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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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| 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" |
| 41 | ingob | 76 | |
| 77 | #define FALSE 0 |
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| 78 | #define TRUE 1 |
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| 79 | |||
| 92 | killagreg | 80 | |
| 110 | killagreg | 81 | u8 UART1_Request_VersionInfo = FALSE; |
| 82 | u8 UART1_Request_SendFollowMe = FALSE; |
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| 83 | u8 UART1_Request_ExternalControl= FALSE; |
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| 84 | u8 UART1_Request_Display = FALSE; |
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| 85 | u8 UART1_Request_Display1 = FALSE; |
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| 86 | u8 UART1_Request_DebugData = FALSE; |
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| 87 | u8 UART1_Request_DebugLabel = 255; |
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| 88 | u8 UART1_Request_NaviData = FALSE; |
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| 89 | u8 UART1_Request_ErrorMessage = FALSE; |
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| 90 | u8 UART1_Request_NewWaypoint = FALSE; |
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| 91 | u8 UART1_Request_ReadWaypoint = 255; |
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| 92 | u8 UART1_Request_Data3D = FALSE; |
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| 93 | u8 UART1_Request_Echo = FALSE; |
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| 112 | killagreg | 94 | u8 UART1_DisplayLine = 0; |
| 95 | u8 UART1_ConfirmFrame = 0; |
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| 41 | ingob | 96 | |
| 97 | UART_TypeDef *DebugUART = UART1; |
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| 98 | |||
| 110 | killagreg | 99 | // the tx buffer |
| 100 | #define UART1_TX_BUFFER_LEN 150 |
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| 101 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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| 102 | Buffer_t UART1_tx_buffer; |
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| 103 | |||
| 104 | // the rx buffer |
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| 105 | #define UART1_RX_BUFFER_LEN 150 |
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| 106 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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| 107 | Buffer_t UART1_rx_buffer; |
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| 108 | |||
| 92 | killagreg | 109 | volatile u8 SerialLinkOkay = 0; |
| 41 | ingob | 110 | |
| 111 | u8 text[100]; |
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| 112 | |||
| 113 | const u8 ANALOG_LABEL[32][16] = |
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| 114 | { |
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| 90 | killagreg | 115 | //1234567890123456 |
| 41 | ingob | 116 | "AngleNick ", //0 |
| 117 | "AngleRoll ", |
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| 118 | "AccNick ", |
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| 119 | "AccRoll ", |
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| 120 | " ", |
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| 75 | holgerb | 121 | "MK-Flags ", //5 |
| 95 | killagreg | 122 | "NC-Flags ", |
| 121 | killagreg | 123 | "NickServo ", |
| 124 | "RollServo ", |
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| 41 | ingob | 125 | "GPS Data ", |
| 61 | holgerb | 126 | "CompassHeading ", //10 |
| 127 | "GyroHeading ", |
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| 41 | ingob | 128 | "SPI Error ", |
| 129 | "SPI Okay ", |
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| 130 | "I2C Error ", |
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| 131 | "I2C Okay ", //15 |
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| 132 | " ",// "FC_Kalman_K ", |
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| 133 | "ACC_Speed_N ", |
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| 134 | "ACC_Speed_E ", |
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| 135 | " ",// "GPS ACC ", |
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| 136 | " ",// "MAXDrift ", //20 |
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| 137 | "N_Speed ", |
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| 138 | "E_Speed ", |
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| 99 | killagreg | 139 | "P-Part ", |
| 140 | "I-Part ", |
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| 141 | "D-Part ",//25 |
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| 142 | "PID-Part ", |
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| 41 | ingob | 143 | "Distance N ", |
| 144 | "Distance E ", |
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| 145 | "GPS_Nick ", |
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| 146 | "GPS_Roll ", //30 |
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| 147 | "Used_Sats " |
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| 148 | }; |
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| 149 | |||
| 112 | killagreg | 150 | DebugOut_t DebugOut; |
| 151 | ExternControl_t ExternControl; |
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| 152 | UART_VersionInfo_t UART_VersionInfo; |
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| 153 | NaviData_t NaviData; |
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| 154 | Waypoint_t FollowMe; |
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| 155 | Data3D_t Data3D; |
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| 156 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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| 41 | ingob | 157 | |
| 112 | killagreg | 158 | u32 UART1_DebugData_Timer; |
| 159 | u32 UART1_DebugData_Interval = 5000; // in ms |
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| 160 | u32 UART1_NaviData_Timer; |
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| 161 | u32 UART1_NaviData_Interval = 5000; // in ms |
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| 162 | u32 UART1_Data3D_Timer = 0; // in ms |
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| 163 | u32 UART1_Data3D_Interval = 0; |
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| 164 | |||
| 41 | ingob | 165 | /********************************************************/ |
| 166 | /* Initialization the UART1 */ |
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| 167 | /********************************************************/ |
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| 168 | void UART1_Init (void) |
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| 169 | { |
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| 170 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 171 | UART_InitTypeDef UART_InitStructure; |
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| 172 | |||
| 173 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
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| 174 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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| 175 | |||
| 176 | /*Configure UART1_Rx pin GPIO3.2*/ |
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| 177 | GPIO_StructInit(&GPIO_InitStructure); |
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| 178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 181 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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| 183 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 184 | |||
| 185 | /*Configure UART1_Tx pin GPIO3.3*/ |
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| 186 | GPIO_StructInit(&GPIO_InitStructure); |
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| 187 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 188 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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| 189 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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| 191 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 192 | |||
| 193 | /* UART1 configured as follow: |
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| 194 | - Word Length = 8 Bits |
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| 195 | - One Stop Bit |
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| 196 | - No parity |
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| 197 | - BaudRate = 57600 baud |
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| 198 | - Hardware flow control Disabled |
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| 199 | - Receive and transmit enabled |
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| 200 | - Receive and transmit FIFOs are Disabled |
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| 201 | */ |
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| 202 | UART_StructInit(&UART_InitStructure); |
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| 203 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 204 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 205 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 110 | killagreg | 206 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 41 | ingob | 207 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 208 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 209 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 210 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 139 | killagreg | 211 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 41 | ingob | 212 | |
| 213 | UART_DeInit(UART1); // reset uart 1 to default |
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| 214 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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| 215 | // enable uart 1 interrupts selective |
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| 216 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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| 217 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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| 136 | killagreg | 218 | // configure the uart 1 interupt line |
| 219 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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| 41 | ingob | 220 | // enable the uart 1 IRQ |
| 221 | VIC_ITCmd(UART1_ITLine, ENABLE); |
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| 222 | // initialize the debug timer |
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| 110 | killagreg | 223 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 224 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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| 225 | |||
| 226 | // initialize txd buffer |
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| 112 | killagreg | 227 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| 110 | killagreg | 228 | |
| 229 | // initialize rxd buffer |
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| 112 | killagreg | 230 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| 110 | killagreg | 231 | |
| 41 | ingob | 232 | // Fill Version Info Structure |
| 233 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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| 234 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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| 235 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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| 236 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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| 237 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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| 238 | |||
| 89 | killagreg | 239 | NaviData.Version = NAVIDATA_VERSION; |
| 92 | killagreg | 240 | |
| 110 | killagreg | 241 | UART1_PutString("\r\nUART1 init...ok"); |
| 41 | ingob | 242 | } |
| 243 | |||
| 244 | |||
| 245 | /****************************************************************/ |
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| 246 | /* USART1 receiver ISR */ |
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| 247 | /****************************************************************/ |
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| 248 | void UART1_IRQHandler(void) |
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| 249 | { |
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| 250 | static u8 abortState = 0; |
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| 251 | u8 c; |
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| 252 | |||
| 253 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 254 | { |
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| 255 | // clear the pending bits |
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| 256 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
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| 257 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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| 258 | // if debug UART is not UART1 |
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| 259 | if (DebugUART != UART1) |
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| 260 | { // forward received data to the debug UART tx buffer |
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| 261 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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| 262 | { |
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| 263 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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| 264 | c = UART_ReceiveData(UART1); |
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| 265 | |||
| 266 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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| 267 | switch (abortState) |
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| 268 | { |
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| 139 | killagreg | 269 | case 0: |
| 270 | if (c == 27) abortState++; |
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| 41 | ingob | 271 | break; |
| 139 | killagreg | 272 | case 1: |
| 273 | if (c == 27) abortState++; |
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| 274 | else abortState = 0; |
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| 41 | ingob | 275 | break; |
| 139 | killagreg | 276 | case 2: |
| 277 | if (c == 0x55) abortState++; |
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| 278 | else abortState = 0; |
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| 41 | ingob | 279 | break; |
| 139 | killagreg | 280 | case 3: |
| 281 | if (c == 0xAA) abortState++; |
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| 282 | else abortState = 0; |
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| 41 | ingob | 283 | break; |
| 139 | killagreg | 284 | case 4: |
| 285 | if (c == 0x00) |
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| 286 | { |
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| 287 | if(DebugUART == UART0) |
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| 288 | { |
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| 289 | UART0_Connect_to_MKGPS(); |
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| 141 | killagreg | 290 | TIMER2_Init(); // enbable servo outputs |
| 139 | killagreg | 291 | } |
| 292 | DebugUART = UART1; |
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| 293 | } |
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| 294 | abortState = 0; |
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| 295 | break; |
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| 296 | } // end switch abort state |
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| 136 | killagreg | 297 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 110 | killagreg | 298 | if (DebugUART != UART1) |
| 299 | { |
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| 300 | // wait for space in the tx buffer of the DebugUART |
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| 301 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 141 | killagreg | 302 | // move byte to the tx fifo of the debug uart |
| 110 | killagreg | 303 | UART_SendData(DebugUART, c); |
| 304 | } |
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| 41 | ingob | 305 | } |
| 306 | } |
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| 307 | else // DebugUART == UART1 (normal operation) |
