| 0,0 → 1,863 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <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" |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
| u32 UART1_AboTimeOut = 0; |
| |
| 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_Parameter = FALSE; |
| u8 UART1_DisplayKeys = 0; |
| u8 UART1_DisplayLine = 0; |
| u8 UART1_ConfirmFrame = 0; |
| u8 UART1_Request_FTP = FALSE; |
| u8 LastTransmittedFCStatusFlags2 = 0; |
| u8 UART1_ExternalControlConfirmFrame = FALSE; |
| |
| 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 1024 |
| u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| fifo_t UART1_rx_fifo; |
| |
| // the rx buffer |
| #define UART1_RX_BUFFER_LEN 1024 |
| u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| Buffer_t UART1_rx_buffer; |
| |
| // the tx buffer |
| #define UART1_TX_BUFFER_LEN 1024 |
| u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| Buffer_t UART1_tx_buffer; |
| |
| volatile u8 SerialLinkOkay = 0; |
| |
| u8 text[200]; |
| |
| const u8 ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "OperatingRadius ", |
| "FC-Flags ", //5 |
| "NC-Flags ", |
| "NickServo ", |
| "RollServo ", |
| "GPS Data ", |
| "CompassHeading ", //10 |
| "GyroHeading ", |
| "SPI Error ", |
| "SPI Okay ", |
| "I2C Error ", |
| "I2C Okay ", //15 |
| "16 ", |
| "17 ", |
| "18 ", |
| "19 ", // SD-Card-time |
| "EarthMagnet [%] ", //20 |
| "Z_Speed ", |
| "N_Speed ", |
| "E_Speed ", |
| "Magnet X ", |
| "Magnet Y ", //25 |
| "Magnet Z ", |
| "Distance N ", |
| "Distance E ", |
| "GPS_Nick ", |
| "GPS_Roll ", //30 |
| "Used_Sats " |
| }; |
| |
| 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 |
| 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 |
| |
| /********************************************************/ |
| /* 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); |
| |
| /* 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; |
| |
| 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; |
| |
| // 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.ProtoMinor = VERSION_SERIAL_MINOR; |
| |
| NaviData.Version = NAVIDATA_VERSION; |
| |
| UART1_PutString("\r\n UART1 init...ok"); |
| } |
| |
| |
| /****************************************************************/ |
| /* 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; |
| } |
| 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 'v': // version |
| 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 '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) |
| { |
| //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(GPS_pWaypoint != NULL) // if new WP exist |
| { // update WP hold time stamp immediately! |
| /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
| { |
| CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
| CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
| } |
| */ |
| } |
| BeepTime = 50; |
| } |
| break; |
| |
| case 'u': // redirect debug uart |
| switch(SerialMsg.pData[0]) |
| { |
| case UART_FLIGHTCTRL: |
| 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; |
| |
| if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
| { |
| PointList_Clear(); |
| GPS_pWaypoint = PointList_WPBegin(); |
| UART1_Request_WritePoint = 0; // return new point count |
| } |
| 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); |
| if(UART1_Request_WritePoint == pPoint->Index) |
| { |
| BeepTime = 500; |
| } |
| } |
| } |
| break; |
| |
| case 'x':// Read Waypoint from List |
| UART1_Request_ReadPoint = SerialMsg.pData[0]; |
| 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; |
| 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; |
| } |
| else |
| { |
| UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
| UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
| UART1_DisplayLine = 4; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| 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; |
| if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'v': // request for version info |
| UART1_Request_VersionInfo = TRUE; |
| 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 (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(s == NULL) return; |
| while (*s != '\0' && DebugUART == UART1) |
| { |
| 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 == '\r') || (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 |
| } |
| } |
| } |
| } |
| |
| |
| /**************************************************************/ |
| /* 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_Data3D_Interval = 0; |
| UART1_Display_Interval = 0; |
| UART1_MotorData_Interval = 0; |
| } |
| |
| 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)) |
| { |
| CheckFTPCommand(UART1_Request_FTP); |
| 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) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| NaviData.Errorcode = ErrorCode; |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
| UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| UART1_Request_NaviData = FALSE; |
| LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
| } |
| 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; |
| 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_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 && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| UART1_Request_VersionInfo = 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; |
| } |
| #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.reserve[0] = 0; // reserve |
| FollowMe.reserve[1] = 0; // reserve |
| FollowMe.reserve[2] = 0; // reserve |
| FollowMe.reserve[3] = 0; // reserve |
| 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 |
| } |
| |