Rev 520 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 520 | Rev 522 | ||
|---|---|---|---|
| Line 1... | Line 1... | ||
| 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 | // + |
- | |
| 7 | // + GPS read out: |
- | |
| 8 | // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
- | |
| 9 | // + only for non-profit use |
- | |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 11... | Line 7... | ||
| 11 | 7 | ||
| 12 | #include "main.h" |
8 | #include "main.h" |
| Line 13... | Line 9... | ||
| 13 | #include "uart.h" |
9 | #include "uart.h" |
| 14 | 10 | ||
| - | 11 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
|
| 15 | unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
12 | unsigned volatile char SioTmp = 0; |
| 16 | unsigned volatile char SioTmp = 0; |
13 | unsigned volatile char SioTmp1 = 0; |
| 17 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
14 | unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| 18 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
15 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| 19 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
16 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| Line 36... | Line 33... | ||
| 36 | int Debug_Timer; |
33 | int Debug_Timer; |
| Line 37... | Line 34... | ||
| 37 | 34 | ||
| 38 | const unsigned char ANALOG_TEXT[32][16] = |
35 | const unsigned char ANALOG_TEXT[32][16] = |
| 39 | { |
36 | { |
| 40 | //1234567890123456 |
37 | //1234567890123456 |
| 41 | "IntegralNick____", //00 |
38 | "IntegralNick ", //0 |
| 42 | "IntegralRoll____", //01 |
39 | "IntegralRoll ", |
| 43 | "AccNick_________", //02 |
40 | "AccNick ", |
| 44 | "AccRoll_________", //03 |
41 | "AccRoll ", |
| 45 | "P_GPS_Faktor____", //04 |
42 | "GyroGier ", |
| 46 | "D_GPS_Faktor____", //05 |
43 | "HoehenWert ", //5 |
| 47 | "Soll_Pos_North__", //06 |
44 | "AccZ ", |
| 48 | "Soll_Pos_East___", //07 |
45 | "Gas ", |
| 49 | "KompassValue____", //08 |
46 | "KompassValue ", |
| 50 | "UBat____________", //09 |
47 | "Spannung ", |
| 51 | "SenderOkay______", //10 |
48 | "Empfang ", //10 |
| 52 | "GPSFix__________", //11 |
49 | "Analog11 ", |
| 53 | "Gesamtstrom_____", //12 |
50 | "Motor_Vorne ", |
| 54 | "Geschwindigkeit_", //13 |
51 | "Motor_Hinten ", |
| 55 | "Pos.north_______", //14 |
52 | "Motor_Links ", |
| 56 | "Pos.east________", //15 |
53 | "Motor_Rechts ", //15 |
| 57 | "Poti3___________", //16 |
54 | "Acc_Z ", |
| 58 | "Höhe_GPS________", //17 |
55 | "MittelAccNick ", |
| 59 | "Home_North______", //18 |
56 | "MittelAccRoll ", |
| 60 | "Home_East_______", //19 |
57 | "IntegralErrNick ", |
| 61 | "Posabw_North____", //20 |
58 | "IntegralErrRoll ", //20 |
| 62 | "Posabw_East_____", //21 |
59 | "MittelIntNick ", |
| 63 | "P_Einfluss_North", //22 |
60 | "MittelIntRoll ", |
| 64 | "P_Einfluss_East_", //23 |
61 | "NeutralNick ", |
| 65 | "D_Einfluss_North", //24 |
62 | "RollOffset ", |
| 66 | "D_Einfluss_East_", //25 |
63 | "IntRoll*Faktor ", //25 |
| 67 | "NORTH_MITTEL____", //26 |
64 | "Analog26 ", |
| 68 | "EAST_MITTEL_____", //27 |
65 | "DirektAusglRoll ", |
| 69 | "GPS_Nick________", //28 |
66 | "MesswertRoll ", |
| 70 | "GPS_Roll________", //29 |
67 | "AusgleichRoll ", |