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| 308 | { |
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| 110 | killagreg | 309 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 41 | ingob | 310 | { // some byes in the fifo and rxd buffer not locked |
| 311 | // get byte from fifo |
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| 312 | c = UART_ReceiveData(UART1); |
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| 110 | killagreg | 313 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
| 41 | ingob | 314 | } // some byes in the fifo and rxd buffer not locked |
| 315 | } // eof DebugUart = UART1 |
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| 316 | } |
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| 317 | } |
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| 318 | |||
| 319 | /**************************************************************/ |
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| 320 | /* Process incomming data from debug uart */ |
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| 321 | /**************************************************************/ |
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| 322 | void UART1_ProcessRxData(void) |
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| 323 | { |
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| 110 | killagreg | 324 | SerialMsg_t SerialMsg; |
| 41 | ingob | 325 | // if data in the rxd buffer are not locked immediately return |
| 110 | killagreg | 326 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
| 41 | ingob | 327 | Waypoint_t * pWaypoint = NULL; |
| 328 | |||
| 110 | killagreg | 329 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 330 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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| 331 | switch(SerialMsg.Address) // check for Slave Address |
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| 41 | ingob | 332 | { |
| 333 | case NC_ADDRESS: // own Slave Address |
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| 110 | killagreg | 334 | switch(SerialMsg.CmdID) |
| 41 | ingob | 335 | { |
| 101 | holgerb | 336 | case 'z': // connection checker |
| 110 | killagreg | 337 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 338 | UART1_Request_Echo = TRUE; |
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| 92 | killagreg | 339 | break; |
| 340 | |||
| 41 | ingob | 341 | case 'e': // request for the text of the error status |
| 110 | killagreg | 342 | UART1_Request_ErrorMessage = TRUE; |
| 41 | ingob | 343 | break; |
| 344 | |||
| 345 | case 's':// new target position |
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| 110 | killagreg | 346 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 41 | ingob | 347 | BeepTime = 300; |
| 348 | if(pWaypoint->Position.Status == NEWDATA) |
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| 349 | { |
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| 350 | WPList_Clear(); // empty WPList |
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| 351 | WPList_Append(pWaypoint); |
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| 352 | GPS_pWaypoint = WPList_Begin(); |
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| 353 | } |
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| 354 | break; |
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| 355 | |||
| 356 | case 'u': // redirect debug uart |
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| 110 | killagreg | 357 | switch(SerialMsg.pData[0]) |
| 41 | ingob | 358 | { |
| 359 | case UART_FLIGHTCTRL: |
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| 360 | UART2_Init(); // initialize UART2 to FC pins |
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| 141 | killagreg | 361 | TIMER2_Deinit(); // stop servo output |
| 41 | ingob | 362 | DebugUART = UART2; |
| 363 | break; |
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| 364 | case UART_MK3MAG: |
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| 365 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 366 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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| 141 | killagreg | 367 | TIMER2_Deinit(); // stop servo output |
| 41 | ingob | 368 | GPSData.Status = INVALID; |
| 369 | DebugUART = UART0; |
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| 370 | break; |
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| 371 | case UART_MKGPS: |
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| 372 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 139 | killagreg | 373 | TIMER2_Deinit(); |
| 41 | ingob | 374 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 375 | GPSData.Status = INVALID; |
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| 376 | DebugUART = UART0; |
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| 377 | break; |
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| 378 | } |
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| 379 | break; |
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| 380 | |||
| 92 | killagreg | 381 | case 'w':// Append Waypoint to List |
| 110 | killagreg | 382 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 41 | ingob | 383 | if(pWaypoint->Position.Status == INVALID) |
| 384 | { // clear WP List |
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| 385 | WPList_Clear(); |
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| 386 | GPS_pWaypoint = WPList_Begin(); |
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| 110 | killagreg | 387 | //UART1_PutString("\r\nClear WP List\r\n"); |
| 41 | ingob | 388 | } |
| 389 | else if (pWaypoint->Position.Status == NEWDATA) |
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| 390 | { // app current WP to the list |
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| 391 | WPList_Append(pWaypoint); |
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| 392 | BeepTime = 500; |
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| 110 | killagreg | 393 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
| 41 | ingob | 394 | } |
| 110 | killagreg | 395 | UART1_Request_NewWaypoint = TRUE; |
| 41 | ingob | 396 | break; |
| 397 | |||
| 92 | killagreg | 398 | case 'x':// Read Waypoint from List |
| 110 | killagreg | 399 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 92 | killagreg | 400 | break; |
| 401 | |||
| 41 | ingob | 402 | default: |
| 403 | // unsupported command recieved |
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| 404 | break; |
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| 405 | } // case NC_ADDRESS |
||
| 65 | killagreg | 406 | // "break;" is missing here to fall thru to the common commands |
| 41 | ingob | 407 | |
| 408 | default: // and any other Slave Address |
||
| 409 | |||
| 110 | killagreg | 410 | switch(SerialMsg.CmdID) // check CmdID |
| 41 | ingob | 411 | { |
| 412 | case 'a':// request for the labels of the analog debug outputs |
||
| 110 | killagreg | 413 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 414 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
| 41 | ingob | 415 | break; |
| 416 | |||
| 417 | case 'b': // submit extern control |
||
| 121 | killagreg | 418 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 112 | killagreg | 419 | UART1_ConfirmFrame = ExternControl.Frame; |
| 41 | ingob | 420 | break; |
| 421 | |||
| 422 | case 'd': // request for debug data; |
||
| 110 | killagreg | 423 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 424 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
| 41 | ingob | 425 | break; |
| 426 | |||
| 63 | killagreg | 427 | case 'c': // request for 3D data; |
| 110 | killagreg | 428 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 429 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
| 63 | killagreg | 430 | break; |
| 431 | |||
| 41 | ingob | 432 | case 'g':// request for external control data |
| 110 | killagreg | 433 | UART1_Request_ExternalControl = TRUE; |
| 41 | ingob | 434 | break; |
| 435 | |||
| 436 | case 'h':// reqest for display line |
||
| 110 | killagreg | 437 | RemoteKeys |= SerialMsg.pData[0]; |
| 112 | killagreg | 438 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
| 110 | killagreg | 439 | UART1_Request_Display = TRUE; |
| 41 | ingob | 440 | break; |
| 441 | |||
| 442 | case 'l':// reqest for display columns |
||
| 110 | killagreg | 443 | MenuItem = SerialMsg.pData[0]; |
| 444 | UART1_Request_Display1 = TRUE; |
||
| 41 | ingob | 445 | break; |
| 64 | holgerb | 446 | |
| 447 | case 'o': // request for navigation information |
||
| 110 | killagreg | 448 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 449 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
| 64 | holgerb | 450 | break; |
| 451 | |||
| 41 | ingob | 452 | case 'v': // request for version info |
| 110 | killagreg | 453 | UART1_Request_VersionInfo = TRUE; |
| 41 | ingob | 454 | break; |
| 455 | default: |
||
| 456 | // unsupported command recieved |
||
| 457 | break; |
||
| 458 | } |
||
| 459 | break; // default: |
||
| 460 | } |
||
| 112 | killagreg | 461 | Buffer_Clear(&UART1_rx_buffer); |
| 41 | ingob | 462 | } |
| 463 | |||
| 464 | |||
| 465 | /*****************************************************/ |
||
| 466 | /* Send a character */ |
||
| 467 | /*****************************************************/ |
||
| 110 | killagreg | 468 | s16 UART1_Putchar(char c) |
| 41 | ingob | 469 | { |
| 110 | killagreg | 470 | if (c == '\n') UART1_Putchar('\r'); |
| 41 | ingob | 471 | // wait until txd fifo is not full |
| 472 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
| 473 | // transmit byte |
||
| 474 | UART_SendData(UART1, c); |
||
| 475 | return (0); |
||
| 476 | } |
||
| 477 | |||
| 478 | /*****************************************************/ |
||
| 479 | /* Send a string to the debug uart */ |
||
| 480 | /*****************************************************/ |
||
| 110 | killagreg | 481 | void UART1_PutString(u8 *s) |
| 41 | ingob | 482 | { |
| 483 | if(s == NULL) return; |
||
| 484 | while (*s != '\0' && DebugUART == UART1) |
||
| 485 | { |
||
| 110 | killagreg | 486 | UART1_Putchar(*s); |
| 41 | ingob | 487 | s ++; |
| 488 | } |
||
| 489 | } |
||
| 490 | |||
| 113 | killagreg | 491 | |
| 110 | killagreg | 492 | /**************************************************************/ |
| 493 | /* Transmit tx buffer via debug uart */ |
||
| 494 | /**************************************************************/ |
||
| 495 | void UART1_Transmit(void) |
||
| 496 | { |
||
| 497 | u8 tmp_tx; |
||
| 498 | if(DebugUART != UART1) return; |
||
| 499 | // if something has to be send and the txd fifo is not full |
||
| 113 | killagreg | 500 | if(UART1_tx_buffer.Locked == TRUE) |
| 110 | killagreg | 501 | { |
| 113 | killagreg | 502 | // while there is some space in the tx fifo |
| 503 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
| 110 | killagreg | 504 | { |
| 113 | killagreg | 505 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 506 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
| 507 | // if terminating character or end of txd buffer reached |
||
| 508 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
| 509 | { |
||
| 510 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
| 511 | break; // end while loop |
||
| 512 | } |
||
| 110 | killagreg | 513 | } |
| 514 | } |
||
| 515 | } |
||
| 41 | ingob | 516 | |
| 517 | /**************************************************************/ |
||
| 518 | /* Send the answers to incomming commands at the debug uart */ |
||
| 519 | /**************************************************************/ |
||
| 520 | void UART1_TransmitTxData(void) |
||
| 521 | { |
||
| 110 | killagreg | 522 | if(DebugUART != UART1) return; |
| 523 | UART1_Transmit(); // output pending bytes in tx buffer |
||
| 524 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
| 41 | ingob | 525 | |
| 110 | killagreg | 526 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 92 | killagreg | 527 | { |
| 110 | killagreg | 528 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 92 | killagreg | 529 | Echo = 0; // reset echo value |
| 110 | killagreg | 530 | UART1_Request_Echo = FALSE; |
| 92 | killagreg | 531 | } |
| 110 | killagreg | 532 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 533 | { |
| 110 | killagreg | 534 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
| 535 | UART1_Request_DebugLabel = 0xFF; |
||
| 41 | ingob | 536 | } |
| 112 | killagreg | 537 | if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 538 | { |
| 112 | killagreg | 539 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| 540 | UART1_ConfirmFrame = 0; |
||
| 41 | ingob | 541 | } |
| 110 | killagreg | 542 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 543 | { |
| 110 | killagreg | 544 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 545 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
| 546 | UART1_Request_DebugData = FALSE; |
||
| 41 | ingob | 547 | } |
| 61 | holgerb | 548 | |
| 110 | killagreg | 549 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 61 | holgerb | 550 | { |
| 110 | killagreg | 551 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 552 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
| 553 | UART1_Request_Data3D = FALSE; |
||
| 61 | holgerb | 554 | } |
| 555 | |||
| 110 | killagreg | 556 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 557 | { |
| 110 | killagreg | 558 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 559 | UART1_Request_ExternalControl = FALSE; |
||
| 41 | ingob | 560 | } |
| 110 | killagreg | 561 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 562 | { |
| 563 | LCD_PrintMenu(); |
||
| 112 | killagreg | 564 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
| 565 | UART1_DisplayLine++; |
||
| 566 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
||
| 110 | killagreg | 567 | UART1_Request_Display = FALSE; |
| 41 | ingob | 568 | } |
| 110 | killagreg | 569 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 570 | { |
| 571 | LCD_PrintMenu(); |
||
| 110 | killagreg | 572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 573 | UART1_Request_Display1 = FALSE; |
||
| 41 | ingob | 574 | } |
| 110 | killagreg | 575 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 576 | { |
| 110 | killagreg | 577 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 578 | UART1_Request_VersionInfo = FALSE; |
||
| 41 | ingob | 579 | } |
| 110 | killagreg | 580 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 581 | { |
| 582 | NaviData.Errorcode = ErrorCode; |
||
| 110 | killagreg | 583 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 584 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
| 585 | UART1_Request_NaviData = FALSE; |
||
| 41 | ingob | 586 | } |
| 110 | killagreg | 587 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 588 | { |
| 110 | killagreg | 589 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 590 | UART1_Request_ErrorMessage = FALSE; |
||
| 41 | ingob | 591 | } |
| 110 | killagreg | 592 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 41 | ingob | 593 | { |
| 594 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
| 595 | FollowMe.Position.Status = NEWDATA; |
||
| 596 | FollowMe.Heading = -1; |
||
| 597 | FollowMe.ToleranceRadius = 1; |
||
| 598 | FollowMe.HoldTime = 60; |
||
| 599 | FollowMe.Event_Flag = 0; |
||
| 600 | FollowMe.reserve[0] = 0; // reserve |
||
| 601 | FollowMe.reserve[1] = 0; // reserve |
||
| 602 | FollowMe.reserve[2] = 0; // reserve |
||
| 603 | FollowMe.reserve[3] = 0; // reserve |
||
| 110 | killagreg | 604 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 605 | UART1_Request_SendFollowMe = FALSE; |
||
| 41 | ingob | 606 | } |
| 110 | killagreg | 607 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
| 41 | ingob | 608 | { |
| 609 | u8 WPNumber = WPList_GetCount(); |
||
| 110 | killagreg | 610 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 611 | UART1_Request_NewWaypoint = FALSE; |
||
| 41 | ingob | 612 | } |
| 110 | killagreg | 613 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 92 | killagreg | 614 | { |
| 615 | u8 WPNumber = WPList_GetCount(); |
||
| 110 | killagreg | 616 | if (UART1_Request_ReadWaypoint < WPNumber) |
| 92 | killagreg | 617 | { |
| 110 | killagreg | 618 | 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 | 619 | } |
| 620 | else |
||
| 621 | { |
||
| 110 | killagreg | 622 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 92 | killagreg | 623 | } |
| 110 | killagreg | 624 | UART1_Request_ReadWaypoint = 0xFF; |
| 92 | killagreg | 625 | } |
| 110 | killagreg | 626 | UART1_Transmit(); // output pending bytes in tx buffer |
| 41 | ingob | 627 | } |
| 628 |