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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 | */ |
56 | */ |
57 | "dist_east ", |
57 | "delta_east ", |
58 | "dist_north ", |
58 | "delta_north ", |
59 | "speed_e ", |
59 | "speed_e ", |
60 | "speed_n ", //15 |
60 | "speed_n ", //15 |
61 | 61 | ||
62 | "Index ", |
62 | "Index ", |
63 | "UBat ", |
63 | "UBat ", |
64 | "Messwert_Nick ", |
64 | "Messwert_Nick ", |
65 | "Messwert_Roll ", |
65 | "Messwert_Roll ", |
66 | "Messwert_Gier ", //20 |
66 | "Messwert_Gier ", //20 |
67 | "Stick_Nick ", |
67 | "Stick_Nick ", |
68 | "Stick_Roll ", |
68 | "Stick_Roll ", |
69 | "Stick_Gier ", |
69 | "Stick_Gier ", |
70 | "GPS_Nick ", |
70 | "GPS_Nick ", |
71 | "GPS_Roll ", //25 |
71 | "GPS_Roll ", //25 |
72 | "utm_east ", |
72 | "utm_east ", |
73 | "utm_north ", |
73 | "utm_north ", |
74 | "utm_alt ", |
74 | "utm_alt ", |
75 | "gps_state ", |
75 | "gps_state ", |
76 | // "dist_flown ", //30 |
76 | // "dist_flown ", //30 |
77 | // "dist_2home " |
77 | // "dist_2home " |
78 | "gp_reg_x ", //30 |
78 | "gp_reg_x ", //30 |
79 | "gp_reg_y " |
79 | "gp_reg_y " |
80 | }; |
80 | }; |
81 | 81 | ||
82 | 82 | ||
83 | 83 | ||
84 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
84 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
85 | //++ Sende-Part der Datenübertragung |
85 | //++ Sende-Part der Datenübertragung |
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
86 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
87 | SIGNAL(INT_VEC_TX) |
87 | SIGNAL(INT_VEC_TX) |
88 | { |
88 | { |
89 | static unsigned int ptr = 0; |
89 | static unsigned int ptr = 0; |
90 | unsigned char tmp_tx; |
90 | unsigned char tmp_tx; |
91 | if(!UebertragungAbgeschlossen) |
91 | if(!UebertragungAbgeschlossen) |
92 | { |
92 | { |
93 | ptr++; // die [0] wurde schon gesendet |
93 | ptr++; // die [0] wurde schon gesendet |
94 | tmp_tx = SendeBuffer[ptr]; |
94 | tmp_tx = SendeBuffer[ptr]; |
95 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
95 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
96 | { |
96 | { |
97 | ptr = 0; |
97 | ptr = 0; |
98 | UebertragungAbgeschlossen = 1; |
98 | UebertragungAbgeschlossen = 1; |
99 | } |
99 | } |
100 | UDR = tmp_tx; |
100 | UDR = tmp_tx; |
101 | } |
101 | } |
102 | else ptr = 0; |
102 | else ptr = 0; |
103 | } |
103 | } |
104 | 104 | ||
105 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
105 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
106 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
106 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
107 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
108 | SIGNAL(INT_VEC_RX) |
108 | SIGNAL(INT_VEC_RX) |
109 | { |
109 | { |
110 | static unsigned int crc; |
110 | static unsigned int crc; |
111 | static unsigned char crc1,crc2,buf_ptr; |
111 | static unsigned char crc1,crc2,buf_ptr; |
112 | static unsigned char UartState = 0; |
112 | static unsigned char UartState = 0; |
113 | unsigned char CrcOkay = 0; |
113 | unsigned char CrcOkay = 0; |
114 | 114 | ||
115 | SioTmp = UDR; |
115 | SioTmp = UDR; |
116 | //Salvo 11.9.2007 GPS Daten holen |
116 | //Salvo 11.9.2007 GPS Daten holen |
117 | Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
117 | Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
118 | // Salvo End |
118 | // Salvo End |
119 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
119 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
120 | if(SioTmp == '\r' && UartState == 2) |
120 | if(SioTmp == '\r' && UartState == 2) |
121 | { |
121 | { |
122 | UartState = 0; |
122 | UartState = 0; |
123 | crc -= RxdBuffer[buf_ptr-2]; |
123 | crc -= RxdBuffer[buf_ptr-2]; |
124 | crc -= RxdBuffer[buf_ptr-1]; |
124 | crc -= RxdBuffer[buf_ptr-1]; |
125 | crc %= 4096; |
125 | crc %= 4096; |
126 | crc1 = '=' + crc / 64; |
126 | crc1 = '=' + crc / 64; |
127 | crc2 = '=' + crc % 64; |
127 | crc2 = '=' + crc % 64; |
128 | CrcOkay = 0; |
128 | CrcOkay = 0; |
129 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
129 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
130 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
130 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
131 | { |
131 | { |
132 | NeuerDatensatzEmpfangen = 1; |
132 | NeuerDatensatzEmpfangen = 1; |
133 | AnzahlEmpfangsBytes = buf_ptr; |
133 | AnzahlEmpfangsBytes = buf_ptr; |
134 | RxdBuffer[buf_ptr] = '\r'; |
134 | RxdBuffer[buf_ptr] = '\r'; |
135 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
135 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
136 | } |
136 | } |
137 | } |
137 | } |
138 | else |
138 | else |
139 | switch(UartState) |
139 | switch(UartState) |
140 | { |
140 | { |
141 | case 0: |
141 | case 0: |
142 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
142 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
143 | buf_ptr = 0; |
143 | buf_ptr = 0; |
144 | RxdBuffer[buf_ptr++] = SioTmp; |
144 | RxdBuffer[buf_ptr++] = SioTmp; |
145 | crc = SioTmp; |
145 | crc = SioTmp; |
146 | break; |
146 | break; |
147 | case 1: // Adresse auswerten |
147 | case 1: // Adresse auswerten |
148 | UartState++; |
148 | UartState++; |
149 | RxdBuffer[buf_ptr++] = SioTmp; |
149 | RxdBuffer[buf_ptr++] = SioTmp; |
150 | crc += SioTmp; |
150 | crc += SioTmp; |
151 | break; |
151 | break; |
152 | case 2: // Eingangsdaten sammeln |
152 | case 2: // Eingangsdaten sammeln |
153 | RxdBuffer[buf_ptr] = SioTmp; |
153 | RxdBuffer[buf_ptr] = SioTmp; |
154 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
154 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
155 | else UartState = 0; |
155 | else UartState = 0; |
156 | crc += SioTmp; |
156 | crc += SioTmp; |
157 | break; |
157 | break; |
158 | default: |
158 | default: |
159 | UartState = 0; |
159 | UartState = 0; |
160 | break; |
160 | break; |
161 | } |
161 | } |
162 | } |
162 | } |
163 | 163 | ||
164 | 164 | ||
165 | // -------------------------------------------------------------------------- |
165 | // -------------------------------------------------------------------------- |
166 | void AddCRC(unsigned int wieviele) |
166 | void AddCRC(unsigned int wieviele) |
167 | { |
167 | { |
168 | unsigned int tmpCRC = 0,i; |
168 | unsigned int tmpCRC = 0,i; |
169 | for(i = 0; i < wieviele;i++) |
169 | for(i = 0; i < wieviele;i++) |
170 | { |
170 | { |
171 | tmpCRC += SendeBuffer[i]; |
171 | tmpCRC += SendeBuffer[i]; |
172 | } |
172 | } |
173 | tmpCRC %= 4096; |
173 | tmpCRC %= 4096; |
174 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
174 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
175 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
175 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
176 | SendeBuffer[i++] = '\r'; |
176 | SendeBuffer[i++] = '\r'; |
177 | UebertragungAbgeschlossen = 0; |
177 | UebertragungAbgeschlossen = 0; |
178 | UDR = SendeBuffer[0]; |
178 | UDR = SendeBuffer[0]; |
179 | } |
179 | } |
180 | 180 | ||
181 | 181 | ||
182 | 182 | ||
183 | // -------------------------------------------------------------------------- |
183 | // -------------------------------------------------------------------------- |
184 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
184 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
185 | { |
185 | { |
186 | unsigned int pt = 0; |
186 | unsigned int pt = 0; |
187 | unsigned char a,b,c; |
187 | unsigned char a,b,c; |
188 | unsigned char ptr = 0; |
188 | unsigned char ptr = 0; |
189 | 189 | ||
190 | SendeBuffer[pt++] = '#'; // Startzeichen |
190 | SendeBuffer[pt++] = '#'; // Startzeichen |
191 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
191 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
192 | SendeBuffer[pt++] = cmd; // Commando |
192 | SendeBuffer[pt++] = cmd; // Commando |
193 | 193 | ||
194 | while(len) |
194 | while(len) |
195 | { |
195 | { |
196 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
196 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
197 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
197 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
198 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
198 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
199 | SendeBuffer[pt++] = '=' + (a >> 2); |
199 | SendeBuffer[pt++] = '=' + (a >> 2); |
200 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
200 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
201 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
201 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
202 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
202 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
203 | } |
203 | } |
204 | AddCRC(pt); |
204 | AddCRC(pt); |
205 | } |
205 | } |
206 | 206 | ||
207 | 207 | ||
208 | // -------------------------------------------------------------------------- |
208 | // -------------------------------------------------------------------------- |
209 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
209 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
210 | { |
210 | { |
211 | unsigned char a,b,c,d; |
211 | unsigned char a,b,c,d; |
212 | unsigned char ptr = 0; |
212 | unsigned char ptr = 0; |
213 | unsigned char x,y,z; |
213 | unsigned char x,y,z; |
214 | while(len) |
214 | while(len) |
215 | { |
215 | { |
216 | a = RxdBuffer[ptrIn++] - '='; |
216 | a = RxdBuffer[ptrIn++] - '='; |
217 | b = RxdBuffer[ptrIn++] - '='; |
217 | b = RxdBuffer[ptrIn++] - '='; |
218 | c = RxdBuffer[ptrIn++] - '='; |
218 | c = RxdBuffer[ptrIn++] - '='; |
219 | d = RxdBuffer[ptrIn++] - '='; |
219 | d = RxdBuffer[ptrIn++] - '='; |
220 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
220 | if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
221 | 221 | ||
222 | x = (a << 2) | (b >> 4); |
222 | x = (a << 2) | (b >> 4); |
223 | y = ((b & 0x0f) << 4) | (c >> 2); |
223 | y = ((b & 0x0f) << 4) | (c >> 2); |
224 | z = ((c & 0x03) << 6) | d; |
224 | z = ((c & 0x03) << 6) | d; |
225 | 225 | ||
226 | if(len--) ptrOut[ptr++] = x; else break; |
226 | if(len--) ptrOut[ptr++] = x; else break; |
227 | if(len--) ptrOut[ptr++] = y; else break; |
227 | if(len--) ptrOut[ptr++] = y; else break; |
228 | if(len--) ptrOut[ptr++] = z; else break; |
228 | if(len--) ptrOut[ptr++] = z; else break; |
229 | } |
229 | } |
230 | 230 | ||
231 | } |
231 | } |
232 | 232 | ||
233 | // -------------------------------------------------------------------------- |
233 | // -------------------------------------------------------------------------- |
234 | void BearbeiteRxDaten(void) |
234 | void BearbeiteRxDaten(void) |
235 | { |
235 | { |
236 | if(!NeuerDatensatzEmpfangen) return; |
236 | if(!NeuerDatensatzEmpfangen) return; |
237 | 237 | ||
238 | // unsigned int tmp_int_arr1[1]; |
238 | // unsigned int tmp_int_arr1[1]; |
239 | // unsigned int tmp_int_arr2[2]; |
239 | // unsigned int tmp_int_arr2[2]; |
240 | // unsigned int tmp_int_arr3[3]; |
240 | // unsigned int tmp_int_arr3[3]; |
241 | unsigned char tmp_char_arr2[2]; |
241 | unsigned char tmp_char_arr2[2]; |
242 | // unsigned char tmp_char_arr3[3]; |
242 | // unsigned char tmp_char_arr3[3]; |
243 | // unsigned char tmp_char_arr4[4]; |
243 | // unsigned char tmp_char_arr4[4]; |
244 | //if(!MotorenEin) |
244 | //if(!MotorenEin) |
245 | PcZugriff = 255; |
245 | PcZugriff = 255; |
246 | switch(RxdBuffer[2]) |
246 | switch(RxdBuffer[2]) |
247 | { |
247 | { |
248 | case 'a':// Texte der Analogwerte |
248 | case 'a':// Texte der Analogwerte |
249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
249 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
250 | DebugTextAnforderung = tmp_char_arr2[0]; |
250 | DebugTextAnforderung = tmp_char_arr2[0]; |
251 | break; |
251 | break; |
252 | case 'c':// Debugdaten incl. Externe IOs usw |
252 | case 'c':// Debugdaten incl. Externe IOs usw |
253 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
253 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
254 | /* for(unsigned char i=0; i<4;i++) |
254 | /* for(unsigned char i=0; i<4;i++) |
255 | { |
255 | { |
256 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
256 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
257 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
257 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
258 | }*/ |
258 | }*/ |
259 | RemoteTasten |= DebugIn.RemoteTasten; |
259 | RemoteTasten |= DebugIn.RemoteTasten; |
260 | DebugDataAnforderung = 1; |
260 | DebugDataAnforderung = 1; |
261 | break; |
261 | break; |
262 | case 'h':// x-1 Displayzeilen |
262 | case 'h':// x-1 Displayzeilen |
263 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
263 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
264 | RemoteTasten |= tmp_char_arr2[0]; |
264 | RemoteTasten |= tmp_char_arr2[0]; |
265 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
265 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
266 | DebugDisplayAnforderung = 1; |
266 | DebugDisplayAnforderung = 1; |
267 | break; |
267 | break; |
268 | case 't':// Motortest |
268 | case 't':// Motortest |
269 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
269 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
270 | break; |
270 | break; |
271 | case 'k':// Keys von DubWise |
271 | case 'k':// Keys von DubWise |
272 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
272 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
273 | break; |
273 | break; |
274 | case 'v': // Version-Anforderung und Ausbaustufe |
