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Rev 492 | Rev 499 | ||
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Line 17... | Line 17... | ||
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; |
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22 | unsigned char NurKanalAnforderung = 0; |
23 | unsigned char NurKanalAnforderung = 0; |
- | 24 | unsigned char DebugTextAnforderung = 255; |
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23 | unsigned char PcZugriff = 100; |
25 | unsigned char PcZugriff = 100; |
24 | unsigned char MotorTest[4] = {0,0,0,0}; |
26 | unsigned char MotorTest[4] = {0,0,0,0}; |
25 | unsigned char DubWiseKeys[3] = {0,0,0}; |
27 | unsigned char DubWiseKeys[3] = {0,0,0}; |
26 | unsigned char MeineSlaveAdresse; |
28 | unsigned char MeineSlaveAdresse; |
27 | struct str_DebugOut DebugOut; |
29 | struct str_DebugOut DebugOut; |
28 | struct str_Debug DebugIn; |
30 | struct str_Debug DebugIn; |
29 | struct str_VersionInfo VersionInfo; |
31 | struct str_VersionInfo VersionInfo; |
30 | int Debug_Timer; |
32 | int Debug_Timer; |
Line -... | Line 33... | ||
- | 33 | ||
- | 34 | const unsigned char ANALOG_TEXT[32][16] = |
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- | 35 | { |
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- | 36 | //1234567890123456 |
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- | 37 | "IntegralNick ", //0 |
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- | 38 | "IntegralRoll ", |
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- | 39 | "AccNick ", |
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- | 40 | "AccRoll ", |
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- | 41 | "GyroGier ", |
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- | 42 | "HoehenWert ", //5 |
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- | 43 | "AccZ ", |
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- | 44 | "Gas ", |
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- | 45 | "KompassValue ", |
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- | 46 | "MesswertNick ", |
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- | 47 | "10_SenderOkay ", //10 |
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- | 48 | "11_MesswertRoll ", |
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- | 49 | "Motor_Vorne ", |
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- | 50 | "Motor_Hinten ", |
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- | 51 | "Motor_Links ", |
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- | 52 | "Motor_Rechts ", //15 |
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- | 53 | "16_Acc_Z ", |
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- | 54 | "17MittelAccNick ", |
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- | 55 | "18_MittelAccRoll", |
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- | 56 | "Analog19 ", |
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- | 57 | "IntegralErrRoll ", //20 |
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- | 58 | "Analog21 ", |
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- | 59 | "22_MittelGIngR ", |
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- | 60 | "Analog23 ", |
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- | 61 | "24RollOffset ", |
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- | 62 | "25IntRoll*Fakt ", //25 |
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- | 63 | "Analog26 ", |
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- | 64 | "DirektAusglRoll ", |
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- | 65 | "28MesswertRoll ", |
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- | 66 | "29AusgleichRoll ", |
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- | 67 | "30_I-LageRoll ", //30 |
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- | 68 | "31_StickRoll " |
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- | 69 | }; |
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- | 70 | ||
- | 71 | ||
31 | 72 | ||
32 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
73 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | //++ Sende-Part der Datenübertragung |
74 | //++ Sende-Part der Datenübertragung |
34 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
75 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
35 | SIGNAL(INT_VEC_TX) |
76 | SIGNAL(INT_VEC_TX) |
Line 188... | Line 229... | ||
188 | // unsigned char tmp_char_arr4[4]; |
229 | // unsigned char tmp_char_arr4[4]; |
189 | //if(!MotorenEin) |
230 | //if(!MotorenEin) |
190 | PcZugriff = 255; |
231 | PcZugriff = 255; |
191 | switch(RxdBuffer[2]) |
232 | switch(RxdBuffer[2]) |
192 | { |
233 | { |
- | 234 | case 'a':// Texte der Analogwerte |
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- | 235 | Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
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- | 236 | DebugTextAnforderung = tmp_char_arr2[0]; |
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- | 237 | break; |
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193 | case 'c':// Debugdaten incl. Externe IOs usw |
238 | case 'c':// Debugdaten incl. Externe IOs usw |
194 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
239 | Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
195 | /* for(unsigned char i=0; i<4;i++) |
240 | /* for(unsigned char i=0; i<4;i++) |
196 | { |
241 | { |
197 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
242 | EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
Line 300... | Line 345... | ||
300 | } |
345 | } |
Line 301... | Line 346... | ||
301 | 346 | ||
302 | //--------------------------------------------------------------------------------------------- |
347 | //--------------------------------------------------------------------------------------------- |
303 | void DatenUebertragung(void) |
348 | void DatenUebertragung(void) |
304 | { |
- | |
305 | static char dis_zeile = 0; |
349 | { |
Line 306... | Line 350... | ||
306 | if(!UebertragungAbgeschlossen) return; |
350 | if(!UebertragungAbgeschlossen) return; |
307 | 351 | ||
308 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
352 | if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
Line 315... | Line 359... | ||
315 | { |
359 | { |
316 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
360 | SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
317 | DebugDataAnforderung = 0; |
361 | DebugDataAnforderung = 0; |
318 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
362 | Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
319 | } |
363 | } |
- | 364 | if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
|
- | 365 | { |
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- | 366 | SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
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- | 367 | DebugTextAnforderung = 255; |
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- | 368 | } |
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Line 320... | Line 369... | ||
320 | 369 | ||
321 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
370 | if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
322 | { |
371 | { |
323 | Menu(); |
372 | Menu(); |
324 | DebugDisplayAnforderung = 0; |
373 | DebugDisplayAnforderung = 0; |
325 | if(++dis_zeile == 4 || NurKanalAnforderung) |
374 | if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
326 | { |
375 | { |
327 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
376 | SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
328 | dis_zeile = -1; |
377 | RemotePollDisplayLine = -1; |
329 | } |
378 | } |
330 | else SendOutData('0' + dis_zeile,0,(unsigned char *)&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
379 | else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
331 | } |
380 | } |
332 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
381 | if(GetVersionAnforderung && UebertragungAbgeschlossen) |
333 | { |
382 | { |
334 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
383 | SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |