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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 | #include <stdarg.h> |
7 | #include <stdarg.h> |
8 | #include <string.h> |
8 | #include <string.h> |
9 | #include "main.h" |
9 | #include "main.h" |
10 | #include "uart.h" |
10 | #include "uart.h" |
11 | 11 | ||
- | 12 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
|
12 | unsigned char GetExternalControl = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
13 | unsigned char DisplayLine = 0; |
13 | unsigned volatile char SioTmp = 0; |
14 | unsigned volatile char SioTmp = 0; |
14 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
15 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
15 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
16 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
16 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
17 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
17 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
18 | unsigned volatile char NeuerDatensatzEmpfangen = 0; |
18 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
19 | unsigned volatile char NeueKoordinateEmpfangen = 0; |
19 | unsigned volatile char UebertragungAbgeschlossen = 1; |
20 | unsigned volatile char UebertragungAbgeschlossen = 1; |
20 | unsigned volatile char CntCrcError = 0; |
21 | unsigned volatile char CntCrcError = 0; |
21 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
22 | unsigned volatile char AnzahlEmpfangsBytes = 0; |
22 | unsigned char *pRxData = 0; |
23 | unsigned char *pRxData = 0; |
23 | unsigned char RxDataLen = 0; |
24 | unsigned char RxDataLen = 0; |
24 | unsigned volatile char PC_DebugTimeout = 0; |
25 | unsigned volatile char PC_DebugTimeout = 0; |
25 | 26 | ||
26 | unsigned char DebugTextAnforderung = 255; |
27 | unsigned char DebugTextAnforderung = 255; |
27 | unsigned char PcZugriff = 100; |
28 | unsigned char PcZugriff = 100; |
28 | unsigned char MotorTest[4] = {0,0,0,0}; |
29 | unsigned char MotorTest[4] = {0,0,0,0}; |
29 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
30 | unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
30 | unsigned char ConfirmFrame; |
31 | unsigned char ConfirmFrame; |
31 | struct str_DebugOut DebugOut; |
32 | struct str_DebugOut DebugOut; |
32 | struct str_ExternControl ExternControl; |
33 | struct str_ExternControl ExternControl; |
33 | struct str_VersionInfo VersionInfo; |
34 | struct str_VersionInfo VersionInfo; |
34 | struct str_WinkelOut WinkelOut; |
35 | struct str_WinkelOut WinkelOut; |
35 | 36 | ||
36 | int Debug_Timer,Kompass_Timer; |
37 | int Debug_Timer,Kompass_Timer; |
37 | unsigned int DebugDataIntervall = 200; |
38 | unsigned int DebugDataIntervall = 200; |
38 | 39 | ||
39 | const unsigned char ANALOG_TEXT[32][16] = |
40 | const unsigned char ANALOG_TEXT[32][16] = |
40 | { |
41 | { |
41 | //1234567890123456 |
42 | //1234567890123456 |
42 | "IntegralNick ", //0 |
43 | "IntegralNick ", //0 |
43 | "IntegralRoll ", |
44 | "IntegralRoll ", |
44 | "AccNick ", |
45 | "AccNick ", |
45 | "AccRoll ", |
46 | "AccRoll ", |
46 | "GyroGier ", |
47 | "GyroGier ", |
47 | "HoehenWert ", //5 |
48 | "HoehenWert ", //5 |
48 | "AccZ ", |
49 | "AccZ ", |
49 | "Gas ", |
50 | "Gas ", |
50 | "KompassValue ", |
51 | "KompassValue ", |
51 | "Spannung ", |
52 | "Spannung ", |
52 | "Empfang ", //10 |
53 | "Empfang ", //10 |
53 | "Ersatzkompass ", |
54 | "Ersatzkompass ", |
54 | "Motor_Vorne ", |
55 | "Motor_Vorne ", |
55 | "Motor_Hinten ", |
56 | "Motor_Hinten ", |
56 | "Motor_Links ", |
57 | "Motor_Links ", |
57 | "Motor_Rechts ", //15 |
58 | "Motor_Rechts ", //15 |
58 | " ", |
59 | " ", |
59 | "Distance ", |
60 | "Distance ", |
60 | "OsdBar ", |
61 | "OsdBar ", |
61 | "MK3Mag CalState ", |
62 | "MK3Mag CalState ", |
62 | "Servo ", //20 |
63 | "Servo ", //20 |
