaten(void) |
221 | { |
222 | { |
222 | if(!NeuerDatensatzEmpfangen) return; |
223 | if(!NeuerDatensatzEmpfangen) return; |
223 | 224 | ||
224 | // unsigned int tmp_int_arr1[1]; |
225 | // unsigned int tmp_int_arr1[1]; |
225 | // unsigned int tmp_int_arr2[2]; |
226 | // unsigned int tmp_int_arr2[2]; |
226 | // unsigned int tmp_int_arr3[3]; |
227 | // unsigned int tmp_int_arr3[3]; |
227 | unsigned char tmp_char_arr2[2]; |
228 | unsigned char tmp_char_arr2[2]; |
228 | // unsigned char tmp_char_arr3[3]; |
229 | // unsigned char tmp_char_arr3[3]; |
229 | // unsigned char tmp_char_arr4[4]; |
230 | // unsigned char tmp_char_arr4[4]; |
230 | //if(!MotorenEin) |
231 | //if(!MotorenEin) |
231 | PcZugriff = 255; |
232 | PcZugriff = 255; |
232 | switch(RxdBuffer[2]) |
233 | switch(RxdBuffer[2]) |
233 | { |
234 | { |
234 | case 'a':// Texte der Analogwerte |
235 | case 'a':// Texte der Analogwerte |
235 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
236 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
236 | DebugTextAnforderung = tmp_char_arr2[0]; |
237 | DebugTextAnforderung = tmp_char_arr2[0]; |
237 | break; |
238 | break; |
238 | case 'c':// Debugdaten incl. Externe IOs usw |
239 | case 'b': |
239 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
240 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
240 | /* for(unsigned char i=0; i<4;i++) |
241 | RemoteTasten |= ExternControl.RemoteTasten; |
241 | { |
- | |
242 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
242 | ConfirmFrame = ExternControl.Frame; |
243 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
243 | break; |
244 | }*/ |
244 | case 'c': |
- | 245 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
|
245 | RemoteTasten |= DebugIn.RemoteTasten; |
246 | RemoteTasten |= ExternControl.RemoteTasten; |
- | 247 | ConfirmFrame = ExternControl.Frame; |
|
246 | DebugDataAnforderung = 1; |
248 | DebugDataAnforderung = 1; |
247 | break; |
249 | break; |
248 | case 'h':// x-1 Displayzeilen |
250 | case 'h':// x-1 Displayzeilen |
249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
251 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
250 | RemoteTasten |= tmp_char_arr2[0]; |
252 | RemoteTasten |= tmp_char_arr2[0]; |
251 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
253 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
252 | DebugDisplayAnforderung = 1; |
254 | DebugDisplayAnforderung = 1; |
253 | break; |
255 | break; |
254 | case 't':// Motortest |
256 | case 't':// Motortest |
255 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
257 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
256 | break; |
258 | break; |
257 | case 'k':// Keys von DubWise |
259 | case 'k':// Keys von DubWise |
258 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
260 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
- | 261 | ConfirmFrame = DubWiseKeys[3]; |
|
259 | break; |
262 | break; |
260 | case 'v': // Version-Anforderung und Ausbaustufe |
263 | case 'v': // Version-Anforderung und Ausbaustufe |
261 | GetVersionAnforderung = 1; |
264 | GetVersionAnforderung = 1; |
262 | break; |
265 | break; |
263 | case 'g':// "Get"-Anforderung für Debug-Daten |
266 | case 'g':// "Get"-Anforderung für Debug-Daten |
264 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
267 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
265 | DebugGetAnforderung = 1; |
268 | DebugGetAnforderung = 1; |
266 | break; |
269 | break; |
267 | case 'q':// "Get"-Anforderung für Settings |
270 | case 'q':// "Get"-Anforderung für Settings |
268 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
271 | // 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); |
272 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
270 | if(tmp_char_arr2[0] != 0xff) |
273 | if(tmp_char_arr2[0] != 0xff) |
271 | { |
274 | { |
272 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
275 | 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); |
276 | 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); |
277 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
275 | } |
278 | } |
276 | else |
279 | else |
277 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
280 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
278 | 281 | ||
279 | break; |
282 | break; |
280 | 283 | ||
281 | case 'l': |
284 | case 'l': |
282 | case 'm': |
285 | case 'm': |
283 | case 'n': |
286 | case 'n': |
284 | case 'o': |
287 | case 'o': |
285 | case 'p': // Parametersatz speichern |
288 | case 'p': // Parametersatz speichern |
286 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
289 | 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); |
290 | 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 |
291 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
289 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
292 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
290 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
293 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
291 | Piep(GetActiveParamSetNumber()); |
294 | Piep(GetActiveParamSetNumber()); |
292 | break; |
295 | break; |
293 | 296 | ||
294 | 297 | ||
295 | } |
298 | } |
296 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
299 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
297 | NeuerDatensatzEmpfangen = 0; |
300 | NeuerDatensatzEmpfangen = 0; |
298 | } |
301 | } |
299 | 302 | ||
300 | //############################################################################ |
303 | //############################################################################ |
301 | //Routine für die Serielle Ausgabe |
304 | //Routine für die Serielle Ausgabe |
302 | int uart_putchar (char c) |
305 | int uart_putchar (char c) |
303 | //############################################################################ |
306 | //############################################################################ |
304 | { |
307 | { |
305 | if (c == '\n') |
308 | if (c == '\n') |
306 | uart_putchar('\r'); |
309 | uart_putchar('\r'); |
307 | //Warten solange bis Zeichen gesendet wurde |
310 | //Warten solange bis Zeichen gesendet wurde |
308 | loop_until_bit_is_set(USR, UDRE); |
311 | loop_until_bit_is_set(USR, UDRE); |
309 | //Ausgabe des Zeichens |
312 | //Ausgabe des Zeichens |
310 | UDR = c; |
313 | UDR = c; |
311 | 314 | ||
312 | return (0); |
315 | return (0); |
313 | } |
316 | } |
314 | 317 | ||
315 | // -------------------------------------------------------------------------- |
318 | // -------------------------------------------------------------------------- |
316 | void WriteProgramData(unsigned int pos, unsigned char wert) |
319 | void WriteProgramData(unsigned int pos, unsigned char wert) |
317 | { |
320 | { |
318 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
321 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
319 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
322 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
320 | // Buffer[pos] = wert; |
323 | // Buffer[pos] = wert; |
321 | } |
324 | } |
322 | 325 | ||
323 | //############################################################################ |
326 | //############################################################################ |
324 | //INstallation der Seriellen Schnittstelle |
327 | //INstallation der Seriellen Schnittstelle |
325 | void UART_Init (void) |
328 | void UART_Init (void) |
326 | //############################################################################ |
329 | //############################################################################ |
327 | { |
330 | { |
328 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
331 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
329 | 332 | ||
330 | UCR=(1 << TXEN) | (1 << RXEN); |
333 | UCR=(1 << TXEN) | (1 << RXEN); |
331 | // UART Double Speed (U2X) |
334 | // UART Double Speed (U2X) |
332 | USR |= (1<<U2X); |
335 | USR |= (1<<U2X); |
333 | // RX-Interrupt Freigabe |
336 | // RX-Interrupt Freigabe |
334 | UCSRB |= (1<<RXCIE); |
337 | UCSRB |= (1<<RXCIE); |
335 | // TX-Interrupt Freigabe |
338 | // TX-Interrupt Freigabe |
336 | UCSRB |= (1<<TXCIE); |
339 | UCSRB |= (1<<TXCIE); |
337 | 340 | ||
338 | //Teiler wird gesetzt |
341 | //Teiler wird gesetzt |
339 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
342 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
340 | //UBRR = 33; |
343 | //UBRR = 33; |
341 | //öffnet einen Kanal für printf (STDOUT) |
344 | //öffnet einen Kanal für printf (STDOUT) |
342 | //fdevopen (uart_putchar, 0); |
345 | //fdevopen (uart_putchar, 0); |
343 | //sbi(PORTD,4); |
346 | //sbi(PORTD,4); |
344 | Debug_Timer = SetDelay(200); |
347 | Debug_Timer = SetDelay(200); |
345 | } |
348 | } |
346 | 349 | ||
347 | //--------------------------------------------------------------------------------------------- |
350 | //--------------------------------------------------------------------------------------------- |
348 | void DatenUebertragung(void) |
351 | void DatenUebertragung(void) |
349 | { |
352 | { |
350 | if(!UebertragungAbgeschlossen) return; |
353 | if(!UebertragungAbgeschlossen) return; |
351 | 354 | ||
352 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
355 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
353 | { |
356 | { |
354 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
357 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
355 | DebugGetAnforderung = 0; |
358 | DebugGetAnforderung = 0; |
356 | } |
359 | } |
357 | 360 | ||
358 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
361 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
359 | { |
362 | { |
360 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
363 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
361 | DebugDataAnforderung = 0; |
364 | DebugDataAnforderung = 0; |
362 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
365 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
363 | } |
366 | } |
364 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
367 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
365 | { |
368 | { |
366 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
369 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
367 | DebugTextAnforderung = 255; |
370 | DebugTextAnforderung = 255; |
368 | } |
371 | } |
- | 372 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
|
369 | 373 | { |
|
- | 374 | SendeBuffer[0] = '#'; |
|
- | 375 | SendeBuffer[1] = ConfirmFrame; |
|
- | 376 | SendeBuffer[2] = '\r'; |
|
- | 377 | UebertragungAbgeschlossen = 0; |
|
- | 378 | ConfirmFrame = 0; |
|
- | 379 | UDR = SendeBuffer[0]; |
|
- | 380 | } |
|
370 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
381 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
371 | { |
382 | { |
372 | Menu(); |
383 | Menu(); |
373 | DebugDisplayAnforderung = 0; |
384 | DebugDisplayAnforderung = 0; |
374 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
385 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
375 | { |
386 | { |
376 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
387 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
377 | RemotePollDisplayLine = -1; |
388 | RemotePollDisplayLine = -1; |
378 | } |
389 | } |
379 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
390 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
380 | } |
391 | } |
381 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
392 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
382 | { |
393 | { |
383 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
394 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
384 | GetVersionAnforderung = 0; |
395 | GetVersionAnforderung = 0; |
385 | } |
396 | } |
386 | 397 | ||
387 | } |
398 | } |
388 | 399 | ||
389 | 400 |