274 | case 'v': // Version-Anforderung und Ausbaustufe |
275 | GetVersionAnforderung = 1; |
275 | GetVersionAnforderung = 1; |
276 | break; |
276 | break; |
277 | case 'g':// "Get"-Anforderung für Debug-Daten |
277 | case 'g':// "Get"-Anforderung für Debug-Daten |
278 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
278 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
279 | DebugGetAnforderung = 1; |
279 | DebugGetAnforderung = 1; |
280 | break; |
280 | break; |
281 | case 'q':// "Get"-Anforderung für Settings |
281 | case 'q':// "Get"-Anforderung für Settings |
282 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
282 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
283 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
283 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
284 | if(tmp_char_arr2[0] != 0xff) |
284 | if(tmp_char_arr2[0] != 0xff) |
285 | { |
285 | { |
286 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
286 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
287 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
287 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
288 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
288 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
289 | } |
289 | } |
290 | else |
290 | else |
291 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
291 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
292 | 292 | ||
293 | break; |
293 | break; |
294 | 294 | ||
295 | case 'l': |
295 | case 'l': |
296 | case 'm': |
296 | case 'm': |
297 | case 'n': |
297 | case 'n': |
298 | case 'o': |
298 | case 'o': |
299 | case 'p': // Parametersatz speichern |
299 | case 'p': // Parametersatz speichern |
300 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
300 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
301 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
301 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
302 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
302 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
303 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
303 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
304 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
304 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
305 | Piep(GetActiveParamSetNumber()); |
305 | Piep(GetActiveParamSetNumber()); |
306 | break; |
306 | break; |
307 | 307 | ||
308 | 308 | ||
309 | } |
309 | } |
310 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
310 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
311 | NeuerDatensatzEmpfangen = 0; |
311 | NeuerDatensatzEmpfangen = 0; |
312 | } |
312 | } |
313 | 313 | ||
314 | //############################################################################ |
314 | //############################################################################ |
315 | //Routine für die Serielle Ausgabe |
315 | //Routine für die Serielle Ausgabe |
316 | int uart_putchar (char c) |
316 | int uart_putchar (char c) |
317 | //############################################################################ |
317 | //############################################################################ |
318 | { |
318 | { |
319 | if (c == '\n') |
319 | if (c == '\n') |
320 | uart_putchar('\r'); |
320 | uart_putchar('\r'); |
321 | //Warten solange bis Zeichen gesendet wurde |
321 | //Warten solange bis Zeichen gesendet wurde |
322 | loop_until_bit_is_set(USR, UDRE); |
322 | loop_until_bit_is_set(USR, UDRE); |
323 | //Ausgabe des Zeichens |
323 | //Ausgabe des Zeichens |
324 | UDR = c; |
324 | UDR = c; |
325 | 325 | ||
326 | return (0); |
326 | return (0); |
327 | } |
327 | } |
328 | 328 | ||
329 | // -------------------------------------------------------------------------- |
329 | // -------------------------------------------------------------------------- |
330 | void WriteProgramData(unsigned int pos, unsigned char wert) |
330 | void WriteProgramData(unsigned int pos, unsigned char wert) |
331 | { |
331 | { |
332 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
332 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
333 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
333 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
334 | // Buffer[pos] = wert; |
334 | // Buffer[pos] = wert; |
335 | } |
335 | } |
336 | 336 | ||
337 | //############################################################################ |
337 | //############################################################################ |
