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Rev 624 | Rev 683 | ||
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Line 8... | Line 8... | ||
8 | #include "main.h" |
8 | #include "main.h" |
9 | #include "uart.h" |
9 | #include "uart.h" |
Line 10... | Line 10... | ||
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 txd_buffer[TXD_BUFFER_LEN]; |
14 | unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
- | |
- | 14 | unsigned volatile char rxd_buffer[RXD_BUFFER_LEN]; |
|
15 | unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
15 | |
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; |
Line 22... | Line 22... | ||
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[4] = {0,0,0,0}; |
27 | unsigned char DubWiseKeys[4] = {0,0,0,0}; |
28 | unsigned char MeineSlaveAdresse; |
28 | unsigned char MeineSlaveAdresse; |
29 | unsigned char ConfirmFrame; |
29 | unsigned char ConfirmFrame; |
30 | struct str_DebugOut DebugOut; |
30 | struct str_DebugOut DebugOut; |
31 | struct str_ExternControl ExternControl; |
31 | struct str_ExternControl ExternControl; |
32 | struct str_VersionInfo VersionInfo; |
32 | struct str_VersionInfo VersionInfo; |
33 | int Debug_Timer; |
33 | int Debug_Timer; |
Line 34... | Line 34... | ||
34 | 34 | ||
35 | const unsigned char ANALOG_TEXT[32][16] = |
35 | const unsigned char ANALOG_TEXT[32][16] = |
36 | { |
36 | { |
37 | //1234567890123456 |
37 | //1234567890123456 |
38 | "IntegralNick ", //0 |
38 | "IntegralNick ", //0 |
39 | "IntegralRoll ", |
39 | "IntegralRoll ", |
40 | "AccNick ", |
40 | "AccNick ", |
41 | "AccRoll ", |
41 | "AccRoll ", |
42 | "GyroGier ", |
42 | "GyroGier ", |
43 | "HoehenWert ", //5 |
43 | "HoehenWert ", //5 |
44 | "AccZ ", |
44 | "AccZ ", |
Line 69... | Line 69... | ||
69 | "StickRoll " |
69 | "StickRoll " |
70 | }; |
70 | }; |
Line -... | Line 71... | ||
- | 71 | ||
- | 72 | ||
- | 73 | ||
- | 74 | /****************************************************************/ |
|
- | 75 | /* Initialization of the USART0 */ |
|
- | 76 | /****************************************************************/ |
|
71 | 77 | void USART0_Init (void) |
|
- | 78 | { |
|
- | 79 | uint8_t sreg = SREG; |
|
- | 80 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
|
- | 81 | ||
- | 82 | // disable all interrupts before configuration |
|
- | 83 | cli(); |
|
- | 84 | ||
- | 85 | // disable RX-Interrupt |
|
- | 86 | UCSR0B &= ~(1 << RXCIE0); |
|
- | 87 | // disable TX-Interrupt |
|
- | 88 | UCSR0B &= ~(1 << TXCIE0); |
|
- | 89 | ||
- | 90 | // set direction of RXD0 and TXD0 pins |
|
- | 91 | // set RXD0 (PD0) as an input pin |
|
- | 92 | PORTD |= (1 << PORTD0); |
|
- | 93 | DDRD &= ~(1 << DDD0); |
|
- | 94 | // set TXD0 (PD1) as an output pin |
|
- | 95 | PORTD |= (1 << PORTD1); |
|
- | 96 | DDRD |= (1 << DDD1); |
|
- | 97 | ||
- | 98 | // USART0 Baud Rate Register |
|
- | 99 | // set clock divider |
|
- | 100 | UBRR0H = (uint8_t)(ubrr >> 8); |
|
- | 101 | UBRR0L = (uint8_t)ubrr; |
|
72 | 102 | ||
- | 103 | // USART0 Control and Status Register A, B, C |
|
- | 104 | ||
- | 105 | // enable double speed operation in |
|
- | 106 | UCSR0A |= (1 << U2X0); |
|
- | 107 | // enable receiver and transmitter in |
|
- | 108 | UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
|
- | 109 | // set asynchronous mode |
|
- | 110 | UCSR0C &= ~(1 << UMSEL01); |
|
- | 111 | UCSR0C &= ~(1 << UMSEL00); |
|
- | 112 | // no parity |
|
- | 113 | UCSR0C &= ~(1 << UPM01); |
|
- | 114 | UCSR0C &= ~(1 << UPM00); |
|
- | 115 | // 1 stop bit |
|
- | 116 | UCSR0C &= ~(1 << USBS0); |
|
- | 117 | // 8-bit |
|
- | 118 | UCSR0B &= ~(1 << UCSZ02); |
|
- | 119 | UCSR0C |= (1 << UCSZ01); |
|
- | 120 | UCSR0C |= (1 << UCSZ00); |
|
- | 121 | ||
- | 122 | // flush receive buffer |
|
- | 123 | while ( UCSR0A & (1<<RXC0) ) UDR0; |
|
- | 124 | ||
- | 125 | // enable interrupts at the end |
|
- | 126 | // enable RX-Interrupt |
|
- | 127 | UCSR0B |= (1 << RXCIE0); |
|
- | 128 | // enable TX-Interrupt |
|
- | 129 | UCSR0B |= (1 << TXCIE0); |
|
- | 130 | ||
- | 131 | // restore global interrupt flags |
|
- | 132 | SREG = sreg; |
|
- | 133 | } |
|
73 | 134 | ||
74 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
135 | /****************************************************************/ |
75 | //++ Sende-Part der Datenübertragung |
136 | /* USART0 transmitter ISR */ |
76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
137 | /****************************************************************/ |
77 | SIGNAL(INT_VEC_TX) |
138 | ISR(USART0_TX_vect) |
78 | { |
139 | { |
79 | static unsigned int ptr = 0; |
140 | static uint16_t ptr = 0; |
80 | unsigned char tmp_tx; |
141 | uint8_t tmp_tx; |
81 | if(!UebertragungAbgeschlossen) |
142 | if(!UebertragungAbgeschlossen) |
82 | { |
143 | { |
83 | ptr++; // die [0] wurde schon gesendet |
144 | ptr++; // die [0] wurde schon gesendet |
84 | tmp_tx = SendeBuffer[ptr]; |
145 | tmp_tx = txd_buffer[ptr]; |
85 | if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
146 | if((tmp_tx == '\r') || (ptr == TXD_BUFFER_LEN)) |
86 | { |
147 | { |
87 | ptr = 0; |
148 | ptr = 0; |
88 | UebertragungAbgeschlossen = 1; |
149 | UebertragungAbgeschlossen = 1; |
89 | } |
150 | } |
90 | UDR = tmp_tx; |
151 | UDR0 = tmp_tx; // send byte will trigger this ISR again |
Line 91... | Line 152... | ||
91 | } |
152 | } |
92 | else ptr = 0; |
153 | else ptr = 0; |
93 | } |
154 | } |
94 | 155 | ||
95 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
156 | /****************************************************************/ |
96 | //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
157 | /* USART0 receiver ISR */ |
97 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
158 | /****************************************************************/ |
98 | SIGNAL(INT_VEC_RX) |
159 | ISR(USART0_RX_vect) |
99 | { |
160 | { |
100 | static unsigned int crc; |
161 | static uint16_t crc; |
101 | static unsigned char crc1,crc2,buf_ptr; |
162 | static uint8_t crc1,crc2,buf_ptr; |
102 | static unsigned char UartState = 0; |
163 | static uint8_t UartState = 0; |
103 | unsigned char CrcOkay = 0; |
164 | uint8_t CrcOkay = 0; |
104 | 165 | ||
105 | SioTmp = UDR; |
166 | SioTmp = UDR0; |
106 | if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
167 | if(buf_ptr >= RXD_BUFFER_LEN) UartState = 0; |
107 | if(SioTmp == '\r' && UartState == 2) |
168 | if(SioTmp == '\r' && UartState == 2) |
108 | { |
169 | { |
109 | UartState = 0; |
170 | UartState = 0; |
110 | crc -= RxdBuffer[buf_ptr-2]; |
171 | crc -= rxd_buffer[buf_ptr-2]; |
111 | crc -= RxdBuffer[buf_ptr-1]; |
172 | crc -= rxd_buffer[buf_ptr-1]; |
112 | crc %= 4096; |
173 | crc %= 4096; |
113 | crc1 = '=' + crc / 64; |
174 | crc1 = '=' + crc / 64; |
114 | crc2 = '=' + crc % 64; |
175 | crc2 = '=' + crc % 64; |
115 | CrcOkay = 0; |
176 | CrcOkay = 0; |
116 | if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
177 | if((crc1 == rxd_buffer[buf_ptr-2]) && (crc2 == rxd_buffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
117 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
178 | if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
118 | { |
179 | { |
119 | NeuerDatensatzEmpfangen = 1; |
180 | NeuerDatensatzEmpfangen = 1; |
120 | AnzahlEmpfangsBytes = buf_ptr; |
181 | AnzahlEmpfangsBytes = buf_ptr; |
121 | RxdBuffer[buf_ptr] = '\r'; |
182 | rxd_buffer[buf_ptr] = '\r'; |
122 | if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
183 | if(rxd_buffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
123 | } |
184 | } |
124 | } |
185 | } |
125 | else |
186 | else |
126 | switch(UartState) |
187 | switch(UartState) |
127 | { |
188 | { |
128 | case 0: |
189 | case 0: |
129 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
190 | if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
130 | buf_ptr = 0; |
191 | buf_ptr = 0; |
131 | RxdBuffer[buf_ptr++] = SioTmp; |
192 | rxd_buffer[buf_ptr++] = SioTmp; |
132 | crc = SioTmp; |
193 | crc = SioTmp; |
133 | break; |
194 | break; |
134 | case 1: // Adresse auswerten |
195 | case 1: // Adresse auswerten |
135 | UartState++; |
196 | UartState++; |
136 | RxdBuffer[buf_ptr++] = SioTmp; |
197 | rxd_buffer[buf_ptr++] = SioTmp; |
137 | crc += SioTmp; |
198 | crc += SioTmp; |
138 | break; |
199 | break; |
139 | case 2: // Eingangsdaten sammeln |
200 | case 2: // Eingangsdaten sammeln |
140 | RxdBuffer[buf_ptr] = SioTmp; |
201 | rxd_buffer[buf_ptr] = SioTmp; |
141 | if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
202 | if(buf_ptr < RXD_BUFFER_LEN) buf_ptr++; |
142 | else UartState = 0; |
203 | else UartState = 0; |
143 | crc += SioTmp; |
204 | crc += SioTmp; |
144 | break; |
205 | break; |
145 | default: |
206 | default: |
Line -... | Line 207... | ||
- | 207 | UartState = 0; |
|
146 | UartState = 0; |
208 | break; |
147 | break; |
209 | } |
148 | } |
210 | } |
149 | } |
211 | |
150 | 212 | ||
151 | 213 | ||
152 | // -------------------------------------------------------------------------- |
214 | // -------------------------------------------------------------------------- |
153 | void AddCRC(unsigned int wieviele) |
215 | void AddCRC(unsigned int wieviele) |
154 | { |
216 | { |
155 | unsigned int tmpCRC = 0,i; |
217 | uint16_t tmpCRC = 0,i; |
156 | for(i = 0; i < wieviele;i++) |
218 | for(i = 0; i < wieviele;i++) |
157 | { |
219 | { |
158 | tmpCRC += SendeBuffer[i]; |
220 | tmpCRC += txd_buffer[i]; |
159 | } |
221 | } |
160 | tmpCRC %= 4096; |
222 | tmpCRC %= 4096; |
Line 161... | Line 223... | ||
161 | SendeBuffer[i++] = '=' + tmpCRC / 64; |
223 | txd_buffer[i++] = '=' + tmpCRC / 64; |
162 | SendeBuffer[i++] = '=' + tmpCRC % 64; |
224 | txd_buffer[i++] = '=' + tmpCRC % 64; |
163 | SendeBuffer[i++] = '\r'; |
225 | txd_buffer[i++] = '\r'; |
164 | UebertragungAbgeschlossen = 0; |
226 | UebertragungAbgeschlossen = 0; |
165 | UDR = SendeBuffer[0]; |
227 | UDR0 = txd_buffer[0]; |
166 | } |
228 | } |
167 | 229 | ||
168 | 230 | ||
169 | 231 | ||
170 | // -------------------------------------------------------------------------- |
232 | // -------------------------------------------------------------------------- |
Line 171... | Line 233... | ||
171 | void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
233 | void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
172 | { |
234 | { |
173 | unsigned int pt = 0; |
235 | uint16_t pt = 0; |
174 | unsigned char a,b,c; |
236 | uint8_t a,b,c; |
175 | unsigned char ptr = 0; |
237 | uint8_t ptr = 0; |
176 | 238 | ||
177 | SendeBuffer[pt++] = '#'; // Startzeichen |
239 | txd_buffer[pt++] = '#'; // Startzeichen |
178 | SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
240 | txd_buffer[pt++] = modul; // Adresse (a=0; b=1,...) |
179 | SendeBuffer[pt++] = cmd; // Commando |
241 | txd_buffer[pt++] = cmd; // Commando |
180 | 242 | ||
181 | while(len) |
243 | while(len) |
182 | { |
244 | { |
Line 183... | Line 245... | ||
183 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
245 | if(len) { a = snd[ptr++]; len--;} else a = 0; |
184 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
246 | if(len) { b = snd[ptr++]; len--;} else b = 0; |
185 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
247 | if(len) { c = snd[ptr++]; len--;} else c = 0; |
186 | SendeBuffer[pt++] = '=' + (a >> 2); |
248 | txd_buffer[pt++] = '=' + (a >> 2); |
187 | SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
249 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
188 | SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
250 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
189 | SendeBuffer[pt++] = '=' + ( c & 0x3f); |
251 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
190 | } |
252 | } |
191 | AddCRC(pt); |
253 | AddCRC(pt); |
192 | } |
254 | } |
193 | 255 | ||
194 | 256 | ||
195 | // -------------------------------------------------------------------------- |
257 | // -------------------------------------------------------------------------- |
Line 196... | Line 258... | ||
196 | void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
258 | void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) // Wohin mit den Daten; Wie lang; Wo im rxd_buffer |
197 | { |
259 | { |
198 | unsigned char a,b,c,d; |
260 | uint8_t a,b,c,d; |
Line 220... | Line 282... | ||
220 | // -------------------------------------------------------------------------- |
282 | // -------------------------------------------------------------------------- |
221 | void BearbeiteRxDaten(void) |
283 | void BearbeiteRxDaten(void) |
222 | { |
284 | { |
223 | if(!NeuerDatensatzEmpfangen) return; |
285 | if(!NeuerDatensatzEmpfangen) return; |
Line 224... | Line -... | ||
224 | - | ||
225 | // unsigned int tmp_int_arr1[1]; |
- | |
226 | // unsigned int tmp_int_arr2[2]; |
- | |
227 | // unsigned int tmp_int_arr3[3]; |
286 | |
228 | unsigned char tmp_char_arr2[2]; |
- | |
229 | // unsigned char tmp_char_arr3[3]; |
- | |
230 | // unsigned char tmp_char_arr4[4]; |
- | |
- | 287 | uint8_t tmp_char_arr2[2]; |
|
231 | //if(!MotorenEin) |
288 | |
232 | PcZugriff = 255; |
289 | PcZugriff = 255; |
233 | switch(RxdBuffer[2]) |
290 | switch(rxd_buffer[2]) |
234 | { |
291 | { |
235 | case 'a':// Texte der Analogwerte |
292 | case 'a':// Texte der Analogwerte |
236 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
293 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
237 | DebugTextAnforderung = tmp_char_arr2[0]; |
294 | DebugTextAnforderung = tmp_char_arr2[0]; |
238 | break; |
295 | break; |
239 | case 'b': |
296 | case 'b': |
240 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
297 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
241 | RemoteTasten |= ExternControl.RemoteTasten; |
298 | RemoteTasten |= ExternControl.RemoteTasten; |
242 | ConfirmFrame = ExternControl.Frame; |
299 | ConfirmFrame = ExternControl.Frame; |
243 | break; |
300 | break; |
244 | case 'c': |
301 | case 'c': |
245 | Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
302 | Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
246 | RemoteTasten |= ExternControl.RemoteTasten; |
303 | RemoteTasten |= ExternControl.RemoteTasten; |
247 | ConfirmFrame = ExternControl.Frame; |
304 | ConfirmFrame = ExternControl.Frame; |
248 | DebugDataAnforderung = 1; |
305 | DebugDataAnforderung = 1; |
249 | break; |
306 | break; |
250 | case 'h':// x-1 Displayzeilen |
307 | case 'h':// x-1 Displayzeilen |
251 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
308 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
252 | RemoteTasten |= tmp_char_arr2[0]; |
309 | RemoteTasten |= tmp_char_arr2[0]; |
253 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
310 | if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
254 | DebugDisplayAnforderung = 1; |
311 | DebugDisplayAnforderung = 1; |
255 | break; |
312 | break; |
256 | case 't':// Motortest |
313 | case 't':// Motortest |
257 | Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
314 | Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
258 | break; |
315 | break; |
259 | case 'k':// Keys von DubWise |
316 | case 'k':// Keys von DubWise |
260 | Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
317 | Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
261 | ConfirmFrame = DubWiseKeys[3]; |
318 | ConfirmFrame = DubWiseKeys[3]; |
262 | break; |
319 | break; |
263 | case 'v': // Version-Anforderung und Ausbaustufe |
320 | case 'v': // Version-Anforderung und Ausbaustufe |
264 | GetVersionAnforderung = 1; |
321 | GetVersionAnforderung = 1; |
265 | break; |
322 | break; |
266 | case 'g':// "Get"-Anforderung für Debug-Daten |
323 | case 'g':// "Get"-Anforderung für Debug-Daten |
267 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
324 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
268 | DebugGetAnforderung = 1; |
325 | DebugGetAnforderung = 1; |
269 | break; |
326 | break; |
270 | case 'q':// "Get"-Anforderung für Settings |
327 | case 'q':// "Get"-Anforderung für Settings |
