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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 | //Salvo 26.10.2007 |
33 | //Salvo 26.10.2007 |
34 | int dataset_cnt=0; //Zaehlt die uebertragenen Debugdaten |
34 | int dataset_cnt=0; //Zaehlt die uebertragenen Debugdaten |
35 | //Salvo End |
35 | //Salvo End |
36 | 36 | ||
37 | const unsigned char ANALOG_TEXT[32][16] = |
37 | const unsigned char ANALOG_TEXT[32][16] = |
38 | { |
38 | { |
39 | //1234567890123456 |
39 | //1234567890123456 |
40 | "IntegralNick ", //0 |
40 | "IntegralNick ", //0 |
41 | "IntegralRoll ", |
41 | "IntegralRoll ", |
42 | "AccNick ", |
42 | "AccNick ", |
43 | "AccRoll ", |
43 | "AccRoll ", |
44 | "GyroGier ", |
44 | "GyroGier ", |
45 | "HoehenWert ", //5 |
45 | "HoehenWert ", //5 |
46 | "AccZ ", |
46 | "AccZ ", |
47 | "Gas ", |
47 | "Gas ", |
48 | "KompassValue ", |
48 | "KompassValue ", |
49 | "Ersatzkompass ", |
49 | "Ersatzkompass ", |
50 | "Usr_Par1 ", //10 |
50 | "Usr_Par1 ", //10 |
51 | "Usr_par3 ", |
51 | "Usr_par3 ", |
52 | "Motor_Vorne ", |
52 | "Motor_Vorne ", |
53 | "Motor_Hinten ", |
53 | "Motor_Hinten ", |
54 | "Motor_Links ", |
54 | "Motor_Links ", |
55 | "Motor_Rechts ", //15 |
55 | "Motor_Rechts ", //15 |
56 | "Index ", |
56 | "Index ", |
57 | "UBat ", |
57 | "UBat ", |
58 | "Messwert_Nick ", |
58 | "Messwert_Nick ", |
59 | "Messwert_Roll ", |
59 | "Messwert_Roll ", |
60 | "Messwert_Gier ", //20 |
60 | "Messwert_Gier ", //20 |
61 | "Stick_Nick ", |
61 | "Stick_Nick ", |
62 | "Stick_Roll ", |
62 | "Stick_Roll ", |
63 | "Stick_Gier ", |
63 | "Stick_Gier ", |
64 | "GPS_Nick ", |
64 | "GPS_Nick ", |
65 | "GPS_Roll ", //25 |
65 | "GPS_Roll ", //25 |
66 | "utm_east ", |
66 | "utm_east ", |
67 | "utm_north ", |
67 | "utm_north ", |
68 | "utm_alt ", |
68 | "utm_alt ", |
69 | "gps_state ", |
69 | "gps_state ", |
70 | "GPS_dist_2trgt ", //30 |
70 | "dist_flown ", //30 |
71 | "GyroGier_Comp " |
71 | "dist_2home " |
72 | }; |
72 | }; |
73 | 73 | ||
74 | 74 | ||
75 | 75 | ||
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
77 | //++ Sende-Part der Datenübertragung |
77 | //++ Sende-Part der Datenübertragung |
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
79 | SIGNAL(INT_VEC_TX) |
79 | SIGNAL(INT_VEC_TX) |
80 | { |
80 | { |
81 | static unsigned int ptr = 0; |
81 | static unsigned int ptr = 0; |
82 | unsigned char tmp_tx; |
82 | unsigned char tmp_tx; |
83 | if(!UebertragungAbgeschlossen) |
83 | if(!UebertragungAbgeschlossen) |
84 | { |
84 | { |
85 | ptr++; // die [0] wurde schon gesendet |
85 | ptr++; // die [0] wurde schon gesendet |
86 | tmp_tx = SendeBuffer[ptr]; |
86 | tmp_tx = SendeBuffer[ptr]; |
87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
87 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
88 | { |
88 | { |
89 | ptr = 0; |
89 | ptr = 0; |
90 | UebertragungAbgeschlossen = 1; |
90 | UebertragungAbgeschlossen = 1; |
91 | } |
91 | } |
92 | UDR = tmp_tx; |
92 | UDR = tmp_tx; |
93 | } |
93 | } |
94 | else ptr = 0; |
94 | else ptr = 0; |
95 | } |
95 | } |
96 | 96 | ||
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
98 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
99 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
100 | SIGNAL(INT_VEC_RX) |
100 | SIGNAL(INT_VEC_RX) |
101 | { |
101 | { |
102 | static unsigned int crc; |
102 | static unsigned int crc; |
103 | static unsigned char crc1,crc2,buf_ptr; |
103 | static unsigned char crc1,crc2,buf_ptr; |
104 | static unsigned char UartState = 0; |
104 | static unsigned char UartState = 0; |
105 | unsigned char CrcOkay = 0; |
105 | unsigned char CrcOkay = 0; |
106 | 106 | ||
107 | SioTmp = UDR; |
107 | SioTmp = UDR; |
108 | //Salvo 11.9.2007 GPS Daten holen |
108 | //Salvo 11.9.2007 GPS Daten holen |
109 | Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
109 | Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
110 | // Salvo End |
110 | // Salvo End |
111 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
111 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
112 | if(SioTmp == '\r' && UartState == 2) |
112 | if(SioTmp == '\r' && UartState == 2) |
113 | { |
113 | { |
114 | UartState = 0; |
114 | UartState = 0; |
115 | crc -= RxdBuffer[buf_ptr-2]; |
115 | crc -= RxdBuffer[buf_ptr-2]; |
116 | crc -= RxdBuffer[buf_ptr-1]; |
116 | crc -= RxdBuffer[buf_ptr-1]; |
117 | crc %= 4096; |
117 | crc %= 4096; |
118 | crc1 = '=' + crc / 64; |
118 | crc1 = '=' + crc / 64; |
119 | crc2 = '=' + crc % 64; |
119 | crc2 = '=' + crc % 64; |
120 | CrcOkay = 0; |
120 | CrcOkay = 0; |
121 | 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++;}; |
