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| Rev | Author | Line No. | Line |
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| 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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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 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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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 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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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 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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| 62 | #include "menu.h" |
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| 63 | #include "printf_P.h" |
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| 64 | #include "GPS.h" |
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| 65 | #include "i2c.h" |
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| 66 | #include "uart0.h" |
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| 67 | #include "uart1.h" |
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| 68 | #include "uart2.h" |
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| 69 | #include "timer.h" |
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| 70 | #include "main.h" |
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| 71 | #include "waypoints.h" |
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| 110 | killagreg | 72 | #include "mkprotocol.h" |
| 41 | ingob | 73 | |
| 74 | #define FALSE 0 |
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| 75 | #define TRUE 1 |
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| 76 | |||
| 92 | killagreg | 77 | typedef struct |
| 78 | { |
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| 79 | u8 SWMajor; |
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| 80 | u8 SWMinor; |
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| 81 | u8 ProtoMajor; |
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| 82 | u8 ProtoMinor; |
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| 83 | u8 SWPatch; |
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| 84 | u8 Reserved[5]; |
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| 85 | } __attribute__((packed)) UART_VersionInfo_t; |
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| 86 | |||
| 87 | |||
| 110 | killagreg | 88 | u8 UART1_Request_VersionInfo = FALSE; |
| 89 | u8 UART1_Request_SendFollowMe = FALSE; |
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| 90 | u8 UART1_Request_ExternalControl= FALSE; |
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| 91 | u8 UART1_Request_Display = FALSE; |
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| 92 | u8 UART1_Request_Display1 = FALSE; |
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| 93 | u8 UART1_Request_DebugData = FALSE; |
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| 94 | u8 UART1_Request_DebugLabel = 255; |
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| 95 | u8 UART1_Request_NaviData = FALSE; |
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| 96 | u8 UART1_Request_ErrorMessage = FALSE; |
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| 97 | u8 UART1_Request_NewWaypoint = FALSE; |
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| 98 | u8 UART1_Request_ReadWaypoint = 255; |
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| 99 | u8 UART1_Request_Data3D = FALSE; |
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| 100 | u8 UART1_Request_Echo = FALSE; |
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| 41 | ingob | 101 | |
| 102 | u8 DisplayLine = 0; |
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| 103 | |||
| 104 | UART_TypeDef *DebugUART = UART1; |
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| 105 | |||
| 110 | killagreg | 106 | #define UART1_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
| 107 | |||
| 108 | // the tx buffer |
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| 109 | #define UART1_TX_BUFFER_LEN 150 |
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| 110 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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| 111 | Buffer_t UART1_tx_buffer; |
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| 112 | |||
| 113 | // the rx buffer |
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| 114 | #define UART1_RX_BUFFER_LEN 150 |
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| 115 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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| 116 | Buffer_t UART1_rx_buffer; |
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| 117 | |||
| 92 | killagreg | 118 | volatile u8 SerialLinkOkay = 0; |
| 41 | ingob | 119 | |
| 120 | u8 text[100]; |
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| 121 | |||
| 122 | u8 PcAccess = 100; |
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| 123 | u8 ConfirmFrame = 0; |
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| 124 | |||
| 125 | DebugOut_t DebugOut; |
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| 126 | ExternControl_t ExternControl; |
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| 127 | UART_VersionInfo_t UART_VersionInfo; |
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| 128 | NaviData_t NaviData; |
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| 129 | Waypoint_t FollowMe; |
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| 61 | holgerb | 130 | Data3D_t Data3D; |
| 92 | killagreg | 131 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 41 | ingob | 132 | |
| 110 | killagreg | 133 | u32 UART1_DebugData_Timer; |
| 134 | u32 UART1_DebugData_Interval = 5000; // in ms |
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| 135 | u32 UART1_NaviData_Timer; |
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| 136 | u32 UART1_NaviData_Interval = 5000; // in ms |
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| 137 | u32 UART1_Data3D_Timer = 0; // in ms |
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| 138 | u32 UART1_Data3D_Interval = 0; |
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| 41 | ingob | 139 | |
| 140 | const u8 ANALOG_LABEL[32][16] = |
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| 141 | { |
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| 90 | killagreg | 142 | //1234567890123456 |
| 41 | ingob | 143 | "AngleNick ", //0 |
| 144 | "AngleRoll ", |
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| 145 | "AccNick ", |
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| 146 | "AccRoll ", |
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| 147 | " ", |
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| 75 | holgerb | 148 | "MK-Flags ", //5 |
| 95 | killagreg | 149 | "NC-Flags ", |
| 41 | ingob | 150 | " ", |
| 151 | " ", |
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| 152 | "GPS Data ", |
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| 61 | holgerb | 153 | "CompassHeading ", //10 |
| 154 | "GyroHeading ", |
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| 41 | ingob | 155 | "SPI Error ", |
| 156 | "SPI Okay ", |
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| 157 | "I2C Error ", |
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| 158 | "I2C Okay ", //15 |
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| 159 | " ",// "FC_Kalman_K ", |
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| 160 | "ACC_Speed_N ", |
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| 161 | "ACC_Speed_E ", |
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| 162 | " ",// "GPS ACC ", |
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| 163 | " ",// "MAXDrift ", //20 |
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| 164 | "N_Speed ", |
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| 165 | "E_Speed ", |
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| 99 | killagreg | 166 | "P-Part ", |
| 167 | "I-Part ", |
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| 168 | "D-Part ",//25 |
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| 169 | "PID-Part ", |
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| 41 | ingob | 170 | "Distance N ", |
| 171 | "Distance E ", |
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| 172 | "GPS_Nick ", |
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| 173 | "GPS_Roll ", //30 |
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| 174 | "Used_Sats " |
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| 175 | }; |
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| 176 | |||
| 177 | |||
| 178 | /********************************************************/ |
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| 179 | /* Initialization the UART1 */ |
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| 180 | /********************************************************/ |
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| 181 | void UART1_Init (void) |
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| 182 | { |
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| 183 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 184 | UART_InitTypeDef UART_InitStructure; |
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| 185 | |||
| 186 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
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| 187 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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| 188 | |||
| 189 | /*Configure UART1_Rx pin GPIO3.2*/ |
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| 190 | GPIO_StructInit(&GPIO_InitStructure); |
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| 191 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 192 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 193 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 194 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 195 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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| 196 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 197 | |||
| 198 | /*Configure UART1_Tx pin GPIO3.3*/ |
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| 199 | GPIO_StructInit(&GPIO_InitStructure); |
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| 200 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 201 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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| 202 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 203 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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| 204 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 205 | |||
| 206 | /* UART1 configured as follow: |
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| 207 | - Word Length = 8 Bits |
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| 208 | - One Stop Bit |
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| 209 | - No parity |
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| 210 | - BaudRate = 57600 baud |
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| 211 | - Hardware flow control Disabled |
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| 212 | - Receive and transmit enabled |
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| 213 | - Receive and transmit FIFOs are Disabled |
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| 214 | */ |
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| 215 | UART_StructInit(&UART_InitStructure); |
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| 216 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 217 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 218 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 110 | killagreg | 219 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 41 | ingob | 220 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 221 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 222 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 223 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 224 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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| 225 | |||
| 226 | UART_DeInit(UART1); // reset uart 1 to default |
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| 227 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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| 228 | // enable uart 1 interrupts selective |
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| 229 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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| 230 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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| 231 | // configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
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| 232 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
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| 233 | // enable the uart 1 IRQ |
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| 234 | VIC_ITCmd(UART1_ITLine, ENABLE); |
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| 235 | // initialize the debug timer |
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| 110 | killagreg | 236 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 237 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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| 238 | |||
| 239 | // initialize txd buffer |
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| 240 | UART1_tx_buffer.pData = UART1_tbuffer; |
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| 241 | UART1_tx_buffer.Size = UART1_TX_BUFFER_LEN; |
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| 242 | UART1_tx_buffer.Position = 0; |
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| 243 | UART1_tx_buffer.Locked = FALSE; |
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| 244 | |||
| 245 | // initialize rxd buffer |
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| 246 | UART1_rx_buffer.pData = UART1_rbuffer; |
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| 247 | UART1_rx_buffer.Size = UART1_RX_BUFFER_LEN; |
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| 248 | UART1_rx_buffer.Position = 0; |
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| 249 | UART1_rx_buffer.Locked = FALSE; |
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| 250 | |||
| 41 | ingob | 251 | // Fill Version Info Structure |
| 252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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| 253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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| 254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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| 255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 257 | |||
| 89 | killagreg | 258 | NaviData.Version = NAVIDATA_VERSION; |
| 92 | killagreg | 259 | |
| 110 | killagreg | 260 | UART1_PutString("\r\nUART1 init...ok"); |
| 41 | ingob | 261 | } |
| 262 | |||
| 263 | |||
| 264 | /****************************************************************/ |
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| 265 | /* USART1 receiver ISR */ |
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| 266 | /****************************************************************/ |
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| 267 | void UART1_IRQHandler(void) |
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| 268 | { |
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| 269 | static u8 abortState = 0; |
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| 270 | u8 c; |
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| 271 | |||
| 272 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 273 | { |
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| 274 | // clear the pending bits |
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| 275 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
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| 276 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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| 277 | // if debug UART is not UART1 |
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| 278 | if (DebugUART != UART1) |
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| 279 | { // forward received data to the debug UART tx buffer |
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| 280 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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| 281 | { |
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| 282 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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| 283 | c = UART_ReceiveData(UART1); |
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| 284 | |||
| 285 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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| 286 | switch (abortState) |
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| 287 | { |
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| 288 | case 0: if (c == 27) abortState++; |
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| 289 | break; |
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| 290 | case 1: if (c == 27) abortState++; else abortState = 0; |
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| 291 | break; |
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| 292 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
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| 293 | break; |
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| 294 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
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| 295 | break; |
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| 296 | case 4: if (c == 0x00) |
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| 297 | { |
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| 298 | DebugUART = UART1; |
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| 299 | UART0_Connect_to_MKGPS(); |
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| 300 | } |
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| 301 | abortState = 0; |
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| 302 | break; |
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| 303 | } |
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| 110 | killagreg | 304 | // if the Debug uart is not UART1rederect input to the Debug UART |
| 305 | if (DebugUART != UART1) |
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| 306 | { |
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| 307 | // wait for space in the tx buffer of the DebugUART |
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| 308 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 309 | // move byte to the tx fifi of the debug uart |
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| 310 | UART_SendData(DebugUART, c); |
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| 311 | } |
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| 41 | ingob | 312 | } |
| 313 | } |
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| 314 | else // DebugUART == UART1 (normal operation) |
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| 315 | { |
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| 110 | killagreg | 316 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 41 | ingob | 317 | { // some byes in the fifo and rxd buffer not locked |
| 318 | // get byte from fifo |
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| 319 | c = UART_ReceiveData(UART1); |
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| 110 | killagreg | 320 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
| 41 | ingob | 321 | } // some byes in the fifo and rxd buffer not locked |
| 322 | } // eof DebugUart = UART1 |
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| 323 | } |
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| 324 | } |
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| 325 | |||
| 326 | /**************************************************************/ |
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| 327 | /* Process incomming data from debug uart */ |
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| 328 | /**************************************************************/ |
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| 329 | void UART1_ProcessRxData(void) |
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| 330 | { |
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| 110 | killagreg | 331 | SerialMsg_t SerialMsg; |
| 41 | ingob | 332 | // if data in the rxd buffer are not locked immediately return |
| 110 | killagreg | 333 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
| 41 | ingob | 334 | Waypoint_t * pWaypoint = NULL; |
| 335 | |||
| 336 | PcAccess = 255; |
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| 110 | killagreg | 337 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 338 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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| 339 | switch(SerialMsg.Address) // check for Slave Address |
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| 41 | ingob | 340 | { |
| 341 | case NC_ADDRESS: // own Slave Address |
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| 110 | killagreg | 342 | switch(SerialMsg.CmdID) |
| 41 | ingob | 343 | { |
| 101 | holgerb | 344 | case 'z': // connection checker |
| 110 | killagreg | 345 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 346 | UART1_Request_Echo = TRUE; |
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| 92 | killagreg | 347 | break; |
| 348 | |||
| 41 | ingob | 349 | case 'e': // request for the text of the error status |
| 110 | killagreg | 350 | UART1_Request_ErrorMessage = TRUE; |
| 41 | ingob | 351 | break; |
| 352 | |||
| 353 | case 's':// new target position |
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| 110 | killagreg | 354 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 41 | ingob | 355 | BeepTime = 300; |
| 356 | if(pWaypoint->Position.Status == NEWDATA) |
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| 357 | { |
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| 358 | WPList_Clear(); // empty WPList |
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| 359 | WPList_Append(pWaypoint); |
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| 360 | GPS_pWaypoint = WPList_Begin(); |
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| 361 | } |
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| 362 | break; |
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| 363 | |||
| 364 | case 'u': // redirect debug uart |
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| 110 | killagreg | 365 | switch(SerialMsg.pData[0]) |
| 41 | ingob | 366 | { |
| 367 | case UART_FLIGHTCTRL: |
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| 368 | UART2_Init(); // initialize UART2 to FC pins |
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| 369 | DebugUART = UART2; |
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| 370 | break; |
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| 371 | case UART_MK3MAG: |
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| 372 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 373 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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| 374 | GPSData.Status = INVALID; |
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| 375 | DebugUART = UART0; |
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| 376 | break; |
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| 377 | case UART_MKGPS: |
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| 378 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 379 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
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| 380 | GPSData.Status = INVALID; |
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| 381 | DebugUART = UART0; |
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| 382 | break; |
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| 383 | } |
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| 384 | break; |
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| 385 | |||
| 92 | killagreg | 386 | case 'w':// Append Waypoint to List |
| 110 | killagreg | 387 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 41 | ingob | 388 | if(pWaypoint->Position.Status == INVALID) |
| 389 | { // clear WP List |
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| 390 | WPList_Clear(); |
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| 391 | GPS_pWaypoint = WPList_Begin(); |
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| 110 | killagreg | 392 | //UART1_PutString("\r\nClear WP List\r\n"); |
| 41 | ingob | 393 | } |
| 394 | else if (pWaypoint->Position.Status == NEWDATA) |
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| 395 | { // app current WP to the list |
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| 396 | WPList_Append(pWaypoint); |
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| 397 | BeepTime = 500; |
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| 110 | killagreg | 398 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
| 41 | ingob | 399 | } |
| 110 | killagreg | 400 | UART1_Request_NewWaypoint = TRUE; |
| 41 | ingob | 401 | break; |
| 402 | |||
| 92 | killagreg | 403 | case 'x':// Read Waypoint from List |
| 110 | killagreg | 404 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 92 | killagreg | 405 | break; |
| 406 | |||
| 41 | ingob | 407 | default: |
| 408 | // unsupported command recieved |
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| 409 | break; |
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| 410 | } // case NC_ADDRESS |
||
| 65 | killagreg | 411 | // "break;" is missing here to fall thru to the common commands |
| 41 | ingob | 412 | |
| 413 | default: // and any other Slave Address |
||
| 414 | |||
| 110 | killagreg | 415 | switch(SerialMsg.CmdID) // check CmdID |
| 41 | ingob | 416 | { |
| 417 | case 'a':// request for the labels of the analog debug outputs |
||
| 110 | killagreg | 418 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 419 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
| 41 | ingob | 420 | break; |
| 421 | |||
| 422 | case 'b': // submit extern control |
||
| 110 | killagreg | 423 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 41 | ingob | 424 | ConfirmFrame = ExternControl.Frame; |
| 425 | break; |
||
| 426 | |||
| 427 | case 'd': // request for debug data; |
||
| 110 | killagreg | 428 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 429 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
| 41 | ingob | 430 | break; |
| 431 | |||
| 63 | killagreg | 432 | case 'c': // request for 3D data; |
| 110 | killagreg | 433 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 434 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
| 63 | killagreg | 435 | break; |
| 436 | |||
| 41 | ingob | 437 | case 'g':// request for external control data |
| 110 | killagreg | 438 | UART1_Request_ExternalControl = TRUE; |
| 41 | ingob | 439 | break; |
| 440 | |||
| 441 | case 'h':// reqest for display line |
||
| 110 | killagreg | 442 | RemoteKeys |= SerialMsg.pData[0]; |
| 41 | ingob | 443 | if(RemoteKeys != 0) DisplayLine = 0; |
| 110 | killagreg | 444 | UART1_Request_Display = TRUE; |
| 41 | ingob | 445 | break; |
| 446 | |||
| 447 | case 'l':// reqest for display columns |
||
| 110 | killagreg | 448 | MenuItem = SerialMsg.pData[0]; |
| 449 | UART1_Request_Display1 = TRUE; |
||
| 41 | ingob | 450 | break; |
| 64 | holgerb | 451 | |
| 452 | case 'o': // request for navigation information |
||
| 110 | killagreg | 453 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 454 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
| 64 | holgerb | 455 | break; |
| 456 | |||
| 41 | ingob | 457 | case 'v': // request for version info |
| 110 | killagreg | 458 | UART1_Request_VersionInfo = TRUE; |
| 41 | ingob | 459 | break; |
| 460 | default: |
||
| 461 | // unsupported command recieved |
||
| 462 | break; |
||
| 463 | } |
||
| 464 | break; // default: |
||
| 465 | } |
||
| 466 | // unlock the rxd buffer after processing |
||
| 110 | killagreg | 467 | UART1_rx_buffer.Position = 0; |
| 468 | UART1_rx_buffer.Locked = FALSE; |
||
| 41 | ingob | 469 | } |
| 470 | |||
| 471 | |||
| 472 | /*****************************************************/ |
||
| 473 | /* Send a character */ |
||
| 474 | /*****************************************************/ |
||
| 110 | killagreg | 475 | s16 UART1_Putchar(char c) |
| 41 | ingob | 476 | { |
| 110 | killagreg | 477 | if (c == '\n') UART1_Putchar('\r'); |
| 41 | ingob | 478 | // wait until txd fifo is not full |
| 479 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
| 480 | // transmit byte |
||
| 481 | UART_SendData(UART1, c); |
||
| 482 | return (0); |
||
| 483 | } |
||
| 484 | |||
| 485 | /*****************************************************/ |
||
| 486 | /* Send a string to the debug uart */ |
||
| 487 | /*****************************************************/ |
||
| 110 | killagreg | 488 | void UART1_PutString(u8 *s) |
| 41 | ingob | 489 | { |
| 490 | if(s == NULL) return; |
||
| 491 | while (*s != '\0' && DebugUART == UART1) |
||
| 492 | { |
||
| 110 | killagreg | 493 | UART1_Putchar(*s); |
| 41 | ingob | 494 | s ++; |
| 495 | } |
||
| 496 | } |
||
| 497 | |||
| 110 | killagreg | 498 | /**************************************************************/ |
| 499 | /* Transmit tx buffer via debug uart */ |
||
| 500 | /**************************************************************/ |
||
| 501 | void UART1_Transmit(void) |
||
| 502 | { |
||
| 503 | u8 tmp_tx; |
||
| 504 | if(DebugUART != UART1) return; |
||
| 505 | // if something has to be send and the txd fifo is not full |
||
| 506 | if((UART1_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
||
| 507 | { |
||
| 508 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
||
| 509 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
| 510 | // if terminating character or end of txd buffer reached |
||
| 511 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.Size)) |
||
| 512 | { |
||
| 513 | UART1_tx_buffer.Position = 0; // reset txd buffer positon |
||
| 514 | UART1_tx_buffer.Locked = FALSE;// unlock tx buffer |
||
| 515 | } |
||
| 516 | } |
||
| 517 | } |
||
| 41 | ingob | 518 | |
| 519 | |||
| 520 | /**************************************************************/ |
||
| 521 | /* Send the answers to incomming commands at the debug uart */ |
||
| 522 | /**************************************************************/ |
||
| 523 | void UART1_TransmitTxData(void) |
||
| 524 | { |
||
| 110 | killagreg | 525 | if(DebugUART != UART1) return; |
| 526 | UART1_Transmit(); // output pending bytes in tx buffer |
||
| 527 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
| 41 | ingob | 528 | |
| 110 | killagreg | 529 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 92 | killagreg | 530 | { |
| 110 | killagreg | 531 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 92 | killagreg | 532 | Echo = 0; // reset echo value |
| 110 | killagreg | 533 | UART1_Request_Echo = FALSE; |
| 92 | killagreg | 534 | } |
| 110 | killagreg | 535 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 536 | { |
| 110 | killagreg | 537 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
| 538 | UART1_Request_DebugLabel = 0xFF; |
||
| 41 | ingob | 539 | } |
| 110 | killagreg | 540 | if(ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 541 | { |
| 110 | killagreg | 542 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
| 41 | ingob | 543 | ConfirmFrame = 0; |
| 544 | } |
||
| 110 | killagreg | 545 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 546 | { |
| 110 | killagreg | 547 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 548 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
| 549 | UART1_Request_DebugData = FALSE; |
||
| 41 | ingob | 550 | } |
| 61 | holgerb | 551 | |
| 110 | killagreg | 552 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 61 | holgerb | 553 | { |
| 110 | killagreg | 554 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 555 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
| 556 | UART1_Request_Data3D = FALSE; |
||
| 61 | holgerb | 557 | } |
| 558 | |||
| 110 | killagreg | 559 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 560 | { |
| 110 | killagreg | 561 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 562 | UART1_Request_ExternalControl = FALSE; |
||
| 41 | ingob | 563 | } |
| 110 | killagreg | 564 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 565 | { |
| 566 | LCD_PrintMenu(); |
||
| 110 | killagreg | 567 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
| 41 | ingob | 568 | DisplayLine++; |
| 569 | if(DisplayLine >= 4) DisplayLine = 0; |
||
| 110 | killagreg | 570 | UART1_Request_Display = FALSE; |
| 41 | ingob | 571 | } |
| 110 | killagreg | 572 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 573 | { |
| 574 | LCD_PrintMenu(); |
||
| 110 | killagreg | 575 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 576 | UART1_Request_Display1 = FALSE; |
||
| 41 | ingob | 577 | } |
| 110 | killagreg | 578 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 579 | { |
| 110 | killagreg | 580 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 581 | UART1_Request_VersionInfo = FALSE; |
||
| 41 | ingob | 582 | } |
| 110 | killagreg | 583 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 584 | { |
| 585 | NaviData.Errorcode = ErrorCode; |
||
| 110 | killagreg | 586 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 587 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
| 588 | UART1_Request_NaviData = FALSE; |
||
| 41 | ingob | 589 | } |
| 110 | killagreg | 590 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 591 | { |
| 110 | killagreg | 592 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 593 | UART1_Request_ErrorMessage = FALSE; |
||
| 41 | ingob | 594 | } |
| 110 | killagreg | 595 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 41 | ingob | 596 | { |
| 597 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
| 598 | FollowMe.Position.Status = NEWDATA; |
||
| 599 | FollowMe.Heading = -1; |
||
| 600 | FollowMe.ToleranceRadius = 1; |
||
| 601 | FollowMe.HoldTime = 60; |
||
| 602 | FollowMe.Event_Flag = 0; |
||
| 603 | FollowMe.reserve[0] = 0; // reserve |
||
| 604 | FollowMe.reserve[1] = 0; // reserve |
||
| 605 | FollowMe.reserve[2] = 0; // reserve |
||
| 606 | FollowMe.reserve[3] = 0; // reserve |
||
| 110 | killagreg | 607 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 608 | UART1_Request_SendFollowMe = FALSE; |
||
| 41 | ingob | 609 | } |
| 110 | killagreg | 610 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 611 | { |
| 612 | u8 WPNumber = WPList_GetCount(); |
||
| 110 | killagreg | 613 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 614 | UART1_Request_NewWaypoint = FALSE; |
||
| 41 | ingob | 615 | } |
| 110 | killagreg | 616 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 92 | killagreg | 617 | { |
| 618 | u8 WPNumber = WPList_GetCount(); |
||
| 110 | killagreg | 619 | if (UART1_Request_ReadWaypoint < WPNumber) |
| 92 | killagreg | 620 | { |
| 110 | killagreg | 621 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
| 92 | killagreg | 622 | } |
| 623 | else |
||
| 624 | { |
||
| 110 | killagreg | 625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 92 | killagreg | 626 | } |
| 110 | killagreg | 627 | UART1_Request_ReadWaypoint = 0xFF; |
| 92 | killagreg | 628 | } |
| 110 | killagreg | 629 | UART1_Transmit(); // output pending bytes in tx buffer |
| 41 | ingob | 630 | } |
| 631 |