| 71 | "StickNick_______", //30 |
68 | "I-LageRoll ", //30 |
| 72 | "StickRoll_______" //31 |
69 | "StickRoll " |
| Line -... | Line 70... | ||
| - | 70 | }; |
|
| - | 71 | ||
| 73 | }; |
72 | |
| Line 74... | Line 73... | ||
| 74 | 73 | ||
| 75 | 74 | ||
| 76 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
75 | char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
| Line 187... | Line 186... | ||
| 187 | UDR = tmp_tx; |
186 | UDR = tmp_tx; |
| 188 | } |
187 | } |
| 189 | else ptr = 0; |
188 | else ptr = 0; |
| 190 | } |
189 | } |
| Line -... | Line 190... | ||
| - | 190 | ||
| - | 191 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 192 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
|
| - | 193 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 194 | SIGNAL(INT_VEC_RX) |
|
| - | 195 | { |
|
| - | 196 | static unsigned int crc; |
|
| - | 197 | static unsigned char crc1,crc2,buf_ptr; |
|
| - | 198 | static unsigned char UartState = 0; |
|
| - | 199 | unsigned char CrcOkay = 0; |
|
| - | 200 | ||
| - | 201 | SioTmp = UDR; |
|
| - | 202 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
|
| - | 203 | if(SioTmp == '\r' && UartState == 2) |
|
| - | 204 | { |
|
| - | 205 | UartState = 0; |
|
| - | 206 | crc -= RxdBuffer[buf_ptr-2]; |
|
| - | 207 | crc -= RxdBuffer[buf_ptr-1]; |
|
| - | 208 | crc %= 4096; |
|
| - | 209 | crc1 = '=' + crc / 64; |
|
| - | 210 | crc2 = '=' + crc % 64; |
|
| - | 211 | CrcOkay = 0; |
|
| - | 212 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
|
| - | 213 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
|
| - | 214 | { |
|
| - | 215 | NeuerDatensatzEmpfangen = 1; |
|
| - | 216 | AnzahlEmpfangsBytes = buf_ptr; |
|
| - | 217 | RxdBuffer[buf_ptr] = '\r'; |
|
| - | 218 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
|
| - | 219 | } |
|
| - | 220 | } |
|
| - | 221 | else |
|
| - | 222 | switch(UartState) |
|
| - | 223 | { |
|
| - | 224 | case 0: |
|
| - | 225 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
|
| - | 226 | buf_ptr = 0; |
|
| - | 227 | RxdBuffer[buf_ptr++] = SioTmp; |
|
| - | 228 | crc = SioTmp; |
|
| - | 229 | break; |
|
| - | 230 | case 1: // Adresse auswerten |
|
| - | 231 | UartState++; |
|
| - | 232 | RxdBuffer[buf_ptr++] = SioTmp; |
|
| - | 233 | crc += SioTmp; |
|
| - | 234 | break; |
|
| - | 235 | case 2: // Eingangsdaten sammeln |
|
| - | 236 | RxdBuffer[buf_ptr] = SioTmp; |
|
| - | 237 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
|
| - | 238 | else UartState = 0; |
|
| - | 239 | crc += SioTmp; |
|
| - | 240 | break; |
|
| 191 | 241 | default: |
|
| - | 242 | UartState = 0; |
|
| - | 243 | break; |
|
| - | 244 | } |
|
| - | 245 | } |
|
| - | 246 | ||
| - | 247 | ||
| - | 248 | ||
| - | 249 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 250 | //++ Sende-Part der Datenübertragung an zweiten UART |
|
| - | 251 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 192 | void GPSscanData (void) |
252 | SIGNAL(SIG_USART1_TRANS) |
| - | 253 | { |
|
| - | 254 | //zum 2te Uart (GPS) wird im Moment nichts gesendet |
|
| - | 255 | ||
| - | 256 | ||
| - | 257 | } |
|
| Line 193... | Line 258... | ||
| 193 | { |
258 | |
| - | 259 | ||
| - | 260 | ||
| Line 194... | Line 261... | ||
