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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | 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 |
| 1 | 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 |
| 1 | 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 |
| 1 | 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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| 112 | killagreg | 57 | #include <string.h> |
| 41 | ingob | 58 | #include "91x_lib.h" |
| 136 | killagreg | 59 | #include "config.h" |
| 112 | killagreg | 60 | #include "main.h" |
| 41 | ingob | 61 | #include "uart1.h" |
| 62 | #include "usb.h" |
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| 111 | killagreg | 63 | #include "mkprotocol.h" |
| 112 | killagreg | 64 | #include "waypoints.h" |
| 65 | #include "gps.h" |
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| 119 | killagreg | 66 | #include "timer1.h" |
| 112 | killagreg | 67 | #include "uart0.h" |
| 68 | #include "uart1.h" |
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| 69 | #include "uart2.h" |
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| 70 | #include "menu.h" |
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| 111 | killagreg | 71 | |
| 201 | killagreg | 72 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 73 | u32 USB_AboTimeOut = 0; |
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| 111 | killagreg | 74 | |
| 75 | // the tx buffer |
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| 76 | #define USB_TX_BUFFER_LEN 150 |
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| 77 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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| 78 | Buffer_t USB_tx_buffer; |
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| 79 | |||
| 80 | // the rx buffer |
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| 81 | #define USB_RX_BUFFER_LEN 150 |
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| 82 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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| 83 | Buffer_t USB_rx_buffer; |
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| 84 | |||
| 112 | killagreg | 85 | u8 USB_Request_VersionInfo = FALSE; |
| 86 | u8 USB_Request_SendFollowMe = FALSE; |
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| 87 | u8 USB_Request_ExternalControl= FALSE; |
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| 88 | u8 USB_Request_Display = FALSE; |
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| 89 | u8 USB_Request_Display1 = FALSE; |
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| 90 | u8 USB_Request_DebugData = FALSE; |
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| 91 | u8 USB_Request_DebugLabel = 255; |
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| 92 | u8 USB_Request_NaviData = FALSE; |
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| 93 | u8 USB_Request_ErrorMessage = FALSE; |
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| 94 | u8 USB_Request_NewWaypoint = FALSE; |
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| 95 | u8 USB_Request_ReadWaypoint = 255; |
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| 96 | u8 USB_Request_Data3D = FALSE; |
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| 97 | u8 USB_Request_Echo = FALSE; |
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| 111 | killagreg | 98 | |
| 201 | killagreg | 99 | u8 USB_DisplayKeys = 0; |
| 112 | killagreg | 100 | u8 USB_ConfirmFrame = 0; |
| 101 | |||
| 102 | u32 USB_DebugData_Timer = 0; |
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| 103 | u32 USB_DebugData_Interval = 0; // in ms |
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| 104 | u32 USB_NaviData_Timer = 0; |
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| 105 | u32 USB_NaviData_Interval = 0; // in ms |
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| 201 | killagreg | 106 | u32 USB_Data3D_Timer = 0; |
| 107 | u32 USB_Data3D_Interval = 0; // in ms |
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| 108 | u32 USB_Display_Timer = 0; |
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| 109 | u32 USB_Display_Interval = 0; // in ms |
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| 112 | killagreg | 110 | |
| 1 | ingob | 111 | //----------------------------------------------------------------- |
| 112 | void USB_ConfigInit(void) |
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| 113 | { |
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| 41 | ingob | 114 | GPIO_InitTypeDef GPIO_InitStructure; |
| 1 | ingob | 115 | |
| 110 | killagreg | 116 | UART1_PutString("\r\n USB init..."); |
| 41 | ingob | 117 | #ifdef MCLK96MHZ |
| 118 | //USB clock = MCLK/2 = 48MHz |
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| 119 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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| 120 | #else |
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| 121 | //USB clock = MCLK = 48MHz |
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| 122 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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| 123 | #endif |
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| 124 | //Enable USB clock |
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| 125 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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| 126 | SCU_AHBPeriphReset(__USB,DISABLE); |
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| 127 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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| 1 | ingob | 128 | |
| 41 | ingob | 129 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
| 130 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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| 131 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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| 1 | ingob | 132 | |
| 41 | ingob | 133 | // GPIO_DeInit(P0.1); |
| 134 | GPIO_StructInit(&GPIO_InitStructure); |
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| 135 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 136 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 137 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 138 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 139 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
| 140 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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| 1 | ingob | 141 | |
| 112 | killagreg | 142 | // initialize txd buffer |
| 143 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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| 111 | killagreg | 144 | |
| 145 | // initialize rxd buffer |
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| 112 | killagreg | 146 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
| 111 | killagreg | 147 | |
| 41 | ingob | 148 | PowerOff(); |
| 149 | Virtual_Com_Port_Reset(); |
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| 1 | ingob | 150 | |
| 136 | killagreg | 151 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
| 41 | ingob | 152 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
| 1 | ingob | 153 | |
| 41 | ingob | 154 | USB_Init(); |
| 1 | ingob | 155 | |
| 110 | killagreg | 156 | UART1_PutString("ok"); |
| 1 | ingob | 157 | } |
| 158 | |||
| 112 | killagreg | 159 | |
| 160 | /**************************************************************/ |
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| 161 | /* Process incomming data from debug uart */ |
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| 162 | /**************************************************************/ |
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| 163 | void USB_ProcessRxData(void) |
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| 164 | { |
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| 165 | SerialMsg_t SerialMsg; |
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| 114 | killagreg | 166 | Waypoint_t * pWaypoint = NULL; |
| 112 | killagreg | 167 | // if data in the rxd buffer are not locked immediately return |
| 168 | if((USB_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
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| 169 | |||
| 190 | killagreg | 170 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 171 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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| 114 | killagreg | 172 | |
| 190 | killagreg | 173 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 174 | switch(SerialMsg.Address) // check for Slave Address |
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| 112 | killagreg | 175 | { |
| 176 | case NC_ADDRESS: // own Slave Address |
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| 190 | killagreg | 177 | switch(SerialMsg.CmdID) |
| 112 | killagreg | 178 | { |
| 179 | case 'e': // request for the text of the error status |
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| 180 | USB_Request_ErrorMessage = TRUE; |
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| 181 | break; |
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| 182 | |||
| 183 | case 's':// new target position |
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| 184 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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| 185 | BeepTime = 300; |
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| 186 | if(pWaypoint->Position.Status == NEWDATA) |
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| 187 | { |
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| 188 | WPList_Clear(); // empty WPList |
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| 189 | WPList_Append(pWaypoint); |
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| 190 | GPS_pWaypoint = WPList_Begin(); |
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| 191 | } |
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| 192 | break; |
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| 193 | /* |
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| 194 | case 'u': // redirect debug uart |
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| 195 | switch(SerialMsg.pData[0]) |
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| 196 | { |
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| 197 | case UART_FLIGHTCTRL: |
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| 198 | UART2_Init(); // initialize UART2 to FC pins |
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| 199 | DebugUART = UART2; |
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| 200 | break; |
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| 201 | case UART_MK3MAG: |
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| 199 | killagreg | 202 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
| 112 | killagreg | 203 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| 204 | GPSData.Status = INVALID; |
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| 205 | DebugUART = UART0; |
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| 206 | break; |
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| 207 | case UART_MKGPS: |
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| 199 | killagreg | 208 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
| 112 | killagreg | 209 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 210 | GPSData.Status = INVALID; |
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| 211 | DebugUART = UART0; |
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| 212 | break; |
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| 213 | } |
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| 214 | break; |
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| 215 | */ |
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| 216 | case 'w':// Append Waypoint to List |
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| 217 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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| 218 | if(pWaypoint->Position.Status == INVALID) |
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| 219 | { // clear WP List |
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| 220 | WPList_Clear(); |
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| 221 | GPS_pWaypoint = WPList_Begin(); |
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| 222 | //UART1_PutString("\r\nClear WP List\r\n"); |
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| 223 | } |
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| 224 | else if (pWaypoint->Position.Status == NEWDATA) |
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| 225 | { // app current WP to the list |
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| 226 | WPList_Append(pWaypoint); |
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| 227 | BeepTime = 500; |
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| 228 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
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| 229 | } |
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| 230 | USB_Request_NewWaypoint = TRUE; |
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| 231 | break; |
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| 232 | |||
| 233 | case 'x':// Read Waypoint from List |
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| 234 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
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| 235 | break; |
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| 236 | |||
| 237 | default: |
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| 238 | // unsupported command recieved |
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| 239 | break; |
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| 240 | } // case NC_ADDRESS |
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| 241 | // "break;" is missing here to fall thru to the common commands |
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| 242 | |||
| 243 | default: // and any other Slave Address |
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| 244 | |||
| 190 | killagreg | 245 | switch(SerialMsg.CmdID) // check CmdID |
| 112 | killagreg | 246 | { |
| 247 | case 'a':// request for the labels of the analog debug outputs |
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| 248 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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| 249 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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| 250 | break; |
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| 201 | killagreg | 251 | /* |
| 112 | killagreg | 252 | case 'b': // submit extern control |
| 253 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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| 254 | USB_ConfirmFrame = ExternControl.Frame; |
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| 255 | break; |
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| 201 | killagreg | 256 | */ |
| 112 | killagreg | 257 | case 'd': // request for debug data; |
| 258 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 201 | killagreg | 259 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 112 | killagreg | 260 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
| 261 | break; |
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| 262 | |||
| 263 | case 'c': // request for 3D data; |
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| 264 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 201 | killagreg | 265 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 112 | killagreg | 266 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
| 267 | break; |
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| 201 | killagreg | 268 | /* |
| 112 | killagreg | 269 | case 'g':// request for external control data |
| 270 | USB_Request_ExternalControl = TRUE; |
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| 271 | break; |
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| 201 | killagreg | 272 | */ |
| 112 | killagreg | 273 | case 'h':// reqest for display line |
| 201 | killagreg | 274 | USB_DisplayKeys |= ~SerialMsg.pData[0]; |
| 275 | USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
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| 276 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
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| 112 | killagreg | 277 | USB_Request_Display = TRUE; |
| 278 | break; |
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| 279 | |||
| 280 | case 'l':// reqest for display columns |
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| 281 | MenuItem = SerialMsg.pData[0]; |
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| 282 | USB_Request_Display1 = TRUE; |
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| 283 | break; |
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| 284 | |||
| 285 | case 'o': // request for navigation information |
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| 286 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 201 | killagreg | 287 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 112 | killagreg | 288 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
| 289 | break; |
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| 290 | |||
| 291 | case 'v': // request for version info |
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| 292 | USB_Request_VersionInfo = TRUE; |
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| 293 | break; |
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| 294 | default: |
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| 295 | // unsupported command recieved |
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| 296 | break; |
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| 297 | } |
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| 298 | break; // default: |
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| 299 | } |
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| 300 | Buffer_Clear(&USB_rx_buffer); |
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| 301 | } |
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| 302 | |||
| 303 | |||
| 1 | ingob | 304 | //----------------------------------------------------------------- |
| 111 | killagreg | 305 | void USB_CableConfig(FunctionalState NewState) |
| 1 | ingob | 306 | { |
| 41 | ingob | 307 | if (NewState == ENABLE) |
| 308 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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| 309 | else |
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| 310 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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| 1 | ingob | 311 | } |
| 312 | |||
| 313 | //----------------------------------------------------------------- |
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| 111 | killagreg | 314 | void USB_PutString(u8 *string) |
| 1 | ingob | 315 | { |
| 41 | ingob | 316 | u8 i = 0; |
| 317 | u16 timeout = 0; |
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| 318 | |||
| 111 | killagreg | 319 | while (string[i++] != 0){} // get string len |
| 41 | ingob | 320 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| 111 | killagreg | 321 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
| 41 | ingob | 322 | SetEPTxCount(ENDP1,i); |
| 323 | SetEPTxValid(ENDP1); |
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| 1 | ingob | 324 | } |
| 325 | |||
| 326 | //----------------------------------------------------------------- |
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| 111 | killagreg | 327 | void USB_PutChar(u8 c) |
| 1 | ingob | 328 | { |
| 41 | ingob | 329 | u16 timeout = 0; |
| 330 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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| 111 | killagreg | 331 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
| 41 | ingob | 332 | SetEPTxCount(ENDP1,2); |
| 333 | SetEPTxValid(ENDP1); |
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| 334 | } |
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| 335 | |||
| 1 | ingob | 336 | //----------------------------------------------------------------- |
| 111 | killagreg | 337 | void USB_SendData(u8 *pdata, u16 count) |
| 1 | ingob | 338 | { |
| 41 | ingob | 339 | u8 i; |
| 340 | count++; |
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| 114 | killagreg | 341 | u16 timeout = 0; |
| 41 | ingob | 342 | |
| 343 | for (i=0;i< (count/64)+1;i++) |
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| 344 | { |
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| 114 | killagreg | 345 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
| 41 | ingob | 346 | if (i < (count/64)) |
| 347 | { |
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| 111 | killagreg | 348 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
| 41 | ingob | 349 | SetEPTxCount(ENDP1,64); |
| 350 | } |
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| 351 | else |
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| 352 | { |
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| 111 | killagreg | 353 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
| 41 | ingob | 354 | SetEPTxCount(ENDP1, count % 64); |
| 355 | } |
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| 356 | SetEPTxValid(ENDP1); |
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| 1 | ingob | 357 | } |
| 358 | } |
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| 359 | |||
| 112 | killagreg | 360 | /**************************************************************/ |
| 361 | /* Transmit tx buffer via usb */ |
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| 362 | /**************************************************************/ |
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| 363 | void USB_Transmit(void) |
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| 364 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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| 365 | // if something has to be send and the txd fifo is not full |
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| 114 | killagreg | 366 | u16 i; |
| 112 | killagreg | 367 | if(USB_tx_buffer.Locked == TRUE) |
| 368 | { |
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| 114 | killagreg | 369 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
| 370 | //if(_GetEPTxStatus(ENDP1) != EP_TX_VALID) // ready to send |
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| 112 | killagreg | 371 | { |
| 372 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
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| 373 | { |
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| 114 | killagreg | 374 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
| 112 | killagreg | 375 | if(i > 64) i = 64; // limit packet size to 64 bytes |
| 376 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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| 114 | killagreg | 377 | SetEPTxCount(ENDP1,i); |
| 378 | SetEPTxValid(ENDP1); |
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| 112 | killagreg | 379 | USB_tx_buffer.Position += i; |
| 380 | } |
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| 381 | } |
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| 382 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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| 383 | { |
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| 384 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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| 385 | } |
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| 386 | } |
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| 387 | } |
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| 388 | |||
| 389 | /**************************************************************/ |
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| 390 | /* Send the answers to incomming commands at the debug uart */ |
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| 391 | /**************************************************************/ |
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| 392 | void USB_TransmitTxData(void) |
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| 393 | { |
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| 394 | USB_Transmit(); // output pending bytes in tx buffer |
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| 395 | if((USB_tx_buffer.Locked == TRUE)) return; |
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| 396 | |||
| 201 | killagreg | 397 | if(CheckDelay(USB_AboTimeOut)) |
| 398 | { |
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| 399 | USB_DebugData_Interval = 0; |
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| 400 | USB_NaviData_Interval = 0; |
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| 401 | USB_Data3D_Interval = 0; |
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| 402 | USB_Display_Interval = 0; |
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| 403 | } |
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| 404 | |||
| 112 | killagreg | 405 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
| 406 | { |
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| 407 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
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| 408 | USB_Request_DebugLabel = 0xFF; |
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| 409 | } |
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| 201 | killagreg | 410 | else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 411 | { |
| 412 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
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| 413 | USB_ConfirmFrame = 0; |
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| 414 | } |
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| 201 | killagreg | 415 | else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 416 | { |
| 417 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
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| 418 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
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| 419 | USB_Request_DebugData = FALSE; |
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| 420 | } |
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| 201 | killagreg | 421 | else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 422 | { |
| 423 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
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| 424 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
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| 425 | USB_Request_Data3D = FALSE; |
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| 426 | } |
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| 201 | killagreg | 427 | else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 428 | { |
| 429 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
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| 430 | USB_Request_ExternalControl = FALSE; |
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| 431 | } |
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| 201 | killagreg | 432 | else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 433 | { |
| 201 | killagreg | 434 | Menu_Update(USB_DisplayKeys); |
| 435 | USB_DisplayKeys = 0; |
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| 436 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
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| 112 | killagreg | 437 | USB_Request_Display = FALSE; |
| 438 | } |
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| 201 | killagreg | 439 | else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 440 | { |
| 201 | killagreg | 441 | Menu_Update(0); |
| 112 | killagreg | 442 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 443 | USB_Request_Display1 = FALSE; |
||
| 444 | } |
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| 201 | killagreg | 445 | else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 446 | { |
| 447 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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| 448 | USB_Request_VersionInfo = FALSE; |
||
| 449 | } |
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| 201 | killagreg | 450 | else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 451 | { |
| 452 | NaviData.Errorcode = ErrorCode; |
||
| 453 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
| 454 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
||
| 455 | USB_Request_NaviData = FALSE; |
||
| 456 | } |
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| 201 | killagreg | 457 | else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 458 | { |
| 459 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
| 460 | USB_Request_ErrorMessage = FALSE; |
||
| 461 | } |
||
| 201 | killagreg | 462 | else if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 463 | { |
| 464 | u8 WPNumber = WPList_GetCount(); |
||
| 465 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 466 | USB_Request_NewWaypoint = FALSE; |
||
| 467 | } |
||
| 201 | killagreg | 468 | else if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
| 112 | killagreg | 469 | { |
| 470 | u8 WPNumber = WPList_GetCount(); |
||
| 471 | if (USB_Request_ReadWaypoint < WPNumber) |
||
| 472 | { |
||
| 473 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
| 474 | } |
||
| 475 | else |
||
| 476 | { |
||
| 477 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 478 | } |
||
| 479 | USB_Request_ReadWaypoint = 0xFF; |
||
| 480 | } |
||
| 481 | USB_Transmit(); // output pending bytes in tx buffer |
||
| 482 | } |