271 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
328 | // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
272 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
329 | Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
273 | if(tmp_char_arr2[0] != 0xff) |
330 | if(tmp_char_arr2[0] != 0xff) |
274 | { |
331 | { |
275 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
332 | if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
276 | ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
333 | ReadParameterSet(tmp_char_arr2[0], (uint8_t *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
277 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
334 | SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
278 | } |
335 | } |
279 | else |
336 | else |
280 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
337 | SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
281 | 338 | ||
282 | break; |
339 | break; |
283 | 340 | ||
284 | case 'l': |
341 | case 'l': |
285 | case 'm': |
342 | case 'm': |
286 | case 'n': |
343 | case 'n': |
287 | case 'o': |
344 | case 'o': |
288 | case 'p': // Parametersatz speichern |
345 | case 'p': // Parametersatz speichern |
289 | Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
346 | Decode64((uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
290 | WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
347 | WriteParameterSet(rxd_buffer[2] - 'l' + 1, (uint8_t *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
291 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
348 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], rxd_buffer[2] - 'l' + 1); // aktiven Datensatz merken |
292 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
349 | Umschlag180Nick = (int32_t) EE_Parameter.WinkelUmschlagNick * 2500L; |
293 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
350 | Umschlag180Roll = (int32_t) EE_Parameter.WinkelUmschlagRoll * 2500L; |
294 | Piep(GetActiveParamSetNumber()); |
351 | Piep(GetActiveParamSetNumber()); |
295 | break; |
352 | break; |
296 | 353 | ||
297 | 354 | ||
298 | } |
355 | } |
299 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
356 | // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
300 | NeuerDatensatzEmpfangen = 0; |
357 | NeuerDatensatzEmpfangen = 0; |
Line 301... | Line 358... | ||
301 | } |
358 | } |
302 | 359 | ||
303 | //############################################################################ |
360 | //############################################################################ |
304 | //Routine für die Serielle Ausgabe |
361 | //Routine für die Serielle Ausgabe |
305 | int uart_putchar (char c) |
362 | int16_t uart_putchar (int8_t c) |
306 | //############################################################################ |
363 | //############################################################################ |
307 | { |
364 | { |
308 | if (c == '\n') |
365 | if (c == '\n') |
309 | uart_putchar('\r'); |
366 | uart_putchar('\r'); |
310 | //Warten solange bis Zeichen gesendet wurde |
367 | //Warten solange bis Zeichen gesendet wurde |
311 | loop_until_bit_is_set(USR, UDRE); |
368 | loop_until_bit_is_set(UCSR0A, UDRE0); |
312 | //Ausgabe des Zeichens |
369 | //Ausgabe des Zeichens |
313 | UDR = c; |
370 | UDR0 = c; |
314 | 371 | ||
Line 315... | Line 372... | ||
315 | return (0); |
372 | return (0); |
316 | } |
373 | } |
Line 321... | Line 378... | ||
321 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
378 | //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
322 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
379 | // else eeprom_write_byte(&EE_Buffer[pos], wert); |
323 | // Buffer[pos] = wert; |
380 | // Buffer[pos] = wert; |
324 | } |
381 | } |
Line 325... | Line -... | ||
325 | - | ||
326 | //############################################################################ |
- | |
327 | //INstallation der Seriellen Schnittstelle |
- | |
328 | void UART_Init (void) |
- | |