122 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
122 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
123 | { |
123 | { |
124 | NeuerDatensatzEmpfangen = 1; |
124 | NeuerDatensatzEmpfangen = 1; |
125 | AnzahlEmpfangsBytes = buf_ptr; |
125 | AnzahlEmpfangsBytes = buf_ptr; |
126 | RxdBuffer[buf_ptr] = '\r'; |
126 | RxdBuffer[buf_ptr] = '\r'; |
127 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
127 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
128 | } |
128 | } |
129 | } |
129 | } |
130 | else |
130 | else |
131 | switch(UartState) |
131 | switch(UartState) |
132 | { |
132 | { |
133 | case 0: |
133 | case 0: |
134 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
134 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
135 | buf_ptr = 0; |
135 | buf_ptr = 0; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
137 | crc = SioTmp; |
137 | crc = SioTmp; |
138 | break; |
138 | break; |
139 | case 1: // Adresse auswerten |
139 | case 1: // Adresse auswerten |
140 | UartState++; |
140 | UartState++; |
141 | RxdBuffer[buf_ptr++] = SioTmp; |
141 | RxdBuffer[buf_ptr++] = SioTmp; |
142 | crc += SioTmp; |
142 | crc += SioTmp; |
143 | break; |
143 | break; |
144 | case 2: // Eingangsdaten sammeln |
144 | case 2: // Eingangsdaten sammeln |
145 | RxdBuffer[buf_ptr] = SioTmp; |
145 | RxdBuffer[buf_ptr] = SioTmp; |
146 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
146 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
147 | else UartState = 0; |
147 | else UartState = 0; |
148 | crc += SioTmp; |
148 | crc += SioTmp; |
149 | break; |
149 | break; |
150 | default: |
150 | default: |
151 | UartState = 0; |
151 | UartState = 0; |
152 | break; |
152 | break; |
153 | } |
153 | } |
154 | } |
154 | } |
155 | 155 | ||
156 | 156 | ||
157 | // -------------------------------------------------------------------------- |
157 | // -------------------------------------------------------------------------- |
158 | void AddCRC(unsigned int wieviele) |
158 | void AddCRC(unsigned int wieviele) |
159 | { |
159 | { |
160 | unsigned int tmpCRC = 0,i; |
160 | unsigned int tmpCRC = 0,i; |
161 | for(i = 0; i < wieviele;i++) |
161 | for(i = 0; i < wieviele;i++) |
162 | { |
162 | { |
163 | tmpCRC += SendeBuffer[i]; |
163 | tmpCRC += SendeBuffer[i]; |
164 | } |
164 | } |
165 | tmpCRC %= 4096; |
165 | tmpCRC %= 4096; |
166 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
166 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
167 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
167 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
168 | SendeBuffer[i++] = '\r'; |
168 | SendeBuffer[i++] = '\r'; |
169 | UebertragungAbgeschlossen = 0; |
169 | UebertragungAbgeschlossen = 0; |
170 | UDR = SendeBuffer[0]; |
170 | UDR = SendeBuffer[0]; |
171 | } |
171 | } |
172 | 172 | ||
173 | 173 | ||
174 | 174 | ||
175 | // -------------------------------------------------------------------------- |
175 | // -------------------------------------------------------------------------- |
176 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
176 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
177 | { |
177 | { |
178 | unsigned int pt = 0; |
178 | unsigned int pt = 0; |
179 | unsigned char a,b,c; |
179 | unsigned char a,b,c; |
180 | unsigned char ptr = 0; |
180 | unsigned char ptr = 0; |
181 | 181 | ||
182 | SendeBuffer[pt++] = '#'; // Startzeichen |
182 | SendeBuffer[pt++] = '#'; // Startzeichen |
183 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
183 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
184 | SendeBuffer[pt++] = cmd; // Commando |
184 | SendeBuffer[pt++] = cmd; // Commando |
185 | 185 | ||
186 | while(len) |
186 | while(len) |
187 | { |
187 | { |
188 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
188 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
189 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
189 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
190 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
190 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
191 | SendeBuffer[pt++] = '=' + (a >> 2); |
191 | SendeBuffer[pt++] = '=' + (a >> 2); |
192 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
192 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
193 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
193 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
194 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
194 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
195 | } |
195 | } |
196 | AddCRC(pt); |
196 | AddCRC(pt); |
197 | } |
197 | } |
198 | 198 | ||
199 | 199 | ||
200 | // -------------------------------------------------------------------------- |
200 | // -------------------------------------------------------------------------- |
201 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
201 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
202 | { |
202 | { |
203 | unsigned char a,b,c,d; |
203 | unsigned char a,b,c,d; |
204 | unsigned char ptr = 0; |
204 | unsigned char ptr = 0; |
205 | unsigned char x,y,z; |
205 | unsigned char x,y,z; |
206 | while(len) |
206 | while(len) |
207 | { |
207 | { |
208 | a = RxdBuffer[ptrIn++] - '='; |
208 | a = RxdBuffer[ptrIn++] - '='; |
209 | b = RxdBuffer[ptrIn++] - '='; |
209 | b = RxdBuffer[ptrIn++] - '='; |
210 | c = RxdBuffer[ptrIn++] - '='; |
210 | c = RxdBuffer[ptrIn++] - '='; |
211 | d = RxdBuffer[ptrIn++] - '='; |
211 | d = RxdBuffer[ptrIn++] - '='; |
212 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
212 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
213 | 213 | ||
214 | x = (a << 2) | (b >> 4); |
214 | x = (a << 2) | (b >> 4); |
215 | y = ((b & 0x0f) << 4) | (c >> 2); |
215 | y = ((b & 0x0f) << 4) | (c >> 2); |
216 | z = ((c & 0x03) << 6) | d; |
216 | z = ((c & 0x03) << 6) | d; |
217 | 217 | ||
218 | if(len--) ptrOut[ptr++] = x; else break; |
218 | if(len--) ptrOut[ptr++] = x; else break; |
219 | if(len--) ptrOut[ptr++] = y; else break; |
219 | if(len--) ptrOut[ptr++] = y; else break; |
220 | if(len--) ptrOut[ptr++] = z; else break; |
220 | if(len--) ptrOut[ptr++] = z; else break; |
221 | } |
221 | } |
222 | 222 | ||
223 | } |
223 | } |
224 | 224 | ||
225 | // -------------------------------------------------------------------------- |
225 | // -------------------------------------------------------------------------- |
226 | void BearbeiteRxDaten(void) |
226 | void BearbeiteRxDaten(void) |
227 | { |
227 | { |
228 | if(!NeuerDatensatzEmpfangen) return; |
228 | if(!NeuerDatensatzEmpfangen) return; |
229 | 229 | ||
230 | // unsigned int tmp_int_arr1[1]; |
230 | // unsigned int tmp_int_arr1[1]; |
231 | // unsigned int tmp_int_arr2[2]; |
231 | // unsigned int tmp_int_arr2[2]; |
232 | // unsigned int tmp_int_arr3[3]; |
232 | // unsigned int tmp_int_arr3[3]; |
233 | unsigned char tmp_char_arr2[2]; |
233 | unsigned char tmp_char_arr2[2]; |
234 | // unsigned char tmp_char_arr3[3]; |
234 | // unsigned char tmp_char_arr3[3]; |
235 | // unsigned char tmp_char_arr4[4]; |
235 | // unsigned char tmp_char_arr4[4]; |
236 | //if(!MotorenEin) |
236 | //if(!MotorenEin) |
237 | PcZugriff = 255; |
237 | PcZugriff = 255; |
238 | switch(RxdBuffer[2]) |
238 | switch(RxdBuffer[2]) |
239 | { |
239 | { |
240 | case 'a':// Texte der Analogwerte |
240 | case 'a':// Texte der Analogwerte |
241 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
241 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
242 | DebugTextAnforderung = tmp_char_arr2[0]; |
242 | DebugTextAnforderung = tmp_char_arr2[0]; |
243 | break; |
243 | break; |
244 | case 'c':// Debugdaten incl. Externe IOs usw |
244 | case 'c':// Debugdaten incl. Externe IOs usw |
245 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
245 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
246 | /* for(unsigned char i=0; i<4;i++) |
246 | /* for(unsigned char i=0; i<4;i++) |
247 | { |
247 | { |
248 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
248 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
249 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
249 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
250 | }*/ |
250 | }*/ |
251 | RemoteTasten |= DebugIn.RemoteTasten; |
251 | RemoteTasten |= DebugIn.RemoteTasten; |
252 | DebugDataAnforderung = 1; |
252 | DebugDataAnforderung = 1; |
253 | break; |
253 | break; |
254 | case 'h':// x-1 Displayzeilen |
254 | case 'h':// x-1 Displayzeilen |
255 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
255 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
256 | RemoteTasten |= tmp_char_arr2[0]; |
256 | RemoteTasten |= tmp_char_arr2[0]; |
257 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
257 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
258 | DebugDisplayAnforderung = 1; |
258 | DebugDisplayAnforderung = 1; |
259 | break; |
259 | break; |
260 | case 't':// Motortest |
260 | case 't':// Motortest |
261 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
261 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
262 | break; |
262 | break; |
263 | case 'k':// Keys von DubWise |
263 | case 'k':// Keys von DubWise |
264 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
264 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
265 | break; |
265 | break; |
266 | case 'v': // Version-Anforderung und Ausbaustufe |
266 | case 'v': // Version-Anforderung und Ausbaustufe |
267 | GetVersionAnforderung = 1; |
267 | GetVersionAnforderung = 1; |
268 | break; |
268 | break; |
269 | case 'g':// "Get"-Anforderung für Debug-Daten |
269 | case 'g':// "Get"-Anforderung für Debug-Daten |
270 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
270 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
271 | DebugGetAnforderung = 1; |
271 | DebugGetAnforderung = 1; |
272 | break; |
272 | break; |
273 | case 'q':// "Get"-Anforderung für Settings |
273 | case 'q':// "Get"-Anforderung für Settings |
274 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
274 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
275 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
275 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
276 | if(tmp_char_arr2[0] != 0xff) |
276 | if(tmp_char_arr2[0] != 0xff) |
277 | { |
277 | { |
278 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
278 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
279 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
279 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
280 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
280 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
281 | } |
281 | } |
282 | else |
282 | else |
283 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
283 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
284 | 284 | ||
285 | break; |
285 | break; |
286 | 286 | ||
287 | case 'l': |
287 | case 'l': |
288 | case 'm': |
288 | case 'm': |
289 | case 'n': |
289 | case 'n': |
290 | case 'o': |
290 | case 'o': |
291 | case 'p': // Parametersatz speichern |
291 | case 'p': // Parametersatz speichern |
292 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
292 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
293 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
293 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
294 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
294 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
295 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
295 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
296 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
296 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
297 | Piep(GetActiveParamSetNumber()); |
297 | Piep(GetActiveParamSetNumber()); |
298 | break; |
298 | break; |
299 | 299 | ||
300 | 300 | ||
301 | } |
301 | } |
302 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
302 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
303 | NeuerDatensatzEmpfangen = 0; |
303 | NeuerDatensatzEmpfangen = 0; |
304 | } |
304 | } |
305 | 305 | ||
306 | //############################################################################ |
306 | //############################################################################ |
307 | //Routine für die Serielle Ausgabe |
307 | //Routine für die Serielle Ausgabe |
308 | int uart_putchar (char c) |
308 | int uart_putchar (char c) |
309 | //############################################################################ |
309 | //############################################################################ |
310 | { |
310 | { |
311 | if (c == '\n') |
311 | if (c == '\n') |
312 | uart_putchar('\r'); |
312 | uart_putchar('\r'); |
313 | //Warten solange bis Zeichen gesendet wurde |
313 | //Warten solange bis Zeichen gesendet wurde |
314 | loop_until_bit_is_set(USR, UDRE); |
314 | loop_until_bit_is_set(USR, UDRE); |
315 | //Ausgabe des Zeichens |
315 | //Ausgabe des Zeichens |
316 | UDR = c; |
316 | UDR = c; |
317 | 317 | ||
318 | return (0); |
318 | return (0); |
319 | } |
319 | } |
320 | 320 | ||
321 | // -------------------------------------------------------------------------- |
321 | // -------------------------------------------------------------------------- |
322 | void WriteProgramData(unsigned int pos, unsigned char wert) |
322 | void WriteProgramData(unsigned int pos, unsigned char wert) |
323 | { |
323 | { |
324 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
324 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
325 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
325 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
326 | // Buffer[pos] = wert; |
326 | // Buffer[pos] = wert; |
327 | } |
327 | } |
328 | 328 | ||
329 | //############################################################################ |
