WebSVN - NaviCtrl - Path Comparison - / Rev 109 and / Rev 110

Ignore whitespace Rev 109 → Rev 110

 /trunk/GPS.c
 ,7 → 282,7
 //------------------------------------------------------------
 void GPS_Init(void)
 {
-        SerialPutString("\r\n GPS init...");
+        UART1_PutString("\r\n GPS init...");
         UBX_Init();
         GPS_Neutral();
         GPS_ClearPosition(&GPS_HoldPosition);
 ,7 → 291,7
         WPList_Init();
         GPS_pWaypoint = WPList_Begin();
         GPS_UpdateParameter();
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 //------------------------------------------------------------

/trunk/Navi-Ctrl.Uv2
40,6 → 40,7
File 1,1,<.\GPS.c><GPS.c>
File 1,1,<.\logging.c><logging.c>
File 1,1,<.\gpx.c><gpx.c>
File 1,1,<.\mkprotocol.c><mkprotocol.c>
File 2,5,<.\ramfunc.h><ramfunc.h>
File 2,5,<.\main.h><main.h>
File 2,5,<.\menu.h><menu.h>
67,6 → 68,7
File 2,5,<.\logging.h><logging.h>
File 2,5,<.\gpx_header.h><gpx_header.h>
File 2,5,<.\gpx.h><gpx.h>
File 2,5,<.\mkprotocol.h><mkprotocol.h>
File 3,2,<.\startup912.s><startup912.s>
File 4,1,<.\libstr91x\src\91x_scu.c><91x_scu.c>
File 4,1,<.\libstr91x\src\91x_gpio.c><91x_gpio.c>

 /trunk/Obj/Navi-Ctrl_STR9.hex
 ,15 → 10,15
 :100090000040BDE8D2F021E3FC019FE5000080E5CF
 :1000A000F8119FE5001081E50200BDE801F06FE165
 :1000B000FF9FFDE8FF5F2DE900104FE102002DE9F1
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+:1000C0000D10A0E1310200EB0200BDE801F06FE18C
 :1000D000FF9FFDE8FF5F2DE900104FE102002DE9D1
-:1000E000340200EB0200BDE801F06FE1FF9FFDE884
+:1000E000330200EB0200BDE801F06FE1FF9FFDE885
 :1000F00004E04EE2FF5F2DE900104FE102002DE920
-:10010000350200EB0200BDE801F06FE1FF9FFDE862
+:10010000340200EB0200BDE801F06FE1FF9FFDE863
 :1001100008E04EE2FF5F2DE900104FE102002DE9FB
-:100120001C0200EB0200BDE801F06FE1FF9FFDE85B
+:100120001B0200EB0200BDE801F06FE1FF9FFDE85C
 :1001300004E04EE2FF402DE900104FE102002DE9FE
-:10014000240200EB0200BDE801F06FE1FF80FDE852
+:10014000230200EB0200BDE801F06FE1FF80FDE853
 :1001500050119FE50020A0E3011041E2020051E1AF
 :10016000FCFFFF8A40019FE540119FE5341080E5C8
 :1001700034019FE538119FE5001080E50000A0E103
 ,18 → 43,18
 :1002A000300000FC9000000020A107000020005C4E
 :1002B00096010000020002004030080019C00B0047
 :1002C00080000200731B000001C8FE0000800104D2
-:1002D00030DA0100000000045C0300046003000445
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+:100320006000E0E38B3800EBC000A0E31910A0E30D
+:100330000320A0E3313800EB0100A0E3483800EBD4
+:100340000000A0E3193800EB00A81BE90DC0A0E1F4
 :1003500010D82DE904B04CE220D04DE22C404BE205
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 :1003A0000A30D1E5000053E30000A00310A81B09A8
 :1003B0007C009FE5002090E5003091E5030052E1CC
 ,7584 → 63,7690
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 :1003F00038109FE5B020D1E10230D1E50310D1E5FE
 :1004000000108DE52C409FE5B010D4E104108DE57F
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 :100460001603A0E30B0A80E28010A0E30120A0E3C2
-:10047000D83900EBE0019FE5E0119FE5FB5F00EB61
+:10047000053B00EBE0019FE5E0119FE5956100EB96
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 :100550001603A0E30B0A80E28010A0E30120A0E3D1
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 :1006200050309FE50020C3E51603A0E30B0A80E2EB
-:100630008010A0E3673900EB0020A0E314309FE5B1
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 :10064000002083E538309FE5002083E510309FE5EA
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+:10E254000400000055B60100260000007BB6010052
+:10E264003C000000B7B601001600000000000000EA
+:10E27400000000000100000000E100E1FFFF0000D9
+:10E284000050005C64000000881300008813000044
+:10E29400FFFFFFFFF4010000E80300000DC0A0E150
+:10E2A40000D82DE904B04CE21523A0E30010A0E34C
+:10E2B400041082E50630A0E3003082E50C1082E50C
+:10E2C4000830A0E3183082E50FE0A0E101F0A0E1FE
+:04E2D40000A81BE99A
+:10E2D800C80500047CE0010084E001006C02000431
+:10E2E800401A0004B4E00100BCE001008CE0010029
+:0CE2F800001A0004FCC301007C020004BA
+:0CE304000000000000000000000000000D
+:10E3100090E0010098E0010034D70100A0E0010086
+:10E32000A4E00100A8E00100ACE00100B0E00100C1
+:10E33000D005000480020004C80200041003000499
+:04E340008002000453
+:10E3440020010000000000000000000000000000A8
+:10E35400C8020004EC050004EC060004EC0500040B
+:10E36400EC050004EC050004EC0500048C02000438
+:10E37400A0B20100A8B2010000000000B0B2010088
+:10E384000000000000000000100100000000000078
+:10E39400000000000100000010030004EC0600046B
+:10E3A400EC070004EC060004EC060004EC06000490
+:10E3B400EC060004D4020004A0B20100A8B20100DB
+:10E3C40000000000B0B201000000000000000000E6
+:10E3D4001002000000000000000000000200000025
+:10E3E4000000000000000000000000000000000029
+:10E3F4000000000000000000000000001C030004F6
+:10E40400A0B20100A8B2010000000000B0B20100F7
+:08E41400000000000000000000
 :00000001FF

 /trunk/fat16.c
 ,7 → 536,7
         File_t *file;
         u8 result = 0;
-        SerialPutString("\r\n FAT16 init...");
+        UART1_PutString("\r\n FAT16 init...");
         Partition.IsValid = 0;
         // declare the filepointers as unused.
 ,7 → 550,7
         // try to initialise the sd-card.
         if(SD_SUCCESS != SDC_Init())
         {
-                SerialPutString("SD-Card could not be initialized.");
+                UART1_PutString("SD-Card could not be initialized.");
                 result = 1;
                 goto end;
         }
 ,7 → 558,7
         // SD-Card is initialized successfully
         if(SD_SUCCESS != SDC_GetSector((u32)MBR_SECTOR,file->Cache))    // Read the MasterBootRecord
         {
-                SerialPutString("Error reading the MBR.");
+                UART1_PutString("Error reading the MBR.");
                 result = 2;
                 goto end;
         }
 ,7 → 572,7
                 // Start of Partition is the Volume Boot Sector
                 if(SD_SUCCESS != SDC_GetSector(partitionfirstsector,file->Cache)) // Read the volume boot record
                 {
-                        SerialPutString("Error reading the VBR.");
+                        UART1_PutString("Error reading the VBR.");
                         result = 3;
                         goto end;
                 }
 ,7 → 585,7
         VBR = (VBR_Entry_t *) file->Cache;                                              // Enter the VBR using the structure VBR_Entry_t.
         if(VBR->BytesPerSector != BYTES_PER_SECTOR)
         {
-                SerialPutString("VBR: Sector size not supported.");
+                UART1_PutString("VBR: Sector size not supported.");
                 result = 4;
                 goto end;
         }
 ,7 → 607,7
         // Calculate the last data sector
         if(VBR->NoSectors == 0)
         {
-                SerialPutString("VBR: Bad number of sectors.");
+                UART1_PutString("VBR: Bad number of sectors.");
                 result = 5;
                 goto end;
         }
 ,7 → 615,7
         // check for FAT16 in VBR of first partition
         if(!((VBR->FATName[0]=='F') && (VBR->FATName[1]=='A') && (VBR->FATName[2]=='T') && (VBR->FATName[3]=='1')&&(VBR->FATName[4]=='6')))
         {
-                SerialPutString("VBR: Partition ist not FAT16 type.");
+                UART1_PutString("VBR: Partition ist not FAT16 type.");
                 result = 6;
                 goto end;
         }
 ,7 → 623,7
         result = 0;
         end:
         if(result != 0) Fat16_Deinit();
-        else SerialPutString("ok");
+        else UART1_PutString("ok");
         return(result);
 }

 /trunk/i2c.c
 ,7 → 98,7
         I2C_InitTypeDef   I2C_Struct;
         GPIO_InitTypeDef  GPIO_InitStructure;
-        SerialPutString("\r\n I2C init...");
+        UART1_PutString("\r\n I2C init...");
         // enable Port 2 peripherie
         SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
         // disable a reset state
 ,7 → 188,7
         I2C_GenerateSTOP(I2C1, ENABLE);
         I2C_State = I2C_IDLE;
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 ,7 → 197,7
 {
         GPIO_InitTypeDef  GPIO_InitStructure;
-        SerialPutString("\r\n I2C deinit...");
+        UART1_PutString("\r\n I2C deinit...");
         I2C_GenerateStart(I2C1, DISABLE);
         I2C_GenerateSTOP(I2C1, ENABLE);
         VIC_ITCmd(I2C1_ITLine, DISABLE);
 ,7 → 229,7
         I2C1_Timeout = 0;
         I2C_Heading.Heading = -1;
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 ,10 → 481,10
         if (MK3MAG_Version.Major != 0xFF)
         {
                 sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
-                SerialPutString(msg);
+                UART1_PutString(msg);
                 sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
-                SerialPutString(msg);
+                UART1_PutString(msg);
         }
-        else SerialPutString("\n\rNo version information from MK3Mag.");
+        else UART1_PutString("\n\rNo version information from MK3Mag.");
 }