338 | //INstallation der Seriellen Schnittstelle |
338 | //INstallation der Seriellen Schnittstelle |
339 | void UART_Init (void) |
339 | void UART_Init (void) |
340 | //############################################################################ |
340 | //############################################################################ |
341 | { |
341 | { |
342 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
342 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
343 | 343 | ||
344 | UCR=(1 << TXEN) | (1 << RXEN); |
344 | UCR=(1 << TXEN) | (1 << RXEN); |
345 | // UART Double Speed (U2X) |
345 | // UART Double Speed (U2X) |
346 | USR |= (1<<U2X); |
346 | USR |= (1<<U2X); |
347 | // RX-Interrupt Freigabe |
347 | // RX-Interrupt Freigabe |
348 | UCSRB |= (1<<RXCIE); |
348 | UCSRB |= (1<<RXCIE); |
349 | // TX-Interrupt Freigabe |
349 | // TX-Interrupt Freigabe |
350 | UCSRB |= (1<<TXCIE); |
350 | UCSRB |= (1<<TXCIE); |
351 | 351 | ||
352 | //Teiler wird gesetzt |
352 | //Teiler wird gesetzt |
353 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
353 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
354 | //UBRR = 33; |
354 | //UBRR = 33; |
355 | //öffnet einen Kanal für printf (STDOUT) |
355 | //öffnet einen Kanal für printf (STDOUT) |
356 | //fdevopen (uart_putchar, 0); |
356 | //fdevopen (uart_putchar, 0); |
357 | //sbi(PORTD,4); |
357 | //sbi(PORTD,4); |
358 | Debug_Timer = SetDelay(200); |
358 | Debug_Timer = SetDelay(200); |
359 | } |
359 | } |
360 | 360 | ||
361 | //--------------------------------------------------------------------------------------------- |
361 | //--------------------------------------------------------------------------------------------- |
362 | void DatenUebertragung(void) |
362 | void DatenUebertragung(void) |
363 | { |
363 | { |
364 | // static char dis_zeile = 0; |
364 | // static char dis_zeile = 0; |
365 | if(!UebertragungAbgeschlossen) return; |
365 | if(!UebertragungAbgeschlossen) return; |
366 | 366 | ||
367 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
367 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
368 | { |
368 | { |
369 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
369 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
370 | DebugGetAnforderung = 0; |
370 | DebugGetAnforderung = 0; |
371 | } |
371 | } |
372 | 372 | ||
373 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
373 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
374 | { |
374 | { |
375 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
375 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
376 | DebugDataAnforderung = 0; |
376 | DebugDataAnforderung = 0; |
377 | //Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
377 | //Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
378 | dataset_cnt++; |
378 | dataset_cnt++; |
379 | // Salvo End |
379 | // Salvo End |
380 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
380 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
381 | } |
381 | } |
382 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
382 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
383 | { |
383 | { |
384 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
384 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
385 | DebugTextAnforderung = 255; |
385 | DebugTextAnforderung = 255; |
386 | } |
386 | } |
387 | 387 | ||
388 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
388 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
389 | { |
389 | { |
390 | Menu(); |
390 | Menu(); |
391 | DebugDisplayAnforderung = 0; |
391 | DebugDisplayAnforderung = 0; |
392 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
392 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
393 | { |
393 | { |
394 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
394 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
395 | RemotePollDisplayLine = -1; |
395 | RemotePollDisplayLine = -1; |
396 | } |
396 | } |
397 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
397 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
398 | } |
398 | } |
399 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
399 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
400 | { |
400 | { |
401 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
401 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
402 | GetVersionAnforderung = 0; |
402 | GetVersionAnforderung = 0; |
403 | } |
403 | } |
404 | 404 | ||
405 | } |
405 | } |
406 | 406 | ||
407 | 407 |