329 | //############################################################################ |
- | |
330 | { |
- | |
Line 331... | Line -... | ||
331 | //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
- | |
332 | - | ||
333 | UCR=(1 << TXEN) | (1 << RXEN); |
- | |
334 | // UART Double Speed (U2X) |
- | |
335 | USR |= (1<<U2X); |
- | |
336 | // RX-Interrupt Freigabe |
- | |
337 | UCSRB |= (1<<RXCIE); |
- | |
338 | // TX-Interrupt Freigabe |
- | |
339 | UCSRB |= (1<<TXCIE); |
- | |
340 | - | ||
341 | //Teiler wird gesetzt |
- | |
342 | UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
- | |
343 | //UBRR = 33; |
- | |
344 | //öffnet einen Kanal für printf (STDOUT) |
- | |
345 | //fdevopen (uart_putchar, 0); |
- | |
346 | //sbi(PORTD,4); |
- | |
Line 347... | Line 382... | ||
347 | Debug_Timer = SetDelay(200); |
382 | |
348 | } |
383 | |
349 | 384 | ||
350 | //--------------------------------------------------------------------------------------------- |
385 | //--------------------------------------------------------------------------------------------- |
Line 351... | Line 386... | ||
351 | void DatenUebertragung(void) |
386 | void DatenUebertragung(void) |
352 | { |
387 | { |
353 | if(!UebertragungAbgeschlossen) return; |
388 | if(!UebertragungAbgeschlossen) return; |
354 | 389 | ||
355 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
390 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
Line 356... | Line 391... | ||
356 | { |
391 | { |
357 | SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
392 | SendOutData('G',MeineSlaveAdresse,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
358 | DebugGetAnforderung = 0; |
393 | DebugGetAnforderung = 0; |
359 | } |
394 | } |
360 | 395 | ||
361 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
396 | if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
362 | { |
397 | { |
363 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
398 | SendOutData('D',MeineSlaveAdresse,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
364 | DebugDataAnforderung = 0; |
399 | DebugDataAnforderung = 0; |
365 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
400 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
366 | } |
401 | } |
367 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
402 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
368 | { |
403 | { |
369 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
404 | SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
370 | DebugTextAnforderung = 255; |
405 | DebugTextAnforderung = 255; |
371 | } |
406 | } |
372 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
407 | if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
373 | { |
408 | { |
374 | SendeBuffer[0] = '#'; |
409 | txd_buffer[0] = '#'; |
375 | SendeBuffer[1] = ConfirmFrame; |
410 | txd_buffer[1] = ConfirmFrame; |
376 | SendeBuffer[2] = '\r'; |
411 | txd_buffer[2] = '\r'; |
377 | UebertragungAbgeschlossen = 0; |
412 | UebertragungAbgeschlossen = 0; |
378 | ConfirmFrame = 0; |
413 | ConfirmFrame = 0; |
379 | UDR = SendeBuffer[0]; |
414 | UDR0 = txd_buffer[0]; |
380 | } |
415 | } |
381 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
416 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
382 | { |
417 | { |
383 | Menu(); |
418 | Menu(); |
384 | DebugDisplayAnforderung = 0; |
419 | DebugDisplayAnforderung = 0; |
385 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
420 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
386 | { |
421 | { |
387 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
422 | SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
388 | RemotePollDisplayLine = -1; |
423 | RemotePollDisplayLine = -1; |
389 | } |
424 | } |
390 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
425 | else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
391 | } |
426 | } |
Line 392... | Line 427... | ||
392 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
427 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |