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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 41 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include <stdio.h> |
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| 58 | #include <stdarg.h> |
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| 59 | #include <string.h> |
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| 60 | |||
| 61 | #include "91x_lib.h" |
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| 136 | killagreg | 62 | #include "config.h" |
| 41 | ingob | 63 | #include "menu.h" |
| 64 | #include "printf_P.h" |
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| 65 | #include "GPS.h" |
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| 66 | #include "i2c.h" |
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| 67 | #include "uart0.h" |
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| 68 | #include "uart1.h" |
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| 69 | #include "uart2.h" |
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| 119 | killagreg | 70 | #include "timer1.h" |
| 139 | killagreg | 71 | #include "timer2.h" |
| 72 | #include "analog.h" |
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| 41 | ingob | 73 | #include "main.h" |
| 74 | #include "waypoints.h" |
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| 110 | killagreg | 75 | #include "mkprotocol.h" |
| 156 | killagreg | 76 | #include "params.h" |
| 153 | killagreg | 77 | #include "fifo.h" |
| 41 | ingob | 78 | |
| 79 | #define FALSE 0 |
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| 80 | #define TRUE 1 |
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| 81 | |||
| 92 | killagreg | 82 | |
| 110 | killagreg | 83 | u8 UART1_Request_VersionInfo = FALSE; |
| 84 | u8 UART1_Request_SendFollowMe = FALSE; |
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| 85 | u8 UART1_Request_ExternalControl= FALSE; |
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| 86 | u8 UART1_Request_Display = FALSE; |
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| 87 | u8 UART1_Request_Display1 = FALSE; |
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| 88 | u8 UART1_Request_DebugData = FALSE; |
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| 89 | u8 UART1_Request_DebugLabel = 255; |
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| 90 | u8 UART1_Request_NaviData = FALSE; |
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| 91 | u8 UART1_Request_ErrorMessage = FALSE; |
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| 92 | u8 UART1_Request_NewWaypoint = FALSE; |
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| 93 | u8 UART1_Request_ReadWaypoint = 255; |
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| 94 | u8 UART1_Request_Data3D = FALSE; |
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| 95 | u8 UART1_Request_Echo = FALSE; |
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| 156 | killagreg | 96 | u8 UART1_Request_ParameterId = 0; |
| 158 | killagreg | 97 | u8 UART1_Request_Parameter = FALSE; |
| 112 | killagreg | 98 | u8 UART1_DisplayLine = 0; |
| 99 | u8 UART1_ConfirmFrame = 0; |
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| 41 | ingob | 100 | |
| 101 | UART_TypeDef *DebugUART = UART1; |
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| 102 | |||
| 153 | killagreg | 103 | // the primary rx fifo |
| 154 | killagreg | 104 | #define UART1_RX_FIFO_LEN 1024 |
| 153 | killagreg | 105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| 106 | fifo_t UART1_rx_fifo; |
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| 110 | killagreg | 107 | |
| 108 | // the rx buffer |
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| 109 | #define UART1_RX_BUFFER_LEN 150 |
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| 110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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| 111 | Buffer_t UART1_rx_buffer; |
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| 112 | |||
| 153 | killagreg | 113 | // the tx buffer |
| 114 | #define UART1_TX_BUFFER_LEN 150 |
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| 115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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| 116 | Buffer_t UART1_tx_buffer; |
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| 117 | |||
| 118 | |||
| 119 | |||
| 92 | killagreg | 120 | volatile u8 SerialLinkOkay = 0; |
| 41 | ingob | 121 | |
| 150 | killagreg | 122 | u8 text[200]; |
| 41 | ingob | 123 | |
| 124 | const u8 ANALOG_LABEL[32][16] = |
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| 125 | { |
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| 90 | killagreg | 126 | //1234567890123456 |
| 41 | ingob | 127 | "AngleNick ", //0 |
| 128 | "AngleRoll ", |
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| 129 | "AccNick ", |
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| 130 | "AccRoll ", |
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| 131 | " ", |
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| 75 | holgerb | 132 | "MK-Flags ", //5 |
| 95 | killagreg | 133 | "NC-Flags ", |
| 121 | killagreg | 134 | "NickServo ", |
| 135 | "RollServo ", |
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| 41 | ingob | 136 | "GPS Data ", |
| 61 | holgerb | 137 | "CompassHeading ", //10 |
| 138 | "GyroHeading ", |
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| 41 | ingob | 139 | "SPI Error ", |
| 140 | "SPI Okay ", |
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| 184 | holgerb | 141 | " ", |
| 41 | ingob | 142 | "I2C Okay ", //15 |
| 149 | killagreg | 143 | " ",// "Kalman_K ", |
| 41 | ingob | 144 | "ACC_Speed_N ", |
| 145 | "ACC_Speed_E ", |
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| 148 | holgerb | 146 | "Speed_z ",// "GPS ACC ", |
| 41 | ingob | 147 | " ",// "MAXDrift ", //20 |
| 148 | "N_Speed ", |
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| 149 | "E_Speed ", |
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| 99 | killagreg | 150 | "P-Part ", |
| 151 | "I-Part ", |
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| 152 | "D-Part ",//25 |
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| 153 | "PID-Part ", |
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| 41 | ingob | 154 | "Distance N ", |
| 155 | "Distance E ", |
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| 156 | "GPS_Nick ", |
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| 157 | "GPS_Roll ", //30 |
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| 158 | "Used_Sats " |
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| 159 | }; |
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| 160 | |||
| 112 | killagreg | 161 | DebugOut_t DebugOut; |
| 162 | ExternControl_t ExternControl; |
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| 163 | UART_VersionInfo_t UART_VersionInfo; |
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| 164 | NaviData_t NaviData; |
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| 165 | Waypoint_t FollowMe; |
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| 166 | Data3D_t Data3D; |
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| 167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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| 41 | ingob | 168 | |
| 112 | killagreg | 169 | u32 UART1_DebugData_Timer; |
| 170 | u32 UART1_DebugData_Interval = 5000; // in ms |
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| 171 | u32 UART1_NaviData_Timer; |
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| 172 | u32 UART1_NaviData_Interval = 5000; // in ms |
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| 173 | u32 UART1_Data3D_Timer = 0; // in ms |
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| 174 | u32 UART1_Data3D_Interval = 0; |
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| 175 | |||
| 41 | ingob | 176 | /********************************************************/ |
| 177 | /* Initialization the UART1 */ |
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| 178 | /********************************************************/ |
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| 179 | void UART1_Init (void) |
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| 180 | { |
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| 181 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 182 | UART_InitTypeDef UART_InitStructure; |
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| 183 | |||
| 153 | killagreg | 184 | // initialize txd buffer |
| 185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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| 165 | killagreg | 186 | |
| 153 | killagreg | 187 | // initialize rxd buffer |
| 188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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| 189 | |||
| 190 | // initialize the rx fifo |
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| 191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
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| 192 | |||
| 41 | ingob | 193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| 194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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| 195 | |||
| 196 | /*Configure UART1_Rx pin GPIO3.2*/ |
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| 197 | GPIO_StructInit(&GPIO_InitStructure); |
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| 198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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| 203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 204 | |||
| 205 | /*Configure UART1_Tx pin GPIO3.3*/ |
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| 206 | GPIO_StructInit(&GPIO_InitStructure); |
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| 207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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| 209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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| 211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 212 | |||