 /trunk/interrupt.c
 ,7 → 101,7
 *******************************************************************************/
 void Abort_Handler (void)
 {
-        SerialPutString("\r\nAbort Handler");
+        UART1_PutString("\r\nAbort Handler");
         while(1)
         {
         // infinite loop
 ,7 → 117,7
 *******************************************************************************/
 void Undefined_Handler (void)
 {
-        SerialPutString("\r\nUndefined Handler");
+        UART1_PutString("\r\nUndefined Handler");
         while(1)
         {
         // infinite loop
 ,7 → 139,7
 *******************************************************************************/
 void Prefetch_Handler(void)
 {
-        SerialPutString("\r\nPrefetch Handler");
+        UART1_PutString("\r\nPrefetch Handler");
         while(1)
         {
         // infinite loop

 /trunk/logging.c
 ,16 → 197,16
                                                 {
                                                         flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                         logfilestate = LOGFILE_OPENED; // goto next step
-                                                        SerialPutString("\r\nOpening kml-file:");
-                                                        SerialPutString(logfilename);
-                                                        SerialPutString("\r\n");
+                                                        UART1_PutString("\r\nOpening kml-file:");
+                                                        UART1_PutString(logfilename);
+                                                        UART1_PutString("\r\n");
                                                 }
                                                 else // could not be openend
                                                 {
                                                         logfilestate = LOGFILE_ERROR;
-                                                        SerialPutString("\r\nError opening kml-file: ");
-                                                        SerialPutString(logfilename);
-                                                        SerialPutString("\r\n");
+                                                        UART1_PutString("\r\nError opening kml-file: ");
+                                                        UART1_PutString(logfilename);
+                                                        UART1_PutString("\r\n");
                                                         logtimer = SetDelay(10);  // try again in open logfile in 10 mili sec
                                                 }
                                         }
 ,7 → 213,7
                                         else
                                         {
                                                 logfilestate = LOGFILE_ERROR;
-                                                SerialPutString("\r\nError getting free kml-file name\r\n");
+                                                UART1_PutString("\r\nError getting free kml-file name\r\n");
                                         }
                                         // else retry in next loop
                                         break;
 ,7 → 223,7
                                         {
                                                 if(!KML_LoggGPSCoordinates(&logfile))
                                                 {       // error logging data
-                                                        SerialPutString("\r\nError logging to kml-file\r\n");
+                                                        UART1_PutString("\r\nError logging to kml-file\r\n");
                                                         KML_DocumentClose(&logfile);
                                                         logfilestate = LOGFILE_ERROR;
                                                 }
 ,12 → 253,12
                         {
                                 if(KML_DocumentClose(&logfile))
                                 {
-                                        SerialPutString("\r\nClosing kml-file\r\n");
+                                        UART1_PutString("\r\nClosing kml-file\r\n");
                                         logfilestate = LOGFILE_CLOSED;
                                 }
                                 else  // could not be closed
                                 {
-                                        SerialPutString("\r\nError closing kml-file\r\n");
+                                        UART1_PutString("\r\nError closing kml-file\r\n");
                                         logfilestate =  LOGFILE_ERROR;
                                 }
                         }
 ,16 → 324,16
                                                 {
                                                         flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
                                                         logfilestate = LOGFILE_OPENED; // goto next step
-                                                        SerialPutString("\r\nOpening gpx-file:");
-                                                        SerialPutString(logfilename);
-                                                        SerialPutString("\r\n");
+                                                        UART1_PutString("\r\nOpening gpx-file:");
+                                                        UART1_PutString(logfilename);
+                                                        UART1_PutString("\r\n");
                                                 }
                                                 else // could not be openend
                                                 {
                                                         logfilestate = LOGFILE_ERROR;
-                                                        SerialPutString("\r\nError opening gpx-file: ");
-                                                        SerialPutString(logfilename);
-                                                        SerialPutString("\r\n");
+                                                        UART1_PutString("\r\nError opening gpx-file: ");
+                                                        UART1_PutString(logfilename);
+                                                        UART1_PutString("\r\n");
                                                         logtimer = SetDelay(10);  // try again in open logfile in 10 mili sec
                                                 }
                                         }
 ,7 → 340,7
                                         else
                                         {
                                                 logfilestate = LOGFILE_ERROR;
-                                                SerialPutString("\r\nError getting free gpx-file name\r\n");
+                                                UART1_PutString("\r\nError getting free gpx-file name\r\n");
                                         }
                                         // else retry in next loop
                                         break;
 ,7 → 350,7
                                         {
                                                 if(!GPX_LoggGPSCoordinates(&logfile))
                                                 {       // error logging data
-                                                        SerialPutString("\r\nError logging to gpx-file\r\n");
+                                                        UART1_PutString("\r\nError logging to gpx-file\r\n");
                                                         GPX_DocumentClose(&logfile);
                                                         logfilestate = LOGFILE_ERROR;
                                                 }
 ,12 → 379,12
                         {
                                 if(GPX_DocumentClose(&logfile))
                                 {
-                                        SerialPutString("\r\nClosing gpx-file\r\n");
+                                        UART1_PutString("\r\nClosing gpx-file\r\n");
                                         logfilestate = LOGFILE_CLOSED;
                                 }
                                 else  // could not be closed
                                 {
-                                        SerialPutString("\r\nError closing gpx-file\r\n");
+                                        UART1_PutString("\r\nError closing gpx-file\r\n");
                                         logfilestate =  LOGFILE_ERROR;
                                 }
                         }

 /trunk/main.c
 ,7 → 116,7
         u8 msg[25];
         sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
-        SerialPutString(msg);
+        UART1_PutString(msg);
 }
 ,7 → 228,7
         Led_Init();
         // initialize the debug UART1
         UART1_Init();
-        SerialPutString("\r\n---------------------------------------------");
+        UART1_PutString("\r\n---------------------------------------------");
         // initialize UART2 to FLIGHTCTRL
         UART2_Init();
         // initialize UART0 (to MKGPS or MK3MAG)
 ,15 → 250,15
         TimerCompassUpdate = SetDelay(5);
         TimerCheckError = SetDelay(3000);
-        SerialPutString("\r\n---------------------------------------------");
-        SerialPutString("\n\r Version information:");
+        UART1_PutString("\r\n---------------------------------------------");
+        UART1_PutString("\n\r Version information:");
         GetNaviCtrlVersion();
         SPI0_GetFlightCtrlVersion();
         if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
         {
                 //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE);
-                //SerialPutString(ErrorMSG);
-                SerialPutString("\n\r Flight-Ctrl not compatible");
+                //UART1_PutString(ErrorMSG);
+                UART1_PutString("\n\r Flight-Ctrl not compatible");
                 LED_RED_ON;
         }
 ,11 → 265,11
         I2C1_GetMK3MagVersion();
         if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
         {
-                SerialPutString("\n\r MK3Mag not compatible");
+                UART1_PutString("\n\r MK3Mag not compatible");
                 LED_RED_ON;
         }
-        SerialPutString("\r\n---------------------------------------------\r\n\r\n");
+        UART1_PutString("\r\n---------------------------------------------\r\n\r\n");
         for (;;)
         {
 ,7 → 278,6
                 SPI0_UpdateBuffer();
                 UART0_Transmit(); // empty txd buffer
-                UART1_Transmit(); // empty txd buffer
                 // ------------------------- I2C Timing --------------------------------
                 if(I2C_State != I2C_OFF)
 ,7 → 287,7
                                 // check for hanging I2C bus
                                 if(CheckDelay(I2C1_Timeout))
                                 {       // reset I2C
-                                        SerialPutString("\n\rCommunication-Error: MK3Mag\n\r");
+                                        UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r");
                                         I2C1_Deinit();
                                         I2C1_Init();
                                 }
 ,7 → 318,7
                         if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
 //                      else NaviData.FlyingTime = 0;
                         TimerCheckError = SetDelay(1000);
-                        Request_SendFollowMe = TRUE;
+                        UART1_Request_SendFollowMe = TRUE;
                         if(SerialLinkOkay) SerialLinkOkay--;
                         if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
                         else NCFlags &= ~NC_FLAG_NOSERIALLINK;

 /trunk/main.h
 ,7 → 4,7
 #define VERSION_MAJOR   0
 #define VERSION_MINOR   15
-#define VERSION_PATCH   2
+#define VERSION_PATCH   3
 #define VERSION_SERIAL_MAJOR    10
 #define VERSION_SERIAL_MINOR    1

 /trunk/mkprotocol.c
 ,0 → 1,245
+/*#######################################################################################*/
+/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
+/*#######################################################################################*/
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Copyright (c) 2008 Ingo Busker, Holger Buss
+// + Nur für den privaten Gebrauch
+// + FOR NON COMMERCIAL USE ONLY
+// + www.MikroKopter.com
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
+// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
+// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
+// + bzgl. der Nutzungsbedingungen aufzunehmen.
+// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
+// + Verkauf von Luftbildaufnahmen, usw.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
+// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
+// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
+// + eindeutig als Ursprung verlinkt werden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
+// + Benutzung auf eigene Gefahr
+// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
+// + mit unserer Zustimmung zulässig
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
+// + this list of conditions and the following disclaimer.
+// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
+// +     from this software without specific prior written permission.
+// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
+// +     for non-commercial use (directly or indirectly)
+// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
+// +     with our written permission
+// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
+// +     clearly linked as origin
+// +   * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
+//
+// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// +  POSSIBILITY OF SUCH DAMAGE.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#include <string.h>
+#include <stdarg.h>
+#include "91x_lib.h"
+#include "mkprotocol.h"
+#include "ramfunc.h"
+#include "usb.h"
+/**************************************************************/
+/* Create serial output frame                                 */
+/**************************************************************/
+void MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
+{
+        va_list ap;
+        u8 a,b,c;
+        u8 ptr = 0;
+        u16 tmpCRC = 0, i;
+        u8* pdata = NULL;
+        int len = 0;
+        if(pTxBuff->Locked == FALSE)
+        {       // tx-buffer is not in use
+                pTxBuff->Position = 0;
+                pTxBuff->pData[pTxBuff->Position++] = '#';                      // Start character
+                pTxBuff->pData[pTxBuff->Position++] = 'a' + Address;    // Address (a=0; b=1,...)
+                pTxBuff->pData[pTxBuff->Position++] = CmdID;                    // Command
+                va_start(ap, numofbuffers);
+                if(numofbuffers)
+                {
+                        pdata = va_arg(ap, u8*);
+                        len = va_arg(ap, int);
+                        ptr = 0;
+                        numofbuffers--;
+                }
+                while(len)
+                {
+                        if(len)
+                        {
+                                a = pdata[ptr++];
+                                len--;
+                                if((!len) && numofbuffers) // try to jump to next buffer
+                                {
+                                        pdata = va_arg(ap, u8*);
+                                        len = va_arg(ap, int);
+                                        ptr = 0;
+                                        numofbuffers--;
+                                }
+                        }
+                        else a = 0;
+                        if(len)
+                        {
+                                b = pdata[ptr++];
+                                len--;
+                                if((!len) && numofbuffers) // try to jump to next buffer
+                                {
+                                        pdata = va_arg(ap, u8*);
+                                        len = va_arg(ap, int);
+                                        ptr = 0;
+                                        numofbuffers--;
+                                }
+                        }
+                        else b = 0;
+                        if(len)
+                        {
+                                c = pdata[ptr++];
+                                len--;
+                                if((!len) && numofbuffers) // try to jump to next buffer
+                                {
+                                        pdata = va_arg(ap, u8*);
+                                        len = va_arg(ap, int);
+                                        ptr = 0;
+                                        numofbuffers--;
+                                }
+                        }
+                        else c = 0;
+                        pTxBuff->pData[pTxBuff->Position++] = '=' + (a >> 2);
+                        pTxBuff->pData[pTxBuff->Position++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
+                        pTxBuff->pData[pTxBuff->Position++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
+                        pTxBuff->pData[pTxBuff->Position++] = '=' + ( c & 0x3f);
+                }
+                va_end(ap);
+                // add crc
+                for(i = 0; i < pTxBuff->Position; i++)
+                {
+                        tmpCRC += pTxBuff->pData[i];
+                }
+                tmpCRC %= 4096;
+                pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC / 64;
+                pTxBuff->pData[pTxBuff->Position++] = '=' + tmpCRC % 64;
+                pTxBuff->pData[pTxBuff->Position++] = '\r';
+                pTxBuff->Position = 0;  // reset buffer position for transmision
+                pTxBuff->Locked = TRUE; // mark as used
+        } // EOF buffer not in use
+}
+// typical called in an UART Rx ISR
+/**************************************************************/
+/* Collect serial frame                                       */
+/**************************************************************/
+void MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c)
+{
+        if(pRxBuff->Locked == FALSE)
+        { // rx buffer not locked
+                if((pRxBuff->Position == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
+                        {
+                                pRxBuff->pData[pRxBuff->Position++] = c; // copy 1st byte to buffer
+                                //crc = c; // init crc
+                        }
+                        else if (pRxBuff->Position < pRxBuff->Size) // rx buffer not full
+                        {
+                                if (c != '\r') // no termination character received
+                                {
+                                        pRxBuff->pData[pRxBuff->Position++] = c; // copy byte to rxd buffer
+                                        //crc += c; // update crc
+                                }
+                                else // termination character received
+                                {
+                                        // calculate checksum from transmitted data
+                                        u16 crc = 0, i;
+                                        u8 crc1, crc2;
+                                        for(i = 0; i < (pRxBuff->Position-2); i++)
+                                        {
+                                                crc +=  pRxBuff->pData[i];
+                                        }
+                                        crc %= 4096;
+                                        crc1 = '=' + crc / 64;
+                                        crc2 = '=' + crc % 64;
+                                        // compare checksum to transmitted checksum bytes
+                                        if((crc1 == pRxBuff->pData[pRxBuff->Position-2]) && (crc2 == pRxBuff->pData[pRxBuff->Position-1]))
+                                        {   // checksum is valid
+                                                pRxBuff->Locked = TRUE;                                     // lock the rxd buffer
+                                                pRxBuff->pData[pRxBuff->Position] = '\r';       // set termination character
+                                                // if 2nd byte is an 'R' start bootloader
+                                                if(pRxBuff->pData[2] == 'R')
+                                                {
+                                                        PowerOff();
+                                                        VIC_DeInit();
+                                                        Execute_Bootloader(); // Reset-Commando - Bootloader starten
+                                                }
+                                        } // eof checksum valid
+                                        else
+                                        {       // checksum is invalid
+                                                pRxBuff->Position = 0;   // reset rxd buffer position
+                                                pRxBuff->Locked = FALSE; // unlock rxd buffer
+                                        }  // eof checksum invalid
+                                } // eof termination character received
+                        } // rxd buffer not full
+                        else // rxd buffer overrun
+                        {
+                                pRxBuff->Position = 0; // reset rxd buffer      pointer
+                                pRxBuff->Locked = FALSE; // unlock rxd buffer
+                        } // eof rxd buffer overrrun
+        }
+}
+/**************************************************************/
+/* Decode data                                                */
+/**************************************************************/
+void MKProtocol_DecodeSerialFrame(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg)
+{
+        u8 a,b,c,d;
+        u8 x,y,z;
+        u8 ptrIn = 3; // start with first data byte in rx buffer
+        u8 ptrOut = 3;
+        u8 len = pRxBuff->Position - 6;  // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
+        while(len)
+        {
+                a = pRxBuff->pData[ptrIn++] - '=';
+                b = pRxBuff->pData[ptrIn++] - '=';
+                c = pRxBuff->pData[ptrIn++] - '=';
+                d = pRxBuff->pData[ptrIn++] - '=';
+                //if(ptrIn > ReceivedBytes - 3) break;
+                x = (a << 2) | (b >> 4);
+                y = ((b & 0x0f) << 4) | (c >> 2);
+                z = ((c & 0x03) << 6) | d;
+                if(len--) pRxBuff->pData[ptrOut++] = x; else break;
+                if(len--) pRxBuff->pData[ptrOut++] = y; else break;
+                if(len--) pRxBuff->pData[ptrOut++] = z; else break;
+        }
+        pSerialMsg->Address = pRxBuff->pData[1] - 'a';
+        pSerialMsg->CmdID = pRxBuff->pData[2];
+        pSerialMsg->pData = &(pRxBuff->pData[3]);
+        pSerialMsg->DataLen = ptrOut - 3;       // return number of data in bytes
+}

 /trunk/mkprotocol.h
 ,0 → 1,29
+#ifndef _MKPROTOCOL_H
+#define _MKPROTOCOL_H
+// slave addresses
+#define FC_ADDRESS 1
+#define NC_ADDRESS 2
+#define MK3MAG_ADDRESS 3
+typedef struct
+{
+        u8* pData;
+        u16 Size;
+        u16 Position;
+        u8  Locked;
+} __attribute__((packed)) Buffer_t;
+typedef struct
+{
+        u8 Address;
+        u8 CmdID;
+        u8* pData;
+        u16 DataLen;
+} __attribute__((packed)) SerialMsg_t;
+extern void MKProtocol_CreateSerialFrame(Buffer_t* pTxBuff, u8 CmdID, u8 Address, u8 numofbuffers , ...); //u8 *data, u8 len, ....;
+extern void MKProtocol_CollectSerialFrame(Buffer_t* pRxBuff, u8 c);
+extern void MKProtocol_DecodeSerialFrame(Buffer_t* pRxBuff, SerialMsg_t* pSerialMsg);
+#endif // _MKPROTOCOL_H

 /trunk/sdc.c
 ,7 → 306,7
         if(result != SD_SUCCESS)
         {
                 sprintf(text,"Error %02X reading data from sd card (R1=%02X).\r\n", result, rsp);
-                SerialPutString(text);
+                UART1_PutString(text);
         }
         return(result);
 }
 ,28 → 327,28
         u16 temp1, temp2;
         sprintf(text, "\r\n Manufacturer ID: %i\r\n", pCID[0]);
-        SerialPutString(text);
+        UART1_PutString(text);
         memcpy(pn, &pCID[1], 2);
         pn[2] = '\0'; // terminate string
         sprintf(text, " Application ID: %s\r\n",pn);
-        SerialPutString(text);
+        UART1_PutString(text);
         memcpy(pn, &pCID[3], 5);
         pn[5] = '\0'; // terminate string
         sprintf(text, " Product Name: %s\r\n",pn);
-        SerialPutString(text);
+        UART1_PutString(text);
         sprintf(text, " Product Rev.: %i.%i\r\n",pCID[8]>>4, pCID[8]&0xF);
-        SerialPutString(text);
-        SerialPutString(" Serial No.: ");
+        UART1_PutString(text);
+        UART1_PutString(" Serial No.: ");
         for(temp1 = 0; temp1<4; temp1++)
         {
                 sprintf(text,"%02X", pCID[9+temp1]);
-                SerialPutString(text);
+                UART1_PutString(text);
         }
-        SerialPutString("\r\n");
+        UART1_PutString("\r\n");
         temp1 = pCID[14] & 0x0F;    // month
         temp2 = ((pCID[14]>>4)|(pCID[13]<<4)) + 2000; // year
         sprintf(text, " Manufac. Date: %i/%i\r\n\r\n",temp1, temp2);
-        SerialPutString(text);
+        UART1_PutString(text);
 }
 //________________________________________________________________________________________________________________________________________
 ,11 → 397,11
         if(SD_SWITCH) // init only if the SD-Switch is indicating a card in the slot
         {
-                SerialPutString("\r\n SSC init...");
+                UART1_PutString("\r\n SSC init...");
                 SSC_Init();
-                SerialPutString("ok");
+                UART1_PutString("ok");
-                SerialPutString("\r\n SDC init...");
+                UART1_PutString("\r\n SDC init...");
                 SDCardInfo.Valid = 0;
                 /* The host shall supply power to the card so that the voltage is reached to Vdd_min within 250ms and
                 start to supply at least 74 SD clocks to the SD card with keeping cmd line to high. In case of SPI
 ,7 → 419,7
                 {
                         if (timeout++ > 20)
                         {
-                                SerialPutString("reset timeout");
+                                UART1_PutString("reset timeout");
                                 result = SD_ERROR_RESET;
                                 goto end;
                         }
 ,7 → 428,7
 /*              if(SDC_SendCMDR1(CMD_CRC_ON_OFF, 1UL) != R1_IDLE_STATE)
                 {
                                 sprintf(text,"Bad cmd59 R1=%02X.", rsp[0]);
-                                SerialPutString(text);
+                                UART1_PutString(text);
                                 result = SD_ERROR_BAD_RESPONSE;
                                 goto end;
                 }*/
 ,7 → 439,7
                 if(rsp[0] & R1_BAD_RESPONSE)
                 {
                         sprintf(text,"Bad cmd8 R1=%02X.", rsp[0]);
-                        SerialPutString(text);
+                        UART1_PutString(text);
                         result = SD_ERROR_BAD_RESPONSE;
                         goto end;
                 }
 ,7 → 460,7
                    //check pattern
                    if(rsp[4]!= 0xAA)
                    {
-                                SerialPutString("Bad cmd8 R7 check pattern.\r\n");
+                                UART1_PutString("Bad cmd8 R7 check pattern.\r\n");
                                 result = SD_ERROR_BAD_RESPONSE;
                                 goto end;
                    }
 ,7 → 467,7
                    if ( (rsp[3] & 0x0F)!= 0x01 ) // voltage range is not 2.7-3.6V
                    {
-                                SerialPutString("Card is incompatible to 3.3V.\r\n");
+                                UART1_PutString("Card is incompatible to 3.3V.\r\n");
                                 result = SD_ERROR_BAD_VOLTAGE_RANGE;
                                 goto end;
                    }
 ,13 → 478,13
                 if(rsp[0] & R1_BAD_RESPONSE)
                 {
                         sprintf(text,"Bad cmd58 R1 %02x.", rsp[0]);
-                        SerialPutString(text);
+                        UART1_PutString(text);
                         result = SD_ERROR_BAD_RESPONSE;
                         goto end;
                 }
                 if(rsp[0] & R1_ILLEGAL_CMD)
                 {
-                        SerialPutString("Not an SD-CARD.");
+                        UART1_PutString("Not an SD-CARD.");
                         result = SD_ERROR_NO_SDCARD;
                         goto end;
                 }
 ,7 → 497,7
                 if((rsp[2] & 0x30) != 0x30)
                 {
                         // supply voltage is not supported by sd-card
-                        SerialPutString("Card is incompatible to 3.3V.");
+                        UART1_PutString("Card is incompatible to 3.3V.");
                         result = SD_ERROR_BAD_VOLTAGE_RANGE;
                         goto end;
                 }
 ,13 → 510,13
                         if(rsp[0] & R1_BAD_RESPONSE)
                         {
                                 sprintf(text,"Bad Acmd41 R1=%02X.", rsp[0]);
-                                SerialPutString(text);
+                                UART1_PutString(text);
                                 result = SD_ERROR_BAD_RESPONSE;
                                 goto end;
                         }
                         if(CheckDelay(timeout))
                         {
-                            SerialPutString("Init timeout.");
+                            UART1_PutString("Init timeout.");
                                 result = SD_ERROR_INITIALIZE;
                                 goto end;
                         }
 ,7 → 524,7
                 if(rsp[0] != R1_NO_ERR)
                 {
-                        SerialPutString("Init error.");
+                        UART1_PutString("Init error.");
                         result = SD_ERROR_INITIALIZE;
                         goto end;
                 }
 ,7 → 531,7
                 /* set block size to 512 bytes */
         if(SDC_SendCMDR1(CMD_SET_BLOCKLEN, 512UL) != R1_NO_ERR)
         {
-                SerialPutString("Error setting block length to 512.");
+                UART1_PutString("Error setting block length to 512.");
                         result = SD_ERROR_SET_BLOCKLEN;
                         goto end;
         }
 ,7 → 544,7
                 result = SDC_GetCID((u8 *)&SDCardInfo.CID);
                 if(result != SD_SUCCESS)
                 {
-                        SerialPutString("Error reading CID.\r\n");
+                        UART1_PutString("Error reading CID.\r\n");
                         goto end;
                 }
 ,11 → 552,11
                 result = SDC_GetCSD((u8 *)&SDCardInfo.CSD);
                 if(result != SD_SUCCESS)
                 {
-                        SerialPutString("Error reading CSD.");
+                        UART1_PutString("Error reading CSD.");
                         goto end;
                 }
-                SerialPutString("ok\r\n");
+                UART1_PutString("ok\r\n");
                 u8 c_size_mult, read_bl_len;
                 u32 c_size;
 ,16 → 606,16
                 switch(SDCardInfo.Version)
                 {
                         case VER_1X:
-                                SerialPutString("  SD-CARD V1.x");
+                                UART1_PutString("  SD-CARD V1.x");
                                 break;
                         case VER_20:
-                                SerialPutString("  SD-CARD V2.0 or later");
+                                UART1_PutString("  SD-CARD V2.0 or later");
                         default:
                                 break;
                 }
                 u16 mb_size = (u16)(SDCardInfo.Capacity/(1024L*1024L));
                 sprintf(text, "\r\n  Capacity = %i MB", mb_size);
-                SerialPutString(text);
+                UART1_PutString(text);
                 SDC_PrintCID((u8 *)&SDCardInfo.CID);
                 SDCardInfo.Valid = 1;
 ,7 → 628,7
                 SSC_Deinit();
                 SDCardInfo.Valid = 0;
                 result = SD_ERROR_NOCARD;
-                SerialPutString("No Card in Slot.");
+                UART1_PutString("No Card in Slot.");
         }
         return(result);
 }
 ,7 → 645,7
 SD_Result_t SDC_Deinit(void)
 {
-        SerialPutString("\r\n SDC deinit...");
+        UART1_PutString("\r\n SDC deinit...");
         SSC_Deinit();
         SDCardInfo.Valid = 0;
 ,7 → 652,7
         SDCardInfo.Capacity = 0;
         SDCardInfo.Version = VER_UNKNOWN;
-        SerialPutString("ok");
+        UART1_PutString("ok");
         return(SD_SUCCESS);
 }
 ,7 → 754,7
         if(result != SD_SUCCESS)
         {
                 sprintf(text,"Error %02X writing data to sd card (R=%02X).\r\n", result, rsp);
-                SerialPutString(text);
+                UART1_PutString(text);
         }
         return(result);
 }

 /trunk/settings.c
 ,7 → 117,7
                         if((CFG_Parameter[i].Value < CFG_Parameter[i].Min) || (CFG_Parameter[i].Value > CFG_Parameter[i].Max))
                         {       // print a warning
                                 sprintf(text,"\r\n%s <-- %d is out of range [%d...%d]", string, CFG_Parameter[i].Value, CFG_Parameter[i].Min, CFG_Parameter[i].Max);
-                                SerialPutString(text);
+                                UART1_PutString(text);
                                 CFG_Parameter[i].Value = CFG_Parameter[i].Default;  // fallback to default
                         }
                         retval = 1; // value in range
 ,7 → 127,7
         if(!retval)
         {
                 sprintf(text,"\r\n%s <-- unknown parameter\r\n", string);
-                SerialPutString(text);
+                UART1_PutString(text);
         }
         return(retval);
 }
 ,7 → 142,7
         s8 *name, *value;
         u8 i;
-        SerialPutString("\n\rSettings init...");
+        UART1_PutString("\n\rSettings init...");
         Settings_SetDefaultValues();
         if(Fat16_IsValid())
 ,7 → 152,7
                         fp = fopen_("settings.ini", 'r');               // try to open the file
                         if (fp == NULL)                                                 // could not open the file
                         {
-                                SerialPutString("ERROR: Opening settings file!");
+                                UART1_PutString("ERROR: Opening settings file!");
                                 return;
                         }
                         // read all lines from file
 ,7 → 175,7
                                 }
                         }
                         fclose_(fp);
-                        SerialPutString("ok");
+                        UART1_PutString("ok");
                         return;
                 }
                 else // settings file does not exist
 ,7 → 183,7
                         fp = fopen_("settings.ini", 'w');               // try to open the file
                         if(fp == NULL)
                         {
-                                SerialPutString("ERROR: Creating default settings file!");
+                                UART1_PutString("ERROR: Creating default settings file!");
                                 return;
                         }
                         // run thrue all parameters and set value to default
 ,13 → 194,13
                         }
                         fputs_("\r\n", fp); // newline at the end of file
                         fclose_(fp);
-                        SerialPutString("Default settings file created!");
+                        UART1_PutString("Default settings file created!");
                         return;
                 }
         }
         else // no acces to fat 16 filesystem
         {
-                SerialPutString("Using default values!");
+                UART1_PutString("Using default values!");
                 return;
         }
 }

 /trunk/spi_slave.c
 ,7 → 222,7
         GPIO_InitTypeDef GPIO_InitStructure;
         SSP_InitTypeDef   SSP_InitStructure;
-        SerialPutString("\r\n SPI init...");
+        UART1_PutString("\r\n SPI init...");
         SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE);
         SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
 ,7 → 271,7
         VIC_Config(SSP0_ITLine, VIC_IRQ, 1);
         VIC_ITCmd(SSP0_ITLine, ENABLE);
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 //------------------------------------------------------
 ,11 → 424,11
         if (FC_Version.Major != 0xFF)
         {
                 sprintf(msg, "\n\r FlightCtrl V%d.%d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
-                SerialPutString(msg);
+                UART1_PutString(msg);
                 sprintf(msg, " Compatible: %d", FC_Version.Compatible);
-                SerialPutString(msg);
+                UART1_PutString(msg);
         }
-        else SerialPutString("\n\r No version information from FlightCtrl.");
+        else UART1_PutString("\n\r No version information from FlightCtrl.");
 }

 /trunk/timer.c
 ,7 → 82,7
 {
         TIM_InitTypeDef   TIM_InitStructure;
-        SerialPutString("Timer init...");
+        UART1_PutString("Timer init...");
         #define TIM1_FREQ 200000 // 200kHz
         // TimerOCR set in IntHandler
 ,7 → 113,7
         CountMilliseconds = 0;
-        SerialPutString("ok\n\r");
+        UART1_PutString("ok\n\r");
 }

 /trunk/uart0.c
 ,27 → 54,40
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#include <stdio.h>
+#include <stdarg.h>
 #include "91x_lib.h"
+#include "main.h"
 #include "uart0.h"
 #include "uart1.h"
+#include "timer.h"
 #include "ubx.h"
-#include <stdio.h>
-#include <stdarg.h>
+#include "mkprotocol.h"
+u8 UART0_Request_VersionInfo    = FALSE;
+u8 UART0_Request_NaviData               = FALSE;
+u32 UART0_NaviData_Timer;
+u32 UART0_NaviData_Interval = 0;        // in ms
 //------------------------------------------------------------------------------------
 // global variables
+#define UART0_BAUD_RATE 57600           //Baud Rate for the serial interfaces
 // UART0 MUXER
 UART0_MuxerState_t UART0_Muxer = UART0_UNDEF;
-u16 Uart0Baudrate = BAUD_RATE;
-u16 Uart0MK3MagBaudrate = BAUD_RATE;
+u16 Uart0Baudrate = UART0_BAUD_RATE;
+u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE;
-volatile u8 txd_buffer0[TXD_BUFFER_LEN];
-volatile u8 txd_complete0 = TRUE;
-static u16 ptr_txd_buffer0 = 0;
+// the tx buffer
+#define UART0_TX_BUFFER_LEN  150
+u8 UART0_tbuffer[UART0_TX_BUFFER_LEN];
+Buffer_t UART0_tx_buffer;
+// the rx buffer
+#define UART0_RX_BUFFER_LEN  150
+u8 UART0_rbuffer[UART0_RX_BUFFER_LEN];
+Buffer_t UART0_rx_buffer;
 //------------------------------------------------------------------------------------
 // functions
 ,11 → 195,11
 {
     UART_InitTypeDef UART_InitStructure;
-        SerialPutString("\r\n UART0 init...");
+        UART1_PutString("\r\n UART0 init...");
         SCU_APBPeriphClockConfig(__UART0, ENABLE);  // Enable the UART0 Clock
-        Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100);   // MK3Mag baudrate is a litlle bit higher...
+        Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100);   // MK3Mag baudrate is a litlle bit higher...
         /* UART0 configured as follow:
           - Word Length = 8 Bits
 ,130 → 232,22
         // enable the uart 0 IRQ
         VIC_ITCmd(UART0_ITLine, ENABLE);
         UART0_Connect_to_MKGPS();
-        SerialPutString("ok");
-}
-/**************************************************************/
-/*         Transmit tx buffer via debug uart                  */
-/**************************************************************/
-void UART0_Transmit(void)
-{
-        u8 tmp_tx;
-        // if something has to be send and the txd fifo is not full
-        if((!txd_complete0) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET))
-        {
-                tmp_tx = txd_buffer0[ptr_txd_buffer0]; // read byte from txd buffer
-                // if terminating character or end of txd buffer reached
-                if((tmp_tx == '\r') || (ptr_txd_buffer0 == TXD_BUFFER_LEN))
-                {
-                        ptr_txd_buffer0 = 0;    // reset txd buffer pointer
-                        txd_complete0 = TRUE;// set complete flag
-                }
-                UART_SendData(UART0, tmp_tx); // put character to txd fifo
-                // set pointer to next byte
-                ptr_txd_buffer0++;
-        }
-}
+        // initialize txd buffer
+        UART0_tx_buffer.pData = UART0_tbuffer;
+        UART0_tx_buffer.Size = UART0_TX_BUFFER_LEN;
+        UART0_tx_buffer.Position = 0;
+        UART0_tx_buffer.Locked = FALSE;
+        // initialize rxd buffer
+        UART0_rx_buffer.pData = UART0_rbuffer;
+        UART0_rx_buffer.Size = UART0_RX_BUFFER_LEN;
+        UART0_rx_buffer.Position = 0;
+        UART0_rx_buffer.Locked = FALSE;
-/**************************************************************/
-/* Add CRC and initiate transmission via debug uart           */
-/**************************************************************/
-void AddCRC0(u16 datalen)
-{
-        u16 tmpCRC = 0, i;
-        for(i = 0; i < datalen; i++)
-        {
-                tmpCRC += txd_buffer0[i];
-        }
-        tmpCRC %= 4096;
-        txd_buffer0[i++] = '=' + tmpCRC / 64;
-        txd_buffer0[i++] = '=' + tmpCRC % 64;
-        txd_buffer0[i++] = '\r';
-        ptr_txd_buffer0 = 0;
-        txd_complete0 = FALSE;
-        UART_SendData(UART0, txd_buffer0[ptr_txd_buffer0++]);   // send first byte, to be continued in the txd irq
+        UART1_PutString("ok");
 }
-/**************************************************************/
-/* Code output data                                           */
-/**************************************************************/
-void SendOutData0(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
-{
-        va_list ap;
-        u16 pt = 0;
-        u8 a,b,c;
-        u8 ptr = 0;
-        u8* pdata = NULL;
-        int len = 0;
-        txd_buffer0[pt++] = '#';                                // Start character
-        txd_buffer0[pt++] = 'a' + Address;      // Address (a=0; b=1,...)
-        txd_buffer0[pt++] = cmd;                                // Command
-        va_start(ap, numofbuffers);
-        if(numofbuffers)
-        {
-                pdata = va_arg(ap, u8*);
-                len = va_arg(ap, int);
-                ptr = 0;
-                numofbuffers--;
-        }
-        while(len)
-        {
-                if(len)
-                {
-                        a = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else a = 0;
-                if(len)
-                {
-                        b = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else b = 0;
-                if(len)
-                {
-                        c = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else c = 0;
-                txd_buffer0[pt++] = '=' + (a >> 2);
-                txd_buffer0[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
-                txd_buffer0[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
-                txd_buffer0[pt++] = '=' + ( c & 0x3f);
-        }
-        va_end(ap);
-        AddCRC0(pt);    // add checksum after data block and initates the transmission
-}
 /********************************************************/
 /*            UART0 Interrupt Handler                   */
 /********************************************************/
 ,40 → 254,6
 void UART0_IRQHandler(void)
 {
         u8 c;
-        /*
-        static u8 frame_error_cnt = 0;
-    // use frame error to adjust baudrate for MK3MAG
-        if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET))
-        {
-           u8 msg[20];
-           frame_error_cnt++;
-           if (frame_error_cnt == 200)
-           {
-            frame_error_cnt = 0;
-            VIC_ITCmd(UART0_ITLine, DISABLE);
-            Uart0MK3MagBaudrate +=100;
-            if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE;
-            Uart0Baudrate = Uart0MK3MagBaudrate;
-            SerialPutString(" adjusting UART0 baudrate to");
-            sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg);
-                while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET)
-                        {
-                                c =  UART_ReceiveData(UART0);
-                        }
-            UART_ClearITPendingBit(UART0, UART_IT_FrameError);                  // clear frame error interrupt flag
-            UART0_Init();
-            return;
-         }
-        }*/
         // if receive irq or receive timeout irq has occured
         if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) )
         {
 ,6 → 281,7
                                 {
                                         case UART0_MKGPS:
                                                 UBX_Parser(c); // if connected to GPS forward byte to ubx parser
+                                                MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c);     // ckeck for MK-Frames also
                                                 break;
                                         case UART0_MK3MAG:
                                                 // ignore any byte send from MK3MAG
 ,3 → 295,88
                 }  // eof UART0 is not the DebugUART
         } // eof receive irq or receive timeout irq
 }
+/**************************************************************/
+/* Process incomming data from debug uart                     */
+/**************************************************************/
+void UART0_ProcessRxData(void)
+{
+        SerialMsg_t SerialMsg;
+        // if data in the rxd buffer are not locked immediately return
+        if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return;
+        MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
+        switch(SerialMsg.Address) // check for Slave Address
+        {
+                case NC_ADDRESS:  // own Slave Address
+                switch(SerialMsg.CmdID)
+                {
+                        default:
+                                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 'o': // request for navigation information
+                                UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10;
+                                if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE;
+                                break;
+                        case 'v': // request for version info
+                                UART0_Request_VersionInfo = TRUE;
+                                break;
+                        default:
+                                // unsupported command recieved
+                                break;
+                }
+                break; // default:
+        }
+        // unlock the rxd buffer after processing
+        UART0_rx_buffer.Position = 0;
+        UART0_rx_buffer.Locked = FALSE;
+}
+/**************************************************************/
+/*         Transmit tx buffer via uart0                       */
+/**************************************************************/
+void UART0_Transmit(void)
+{
+        u8 tmp_tx;
+        if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0
+        // if something has to be send and the txd fifo is not full
+        if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET))
+        {
+                tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer
+                UART_SendData(UART0, tmp_tx); // put character to txd fifo
+                // if terminating character or end of txd buffer reached
+                if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size))
+                {
+                        UART0_tx_buffer.Position = 0; // reset txd buffer positon
+                        UART0_tx_buffer.Locked = FALSE;// unlock tx buffer
+                }
+        }
+}
+/**************************************************************/
+/* Send the answers to incomming commands at the uart0        */
+/**************************************************************/
+void UART0_TransmitTxData(void)
+{
+        if(DebugUART == UART0) return;
+        UART0_Transmit(); // output pending bytes in tx buffer
+        if(UART0_tx_buffer.Locked == TRUE) return;
+        if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE))
+        {
+                NaviData.Errorcode = ErrorCode;
+                MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
+                UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval);
+                UART0_Request_NaviData = FALSE;
+        }
+        UART0_Transmit(); // output pending bytes in tx buffer
+}

 /trunk/uart1.c
 ,7 → 59,6
 #include <string.h>
 #include "91x_lib.h"
-#include "ramfunc.h"
 #include "menu.h"
 #include "printf_P.h"
 #include "GPS.h"
 ,16 → 67,10
 #include "uart1.h"
 #include "uart2.h"
 #include "timer.h"
-#include "usb.h"
 #include "main.h"
 #include "waypoints.h"
-#include "GPS.h"
+#include "mkprotocol.h"
-// slave addresses
-#define FC_ADDRESS 1
-#define NC_ADDRESS 2
-#define MK3MAG_ADDRESS 3
 #define FALSE   0
 #define TRUE    1
 ,39 → 85,41
 }  __attribute__((packed)) UART_VersionInfo_t;
-u8 Request_SendFollowMe         = FALSE;
-u8 Request_VerInfo                      = FALSE;
-u8 Request_ExternalControl      = FALSE;
-u8 Request_Display                      = FALSE;
-u8 Request_Display1             = FALSE;
-u8 Request_DebugData            = FALSE;
-u8 Request_DebugLabel           = 255;
-u8 Request_ChannelOnly          = FALSE;
-u8 Request_NaviData                     = FALSE;
-u8 Request_ErrorMessage     = FALSE;
-u8 Request_NewWaypoint          = FALSE;
-u8 Request_ReadWaypoint         = 255;
-u8 Request_Data3D                   = FALSE;
-u8 Request_Echo                 = FALSE;
+u8 UART1_Request_VersionInfo    = FALSE;
+u8 UART1_Request_SendFollowMe   = 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_NewWaypoint    = FALSE;
+u8 UART1_Request_ReadWaypoint   = 255;
+u8 UART1_Request_Data3D             = FALSE;
+u8 UART1_Request_Echo               = FALSE;
 u8 DisplayLine = 0;
 UART_TypeDef *DebugUART = UART1;
-volatile u8 txd_buffer[TXD_BUFFER_LEN];
-volatile u8 rxd_buffer_locked = FALSE;
-volatile u8 rxd_buffer[RXD_BUFFER_LEN];
-volatile u8 txd_complete = TRUE;
-volatile u8 ReceivedBytes = 0;
-volatile u8 CntCrcError = 0;
-volatile u8 *pRxData = NULL;
-volatile u8 RxDataLen = 0;
+#define UART1_BAUD_RATE 57600           //Baud Rate for the serial interfaces
+// the tx buffer
+#define UART1_TX_BUFFER_LEN  150
+u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
+Buffer_t UART1_tx_buffer;
+// the rx buffer
+#define UART1_RX_BUFFER_LEN  150
+u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
+Buffer_t UART1_rx_buffer;
 volatile u8 SerialLinkOkay = 0;
 u8 text[100];
 u8 PcAccess = 100;
-u8 MotorTest[4] = {0,0,0,0};
 u8 ConfirmFrame = 0;
 DebugOut_t DebugOut;
 ,15 → 130,13
 Data3D_t Data3D;
 u16 Echo; // 2 bytes recieved will be sent back as echo
-u32 DebugData_Timer;
-u32 DebugData_Interval = 5000;  // in ms
-u32 NaviData_Timer;
-u32 NaviData_Interval = 5000;   // in ms
-u32 Data3D_Timer = 0;                   // in ms
-u32 Data3D_Interval = 0;
+u32 UART1_DebugData_Timer;
+u32 UART1_DebugData_Interval = 5000;    // in ms
+u32 UART1_NaviData_Timer;
+u32 UART1_NaviData_Interval = 5000;     // in ms
+u32 UART1_Data3D_Timer = 0;                     // in ms
+u32 UART1_Data3D_Interval = 0;
-static u16 ptr_txd_buffer = 0;
 const u8 ANALOG_LABEL[32][16] =
 {
    //1234567890123456
 ,7 → 216,7
         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 =                              BAUD_RATE;
+        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;
 ,14 → 233,21
         // enable the uart 1 IRQ
         VIC_ITCmd(UART1_ITLine, ENABLE);
         // initialize the debug timer
-        DebugData_Timer = SetDelay(DebugData_Interval);
-        NaviData_Timer = SetDelay(NaviData_Interval)+500;
-        // unlock rxd_buffer
-        rxd_buffer_locked = FALSE;
-        pRxData = NULL;
-        RxDataLen = 0;
-        // no bytes to send
-        txd_complete = TRUE;
+        UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
+        UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
+        // initialize txd buffer
+        UART1_tx_buffer.pData = UART1_tbuffer;
+        UART1_tx_buffer.Size = UART1_TX_BUFFER_LEN;
+        UART1_tx_buffer.Position = 0;
+        UART1_tx_buffer.Locked = FALSE;
+        // initialize rxd buffer
+        UART1_rx_buffer.pData = UART1_rbuffer;
+        UART1_rx_buffer.Size = UART1_RX_BUFFER_LEN;
+        UART1_rx_buffer.Position = 0;
+        UART1_rx_buffer.Locked = FALSE;
         // Fill Version Info Structure
         UART_VersionInfo.SWMajor = VERSION_MAJOR;
         UART_VersionInfo.SWMinor = VERSION_MINOR;
 ,7 → 257,7
         NaviData.Version = NAVIDATA_VERSION;
-        SerialPutString("\r\nUART1 init...ok");
+        UART1_PutString("\r\nUART1 init...ok");
 }
 ,9 → 266,6
 /****************************************************************/
 void UART1_IRQHandler(void)
 {
-        static u16 crc;
-        static u8 ptr_rxd_buffer = 0;
-        static u8 crc1, crc2;
         static u8 abortState = 0;
         u8 c;
 ,8 → 279,6
                 {       // forward received data to the debug UART tx buffer
                         while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
                         {
-                                // wait for space in the tx buffer of the DebugUART
-                                while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
                                 // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
                                 c = UART_ReceiveData(UART1);
 ,71 → 301,23
                                           abortState = 0;
                                                 break;
                                 }
-                                if (DebugUART != UART1) UART_SendData(DebugUART, c);
+                                // if the Debug uart is not UART1rederect 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 fifi of the debug uart
+                                        UART_SendData(DebugUART, c);
+                                }
                         }
                 }
                 else  // DebugUART == UART1 (normal operation)
                 {
-                        while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) && (!rxd_buffer_locked))
+                        while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
                         { // some byes in the fifo and rxd buffer not locked
                             // get byte from fifo
                         c = UART_ReceiveData(UART1);
-                                if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
-                                {
-                                        rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
-                                        crc = c; // init crc
-                                }
-                                #if 0
-                                else if (ptr_rxd_buffer == 1) // handle address
-                                {
-                                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
-                                        crc += c; // update crc
-                                }
-                                #endif
-                                else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // rxd buffer not full
-                                {
-                                        if (c != '\r') // no termination character received
-                                        {
-                                                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
-                                                crc += c; // update crc
-                                        }
-                                        else // termination character received
-                                        {
-                                                // the last 2 bytes are no subject for checksum calculation
-                                                // they are the checksum itself
-                                                crc -= rxd_buffer[ptr_rxd_buffer-2];
-                                                crc -= rxd_buffer[ptr_rxd_buffer-1];
-                                                // calculate checksum from transmitted data
-                                                crc %= 4096;
-                                                crc1 = '=' + crc / 64;
-                                                crc2 = '=' + crc % 64;
-                                                // compare checksum to transmitted checksum bytes
-                                                if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
-                                                {   // checksum valid
-                                                        rxd_buffer_locked = TRUE;               // lock the rxd buffer
-                                                        ReceivedBytes = ptr_rxd_buffer + 1;     // store number of received bytes
-                                                        rxd_buffer[ptr_rxd_buffer] = '\r';      // set termination character
-                                                        // if 2nd byte is an 'R' start bootloader
-                                                        if(rxd_buffer[2] == 'R')
-                                                        {
-                                                                PowerOff();
-                                                                VIC_DeInit();
-                                                                Execute_Bootloader(); // Reset-Commando - Bootloader starten
-                                                        }
-                                                } // eof checksum valid
-                                                else
-                                                {       // checksum invalid
-                                                        rxd_buffer_locked = FALSE; // unlock rxd buffer
-                                                }  // eof checksum invalid
-                                                ptr_rxd_buffer = 0; // reset rxd buffer pointer
-                                        } // eof termination character received
-                                } // rxd buffer not full
-                                else // rxd buffer overrun
-                                {
-                                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
-                                        rxd_buffer_locked = FALSE; // unlock rxd buffer
-                                } // eof rxd buffer overrrun
+                                MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c);
                         } // some byes in the fifo and rxd buffer not locked
                 } // eof DebugUart = UART1
         }
 ,184 → 324,34
 }
 /**************************************************************/
-/*         Transmit tx buffer via debug uart                  */
-/**************************************************************/
-void UART1_Transmit(void)
-{
-        u8 tmp_tx;
-        // if something has to be send and the txd fifo is not full
-        if((!txd_complete) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET))
-        {
-                tmp_tx = txd_buffer[ptr_txd_buffer]; // read byte from txd buffer
-                // if terminating character or end of txd buffer reached
-                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
-                {
-                        ptr_txd_buffer = 0;     // reset txd buffer pointer
-                        txd_complete = TRUE;// set complete flag
-                }
-                UART_SendData(UART1, tmp_tx); // put character to txd fifo
-                // set pointer to next byte
-                ptr_txd_buffer++;
-        }
-}
-/**************************************************************/
-/* Add CRC and initiate transmission via debug uart           */
-/**************************************************************/
-void AddCRC(u16 datalen)
-{
-        u16 tmpCRC = 0, i;
-        for(i = 0; i < datalen; i++)
-        {
-                tmpCRC += txd_buffer[i];
-        }
-        tmpCRC %= 4096;
-        txd_buffer[i++] = '=' + tmpCRC / 64;
-        txd_buffer[i++] = '=' + tmpCRC % 64;
-        txd_buffer[i++] = '\r';
-        ptr_txd_buffer = 0;
-        txd_complete = FALSE;
-        UART_SendData(UART1, txd_buffer[ptr_txd_buffer++]);     // send first byte, to be continued in the txd irq
-}
-/**************************************************************/
-/* Code output data                                           */
-/**************************************************************/
-void SendOutData(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, ....
-{
-        va_list ap;
-        u16 pt = 0;
-        u8 a,b,c;
-        u8 ptr = 0;
-        u8* pdata = NULL;
-        int len = 0;
-        txd_buffer[pt++] = '#';                         // Start character
-        txd_buffer[pt++] = 'a' + Address;       // Address (a=0; b=1,...)
-        txd_buffer[pt++] = cmd;                         // Command
-        va_start(ap, numofbuffers);
-        if(numofbuffers)
-        {
-                pdata = va_arg(ap, u8*);
-                len = va_arg(ap, int);
-                ptr = 0;
-                numofbuffers--;
-        }
-        while(len)
-        {
-                if(len)
-                {
-                        a = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else a = 0;
-                if(len)
-                {
-                        b = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else b = 0;
-                if(len)
-                {
-                        c = pdata[ptr++];
-                        len--;
-                        if((!len) && numofbuffers) // try to jump to next buffer
-                        {
-                                pdata = va_arg(ap, u8*);
-                                len = va_arg(ap, int);
-                                ptr = 0;
-                                numofbuffers--;
-                        }
-                }
-                else c = 0;
-                txd_buffer[pt++] = '=' + (a >> 2);
-                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
-                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
-                txd_buffer[pt++] = '=' + ( c & 0x3f);
-        }
-        va_end(ap);
-        AddCRC(pt);     // add checksum after data block and initates the transmission
-}
-/**************************************************************/
-/* Decode data                                                */
-/**************************************************************/
-void Decode64(void)
-{
-        u8 a,b,c,d;
-        u8 x,y,z;
-        u8 ptrIn = 3; // start with first data byte in rx buffer
-        u8 ptrOut = 3;
-        u8 len = ReceivedBytes - 6;      // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload )
-        while(len)
-        {
-                a = rxd_buffer[ptrIn++] - '=';
-                b = rxd_buffer[ptrIn++] - '=';
-                c = rxd_buffer[ptrIn++] - '=';
-                d = rxd_buffer[ptrIn++] - '=';
-                //if(ptrIn > ReceivedBytes - 3) break;
-                x = (a << 2) | (b >> 4);
-                y = ((b & 0x0f) << 4) | (c >> 2);
-                z = ((c & 0x03) << 6) | d;
-                if(len--) rxd_buffer[ptrOut++] = x; else break;
-                if(len--) rxd_buffer[ptrOut++] = y; else break;
-                if(len--) rxd_buffer[ptrOut++] = z; else break;
-        }
-        pRxData = &rxd_buffer[3];
-        RxDataLen = ptrOut - 3;
-}
-/**************************************************************/
 /* Process incomming data from debug uart                     */
 /**************************************************************/
 void UART1_ProcessRxData(void)
 {
+        SerialMsg_t SerialMsg;
