Subversion Repositories NaviCtrl

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Ignore whitespace Rev 817 → Rev 818

/tags/V2.18a/uart1.c
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/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
 
#include "91x_lib.h"
#include "main.h"
#include "config.h"
#include "menu.h"
#include "GPS.h"
#include "i2c.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "compass.h"
#include "waypoints.h"
#include "mkprotocol.h"
#include "params.h"
#include "fifo.h"
#include "debug.h"
#include "spi_slave.h"
#include "ftphelper.h"
#include "led.h"
#include "fat16.h"
#include "crc16.h"
#include "eeprom.h"
#include "triggerlog.h"
 
#define LIC_CMD_READ_LICENSE 1
#define LIC_CMD_WRITE_LICENSE 2
#define LIC_CMD_ERASE_LICENSE 3
 
#define FALSE 0
#define TRUE 1
 
#define ABO_TIMEOUT 8000 // disable abo after 8 seconds
u32 UART1_AboTimeOut = 0;
 
NaviData_Volatile_t NaviData_Volatile;
NaviData_WP_t NaviData_WP;
NaviData_Deviation_t NaviData_Deviation;
NaviData_Home_t NaviData_Home;
NaviData_Target_t NaviData_Target;
NaviData_Flags_t NaviData_Flags;
NaviData_Tiny_t NaviData_Tiny;
NaviData_FS_Pos_t NaviData_Failsafe;
NaviData_Out_t NaviData_Out1Trigger;
NaviData_t NaviData;
 
u8 UART1_Request_VersionInfo = FALSE;
u8 UART1_Request_ExternalControl= FALSE;
u8 UART1_Request_Display = FALSE;
u8 UART1_Request_Display1 = FALSE;
u8 UART1_Request_DebugData = FALSE;
u8 UART1_Request_DebugLabel = 255;
u8 UART1_Request_NaviData = FALSE;
u8 UART1_Request_ErrorMessage = FALSE;
u8 UART1_Request_WritePoint = 0xFF;
u8 UART1_Request_ReadPoint = 0;
u8 UART1_Request_Data3D = FALSE;
u8 UART1_Request_MotorData = FALSE;
u8 UART1_Request_Echo = FALSE;
u8 UART1_Request_ParameterId = 0;
u8 UART1_Request_WPLStore = FALSE;
u8 UART1_Request_Parameter = FALSE;
u8 UART1_Request_SystemTime = FALSE;
u8 UART1_DisplayKeys = 0;
u8 UART1_DisplayLine = 0;
u8 UART1_ConfirmFrame = 0;
u8 UART1_Request_FTP = FALSE;
u8 UART1_Request_LicenseString = FALSE;
u8 UART1_Request_PPM_Channels = FALSE;
u8 LastTransmittedFCStatusFlags2 = 0;
u8 UART1_ExternalControlConfirmFrame = FALSE;
u8 Send_NMEA_RMC = FALSE;
u8 NaviData_Flags_SpeakHoTT_Processed = 0;
u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC
u16 UART1_BaudrateFallbackTimeout = 0;
 
SerialChannel_t SerialChannel;
u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC
 
UART_TypeDef *DebugUART = UART1;
 
#ifdef FOLLOW_ME
#define FOLLOW_ME_INTERVAL 200 // 5 Hz
u32 UART1_FollowMe_Timer = 0;
Point_t FollowMe;
#endif
 
// the primary rx fifo
#define UART1_RX_FIFO_LEN 1500
u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
fifo_t UART1_rx_fifo;
 
// the rx buffer
#define UART1_RX_BUFFER_LEN 1500
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
Buffer_t UART1_rx_buffer;
 
// the tx buffer
//#define UART1_TX_BUFFER_LEN 1024
#define UART1_TX_BUFFER_LEN 1500
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
Buffer_t UART1_tx_buffer;
 
volatile u8 SerialLinkOkay = 0;
 
u8 text[200];
u8 *LicensePtr = UART1_tbuffer;
 
const u8 ANALOG_LABEL[32][16] =
{
//1234567890123456
"AngleNick ", //0
"AngleRoll ",
"AccNick ",
"AccRoll ",
"Altitude [0.1m] ",
"FC-Flags ", //5
"NC-Flags ",
"Voltage [0.1V] ",
"Current [0.1A] ",
"GPS Data ",
"CompassHeading ", //10
"GyroHeading ",
"SPI Error ", // achtung: muss auf 12 bleiben
"Laser [cm] ",//"GPS CRC Error ",
"I2C Error ",
"I2C Okay ", //15
"16 ",
"17 ",
"18 ",
"19 ",
"EarthMagnet [%] ", //20
"Ground Speed ", // "Z_Speed ",
"N_Speed ",
"E_Speed ",
"Magnet X ",
"Magnet Y ", //25
"Magnet Z ",
"Distance N ",
"Distance E ",
"-GPS_Nick ",
"-GPS_Roll ", //30
"Used_Sats "
};
 
typedef struct
{
u8 Index;
u8 Status;
} __attribute__((packed)) WPL_Answer_t;
WPL_Answer_t WPL_Answer;
 
DebugOut_t DebugOut;
ExternControl_t ExternControl;
UART_VersionInfo_t UART_VersionInfo;
NaviData_t NaviData;
Data3D_t Data3D;
 
u16 Echo; // 2 bytes recieved will be sent back as echo
 
u32 UART1_DebugData_Timer = 0;
u32 UART1_DebugData_Interval = 0; // in ms
u32 UART1_NaviData_Timer = 0;
u32 UART1_NaviData_Interval = 0; // in ms
u16 UART1_NaviData_MaxBytes = 0; // newer protocol?
u32 UART1_Data3D_Timer = 0;
u32 UART1_Data3D_Interval = 0; // in ms
u32 UART1_MotorData_Timer = 0;
u32 UART1_MotorData_Interval = 0; // in ms
u32 UART1_Display_Timer = 0;
u32 UART1_Display_Interval = 0; // in ms
u32 NMEA_Timer = 0;
u32 NMEA_Interval = 0;// in ms
 
u8 CalculateDebugLableCrc(void)
{
u16 i;
u8 crc = 0;
for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i];
return(crc);
}
 
/********************************************************/
/* Initialization the UART1 */
/********************************************************/
void UART1_Init (void)
{
GPIO_InitTypeDef GPIO_InitStructure;
UART_InitTypeDef UART_InitStructure;
 
// initialize txd buffer
Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
 
// initialize rxd buffer
Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
 
// initialize the rx fifo, block UART IRQ geting a byte from fifo
fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine);
 
SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
 
/*Configure UART1_Rx pin GPIO3.2*/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
GPIO_Init(GPIO3, &GPIO_InitStructure);
 
/*Configure UART1_Tx pin GPIO3.3*/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
GPIO_Init(GPIO3, &GPIO_InitStructure);
 
// Control of PORT3.7 (FC-UART)
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;
GPIO_Init(GPIO3, &GPIO_InitStructure);
DISABLE_FC_UART;
 
/* UART1 configured as follow:
- Word Length = 8 Bits
- One Stop Bit
- No parity
- BaudRate = 57600 baud
- Hardware flow control Disabled
- Receive and transmit enabled
- Receive and transmit FIFOs are Disabled
*/
UART_StructInit(&UART_InitStructure);
UART_InitStructure.UART_WordLength = UART_WordLength_8D;
UART_InitStructure.UART_StopBits = UART_StopBits_1;
UART_InitStructure.UART_Parity = UART_Parity_No ;
UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes
 
UART_DeInit(UART1); // reset uart 1 to default
UART_Init(UART1, &UART_InitStructure); // initialize uart 1
// enable uart 1 interrupts selective
UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);
UART_Cmd(UART1, ENABLE); // enable uart 1
// configure the uart 1 interupt line
VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
// enable the uart 1 IRQ
VIC_ITCmd(UART1_ITLine, ENABLE);
 
// initialize the debug timer
UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
NMEA_Timer = SetDelay(14000);
 
// Fill Version Info Structure
UART_VersionInfo.SWMajor = VERSION_MAJOR;
UART_VersionInfo.SWMinor = VERSION_MINOR;
UART_VersionInfo.SWPatch = VERSION_PATCH;
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
UART_VersionInfo.HWMajor = Version_HW & 0x7F;
UART_VersionInfo.BL_Firmware = 255;
UART_VersionInfo.Flags = 0;
UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc();
NaviData.Version = NAVIDATA_VERSION;
 
PPM_In[PPM_IN_MAX] = +127;
PPM_In[PPM_IN_OFF] = -127;
PPM_In[PPM_IN_MID] = 0;
 
UART1_PutString("\r\n UART1 init...ok");
}
 
/****************************************************************/
/* USART1 change baudrate */
/****************************************************************/
void UART1_Configure(u32 baudrate)
{
UART_InitTypeDef UART_InitStructure;
UART_Cmd(UART1, DISABLE);
 
UART_StructInit(&UART_InitStructure);
UART_InitStructure.UART_WordLength = UART_WordLength_8D;
UART_InitStructure.UART_StopBits = UART_StopBits_1;
UART_InitStructure.UART_Parity = UART_Parity_No ;
UART_InitStructure.UART_BaudRate = baudrate;
UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None;
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes
 
UART_DeInit(UART1); // reset uart 1 to default
UART_Init(UART1, &UART_InitStructure); // initialize uart 1
UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);
UART_Cmd(UART1, ENABLE); // enable uart 1
}
 
/****************************************************************/
/* USART1 receiver ISR */
/****************************************************************/
void UART1_IRQHandler(void)
{
static u8 abortState = 0;
u8 c;
 
if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
{
// clear the pending bits!
UART_ClearITPendingBit(UART1, UART_IT_Receive);
UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
// if debug UART is not UART1
if (DebugUART != UART1)
{ // forward received data to the debug UART tx buffer
while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
{
// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
c = UART_ReceiveData(UART1);
 
// check for abort condition (ESC ESC 0x55 0xAA 0x00)
switch (abortState)
{
case 0:
if (c == 27) abortState++;
break;
case 1:
if (c == 27) abortState++;
else abortState = 0;
break;
case 2:
if (c == 0x55) abortState++;
else abortState = 0;
break;
case 3:
if (c == 0xAA) abortState++;
else abortState = 0;
break;
case 4:
if (c == 0x00)
{
if(DebugUART == UART0)
{
UART0_Connect_to_MKGPS(UART0_BAUD_RATE);
TIMER2_Init(); // enbable servo outputs
fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
}
DebugUART = UART1;
DISABLE_FC_UART;
}
abortState = 0;
break;
} // end switch abort state
// if the Debug uart is not UART1, redirect input to the Debug UART
if (DebugUART != UART1)
{
// wait for space in the tx buffer of the DebugUART
while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
// move byte to the tx fifo of the debug uart
UART_SendData(DebugUART, c);
}
}
}
else // DebugUART == UART1 (normal operation)
{
while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
{ // some byes in the hardware fifo
// get byte from hardware fifo
c = UART_ReceiveData(UART1);
// put into the software fifo
if(!fifo_put(&UART1_rx_fifo, c))
{ // fifo overflow
//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
}
} // EOF while some byes in the hardware fifo
} // eof DebugUart = UART1
}
 
 
 
VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register
}
 
/**************************************************************/
/* Process incomming data from debug uart */
/**************************************************************/
void UART1_ProcessRxData(void)
{
// return on forwarding uart or unlocked rx buffer
u8 c;
if(DebugUART != UART1) return;
// if rx buffer is not locked
if(UART1_rx_buffer.Locked == FALSE)
{
//collect data from primary rx fifo
while(fifo_get(&UART1_rx_fifo, &c))
{
// break if complete frame is collected
if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
}
}
if(UART1_rx_buffer.Locked == FALSE) return;
 
Point_t * pPoint = NULL;
SerialMsg_t SerialMsg;
 
// analyze header first
MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
/*
if( SerialMsg.Address == FC_ADDRESS )
{
switch(SerialMsg.CmdID)
{
// case 'b': // extern control
// UART1_ExternalControlConfirmFrame = 1;
// case 'y': // serial poti values
// Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
// Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
// return; //end process rx data
break;
}
}
*/
MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
switch(SerialMsg.Address) // check for Slave Address
{
case NC_ADDRESS: // own Slave Address
switch(SerialMsg.CmdID)
{
case 't': // request for the GPS time
UART1_Request_SystemTime = TRUE;
break;
 
case 'm': // request for the license string
UART1_Request_LicenseString = SerialMsg.pData[0];
if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20))
{
memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license
memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license
}
break;
case 'f': // ftp command
UART1_Request_FTP = SerialMsg.pData[0];
//if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE)
memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter
break;
 
case 'z': // connection checker
memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
UART1_Request_Echo = TRUE;
break;
 
case 'e': // request for the text of the error status
UART1_Request_ErrorMessage = TRUE;
break;
 
case 's':// new target position
pPoint = (Point_t*)SerialMsg.pData;
if(pPoint->Position.Status == NEWDATA)
{
u32 start = 0;
//if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list
//pPoint->Index = 1; // must be one after empty list
PointList_SetAt(pPoint);
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE);
// GPS_pWaypoint = PointList_WPBegin(); // updates POI index
if(pPoint->Index) start = pPoint->Index-1;
if(CurrentlyFlyingWaypoints)
{
GPS_pWaypoint = PointList_WPBegin(start);
NewWaypointsReceived = 0; // Only an update
}
BeepTime = 50;
}
else
if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN))
{
if(pPoint->Event_Flag & SIMULATION_MOTOR_ON)
{
GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position
CompassDirectionAtMotorStart = SimulatedDirection*10;
SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin
}
if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON))
{
SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin
SpeakHoTT = SPEAK_STARTING;
}
else
if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON))
{
SimulationFlags = pPoint->Event_Flag;
SpeakHoTT = SPEAK_MK_OFF;
BeepTime = 50;
}
else
SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START);
}
break;
case 'u': // redirect debug uart
switch(SerialMsg.pData[0])
{
case UART_FLIGHTCTRL:
ENABLE_FC_UART;
UART2_Init(); // initialize UART2 to FC pins
fifo_purge(&UART1_rx_fifo);
TIMER2_Deinit(); // reduce irq load
DebugUART = UART2;
break;
case UART_MK3MAG:
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running
UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
GPSData.Status = INVALID;
fifo_purge(&UART1_rx_fifo);
DebugUART = UART0;
break;
case UART_MKGPS:
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running
TIMER2_Deinit(); // disable servo outputs to reduce irq load
UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins
GPSData.Status = INVALID;
fifo_purge(&UART1_rx_fifo);
DebugUART = UART0;
break;
default:
break;
}
break;
 
case 'w':// Set point in list at index
{
pPoint = (Point_t*)SerialMsg.pData;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0))
{
PointList_Clear();
GPS_pWaypoint = PointList_WPBegin(0);
UART1_Request_WritePoint = 0; // return new point count
NewWaypointsReceived = 1;
}
else
{ // update WP in list at index
if(pPoint->Index > MaxNumberOfWaypoints)
{
UART1_Request_WritePoint = 254;
pPoint->Index = MaxNumberOfWaypoints;
}
else UART1_Request_WritePoint = PointList_SetAt(pPoint);
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE);
SpeakWaypointRached = 1; // Speak once when the last Point is reached
if(UART1_Request_WritePoint == pPoint->Index)
{
BeepTime = 500;
if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active
}
}
}
break;
 
case 'x':// Read Waypoint from List
UART1_Request_ReadPoint = SerialMsg.pData[0];
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
 
case 'i':// Store WP List to file
memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t));
WPL_Store.Name[11] = 0; // make sure the name string is terminated
WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer
WPL_Answer.Status = PointList_WriteToFile(&WPL_Store);
UART1_Request_WPLStore = TRUE;
break;
 
case 'j':// Set/Get NC-Parameter
switch(SerialMsg.pData[0])
{
case 0: // get
break;
 
case 1: // set
{
s16 value;
value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
NCParams_SetValue(SerialMsg.pData[1], &value);
}
break;
default:
break;
}
UART1_Request_ParameterId = SerialMsg.pData[1];
UART1_Request_Parameter = TRUE;
break;
default:
// unsupported command recieved
break;
} // case NC_ADDRESS
// "break;" is missing here to fall thru to the common commands
 
default: // and any other Slave Address
 
switch(SerialMsg.CmdID) // check CmdID
{
case 'a':// request for the labels of the analog debug outputs
UART1_Request_DebugLabel = SerialMsg.pData[0];
if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
break;
case 'b': // submit extern control
memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
UART1_ConfirmFrame = ExternControl.Frame;
NewExternalControlFrame = 1;
break;
 
case 'y': // serial Channels
memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel));
memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array
NewSerialChannelFrame = 1;
break;
 
case 'g':// request for the externalControl
UART1_Request_ExternalControl = TRUE;
break;
 
case 'p':// request for the PPM_In
UART1_Request_PPM_Channels = TRUE;
break;
case 'd': // request for debug data;
UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
 
case 'c': // request for 3D data;
UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
 
case 'k': // request for Motor data;
UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10;
if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
break;
 
case 'h':// reqest for display line
if((SerialMsg.pData[0]& 0x80) == 0x00)// old format
{
UART1_DisplayLine = 2;
UART1_Display_Interval = 0;
UART1_Request_Display = TRUE;
}
else
{
UART1_DisplayKeys |= ~SerialMsg.pData[0];
UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10;
UART1_DisplayLine = 4;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
if(UART1_Display_Interval) UART1_Request_Display = TRUE;
}
break;
 
case 'l':// reqest for display columns
MenuItem = SerialMsg.pData[0];
UART1_Request_Display1 = TRUE;
break;
 
case 'o': // request for navigation information
UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; // PC sends: 10 = 100ms
if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second
else UART1_NaviData_MaxBytes = 0;
if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE;
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100;
break;
 
case 'v': // request for version info
if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1;
else UART1_Request_VersionInfo = 2;
break;
default:
// unsupported command recieved
break;
}
break; // default:
}
Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
}
 
 
/*****************************************************/
/* Send a character */
/*****************************************************/
s16 UART1_Putchar(char c)
{
u32 timeout = 10000;
if(DebugUART != UART1) return(0);
if (c == '\n') UART1_Putchar('\r');
// wait until txd fifo is not full
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0);
// transmit byte
UART_SendData(UART1, c);
#ifdef FOLLOW_ME
if(TransmitAlsoToFC) UART_SendData(UART2, c);
#endif
return (0);
}
 
/*****************************************************/
/* Send a string to the debug uart */
/*****************************************************/
void UART1_PutString(u8 *s)
{
if(DebugUART != UART1) return;
if(s == NULL) return;
while (*s != '\0')
{
UART1_Putchar(*s);
s ++;
}
}
 
 
/**************************************************************/
/* Transmit tx buffer via debug uart */
/**************************************************************/
void UART1_Transmit(void)
{
u8 tmp_tx;
if(DebugUART != UART1) return;
// if something has to be send and the txd fifo is not full
if(UART1_tx_buffer.Locked == TRUE)
{
// while there is some space in the tx fifo
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET)
{
tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer
UART_SendData(UART1, tmp_tx); // put character to txd fifo
#ifdef FOLLOW_ME
if(TransmitAlsoToFC)
{
UART_SendData(UART2, tmp_tx); // put character to txd fifo
}
#endif
// if terminating character or end of txd buffer reached
if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes))
{
Buffer_Clear(&UART1_tx_buffer); // clear txd buffer
#ifdef FOLLOW_ME
TransmitAlsoToFC = 0;
#endif
break; // end while loop
}
}
}
}
 
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
//$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
 
void CreateNmeaGGA(void)
{
u8 array[200], i = 0, crc = 0, x;
s32 tmp1, tmp2;
 
i += sprintf(array, "$GPGGA,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_GPSFIXOK)
{
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"%02d",(s16)tmp1);
 
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (u16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 100; // zwei Stellen zu viel
i += sprintf(&array[i],".%04d,", (u16)tmp2);
 
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
 
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d", (u16)tmp1);
 
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (u16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 100; // zwei Stellen zu viel
i += sprintf(&array[i],".%04d,", (u16)tmp2);
 
 
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
i += sprintf(&array[i],"%d,",GPSData.SatFix);
i += sprintf(&array[i],"%d,",GPSData.NumOfSats);
i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100));
// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
tmp1 = NaviData.Altimeter_5cm / 2; // in dm
i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10));
i += sprintf(&array[i],",,,*");
}
else
{
i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats);
}
for(x = 1; x < i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
AddSerialData(&UART1_tx_buffer,array,i);
 
// +++++++++++++++++++++++++++++++++++++++++++
}
 
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
//$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP
 
void CreateNmeaRMC(void)
{
u8 array[200], i = 0, crc = 0, x;
s16 tmp_int;
s32 tmp1, tmp2;
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(array, "$GPRMC,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
}
else
{
i += sprintf(&array[i], ",");
}
if(GPSData.Flags & FLAG_GPSFIXOK)
{
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung
 
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 100; // zwei Stellen zu viel
i += sprintf(&array[i],".%04d,", (s16)tmp2);
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d", (s16)tmp1);
 
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 100; // zwei Stellen zu viel
i += sprintf(&array[i],".%04d,", (s16)tmp2);
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp_int = GPSData.Speed_Ground; // in cm/sek
tmp_int *= 90;
tmp_int /= 463;
i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10);
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10);
if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,");
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*");
else i += sprintf(&array[i], "A*");
}
else // kein Satfix
{
i += sprintf(&array[i], "V,,,,,,,,,,N*");
}
// +++++++++++++++++++++++++++++++++++++++++++
// CRC
// +++++++++++++++++++++++++++++++++++++++++++
for(x=1; x<i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
// +++++++++++++++++++++++++++++++++++++++++++
AddSerialData(&UART1_tx_buffer,array,i);
// +++++++++++++++++++++++++++++++++++++++++++
/*
 
 
 
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits
GPSData.NumOfSats = UbxSol.numSV;
GPSData.SatFix = UbxSol.GPSfix;
GPSData.Position_Accuracy = UbxSol.PAcc;
GPSData.Speed_Accuracy = UbxSol.SAcc;
SetGPSTime(&SystemTime); // update system time
// NAV POSLLH
GPSData.Position.Status = INVALID;
GPSData.Position.Longitude = UbxPosLlh.LON;
GPSData.Position.Latitude = UbxPosLlh.LAT;
GPSData.Position.Altitude = UbxPosLlh.HMSL;
GPSData.Position.Status = NEWDATA;
// NAV VELNED
GPSData.Speed_East = UbxVelNed.VEL_E;
GPSData.Speed_North = UbxVelNed.VEL_N;
GPSData.Speed_Top = -UbxVelNed.VEL_D;
GPSData.Speed_Ground = UbxVelNed.GSpeed;
GPSData.Heading = UbxVelNed.Heading;
SystemTime.Year = 0;
SystemTime.Month = 0;
SystemTime.Day = 0;
SystemTime.Hour = 0;
SystemTime.Min = 0;
SystemTime.Sec = 0;
SystemTime.mSec = 0;
SystemTime.Valid = 0;
 
FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
 
 
 
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 += i2 / 100000;
i2 = i2 % 100000;
i2 /= 10;
ToFlightCtrl.Param.Byte[6] = i1 % 256;
ToFlightCtrl.Param.Byte[7] = i1 / 256;
ToFlightCtrl.Param.Byte[8] = i2 % 256;
ToFlightCtrl.Param.Byte[9] = i2 / 256;
break;
case 1:
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 8-1; // how many
//-----------------------------
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
i1 = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
 
*/
}
 
u16 SendTriggerPos(void)
{
u16 sent = 0;
NaviData_Out1Trigger.Index = 18;
sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1;
if(sent) Out1TriggerUpdateNewData = 0;
// BeepTime = 50; // beep
return(sent);
}
 
 
u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms
{
static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7;
static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0;
u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs;
 
if(clear)
{
state = 0;
CRC_Home++;
CRC_Target++;
CRC_Flags++;
CRC_Wp++;
CRC_Fs++;
if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT;
else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED;
NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C
return(1);
}
while(!sent)
{
// if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available
// sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung
 
switch(state++)
{
case 0:
case 6:
case 5:
// belegt 35 ASCII-Zeichen
NaviData_Flags.Index = 11;
NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2);
NaviData_Flags.NCFlags = NaviData.NCFlags;
NaviData_Flags.Errorcode = ErrorCode;
NaviData_Flags.ReserveFlags = 0;
//NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c
NaviData_Flags.VarioCharacter = FromFC_VarioCharacter;
NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter;
NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM;
crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA);
if((crc_flags != CRC_Flags) || (--count_flags == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1;
CRC_Flags = crc_flags;
count_flags = 11*2;
}
NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now
break;
case 1:
case 7:
// belegt 43 ASCII-Zeichen
NaviData_Target.Index = 12;
NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude;
NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude;
NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude;
NaviData_Target.RC_Quality = NaviData.RC_Quality;
crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA);
if((crc_target != CRC_Target) || (--count_target == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1;
CRC_Target = crc_target;
count_target = 10*2;
}
break;
case 2:
case 8:
// belegt 31 ASCII-Zeichen
NaviData_WP.Index = 15;
NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_WP.WaypointIndex = NaviData.WaypointIndex;
NaviData_WP.WaypointNumber = NaviData.WaypointNumber;
NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime;
// NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c
crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc
if((crc_wp != CRC_Wp) || (--count_wp == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1;
CRC_Wp = crc_wp;
count_wp = 12*2;
}
break;
case 3:
case 9:
// 35 ASCII-Zeichen
NaviData_Failsafe.Index = 17;
NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude;
NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude;
crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_FS_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure
if((crc_fs != CRC_Fs) || (--count_fs == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1;
CRC_Fs = crc_fs;
count_fs = 20*2;
}
break;
case 4:
case 10:
// belegt 43 ASCII-Zeichen
NaviData_Home.Index = 13;
NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude;
NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude;
NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude;
NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m;
// ++++++++++++++
// + Fix Type
// ++++++++++++++
if(!(GPSData.Flags & FLAG_GPSFIXOK)) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_NONE;
else
if(GPSData.SatFix == SATFIX_2D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_2D;
else
if(GPSData.Flags & FLAG_DIFFSOLN) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_DGPS;
else
if(GPSData.SatFix == SATFIX_3D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_3D;
// ++++++++++++++
if(BlitzSchuhConnected) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_HOTSHOE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_HOTSHOE;
// ++++++++++++++
if(FC.StatusFlags3 & FC_STATUS3_BOAT) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_BOAT_MODE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_BOAT_MODE;
// ++++++++++++++
crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure
if((crc_home != CRC_Home) || (--count_home == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1;
CRC_Home = crc_home;
count_home = 25;
}
break;
case 11:
// belegt 39 ASCII-Zeichen
NaviData_Deviation.Index = 14;
NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Deviation.FlyingTime = NaviData.FlyingTime;
NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm;
NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2;
NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm;
NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2;
NaviData_Deviation.AngleNick = NaviData.AngleNick;
NaviData_Deviation.AngleRoll = NaviData.AngleRoll;
NaviData_Deviation.SatsInUse = NaviData.SatsInUse;
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1;
break;
case 12:
// belegt 43 ASCII-Zeichen
NaviData_Volatile.Index = 16;
NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Volatile.UBat = FC.BAT_Voltage;
NaviData_Volatile.Current = NaviData.Current;
NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity;
NaviData_Volatile.Variometer = NaviData.Variometer;
NaviData_Volatile.Heading = NaviData.Heading / 2;
NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2;
NaviData_Volatile.Gas = NaviData.Gas;
NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude;
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1;
break;
case 13:
// belegt 27 ASCII-Zeichen
NaviData_Tiny.Index = 10;
NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude;
NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude;
NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm;
NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10;
NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2);
NaviData_Tiny.CamCtrlChar = CamCtrlCharacter;
if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0))
{
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1;
count_tiny = 200; // just to make sure that it comes sometimes
crc_Tiny = NaviData_Tiny.CamCtrlChar;
}
break;
default: state = 0;
break;
}
}
pause = (sent * 1000) / MaxBytesPerSecond;
 
UART1_Request_NaviData = FALSE;
LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2;
return(pause);
// Clear at timeout:
// NaviData_WP.WP_Eventchannel
}
 
/**************************************************************/
/* Send the answers to incomming commands at the debug uart */
/**************************************************************/
void UART1_TransmitTxData(void)
{
static u8 motorindex1 = 255, motorindex2 = 0;
if(DebugUART != UART1) return;
 
if(CheckDelay(UART1_AboTimeOut))
{
UART1_DebugData_Interval = 0;
UART1_NaviData_Interval = 0;
UART1_NaviData_MaxBytes = 0;
UART1_Data3D_Interval = 0;
UART1_Display_Interval = 0;
UART1_MotorData_Interval = 0;
UART1_NaviData_Timer = SetDelay(500);
UART1_AboTimeOut = SetDelay(100);
TransmitNavigationData(0,1); // clear the CRC values
}
//if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150;
//UART1_NaviData_MaxBytes = 150;
/*
#define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;}
UART1_NaviData_Interval = 500;
CHK_MIN_INTERVAL(UART1_DebugData_Interval,500);
CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000);
CHK_MIN_INTERVAL(UART1_Data3D_Interval,255);
CHK_MIN_INTERVAL(UART1_Display_Interval,1500);
CHK_MIN_INTERVAL(UART1_MotorData_Interval,750);
*/
UART1_Transmit(); // output pending bytes in tx buffer
if((UART1_tx_buffer.Locked == TRUE)) return;
 
if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE))
{
s16 ParamValue;
NCParams_GetValue(UART1_Request_ParameterId, &ParamValue);
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request
UART1_Request_Parameter = FALSE;
}
else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
Echo = 0; // reset echo value
UART1_Request_Echo = FALSE;
}
else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE))
{
u8 errorcode = FTP_ERROR_NONE;
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN;
else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD;
 
if (!errorcode) CheckFTPCommand(UART1_Request_FTP);
else
{
u8 cmd = FTP_CMD_ERROR;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1);
}
 
UART1_Request_FTP = FALSE;
}
else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint));
UART1_Request_WritePoint = 0xFF;
}
else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE))
{
u8 PointCount = PointList_GetCount();
if (UART1_Request_ReadPoint <= PointCount)
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t));
}
else
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount));
}
UART1_Request_ReadPoint = 0;
}
else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16);
UART1_Request_DebugLabel = 0xFF;
}
else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame));
UART1_ExternalControlConfirmFrame = 0;
}
else
if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available
{
//sent +=
SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung
}
else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE))
{
u16 time = 0;
//UART1_NaviData_MaxBytes = 250;
if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame
{
NaviData.Errorcode = ErrorCode;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData));
LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2;
UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval);
}
else
if(CheckDelay(UART1_NaviData_Timer))
{
// Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s)
// Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s)
// Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s)
// Wert = 200 -> Sekunden laufen flüssig
// Wert >= 250 -> optimal
//UART1_NaviData_MaxBytes = 45;
time = TransmitNavigationData(UART1_NaviData_MaxBytes,0);
if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval;
UART1_NaviData_Timer = SetDelay(time);
}
UART1_Request_NaviData = FALSE;
}
else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
UART1_Request_DebugData = FALSE;
}
else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE))
{
Data3D.StickNick = FC.StickNick;
Data3D.StickRoll = FC.StickRoll;
Data3D.StickYaw = FC.StickYaw;
Data3D.StickGas = FC.StickGas;
Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg
Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg
Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg
Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
UART1_Request_Data3D = FALSE;
}
else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE))
{
do
{
motorindex1++;
motorindex1%=12;
if(!motorindex1) {motorindex2++; motorindex2 %= 12;};
if(motorindex1 == motorindex2) break;
}
while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors
 
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t));
UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval);
UART1_Request_MotorData = FALSE;
}
else if(UART1_Request_WPLStore)
{
/*
s8 txt[50];
sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status);
UART1_PutString(txt);
*/
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t));
UART1_Request_WPLStore = FALSE;
}
else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE))
{
CreateNmeaGGA();
Send_NMEA_RMC = TRUE; // das muss noch da hinter
NMEA_Timer = SetDelay(NMEA_Interval);
}
else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE))
{
CreateNmeaRMC();
Send_NMEA_RMC = FALSE;
}
else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame));
UART1_ConfirmFrame = 0;
}
else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl));
UART1_Request_ExternalControl = FALSE;
}
else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE))
{
if(UART1_DisplayLine > 3)
{
Menu_Update(UART1_DisplayKeys);
UART1_DisplayKeys = 0;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff));
}
else
{
UART1_DisplayLine = 2;
sprintf(text,"!!! incompatible !!!");
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20);
if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0;
}
UART1_Display_Timer = SetDelay(UART1_Display_Interval);
UART1_Request_Display = FALSE;
}
else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE))
{
Menu_Update(0);
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff));
UART1_Request_Display1 = FALSE;
}
else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions
{
UART_VersionInfo_t version_tmp;
version_tmp.SWMajor = FC_Version.Major;
version_tmp.SWMinor = FC_Version.Minor;
version_tmp.SWPatch = FC_Version.Patch;
version_tmp.HWMajor = FC_Version.Hardware;
version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version
version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version
version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor;
version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware;
version_tmp.Flags = 0;
version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp));
UART1_Request_VersionInfo = FALSE;
}
else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo));
UART1_Request_VersionInfo = FALSE;
}
else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime));
UART1_Request_SystemTime = FALSE;
}
else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG));
UART1_Request_ErrorMessage = FALSE;
}
else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE))
{
s16 ppm_tmp[MAX_RC_IN], i;
for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp));
UART1_Request_PPM_Channels = FALSE;
}
else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE))
{
u8 result = 1, cmd = 0;
if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE)
{
result = LIC_CMD_READ_LICENSE;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE);
}
else
if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20))
{
result = LIC_CMD_ERASE_LICENSE;
DeleteLicenseInEEPROM();
CheckLicense(GET_LICENSE);
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1);
}
else
if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20))
{
cmd = LIC_CMD_WRITE_LICENSE;
if(CheckLicense(CHECK_ONLY)) //new license is okay
{
WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL);
result = 1;
}
else //new license is NOT okay
{
ClearLicenseText();
result = 0;
CheckLicense(GET_LICENSE); // fetch a license if available
}
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 );
}
UART1_Request_LicenseString = 0;
}
#ifdef FOLLOW_ME
else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE))
{
if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4))
{
TransmitAlsoToFC = 1;
// update FollowMe content
FollowMe.Position.Longitude = GPSData.Position.Longitude;
FollowMe.Position.Latitude = GPSData.Position.Latitude;
FollowMe.Position.Status = NEWDATA;
FollowMe.Position.Altitude = 1;
// 0 -> no Orientation
// 1-360 -> CompassCourse Setpoint
// -1 -> points to WP1 -> itself
FollowMe.Heading = -1;
FollowMe.ToleranceRadius = 1;
FollowMe.HoldTime = 60;
FollowMe.Event_Flag = 1;
FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list
FollowMe.Type = POINT_TYPE_WP;
FollowMe.WP_EventChannelValue = 100; // set servo value
FollowMe.AltitudeRate = 0; // do not change height
FollowMe.Speed = 0; // rate to change the Position (0 = max)
FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic)
FollowMe.Name[0] = 'F'; // Name of that point (ASCII)
FollowMe.Name[1] = 'O'; // Name of that point (ASCII)
FollowMe.Name[2] = 'L'; // Name of that point (ASCII)
FollowMe.Name[3] = 'L'; // Name of that point (ASCII)
FollowMe.reserve[0] = 0; // reserve
FollowMe.reserve[1] = 0; // reserve
/*
{
static u32 distance;
distance = (10 + distance + AnalogData.Ch5 * 5) / 2;
GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance);
FollowMe.Heading = (s16)GyroCompassCorrected/10;
FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic)
FollowMe.Speed = 50 + GPSData.Speed_Ground / 10;
}
*/
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe));
}
UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time
}
#endif
#ifdef DEBUG // only include functions if DEBUG is defined
else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE))
{
MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug));
SendDebugOutput = 0;
}
#endif
UART1_Transmit(); // output pending bytes in tx buffer
}