| 213 | /* UART1 configured as follow: |
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| 214 | - Word Length = 8 Bits |
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| 215 | - One Stop Bit |
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| 216 | - No parity |
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| 217 | - BaudRate = 57600 baud |
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| 218 | - Hardware flow control Disabled |
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| 219 | - Receive and transmit enabled |
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| 220 | - Receive and transmit FIFOs are Disabled |
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| 221 | */ |
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| 222 | UART_StructInit(&UART_InitStructure); |
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| 223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 110 | killagreg | 226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 41 | ingob | 227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 139 | killagreg | 231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 41 | ingob | 232 | |
| 233 | UART_DeInit(UART1); // reset uart 1 to default |
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| 165 | killagreg | 234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 41 | ingob | 235 | // enable uart 1 interrupts selective |
| 236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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| 237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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| 136 | killagreg | 238 | // configure the uart 1 interupt line |
| 239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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| 153 | killagreg | 240 | // enable the uart 1 IRQ |
| 41 | ingob | 241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 153 | killagreg | 242 | |
| 41 | ingob | 243 | // initialize the debug timer |
| 110 | killagreg | 244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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| 246 | |||
| 41 | ingob | 247 | // Fill Version Info Structure |
| 248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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| 249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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| 250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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| 251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 253 | |||
| 89 | killagreg | 254 | NaviData.Version = NAVIDATA_VERSION; |
| 92 | killagreg | 255 | |
| 110 | killagreg | 256 | UART1_PutString("\r\nUART1 init...ok"); |
| 41 | ingob | 257 | } |
| 258 | |||
| 259 | |||
| 260 | /****************************************************************/ |
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| 261 | /* USART1 receiver ISR */ |
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| 262 | /****************************************************************/ |
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| 263 | void UART1_IRQHandler(void) |
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| 264 | { |
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| 265 | static u8 abortState = 0; |
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| 266 | u8 c; |
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| 267 | |||
| 268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 269 | { |
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| 153 | killagreg | 270 | // clear the pending bits! |
| 41 | ingob | 271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| 272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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| 273 | // if debug UART is not UART1 |
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| 274 | if (DebugUART != UART1) |
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| 275 | { // forward received data to the debug UART tx buffer |
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| 276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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| 277 | { |
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| 278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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| 279 | c = UART_ReceiveData(UART1); |
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| 280 | |||
| 281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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| 282 | switch (abortState) |
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| 283 | { |
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| 165 | killagreg | 284 | case 0: |
| 139 | killagreg | 285 | if (c == 27) abortState++; |
| 41 | ingob | 286 | break; |
| 165 | killagreg | 287 | case 1: |
| 288 | if (c == 27) abortState++; |
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| 139 | killagreg | 289 | else abortState = 0; |
| 41 | ingob | 290 | break; |
| 139 | killagreg | 291 | case 2: |
| 165 | killagreg | 292 | if (c == 0x55) abortState++; |
| 139 | killagreg | 293 | else abortState = 0; |
| 41 | ingob | 294 | break; |
| 139 | killagreg | 295 | case 3: |
| 296 | if (c == 0xAA) abortState++; |
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| 297 | else abortState = 0; |
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| 41 | ingob | 298 | break; |
| 165 | killagreg | 299 | case 4: |
| 139 | killagreg | 300 | if (c == 0x00) |
| 301 | { |
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| 302 | if(DebugUART == UART0) |
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| 303 | { |
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| 304 | UART0_Connect_to_MKGPS(); |
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| 179 | killagreg | 305 | TIMER2_Init(); // enbable servo outputs |
| 153 | killagreg | 306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 139 | killagreg | 307 | } |
| 308 | DebugUART = UART1; |
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| 165 | killagreg | 309 | } |
| 139 | killagreg | 310 | abortState = 0; |
| 311 | break; |
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| 312 | } // end switch abort state |
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| 136 | killagreg | 313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 110 | killagreg | 314 | if (DebugUART != UART1) |
| 315 | { |
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| 316 | // wait for space in the tx buffer of the DebugUART |
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| 317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 141 | killagreg | 318 | // move byte to the tx fifo of the debug uart |
| 110 | killagreg | 319 | UART_SendData(DebugUART, c); |
| 320 | } |
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| 41 | ingob | 321 | } |
| 322 | } |
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| 323 | else // DebugUART == UART1 (normal operation) |
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| 324 | { |
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| 110 | killagreg | 325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 154 | killagreg | 326 | { // some byes in the hardware fifo |
| 153 | killagreg | 327 | // get byte from hardware fifo |
| 41 | ingob | 328 | c = UART_ReceiveData(UART1); |
| 153 | killagreg | 329 | // put into the software fifo |
| 330 | if(!fifo_put(&UART1_rx_fifo, c)) |
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| 331 | { // fifo overflow |
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| 155 | killagreg | 332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| 153 | killagreg | 333 | } |
| 154 | killagreg | 334 | } // EOF while some byes in the hardware fifo |
| 41 | ingob | 335 | } // eof DebugUart = UART1 |
| 336 | } |
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| 337 | } |
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| 338 | |||
| 339 | /**************************************************************/ |
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| 340 | /* Process incomming data from debug uart */ |
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| 341 | /**************************************************************/ |
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| 342 | void UART1_ProcessRxData(void) |
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| 343 | { |
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| 154 | killagreg | 344 | // return on forwarding uart or unlocked rx buffer |
| 155 | killagreg | 345 | if(DebugUART != UART1) return; |
| 165 | killagreg | 346 | |
| 155 | killagreg | 347 | u8 c; |
| 348 | // if rx buffer is not locked |
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| 349 | if(UART1_rx_buffer.Locked == FALSE) |
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| 165 | killagreg | 350 | { //collect data from primary rx fifo |
| 155 | killagreg | 351 | while(fifo_get(&UART1_rx_fifo, &c)) |
| 352 | { // break if complete frame is collected |
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| 353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
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| 354 | } |
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| 355 | } |
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| 356 | if(UART1_rx_buffer.Locked == FALSE) return; |
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| 357 | |||
| 41 | ingob | 358 | Waypoint_t * pWaypoint = NULL; |
| 153 | killagreg | 359 | SerialMsg_t SerialMsg; |
| 41 | ingob | 360 | |
| 110 | killagreg | 361 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 153 | killagreg | 362 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 363 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
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| 41 | ingob | 364 | { |
| 365 | case NC_ADDRESS: // own Slave Address |
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| 153 | killagreg | 366 | switch(*(SerialMsg.pCmdID)) |
| 41 | ingob | 367 | { |
| 101 | holgerb | 368 | case 'z': // connection checker |
| 110 | killagreg | 369 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 370 | UART1_Request_Echo = TRUE; |
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| 92 | killagreg | 371 | break; |
| 372 | |||
| 41 | ingob | 373 | case 'e': // request for the text of the error status |
| 110 | killagreg | 374 | UART1_Request_ErrorMessage = TRUE; |
| 41 | ingob | 375 | break; |
| 376 | |||
| 377 | case 's':// new target position |
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| 110 | killagreg | 378 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 41 | ingob | 379 | BeepTime = 300; |
| 380 | if(pWaypoint->Position.Status == NEWDATA) |
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| 381 | { |
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| 382 | WPList_Clear(); // empty WPList |
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| 383 | WPList_Append(pWaypoint); |
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| 384 | GPS_pWaypoint = WPList_Begin(); |
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| 385 | } |
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| 386 | break; |
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| 387 | |||
| 388 | case 'u': // redirect debug uart |
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| 110 | killagreg | 389 | switch(SerialMsg.pData[0]) |
| 41 | ingob | 390 | { |
| 391 | case UART_FLIGHTCTRL: |
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| 392 | UART2_Init(); // initialize UART2 to FC pins |
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| 153 | killagreg | 393 | fifo_purge(&UART1_rx_fifo); |
| 180 | killagreg | 394 | TIMER2_Deinit(); // reduce irq load |
| 41 | ingob | 395 | DebugUART = UART2; |
| 396 | break; |
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| 397 | case UART_MK3MAG: |
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| 398 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 399 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
||
| 400 | GPSData.Status = INVALID; |
||
| 153 | killagreg | 401 | fifo_purge(&UART1_rx_fifo); |
| 41 | ingob | 402 | DebugUART = UART0; |
| 403 | break; |
||
| 404 | case UART_MKGPS: |
||
| 405 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
| 179 | killagreg | 406 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
| 41 | ingob | 407 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 408 | GPSData.Status = INVALID; |
||
| 153 | killagreg | 409 | fifo_purge(&UART1_rx_fifo); |
| 41 | ingob | 410 | DebugUART = UART0; |
| 411 | break; |
||
| 153 | killagreg | 412 | default: |
| 413 | break; |
||
| 41 | ingob | 414 | } |
| 415 | break; |
||
| 416 | |||
| 92 | killagreg | 417 | case 'w':// Append Waypoint to List |
| 165 | killagreg | 418 | { |
| 419 | static u8 oldIndex = 0x00; |
||
| 420 | |||
| 421 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
||
| 422 | if(pWaypoint->Position.Status == INVALID) |
||
| 423 | { // clear WP List |
||
| 424 | WPList_Clear(); |
||
| 425 | oldIndex = 0x00; |
||
| 426 | GPS_pWaypoint = WPList_Begin(); |
||
| 427 | UART1_Request_NewWaypoint = TRUE; |
||
| 428 | } |
||
| 429 | else if (pWaypoint->Position.Status == NEWDATA) |
||
| 430 | { // app current WP to the list |
||
| 431 | if (pWaypoint->Index == oldIndex + 1) |
||
| 432 | { |
||
| 433 | WPList_Append(pWaypoint); |
||
| 434 | BeepTime = 500; |
||
| 435 | oldIndex = pWaypoint->Index; |
||
| 436 | UART1_Request_NewWaypoint = TRUE; |
||
| 437 | } |
||
| 438 | } |
||
| 41 | ingob | 439 | } |
| 440 | break; |
||
| 441 | |||
| 92 | killagreg | 442 | case 'x':// Read Waypoint from List |
| 110 | killagreg | 443 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 92 | killagreg | 444 | break; |
| 445 | |||
| 160 | holgerb | 446 | case 'j':// Set/Get NC-Parameter |
| 156 | killagreg | 447 | switch(SerialMsg.pData[0]) |
| 448 | { |
||
| 449 | case 0: // get |
||
| 450 | break; |
||
| 165 | killagreg | 451 | |
| 156 | killagreg | 452 | case 1: // set |
| 159 | killagreg | 453 | { |
| 454 | s16 value; |
||
| 455 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
| 456 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
| 457 | } |
||
| 156 | killagreg | 458 | break; |
| 459 | |||
| 460 | default: |
||
| 165 | killagreg | 461 | break; |
| 156 | killagreg | 462 | } |
| 463 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
| 464 | UART1_Request_Parameter = TRUE; |
||
| 465 | break; |
||
| 41 | ingob | 466 | default: |
| 467 | // unsupported command recieved |
||
| 468 | break; |
||
| 469 | } // case NC_ADDRESS |
||
| 65 | killagreg | 470 | // "break;" is missing here to fall thru to the common commands |
| 41 | ingob | 471 | |
| 472 | default: // and any other Slave Address |
||
| 473 | |||
| 153 | killagreg | 474 | switch(*(SerialMsg.pCmdID)) // check CmdID |
| 41 | ingob | 475 | { |
| 476 | case 'a':// request for the labels of the analog debug outputs |
||
| 110 | killagreg | 477 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 478 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
| 41 | ingob | 479 | break; |
| 480 | |||
| 481 | case 'b': // submit extern control |
||
| 121 | killagreg | 482 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 112 | killagreg | 483 | UART1_ConfirmFrame = ExternControl.Frame; |
| 41 | ingob | 484 | break; |
| 485 | |||
| 486 | case 'd': // request for debug data; |
||
| 110 | killagreg | 487 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 488 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
| 41 | ingob | 489 | break; |
| 490 | |||
| 63 | killagreg | 491 | case 'c': // request for 3D data; |
| 110 | killagreg | 492 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 493 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
| 63 | killagreg | 494 | break; |
| 495 | |||
| 41 | ingob | 496 | case 'g':// request for external control data |
| 110 | killagreg | 497 | UART1_Request_ExternalControl = TRUE; |
| 41 | ingob | 498 | break; |
| 499 | |||
| 500 | case 'h':// reqest for display line |
||
| 110 | killagreg | 501 | RemoteKeys |= SerialMsg.pData[0]; |
| 112 | killagreg | 502 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
| 110 | killagreg | 503 | UART1_Request_Display = TRUE; |
| 41 | ingob | 504 | break; |
| 505 | |||
| 506 | case 'l':// reqest for display columns |
||
| 110 | killagreg | 507 | MenuItem = SerialMsg.pData[0]; |
| 508 | UART1_Request_Display1 = TRUE; |
||
| 41 | ingob | 509 | break; |
| 64 | holgerb | 510 | |
| 511 | case 'o': // request for navigation information |
||
| 110 | killagreg | 512 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 513 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
| 64 | holgerb | 514 | break; |
| 515 | |||
| 41 | ingob | 516 | case 'v': // request for version info |
| 110 | killagreg | 517 | UART1_Request_VersionInfo = TRUE; |
| 41 | ingob | 518 | break; |
| 519 | default: |
||
| 520 | // unsupported command recieved |
||
| 521 | break; |
||
| 522 | } |
||
| 523 | break; // default: |
||
| 524 | } |
||
| 153 | killagreg | 525 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 41 | ingob | 526 | } |
| 527 | |||
| 528 | |||
| 529 | /*****************************************************/ |
||
| 530 | /* Send a character */ |
||
| 531 | /*****************************************************/ |
||
| 110 | killagreg | 532 | s16 UART1_Putchar(char c) |
| 41 | ingob | 533 | { |
| 110 | killagreg | 534 | if (c == '\n') UART1_Putchar('\r'); |
| 41 | ingob | 535 | // wait until txd fifo is not full |
| 536 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
| 537 | // transmit byte |
||
| 538 | UART_SendData(UART1, c); |
||
| 539 | return (0); |
||
| 540 | } |
||
| 541 | |||
| 542 | /*****************************************************/ |
||
| 543 | /* Send a string to the debug uart */ |
||
| 544 | /*****************************************************/ |
||
| 110 | killagreg | 545 | void UART1_PutString(u8 *s) |
| 41 | ingob | 546 | { |
| 547 | if(s == NULL) return; |
||
| 548 | while (*s != '\0' && DebugUART == UART1) |
||
| 549 | { |
||
| 110 | killagreg | 550 | UART1_Putchar(*s); |
| 41 | ingob | 551 | s ++; |
| 552 | } |
||
| 553 | } |
||
| 554 | |||
| 113 | killagreg | 555 | |
| 110 | killagreg | 556 | /**************************************************************/ |
| 557 | /* Transmit tx buffer via debug uart */ |
||
| 558 | /**************************************************************/ |
||
| 559 | void UART1_Transmit(void) |
||
| 560 | { |
||
| 561 | u8 tmp_tx; |
||
| 562 | if(DebugUART != UART1) return; |
||
| 563 | // if something has to be send and the txd fifo is not full |
||
| 113 | killagreg | 564 | if(UART1_tx_buffer.Locked == TRUE) |
| 110 | killagreg | 565 | { |
| 113 | killagreg | 566 | // while there is some space in the tx fifo |
| 567 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
| 110 | killagreg | 568 | { |
| 113 | killagreg | 569 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 570 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
| 571 | // if terminating character or end of txd buffer reached |
||
| 572 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
| 573 | { |
||
| 574 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
| 575 | break; // end while loop |
||
| 576 | } |
||
| 110 | killagreg | 577 | } |
| 578 | } |
||
| 579 | } |
||
| 41 | ingob | 580 | |
| 581 | /**************************************************************/ |
||
| 582 | /* Send the answers to incomming commands at the debug uart */ |
||
| 583 | /**************************************************************/ |
||
| 584 | void UART1_TransmitTxData(void) |
||
| 585 | { |
||
| 110 | killagreg | 586 | if(DebugUART != UART1) return; |
| 587 | UART1_Transmit(); // output pending bytes in tx buffer |
||
| 588 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
| 41 | ingob | 589 | |
| 156 | killagreg | 590 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| 92 | killagreg | 591 | { |
| 156 | killagreg | 592 | s16 ParamValue; |
| 157 | killagreg | 593 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| 158 | killagreg | 594 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
| 595 | //UART1_PutString(text); |
||
| 160 | holgerb | 596 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| 156 | killagreg | 597 | UART1_Request_Parameter = FALSE; |
| 598 | } |
||
| 599 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
| 600 | { |
||
| 110 | killagreg | 601 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 92 | killagreg | 602 | Echo = 0; // reset echo value |
| 110 | killagreg | 603 | UART1_Request_Echo = FALSE; |
| 92 | killagreg | 604 | } |
| 154 | killagreg | 605 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
| 606 | { |
||
| 607 | u8 WPNumber = WPList_GetCount(); |
||
| 608 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 609 | UART1_Request_NewWaypoint = FALSE; |
||
| 610 | } |
||
| 611 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
| 612 | { |
||
| 613 | u8 WPNumber = WPList_GetCount(); |
||
| 614 | if (UART1_Request_ReadWaypoint < WPNumber) |
||
| 615 | { |
||
| 616 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
| 617 | } |
||
| 618 | else |
||
| 619 | { |
||
| 620 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 621 | } |
||
| 622 | UART1_Request_ReadWaypoint = 0xFF; |
||
| 623 | } |
||
| 624 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
| 625 | { |
||
| 626 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
| 627 | UART1_Request_DebugLabel = 0xFF; |
||
| 628 | } |
||
| 151 | killagreg | 629 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 630 | { |
| 151 | killagreg | 631 | NaviData.Errorcode = ErrorCode; |
| 632 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
| 633 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
| 634 | UART1_Request_NaviData = FALSE; |
||
| 635 | } |
||
| 636 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
| 637 | { |
||
| 110 | killagreg | 638 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 639 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
| 640 | UART1_Request_DebugData = FALSE; |
||
| 41 | ingob | 641 | } |
| 151 | killagreg | 642 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 61 | holgerb | 643 | { |
| 110 | killagreg | 644 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 645 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
| 646 | UART1_Request_Data3D = FALSE; |
||
| 61 | holgerb | 647 | } |
| 153 | killagreg | 648 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 649 | { |
||
| 650 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
| 651 | UART1_ConfirmFrame = 0; |
||
| 652 | } |
||
| 151 | killagreg | 653 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 654 | { |
| 110 | killagreg | 655 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 656 | UART1_Request_ExternalControl = FALSE; |
||
| 41 | ingob | 657 | } |
| 151 | killagreg | 658 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 659 | { |
| 660 | LCD_PrintMenu(); |
||
| 112 | killagreg | 661 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
| 662 | UART1_DisplayLine++; |
||
| 663 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
||
| 110 | killagreg | 664 | UART1_Request_Display = FALSE; |
| 41 | ingob | 665 | } |
| 151 | killagreg | 666 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 667 | { |
| 668 | LCD_PrintMenu(); |
||
| 110 | killagreg | 669 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 670 | UART1_Request_Display1 = FALSE; |
||
| 41 | ingob | 671 | } |
| 151 | killagreg | 672 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 673 | { |
| 110 | killagreg | 674 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 675 | UART1_Request_VersionInfo = FALSE; |
||
| 41 | ingob | 676 | } |
| 151 | killagreg | 677 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 678 | { |
| 110 | killagreg | 679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 680 | UART1_Request_ErrorMessage = FALSE; |
||
| 41 | ingob | 681 | } |
| 151 | killagreg | 682 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 41 | ingob | 683 | { |
| 684 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
| 685 | FollowMe.Position.Status = NEWDATA; |
||
| 686 | FollowMe.Heading = -1; |
||
| 687 | FollowMe.ToleranceRadius = 1; |
||
| 688 | FollowMe.HoldTime = 60; |
||
| 689 | FollowMe.Event_Flag = 0; |
||
| 690 | FollowMe.reserve[0] = 0; // reserve |
||
| 691 | FollowMe.reserve[1] = 0; // reserve |
||
| 692 | FollowMe.reserve[2] = 0; // reserve |
||
| 693 | FollowMe.reserve[3] = 0; // reserve |
||
| 110 | killagreg | 694 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 695 | UART1_Request_SendFollowMe = FALSE; |
||
| 41 | ingob | 696 | } |
| 110 | killagreg | 697 | UART1_Transmit(); // output pending bytes in tx buffer |
| 41 | ingob | 698 | } |
| 699 |