| 194 | 261 | ||
| 195 | 262 | void GPSscanData (void) |
|
| 196 | 263 | { |
|
| 197 | 264 | ||
| Line 232... | Line 299... | ||
| 232 | navVelNed.packetStatus = 0; |
299 | navVelNed.packetStatus = 0; |
| 233 | } |
300 | } |
| Line 234... | Line 301... | ||
| 234 | 301 | ||
| Line -... | Line 302... | ||
| - | 302 | } |
|
| 235 | } |
303 | |
| 236 | 304 | ||
| 237 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
305 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 238 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
306 | //++ Empfangs-Part der Datenübertragung von zweitem UART |
| 239 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
307 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 240 | SIGNAL(INT_VEC_RX) |
- | |
| 241 | { |
- | |
| 242 | static unsigned int crc; |
- | |
| 243 | static unsigned char crc1,crc2,buf_ptr; |
- | |
| Line 244... | Line -... | ||
| 244 | static unsigned char UartState = 0; |
- | |
| 245 | unsigned char CrcOkay = 0; |
- | |
| 246 | 308 | SIGNAL(SIG_USART1_RECV) |
|
| 247 | SioTmp = UDR; |
309 | { |
| Line -... | Line 310... | ||
| - | 310 | ||
| - | 311 | uint8_t c; |
|
| 248 | 312 | uint8_t re; |
|
| 249 | uint8_t c; |
313 | |
| Line 250... | Line 314... | ||
| 250 | uint8_t re; |
314 | SioTmp1 = UDR1; |
| 251 | 315 | ||
| 252 | re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
316 | re = (UCSR1A & (_B1(FE1) | _B1(DOR1))); // any error occured ? |
| 253 | c = SioTmp; |
317 | c = SioTmp1; |
| 254 | 318 | ||
| 255 | #ifdef GPS_DEBUG |
319 | #ifdef GPS_DEBUG |
| 256 | *bp++ = c; |
320 | *bp++ = c; |
| 257 | if (bp >= (buf+200)) bp = buf; |
321 | if (bp >= (buf+200)) bp = buf; |
| 258 | if (v24state == 0) |
322 | if (v24state == 0) |
| 259 | { |
323 | { |
| 260 | v24state = 1; |
324 | v24state = 1; |
| 261 | UDR0 = *ep++; |
325 | UDR1 = *ep++; |
| Line 262... | Line 326... | ||
| 262 | if (ep >= buf+200) |
326 | if (ep >= buf+200) |
| 263 | ep = buf; |
327 | ep = buf; |
| Line 369... | Line 433... | ||
| 369 | gpsState = GPS_EMPTY; |
433 | gpsState = GPS_EMPTY; |
| 370 | } |
434 | } |
| 371 | GPSscanData (); |
435 | GPSscanData (); |
| Line 372... | Line -... | ||
| 372 | - | ||
| 373 | - | ||
| 374 | - | ||
| 375 | - | ||
| 376 | - | ||
| 377 | - | ||
| 378 | - | ||
| 379 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
- | |
| 380 | if(SioTmp == '\r' && UartState == 2) |
- | |
| 381 | { |
- | |
| 382 | UartState = 0; |
- | |
| 383 | crc -= RxdBuffer[buf_ptr-2]; |
- | |
| 384 | crc -= RxdBuffer[buf_ptr-1]; |
- | |
| 385 | crc %= 4096; |
- | |
| 386 | crc1 = '=' + crc / 64; |
- | |
| 387 | crc2 = '=' + crc % 64; |
- | |
| 388 | CrcOkay = 0; |
- | |
| 389 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
- | |
| 390 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
- | |
| 391 | { |
- | |
| 392 | NeuerDatensatzEmpfangen = 1; |
- | |
| 393 | AnzahlEmpfangsBytes = buf_ptr; |
- | |
| 394 | RxdBuffer[buf_ptr] = '\r'; |
- | |
| 395 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
- | |
| 396 | } |
- | |
| 397 | } |
- | |
| 398 | else |
- | |
| 399 | switch(UartState) |
- | |
| 400 | { |
- | |
| 401 | case 0: |
- | |
| 402 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
- | |
| 403 | buf_ptr = 0; |
- | |
| 404 | RxdBuffer[buf_ptr++] = SioTmp; |
- | |
| 405 | crc = SioTmp; |
- | |
| 406 | break; |
- | |
| 407 | case 1: // Adresse auswerten |
- | |
| 408 | UartState++; |
- | |
| 409 | RxdBuffer[buf_ptr++] = SioTmp; |
- | |
| 410 | crc += SioTmp; |
- | |
| 411 | break; |
- | |
| 412 | case 2: // Eingangsdaten sammeln |
- | |
| 413 | RxdBuffer[buf_ptr] = SioTmp; |
- | |
| 414 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
- | |
| 415 | else UartState = 0; |
- | |
| 416 | crc += SioTmp; |
- | |
| 417 | break; |
- | |
| 418 | default: |
- | |
| 419 | UartState = 0; |
- | |
| 420 | break; |
436 | |
| Line 421... | Line 437... | ||
| 421 | } |
437 | |
| 422 | } |
438 | } |
| Line 437... | Line 453... | ||
| 437 | UebertragungAbgeschlossen = 0; |
453 | UebertragungAbgeschlossen = 0; |
| 438 | UDR = SendeBuffer[0]; |
454 | UDR = SendeBuffer[0]; |
| 439 | } |
455 | } |
| Line -... | Line 456... | ||
| - | 456 | ||
| 440 | 457 | ||
| 441 | 458 | ||
| 442 | // -------------------------------------------------------------------------- |
459 | // -------------------------------------------------------------------------- |
| 443 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
460 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| 444 | { |
461 | { |
| Line 613... | Line 630... | ||
| 613 | //UBRR = 33; |
630 | //UBRR = 33; |
| 614 | //öffnet einen Kanal für printf (STDOUT) |
631 | //öffnet einen Kanal für printf (STDOUT) |
| 615 | //fdevopen (uart_putchar, 0); |
632 | //fdevopen (uart_putchar, 0); |
| 616 | //sbi(PORTD,4); |
633 | //sbi(PORTD,4); |
| 617 | Debug_Timer = SetDelay(200); |
634 | Debug_Timer = SetDelay(200); |
| 618 | - | ||
| 619 | gpsState = GPS_EMPTY; |
- | |
| 620 | } |
635 | } |
| Line -... | Line 636... | ||
| - | 636 | ||
| - | 637 | ||
| - | 638 | //############################################################################ |
|
| - | 639 | //INstallation der 2ten Seriellen Schnittstelle |
|
| - | 640 | void UART1_Init (void) |
|
| - | 641 | //############################################################################ |
|
| - | 642 | { |
|
| - | 643 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
|
| - | 644 | ||
| - | 645 | UCSR1B=(1 << TXEN1) | (1 << RXEN1); |
|
| - | 646 | // UART Double Speed (U2X) |
|
| - | 647 | UCSR1A |= (1<<U2X1); |
|
| - | 648 | // RX-Interrupt Freigabe |
|
| - | 649 | UCSR1B |= (1<<RXCIE1); |
|
| - | 650 | // TX-Interrupt Freigabe |
|
| - | 651 | UCSR1B |= (1<<TXCIE1); |
|
| - | 652 | ||
| - | 653 | //Teiler wird gesetzt |
|
| - | 654 | UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
|
| - | 655 | //UBRR1L = 33; |
|
| - | 656 | //öffnet einen Kanal für printf (STDOUT) |
|
| - | 657 | //fdevopen (uart_putchar, 0); |
|
| - | 658 | //sbi(PORTD,4); |
|
| - | 659 | Debug_Timer = SetDelay(200); |
|
| - | 660 | } |
|
| - | 661 | ||
| - | 662 | ||
| 621 | 663 | ||
| 622 | //--------------------------------------------------------------------------------------------- |
664 | //--------------------------------------------------------------------------------------------- |
| 623 | void DatenUebertragung(void) |
665 | void DatenUebertragung(void) |
| 624 | { |
666 | { |