63 | "Nick ", |
64 | "Nick ", |
64 | "Roll ", |
65 | "Roll ", |
65 | " ", |
66 | " ", |
66 | " ", |
67 | " ", |
67 | " ", //25 |
68 | " ", //25 |
68 | " ", |
69 | " ", |
69 | "Kalman_MaxDrift ", |
70 | "Kalman_MaxDrift ", |
70 | " ", |
71 | " ", |
71 | "Kalman K ", |
72 | "Kalman K ", |
72 | "GPS_Nick ", //30 |
73 | "GPS_Nick ", //30 |
73 | "GPS_Roll " |
74 | "GPS_Roll " |
74 | }; |
75 | }; |
75 | 76 | ||
76 | 77 | ||
77 | 78 | ||
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
79 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
79 | //++ Sende-Part der Datenübertragung |
80 | //++ Sende-Part der Datenübertragung |
80 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
81 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
81 | SIGNAL(INT_VEC_TX) |
82 | SIGNAL(INT_VEC_TX) |
82 | { |
83 | { |
83 | static unsigned int ptr = 0; |
84 | static unsigned int ptr = 0; |
84 | unsigned char tmp_tx; |
85 | unsigned char tmp_tx; |
85 | if(!UebertragungAbgeschlossen) |
86 | if(!UebertragungAbgeschlossen) |
86 | { |
87 | { |
87 | ptr++; // die [0] wurde schon gesendet |
88 | ptr++; // die [0] wurde schon gesendet |
88 | tmp_tx = SendeBuffer[ptr]; |
89 | tmp_tx = SendeBuffer[ptr]; |
89 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
90 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
90 | { |
91 | { |
91 | ptr = 0; |
92 | ptr = 0; |
92 | UebertragungAbgeschlossen = 1; |
93 | UebertragungAbgeschlossen = 1; |
93 | } |
94 | } |
94 | UDR = tmp_tx; |
95 | UDR = tmp_tx; |
95 | } |
96 | } |
96 | else ptr = 0; |
97 | else ptr = 0; |
97 | } |
98 | } |
98 | 99 | ||
99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
101 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
101 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
102 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
102 | SIGNAL(INT_VEC_RX) |
103 | SIGNAL(INT_VEC_RX) |
103 | { |
104 | { |
104 | static unsigned int crc; |
105 | static unsigned int crc; |
105 | static unsigned char crc1,crc2,buf_ptr; |
106 | static unsigned char crc1,crc2,buf_ptr; |
106 | static unsigned char UartState = 0; |
107 | static unsigned char UartState = 0; |
107 | unsigned char CrcOkay = 0; |
108 | unsigned char CrcOkay = 0; |
108 | 109 | ||
109 | SioTmp = UDR; |
110 | SioTmp = UDR; |
110 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
111 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
111 | if(SioTmp == '\r' && UartState == 2) |
112 | if(SioTmp == '\r' && UartState == 2) |
112 | { |
113 | { |
113 | UartState = 0; |
114 | UartState = 0; |
114 | crc -= RxdBuffer[buf_ptr-2]; |
115 | crc -= RxdBuffer[buf_ptr-2]; |
115 | crc -= RxdBuffer[buf_ptr-1]; |
116 | crc -= RxdBuffer[buf_ptr-1]; |
116 | crc %= 4096; |
117 | crc %= 4096; |
117 | crc1 = '=' + crc / 64; |
118 | crc1 = '=' + crc / 64; |
118 | crc2 = '=' + crc % 64; |
119 | crc2 = '=' + crc % 64; |
119 | CrcOkay = 0; |
120 | CrcOkay = 0; |
120 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
121 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
121 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
122 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
122 | { |
123 | { |
123 | NeuerDatensatzEmpfangen = 1; |
124 | NeuerDatensatzEmpfangen = 1; |
124 | AnzahlEmpfangsBytes = buf_ptr + 1; |
125 | AnzahlEmpfangsBytes = buf_ptr + 1; |
125 | RxdBuffer[buf_ptr] = '\r'; |
126 | RxdBuffer[buf_ptr] = '\r'; |
126 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
127 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
127 | } |
128 | } |
128 | } |
129 | } |
129 | else |
130 | else |
130 | switch(UartState) |
131 | switch(UartState) |
131 | { |
132 | { |
132 | case 0: |
133 | case 0: |
133 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
134 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
134 | buf_ptr = 0; |
135 | buf_ptr = 0; |
135 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | crc = SioTmp; |
137 | crc = SioTmp; |
137 | break; |
138 | break; |
138 | case 1: // Adresse auswerten |
139 | case 1: // Adresse auswerten |
139 | UartState++; |
140 | UartState++; |
140 | RxdBuffer[buf_ptr++] = SioTmp; |
141 | RxdBuffer[buf_ptr++] = SioTmp; |
141 | crc += SioTmp; |
142 | crc += SioTmp; |
142 | break; |
143 | break; |
143 | case 2: // Eingangsdaten sammeln |
144 | case 2: // Eingangsdaten sammeln |
144 | RxdBuffer[buf_ptr] = SioTmp; |
145 | RxdBuffer[buf_ptr] = SioTmp; |
145 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
146 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
146 | else UartState = 0; |
147 | else UartState = 0; |
147 | crc += SioTmp; |
148 | crc += SioTmp; |
148 | break; |
149 | break; |
149 | default: |
150 | default: |
150 | UartState = 0; |
151 | UartState = 0; |
151 | break; |
152 | break; |
152 | } |
153 | } |
153 | } |
154 | } |
154 | 155 | ||
155 | 156 | ||
156 | // -------------------------------------------------------------------------- |
157 | // -------------------------------------------------------------------------- |
157 | void AddCRC(unsigned int wieviele) |
158 | void AddCRC(unsigned int wieviele) |
158 | { |
159 | { |
159 | unsigned int tmpCRC = 0,i; |
160 | unsigned int tmpCRC = 0,i; |
160 | for(i = 0; i < wieviele;i++) |
161 | for(i = 0; i < wieviele;i++) |
161 | { |
162 | { |
162 | tmpCRC += SendeBuffer[i]; |
163 | tmpCRC += SendeBuffer[i]; |
163 | } |
164 | } |
164 | tmpCRC %= 4096; |
165 | tmpCRC %= 4096; |
165 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
166 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
166 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
167 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
167 | SendeBuffer[i++] = '\r'; |
168 | SendeBuffer[i++] = '\r'; |
168 | UebertragungAbgeschlossen = 0; |
169 | UebertragungAbgeschlossen = 0; |
169 | UDR = SendeBuffer[0]; |
170 | UDR = SendeBuffer[0]; |
170 | } |
171 | } |
171 | 172 | ||
172 | 173 | ||
173 | 174 | ||
174 | // -------------------------------------------------------------------------- |
175 | // -------------------------------------------------------------------------- |
175 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
176 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
176 | { |
177 | { |
177 | va_list ap; |
178 | va_list ap; |
178 | unsigned int pt = 0; |
179 | unsigned int pt = 0; |
179 | unsigned char a,b,c; |
180 | unsigned char a,b,c; |
180 | unsigned char ptr = 0; |
181 | unsigned char ptr = 0; |
181 | 182 | ||
182 | unsigned char *snd = 0; |
183 | unsigned char *snd = 0; |
183 | int len = 0; |
184 | int len = 0; |
184 | 185 | ||
185 | SendeBuffer[pt++] = '#'; // Startzeichen |
186 | SendeBuffer[pt++] = '#'; // Startzeichen |
186 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
187 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
187 | SendeBuffer[pt++] = cmd; // Commando |
188 | SendeBuffer[pt++] = cmd; // Commando |
188 | 189 | ||
189 | va_start(ap, BufferAnzahl); |
190 | va_start(ap, BufferAnzahl); |
190 | if(BufferAnzahl) |
191 | if(BufferAnzahl) |
191 | { |
192 | { |
192 | snd = va_arg(ap, unsigned char*); |
193 | snd = va_arg(ap, unsigned char*); |
193 | len = va_arg(ap, int); |
194 | len = va_arg(ap, int); |
194 | ptr = 0; |
195 | ptr = 0; |
195 | BufferAnzahl--; |
196 | BufferAnzahl--; |
196 | } |
197 | } |
197 | while(len) |
198 | while(len) |
198 | { |
199 | { |
199 | if(len) |
200 | if(len) |
200 | { |
201 | { |
201 | a = snd[ptr++]; |
202 | a = snd[ptr++]; |
202 | len--; |
203 | len--; |
203 | if((!len) && BufferAnzahl) |
204 | if((!len) && BufferAnzahl) |
204 | { |
205 | { |
205 | snd = va_arg(ap, unsigned char*); |
206 | snd = va_arg(ap, unsigned char*); |
206 | len = va_arg(ap, int); |
207 | len = va_arg(ap, int); |
207 | ptr = 0; |
208 | ptr = 0; |
208 | BufferAnzahl--; |
209 | BufferAnzahl--; |
209 | } |
210 | } |
210 | } |
211 | } |
211 | else a = 0; |
212 | else a = 0; |
212 | if(len) |
213 | if(len) |
213 | { |
214 | { |
214 | b = snd[ptr++]; |
215 | b = snd[ptr++]; |
215 | len--; |
216 | len--; |
216 | if((!len) && BufferAnzahl) |
217 | if((!len) && BufferAnzahl) |
217 | { |
218 | { |
218 | snd = va_arg(ap, unsigned char*); |
219 | snd = va_arg(ap, unsigned char*); |
219 | len = va_arg(ap, int); |
220 | len = va_arg(ap, int); |
220 | ptr = 0; |
221 | ptr = 0; |
221 | BufferAnzahl--; |
222 | BufferAnzahl--; |
222 | } |
223 | } |
223 | } |
224 | } |
224 | else b = 0; |
225 | else b = 0; |
225 | if(len) |
226 | if(len) |
226 | { |
227 | { |
227 | c = snd[ptr++]; |
228 | c = snd[ptr++]; |
228 | len--; |
229 | len--; |
229 | if((!len) && BufferAnzahl) |
230 | if((!len) && BufferAnzahl) |
230 | { |
231 | { |
231 | snd = va_arg(ap, unsigned char*); |
232 | snd = va_arg(ap, unsigned char*); |
232 | len = va_arg(ap, int); |
233 | len = va_arg(ap, int); |
233 | ptr = 0; |
234 | ptr = 0; |
234 | BufferAnzahl--; |
235 | BufferAnzahl--; |
235 | } |
236 | } |
236 | } |
237 | } |
237 | else c = 0; |
238 | else c = 0; |
238 | SendeBuffer[pt++] = '=' + (a >> 2); |
239 | SendeBuffer[pt++] = '=' + (a >> 2); |
239 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
240 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
240 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
241 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
241 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
242 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
242 | } |
243 | } |
243 | va_end(ap); |
244 | va_end(ap); |
244 | AddCRC(pt); |
245 | AddCRC(pt); |
245 | } |
246 | } |
246 | 247 | ||
247 | 248 | ||
248 | // -------------------------------------------------------------------------- |
249 | // -------------------------------------------------------------------------- |
249 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
250 | void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
250 | { |
251 | { |
251 | unsigned char a,b,c,d; |
252 | unsigned char a,b,c,d; |
252 | unsigned char x,y,z; |
253 | unsigned char x,y,z; |
253 | unsigned char ptrIn = 3; // start at begin of data block |
254 | unsigned char ptrIn = 3; // start at begin of data block |
254 | unsigned char ptrOut = 3; |
255 | unsigned char ptrOut = 3; |
255 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
256 | unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
256 | 257 | ||
257 | while(len) |
258 | while(len) |
258 | { |
259 | { |
259 | a = RxdBuffer[ptrIn++] - '='; |
260 | a = RxdBuffer[ptrIn++] - '='; |
260 | b = RxdBuffer[ptrIn++] - '='; |
261 | b = RxdBuffer[ptrIn++] - '='; |
261 | c = RxdBuffer[ptrIn++] - '='; |
262 | c = RxdBuffer[ptrIn++] - '='; |
262 | d = RxdBuffer[ptrIn++] - '='; |
263 | d = RxdBuffer[ptrIn++] - '='; |
263 | 264 | ||
264 | x = (a << 2) | (b >> 4); |
265 | x = (a << 2) | (b >> 4); |
265 | y = ((b & 0x0f) << 4) | (c >> 2); |
266 | y = ((b & 0x0f) << 4) | (c >> 2); |
266 | z = ((c & 0x03) << 6) | d; |
267 | z = ((c & 0x03) << 6) | d; |
267 | 268 | ||
268 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
269 | if(len--) RxdBuffer[ptrOut++] = x; else break; |
269 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
270 | if(len--) RxdBuffer[ptrOut++] = y; else break; |
270 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
271 | if(len--) RxdBuffer[ptrOut++] = z; else break; |
271 | } |
272 | } |
272 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
273 | pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
273 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
274 | RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
274 | 275 | ||
275 | } |
276 | } |
276 | 277 | ||
277 | // -------------------------------------------------------------------------- |
278 | // -------------------------------------------------------------------------- |
278 | void BearbeiteRxDaten(void) |
279 | void BearbeiteRxDaten(void) |
279 | { |
280 | { |
280 | if(!NeuerDatensatzEmpfangen) return; |
281 | if(!NeuerDatensatzEmpfangen) return; |
281 | 282 | ||
282 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
283 | Decode64(); // dekodiere datenblock im Empfangsbuffer |
283 | 284 | ||
284 | switch(RxdBuffer[2]) |
285 | switch(RxdBuffer[2]) |
285 | { |
286 | { |
286 | case 'K':// Kompasswert |
287 | case 'K':// Kompasswert |
287 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
288 | memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
288 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
289 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
289 | break; |
290 | break; |
290 | case 'a':// Texte der Analogwerte |
291 | case 'a':// Texte der Analogwerte |
291 | DebugTextAnforderung = pRxData[0]; |
292 | DebugTextAnforderung = pRxData[0]; |
292 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
293 | if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
293 | PcZugriff = 255; |
294 | PcZugriff = 255; |
294 | break; |
295 | break; |
295 | case 'b': |
296 | case 'b': |
296 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
297 | memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
297 | ConfirmFrame = ExternControl.Frame; |
298 | ConfirmFrame = ExternControl.Frame; |
298 | PcZugriff = 255; |
299 | PcZugriff = 255; |
299 | break; |
300 | break; |
300 | case 'd': // Poll the debug data |
301 | case 'd': // Poll the debug data |
301 | DebugDataIntervall = pRxData[0] * 10; |
302 | DebugDataIntervall = pRxData[0] * 10; |
302 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
303 | if (DebugDataIntervall) DebugDataAnforderung = 1; |
303 | break; |
304 | break; |
- | 305 | ||
- | 306 | case 'h':// x-1 Displayzeilen |
|
- | 307 | RemoteKeys |= pRxData[0]; |
|
- | 308 | if(RemoteKeys) DisplayLine = 0; |
|
- | 309 | DebugDisplayAnforderung = 1; |
|
- | 310 | break; |
|
- | 311 | ||
304 | case 'l':// x-1 Displayzeilen |
312 | case 'l':// x-1 Displayzeilen |
305 | MenuePunkt = pRxData[0]; |
313 | MenuePunkt = pRxData[0]; |
306 | DebugDisplayAnforderung = 1; |
314 | DebugDisplayAnforderung1 = 1; |
307 | break; |
315 | break; |
308 | case 'm':// Motortest |
316 | case 't':// Motortest |
309 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
317 | memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
310 | while(!UebertragungAbgeschlossen); |
318 | while(!UebertragungAbgeschlossen); |
311 | SendOutData('M', MeineSlaveAdresse, 0); |
319 | SendOutData('T', MeineSlaveAdresse, 0); |
312 | PcZugriff = 255; |
320 | PcZugriff = 255; |
313 | break; |
321 | break; |
314 | case 'v': // Version-Anforderung und Ausbaustufe |
322 | case 'v': // Version-Anforderung und Ausbaustufe |
315 | GetVersionAnforderung = 1; |
323 | GetVersionAnforderung = 1; |
316 | break; |
324 | break; |
317 | case 'g':// |
325 | case 'g':// |
318 | GetExternalControl = 1; |
326 | GetExternalControl = 1; |
319 | break; |
327 | break; |
320 | case 'p': // get PPM Channels |
328 | case 'p': // get PPM Channels |
321 | GetPPMChannelAnforderung = 1; |
329 | GetPPMChannelAnforderung = 1; |
322 | break; |
330 | break; |
323 | case 't':// "Get"-Anforderung für Settings |
331 | case 'q':// "Get"-Anforderung für Settings |
324 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
332 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
325 | if(pRxData[0] == 0xFF) |
333 | if(pRxData[0] == 0xFF) |
326 | { |
334 | { |
327 | pRxData[0] = GetActiveParamSetNumber(); |
335 | pRxData[0] = GetActiveParamSetNumber(); |
328 | } |
336 | } |
329 | else // request active parameter set |
337 | else // request active parameter set |
330 | { |
338 | { |
331 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
339 | if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
332 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
340 | else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
333 | // load requested parameter set |
341 | // load requested parameter set |
334 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
342 | ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
335 | } |
343 | } |
336 | while(!UebertragungAbgeschlossen); |
344 | while(!UebertragungAbgeschlossen); |
337 | SendOutData('T', MeineSlaveAdresse, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
345 | SendOutData('Q', MeineSlaveAdresse, 2, &pRxData[0], sizeof(unsigned char), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
338 | break; |
346 | break; |
339 | case 's': // Parametersatz speichern |
347 | case 's': // Parametersatz speichern |
340 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
348 | if((1 <= pRxData[0]) && (pRxData[0] <= 5)) // check for setting to be in range |
341 | { |
349 | { |
342 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
350 | memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[1], STRUCT_PARAM_LAENGE); |
343 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
351 | WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
344 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
352 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
345 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
353 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
346 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
354 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
347 | Piep(GetActiveParamSetNumber()); |
355 | Piep(GetActiveParamSetNumber()); |
348 | while(!UebertragungAbgeschlossen); |
356 | while(!UebertragungAbgeschlossen); |
349 | SendOutData('S', MeineSlaveAdresse, 1, &pRxData[0], sizeof(unsigned char)); |
357 | SendOutData('S', MeineSlaveAdresse, 1, &pRxData[0], sizeof(unsigned char)); |
350 | } |
358 | } |
351 | break; |
359 | break; |
352 | 360 | ||
353 | } |
361 | } |
354 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
362 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
355 | NeuerDatensatzEmpfangen = 0; |
363 | NeuerDatensatzEmpfangen = 0; |
356 | pRxData = 0; |
364 | pRxData = 0; |
357 | RxDataLen = 0; |
365 | RxDataLen = 0; |
358 | } |
366 | } |
359 | 367 | ||
360 | //############################################################################ |
368 | //############################################################################ |
361 | //Routine für die Serielle Ausgabe |
369 | //Routine für die Serielle Ausgabe |
362 | int uart_putchar (char c) |
370 | int uart_putchar (char c) |
363 | //############################################################################ |
371 | //############################################################################ |
364 | { |
372 | { |
365 | if (c == '\n') |
373 | if (c == '\n') |
366 | uart_putchar('\r'); |
374 | uart_putchar('\r'); |
367 | //Warten solange bis Zeichen gesendet wurde |
375 | //Warten solange bis Zeichen gesendet wurde |
368 | loop_until_bit_is_set(USR, UDRE); |
376 | loop_until_bit_is_set(USR, UDRE); |
369 | //Ausgabe des Zeichens |
377 | //Ausgabe des Zeichens |
370 | UDR = c; |
378 | UDR = c; |
371 | 379 | ||
372 | return (0); |
380 | return (0); |
373 | } |
381 | } |
374 | 382 | ||
375 | // -------------------------------------------------------------------------- |
383 | // -------------------------------------------------------------------------- |
376 | void WriteProgramData(unsigned int pos, unsigned char wert) |
384 | void WriteProgramData(unsigned int pos, unsigned char wert) |
377 | { |
385 | { |
378 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
386 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
379 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
387 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
380 | // Buffer[pos] = wert; |
388 | // Buffer[pos] = wert; |
381 | } |
389 | } |
382 | 390 | ||
383 | //############################################################################ |
391 | //############################################################################ |
384 | //INstallation der Seriellen Schnittstelle |
392 | //INstallation der Seriellen Schnittstelle |
385 | void UART_Init (void) |
393 | void UART_Init (void) |
386 | //############################################################################ |
394 | //############################################################################ |
387 | { |
395 | { |
388 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
396 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
389 | 397 | ||
390 | UCR=(1 << TXEN) | (1 << RXEN); |
398 | UCR=(1 << TXEN) | (1 << RXEN); |
391 | // UART Double Speed (U2X) |
399 | // UART Double Speed (U2X) |
392 | USR |= (1<<U2X); |
400 | USR |= (1<<U2X); |
393 | // RX-Interrupt Freigabe |
401 | // RX-Interrupt Freigabe |
394 | UCSRB |= (1<<RXCIE); |
402 | UCSRB |= (1<<RXCIE); |
395 | // TX-Interrupt Freigabe |
403 | // TX-Interrupt Freigabe |
396 | UCSRB |= (1<<TXCIE); |
404 | UCSRB |= (1<<TXCIE); |
397 | 405 | ||
398 | //Teiler wird gesetzt |
406 | //Teiler wird gesetzt |
399 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
407 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
400 | //UBRR = 33; |
408 | //UBRR = 33; |
401 | //öffnet einen Kanal für printf (STDOUT) |
409 | //öffnet einen Kanal für printf (STDOUT) |
402 | //fdevopen (uart_putchar, 0); |
410 | //fdevopen (uart_putchar, 0); |
403 | //sbi(PORTD,4); |
411 | //sbi(PORTD,4); |
404 | Debug_Timer = SetDelay(DebugDataIntervall); |
412 | Debug_Timer = SetDelay(DebugDataIntervall); |
405 | Kompass_Timer = SetDelay(220); |
413 | Kompass_Timer = SetDelay(220); |
406 | MeineSlaveAdresse = 1; // Flight-Ctrl |
414 | MeineSlaveAdresse = 1; // Flight-Ctrl |
407 | 415 | ||
408 | VersionInfo.Major = VERSION_MAJOR; |
416 | VersionInfo.Major = VERSION_MAJOR; |
409 | VersionInfo.Minor = VERSION_MINOR; |
417 | VersionInfo.Minor = VERSION_MINOR; |
410 | VersionInfo.Patch = VERSION_PATCH; |
418 | VersionInfo.Patch = VERSION_PATCH; |
411 | VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
419 | VersionInfo.Compatible = VERSION_SERIAL_COMPATIBLE; |
412 | 420 | ||
413 | pRxData = 0; |
421 | pRxData = 0; |
414 | RxDataLen = 0; |
422 | RxDataLen = 0; |
415 | } |
423 | } |
416 | 424 | ||
417 | //--------------------------------------------------------------------------------------------- |
425 | //--------------------------------------------------------------------------------------------- |
418 | void DatenUebertragung(void) |
426 | void DatenUebertragung(void) |
419 | { |
427 | { |
420 | if(!UebertragungAbgeschlossen) return; |
428 | if(!UebertragungAbgeschlossen) return; |
421 | 429 | ||
422 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
430 | if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
423 | { |
431 | { |
424 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
432 | SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
425 | GetExternalControl = 0; |
433 | GetExternalControl = 0; |
426 | } |
434 | } |
427 | 435 | ||
428 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
436 | if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
429 | { |
437 | { |
430 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
438 | WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
431 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
439 | WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
432 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
440 | WinkelOut.UserParameter[0] = Parameter_UserParam1; |
433 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
441 | WinkelOut.UserParameter[1] = Parameter_UserParam2; |
434 | SendOutData('k',MeineSlaveAdresse, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
442 | SendOutData('k',MeineSlaveAdresse, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
435 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
443 | if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
436 | Kompass_Timer = SetDelay(99); |
444 | Kompass_Timer = SetDelay(99); |
437 | } |
445 | } |
438 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
446 | if((( DebugDataIntervall && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
439 | { |
447 | { |
440 | SendOutData('D',MeineSlaveAdresse, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
448 | SendOutData('D',MeineSlaveAdresse, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
441 | DebugDataAnforderung = 0; |
449 | DebugDataAnforderung = 0; |
442 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
450 | if(DebugDataIntervall) Debug_Timer = SetDelay(DebugDataIntervall); |
443 | } |
451 | } |
444 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
452 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
445 | { |
453 | { |
446 | SendOutData('A', MeineSlaveAdresse, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
454 | SendOutData('A', MeineSlaveAdresse, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 16); |
447 | DebugTextAnforderung = 255; |
455 | DebugTextAnforderung = 255; |
448 | } |
456 | } |
449 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
457 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
450 | { |
458 | { |
451 | SendOutData('B', MeineSlaveAdresse, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
459 | SendOutData('B', MeineSlaveAdresse, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
452 | ConfirmFrame = 0; |
460 | ConfirmFrame = 0; |
453 | } |
461 | } |
- | 462 | ||
454 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
463 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
455 | { |
464 | { |
- | 465 | Menu(); |
|
- | 466 | SendOutData('H',MeineSlaveAdresse, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
|
- | 467 | DisplayLine++; |
|
- | 468 | if(DisplayLine >= 4) DisplayLine = 0; |
|
- | 469 | DebugDisplayAnforderung = 0; |
|
- | 470 | } |
|
- | 471 | if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
|
- | 472 | { |
|
456 | Menu(); |
473 | Menu(); |
457 | SendOutData('L',MeineSlaveAdresse, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
474 | SendOutData('L',MeineSlaveAdresse, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
458 | DebugDisplayAnforderung = 0; |
475 | DebugDisplayAnforderung1 = 0; |
459 | } |
476 | } |
460 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
477 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
461 | { |
478 | { |
462 | SendOutData('V',MeineSlaveAdresse, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
479 | SendOutData('V',MeineSlaveAdresse, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
463 | GetVersionAnforderung = 0; |
480 | GetVersionAnforderung = 0; |
464 | } |
481 | } |
465 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
482 | if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
466 | { |
483 | { |
467 | SendOutData('P',MeineSlaveAdresse, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
484 | SendOutData('P',MeineSlaveAdresse, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
468 | GetPPMChannelAnforderung = 0; |
485 | GetPPMChannelAnforderung = 0; |
469 | } |
486 | } |
470 | 487 | ||
471 | } |
488 | } |
472 | 489 | ||
473 | 490 |