329 | //############################################################################ |
330 | //INstallation der Seriellen Schnittstelle |
330 | //INstallation der Seriellen Schnittstelle |
331 | void UART_Init (void) |
331 | void UART_Init (void) |
332 | //############################################################################ |
332 | //############################################################################ |
333 | { |
333 | { |
334 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
334 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
335 | 335 | ||
336 | UCR=(1 << TXEN) | (1 << RXEN); |
336 | UCR=(1 << TXEN) | (1 << RXEN); |
337 | // UART Double Speed (U2X) |
337 | // UART Double Speed (U2X) |
338 | USR |= (1<<U2X); |
338 | USR |= (1<<U2X); |
339 | // RX-Interrupt Freigabe |
339 | // RX-Interrupt Freigabe |
340 | UCSRB |= (1<<RXCIE); |
340 | UCSRB |= (1<<RXCIE); |
341 | // TX-Interrupt Freigabe |
341 | // TX-Interrupt Freigabe |
342 | UCSRB |= (1<<TXCIE); |
342 | UCSRB |= (1<<TXCIE); |
343 | 343 | ||
344 | //Teiler wird gesetzt |
344 | //Teiler wird gesetzt |
345 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
345 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
346 | //UBRR = 33; |
346 | //UBRR = 33; |
347 | //öffnet einen Kanal für printf (STDOUT) |
347 | //öffnet einen Kanal für printf (STDOUT) |
348 | //fdevopen (uart_putchar, 0); |
348 | //fdevopen (uart_putchar, 0); |
349 | //sbi(PORTD,4); |
349 | //sbi(PORTD,4); |
350 | Debug_Timer = SetDelay(200); |
350 | Debug_Timer = SetDelay(200); |
351 | } |
351 | } |
352 | 352 | ||
353 | //--------------------------------------------------------------------------------------------- |
353 | //--------------------------------------------------------------------------------------------- |
354 | void DatenUebertragung(void) |
354 | void DatenUebertragung(void) |
355 | { |
355 | { |
356 | static char dis_zeile = 0; |
356 | static char dis_zeile = 0; |
357 | if(!UebertragungAbgeschlossen) return; |
357 | if(!UebertragungAbgeschlossen) return; |
358 | 358 | ||
359 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
359 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
360 | { |
360 | { |
361 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
361 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
362 | DebugGetAnforderung = 0; |
362 | DebugGetAnforderung = 0; |
363 | } |
363 | } |
364 | 364 | ||
365 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
365 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
366 | { |
366 | { |
367 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
367 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
368 | DebugDataAnforderung = 0; |
368 | DebugDataAnforderung = 0; |
369 | //Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
369 | //Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
370 | dataset_cnt++; |
370 | dataset_cnt++; |
371 | // Salvo End |
371 | // Salvo End |
372 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
372 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
373 | } |
373 | } |
374 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
374 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
375 | { |
375 | { |
376 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
376 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
377 | DebugTextAnforderung = 255; |
377 | DebugTextAnforderung = 255; |
378 | } |
378 | } |
379 | 379 | ||
380 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
380 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
381 | { |
381 | { |
382 | Menu(); |
382 | Menu(); |
383 | DebugDisplayAnforderung = 0; |
383 | DebugDisplayAnforderung = 0; |
384 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
384 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
385 | { |
385 | { |
386 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
386 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
387 | RemotePollDisplayLine = -1; |
387 | RemotePollDisplayLine = -1; |
388 | } |
388 | } |
389 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
389 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
390 | } |
390 | } |
391 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
391 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
392 | { |
392 | { |
393 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
393 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
394 | GetVersionAnforderung = 0; |
394 | GetVersionAnforderung = 0; |
395 | } |
395 | } |
396 | 396 | ||
397 | } |
397 | } |
398 | 398 | ||
399 | 399 |