         // if data in the rxd buffer are not locked immediately return
-        if((!rxd_buffer_locked) || (DebugUART != UART1) ) return;
+        if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return;
         Waypoint_t * pWaypoint = NULL;
         PcAccess = 255;
-        Decode64(); // decode data block in rxd buffer
-    if(rxd_buffer[2] != 'z') SerialLinkOkay = 250;               // reset SerialTimeout, but not in case of the "ping"
-        switch(rxd_buffer[1] - 'a') // check for Slave Address
+        MKProtocol_DecodeSerialFrame(&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(rxd_buffer[2])
+                switch(SerialMsg.CmdID)
                 {
                         case 'z': // connection checker
-                                memcpy(&Echo, (u8*)pRxData, sizeof(Echo)); // copy echo pattern
-                                Request_Echo = TRUE;
+                                memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
+                                UART1_Request_Echo = TRUE;
                                 break;
                         case 'e': // request for the text of the error status
-                                Request_ErrorMessage = TRUE;
+                                UART1_Request_ErrorMessage = TRUE;
                                 break;
                         case 's'://  new target position
-                                pWaypoint = (Waypoint_t*)&pRxData[0];
+                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                 BeepTime = 300;
                                 if(pWaypoint->Position.Status == NEWDATA)
                                 {
 ,7 → 362,7
                                 break;
                         case 'u': // redirect debug uart
-                                switch(pRxData[0])
+                                switch(SerialMsg.pData[0])
                                 {
                                         case UART_FLIGHTCTRL:
                                                 UART2_Init();                           // initialize UART2 to FC pins
 ,24 → 384,24
                                 break;
                         case 'w'://  Append Waypoint to List
-                                pWaypoint = (Waypoint_t*)&pRxData[0];
+                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                 if(pWaypoint->Position.Status == INVALID)
                                 {  // clear WP List
                                         WPList_Clear();
                                         GPS_pWaypoint = WPList_Begin();
-                                        //SerialPutString("\r\nClear WP List\r\n");
+                                        //UART1_PutString("\r\nClear WP List\r\n");
                                 }
                                 else if (pWaypoint->Position.Status == NEWDATA)
                                 {  // app current WP to the list
                                         WPList_Append(pWaypoint);
                                         BeepTime = 500;
-                                        //SerialPutString("\r\nAdd WP to List\r\n");
+                                        //UART1_PutString("\r\nAdd WP to List\r\n");
                                 }
-                                Request_NewWaypoint = TRUE;
+                                UART1_Request_NewWaypoint = TRUE;
                                 break;
                         case 'x'://  Read Waypoint from List
-                                Request_ReadWaypoint = pRxData[0];
+                                UART1_Request_ReadWaypoint = SerialMsg.pData[0];
                                 break;
                         default:
 ,50 → 412,50
                 default:  // and any other Slave Address
-                switch(rxd_buffer[2]) // check CmdID
+                switch(SerialMsg.CmdID) // check CmdID
                 {
                         case 'a':// request for the labels of the analog debug outputs
-                                Request_DebugLabel = pRxData[0];
-                                if(Request_DebugLabel > 31) Request_DebugLabel = 31;
+                                UART1_Request_DebugLabel = SerialMsg.pData[0];
+                                if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
                                 break;
                         case 'b': // submit extern control
-                                memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl));
+                                memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
                                 ConfirmFrame = ExternControl.Frame;
                                 break;
                         case 'd': // request for debug data;
-                                DebugData_Interval = (u32) pRxData[0] * 10;
-                                if(DebugData_Interval > 0) Request_DebugData = TRUE;
+                                UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
+                                if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
                                 break;
                         case 'c': // request for 3D data;
-                                Data3D_Interval = (u32) pRxData[0] * 10;
-                                if(Data3D_Interval > 0) Request_Data3D = TRUE;
+                                UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
+                                if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
                                 break;
                         case 'g':// request for external control data
-                                Request_ExternalControl = TRUE;
+                                UART1_Request_ExternalControl = TRUE;
                                 break;
                         case 'h':// reqest for display line
-                                RemoteKeys |= pRxData[0];
+                                RemoteKeys |= SerialMsg.pData[0];
                                 if(RemoteKeys != 0) DisplayLine = 0;
-                                Request_Display = TRUE;
+                                UART1_Request_Display = TRUE;
                                 break;
                         case 'l':// reqest for display columns
-                                MenuItem = pRxData[0];
-                                Request_Display1 = TRUE;
+                                MenuItem = SerialMsg.pData[0];
+                                UART1_Request_Display1 = TRUE;
                                 break;
                         case 'o': // request for navigation information
-                                NaviData_Interval = (u32) pRxData[0] * 10;
-                                if(NaviData_Interval > 0) Request_NaviData = TRUE;
+                                UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10;
+                                if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE;
                                 break;
                         case 'v': // request for version info
-                                Request_VerInfo = TRUE;
+                                UART1_Request_VersionInfo = TRUE;
                                 break;
                         default:
                                 // unsupported command recieved
 ,9 → 464,8
                 break; // default:
         }
         // unlock the rxd buffer after processing
-        pRxData = NULL;
-        RxDataLen = 0;
-        rxd_buffer_locked = FALSE;
+        UART1_rx_buffer.Position = 0;
+        UART1_rx_buffer.Locked = FALSE;
 }
 ,9 → 472,9
 /*****************************************************/
 /*                   Send a character                */
 /*****************************************************/
-s16 uart_putchar (char c)
+s16 UART1_Putchar(char c)
 {
-        if (c == '\n') uart_putchar('\r');
+        if (c == '\n') UART1_Putchar('\r');
         // wait until txd fifo is not full
         while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);
         // transmit byte
 ,16 → 485,36
 /*****************************************************/
 /*       Send a string to the debug uart              */
 /*****************************************************/
-void SerialPutString(u8 *s)
+void UART1_PutString(u8 *s)
 {
         if(s == NULL) return;
         while (*s != '\0' && DebugUART == UART1)
         {
-                uart_putchar(*s);
+                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) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET))
+        {
+                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
+                // if terminating character or end of txd buffer reached
+                if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.Size))
+                {
+                        UART1_tx_buffer.Position = 0; // reset txd buffer positon
+                        UART1_tx_buffer.Locked = FALSE;// unlock tx buffer
+                }
+        }
+}
 /**************************************************************/
 ,76 → 522,77
 /**************************************************************/
 void UART1_TransmitTxData(void)
 {
-        if(!txd_complete || (DebugUART != UART1) ) return;
+        if(DebugUART != UART1) return;
+        UART1_Transmit(); // output pending bytes in tx buffer
+        if((UART1_tx_buffer.Locked == TRUE)) return;
-        if(Request_Echo && txd_complete)
+        if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
                 Echo = 0; // reset echo value
-                Request_Echo = FALSE;
+                UART1_Request_Echo = FALSE;
         }
-        if(Request_DebugLabel != 0xFF)
+        if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16);
-                Request_DebugLabel = 0xFF;
+                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;
         }
-        if(ConfirmFrame && txd_complete)
+        if(ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame));
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame));
                 ConfirmFrame = 0;
         }
-        if( (( (DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete)
+        if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
-                DebugData_Timer = SetDelay(DebugData_Interval);
-                Request_DebugData = 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;
         }
-        if((( (Data3D_Interval > 0) && CheckDelay(Data3D_Timer) ) || Request_Data3D) && txd_complete)
+        if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
-                Data3D_Timer = SetDelay(Data3D_Interval);
-                Request_Data3D = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
+                UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
+                UART1_Request_Data3D = FALSE;
         }
-        if(Request_ExternalControl && txd_complete)
+        if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl));
-                Request_ExternalControl = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl));
+                UART1_Request_ExternalControl = FALSE;
         }
-        if(Request_Display && txd_complete)
+        if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE))
         {
                 LCD_PrintMenu();
-                SendOutData('H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20);
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20);
                 DisplayLine++;
                 if(DisplayLine >= 4) DisplayLine = 0;
-                Request_Display = FALSE;
+                UART1_Request_Display = FALSE;
         }
-        if(Request_Display1 && txd_complete)
+        if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE))
         {
                 LCD_PrintMenu();
-                SendOutData('L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff));
-                Request_Display1 = FALSE;
+                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;
         }
-        if(Request_VerInfo && txd_complete)
+        if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo));
-                Request_VerInfo = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo));
+                UART1_Request_VersionInfo = FALSE;
         }
-        if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete)
+        if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE))
         {
                 NaviData.Errorcode = ErrorCode;
-                SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
-                if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
-                NaviData_Timer = SetDelay(NaviData_Interval);
-                Request_NaviData = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
+                UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval);
+                UART1_Request_NaviData = FALSE;
         }
-        if(Request_ErrorMessage && txd_complete)
+        if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE))
         {
-                SendOutData('E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG));
-                Request_ErrorMessage = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG));
+                UART1_Request_ErrorMessage = FALSE;
         }
-        if(Request_SendFollowMe && txd_complete && (GPSData.NumOfSats >= 4))              // sending for "Follow me"
+        if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4))           // sending for "Follow me"
         {
                 GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position));
                 FollowMe.Position.Status = NEWDATA;
 ,30 → 604,28
                 FollowMe.reserve[1] = 0;                // reserve
                 FollowMe.reserve[2] = 0;                // reserve
                 FollowMe.reserve[3] = 0;                // reserve
-                SendOutData('s', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe));
-                Request_SendFollowMe = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe));
+                UART1_Request_SendFollowMe = FALSE;
         }
-        if(Request_NewWaypoint && txd_complete)
+        if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE))
         {
                 u8 WPNumber = WPList_GetCount();
-                SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
-                Request_NewWaypoint = FALSE;
+                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
+                UART1_Request_NewWaypoint = FALSE;
         }
-        if((Request_ReadWaypoint != 0xFF) && txd_complete)
+        if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE))
         {
                 u8 WPNumber = WPList_GetCount();
-                if (Request_ReadWaypoint < WPNumber)
+                if (UART1_Request_ReadWaypoint < WPNumber)
                 {
-                        SendOutData('X', NC_ADDRESS, 3, &WPNumber, 1, &Request_ReadWaypoint, 1, WPList_GetAt(Request_ReadWaypoint), sizeof(Waypoint_t));
+                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t));
                 }
                 else
                 {
-                        SendOutData('X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
+                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
                 }
-                Request_ReadWaypoint = 0xFF;
+                UART1_Request_ReadWaypoint = 0xFF;
         }
+        UART1_Transmit(); // output pending bytes in tx buffer
 }

 /trunk/uart1.h
 ,10 → 5,6
 #define UART_MK3MAG     1
 #define UART_MKGPS      2
-#define TXD_BUFFER_LEN  150
-#define RXD_BUFFER_LEN  150
-#define BAUD_RATE 57600         //Baud Rate for the serial interfaces
 #include "ubx.h"
 typedef struct
 ,8 → 107,8
 void UART1_TransmitTxData(void);
 void UART1_ProcessRxData(void);
-s16 uart_putchar (char c);
-void SerialPutString(u8 *s);
+s16  UART1_Putchar(char c);
+void UART1_PutString(u8 *s);
 extern u8 text[100]; // globally used text buffer
-extern u8 Request_SendFollowMe;
+extern u8 UART1_Request_SendFollowMe;
 #endif //_UART1_H

 /trunk/uart2.c
 ,6 → 58,9
 #include "91x_lib.h"
 #include "uart1.h"
+#define UART2_BAUD_RATE 57600           //Baud Rate for the serial interfaces
 /********************************************************/
 /*                  Initialize UART2                    */
 /********************************************************/
 ,7 → 69,7
     UART_InitTypeDef UART_InitStructure;
         GPIO_InitTypeDef GPIO_InitStructure;
-        SerialPutString("\r\n UART2 init...");
+        UART1_PutString("\r\n UART2 init...");
         SCU_APBPeriphClockConfig(__UART2, ENABLE);  // Enable the UART2 Clock
 ,7 → 106,7
     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 =                          BAUD_RATE;
+    UART_InitStructure.UART_BaudRate =                          UART2_BAUD_RATE;
     UART_InitStructure.UART_HardwareFlowControl =       UART_HardwareFlowControl_None;
     UART_InitStructure.UART_Mode =                                      UART_Mode_Tx_Rx;
     UART_InitStructure.UART_FIFO =                                      UART_FIFO_Enable;
 ,7 → 124,7
         // enable the uart 2 IRQ
         VIC_ITCmd(UART2_ITLine, ENABLE);
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 ,7 → 132,7
 {
         GPIO_InitTypeDef GPIO_InitStructure;
-        SerialPutString("\r\n UART2 deinit...");
+        UART1_PutString("\r\n UART2 deinit...");
         VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ
         UART_Cmd(UART2, DISABLE); // disable uart 2
         UART_DeInit(UART2);     // reset uart 0 to default
 ,7 → 160,7
     GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
     GPIO_Init(GPIO3, &GPIO_InitStructure);
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 /********************************************************/

 /trunk/usb.c
 ,7 → 62,7
 {
         GPIO_InitTypeDef GPIO_InitStructure;
-        SerialPutString("\r\n USB init...");
+        UART1_PutString("\r\n USB init...");
         #ifdef MCLK96MHZ
         //USB clock = MCLK/2 = 48MHz
         SCU_USBCLKConfig(SCU_USBCLK_MCLK2);
 ,7 → 96,7
         USB_Init();
-        SerialPutString("ok");
+        UART1_PutString("ok");
 }
 //-----------------------------------------------------------------

 /trunk/usb_endp.c
 ,7 → 45,7
   USB_BufferRx[USB_BufferRxCount] = 0; // terminate buffer contents
   SetEPRxValid(ENDP3);
   sprintf(text,"USB (%ld): %s\n\r", USB_BufferRxCount, USB_BufferRx);
-  SerialPutString(text);
+  UART1_PutString(text);
 //  USB_Send_Data(RxdBuffer, AnzahlEmpfangsBytes);
 //   USB_Send_String("Rx.\0");

 /trunk/usb_prop.c
 ,10 → 110,10
   pInformation->Current_Feature = Virtual_Com_Port_ConfigDescriptor[7];
   /* Wait until device is configured */
 //  UART0_Config_Default();
-  //SerialPutString("...");
+  //UART1_PutString("...");
   while (pInformation->Current_Configuration == 0 && (timeout++<600000)) NOP_Process();
    if(pInformation->Current_Configuration !=0) bDeviceState = CONFIGURED;
-  //SerialPutString(".done.");
+  //UART1_PutString(".done.");
 }
 /*******************************************************************************
 * Function Name  : Virtual_Com_Port_Reset

Subversion Repositories NaviCtrl

Compare Revisions

Ignore whitespace Rev 109 → Rev 110