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| Rev 196 | Rev 198 | ||
|---|---|---|---|
| Line 77... | Line 77... | ||
| 77 | #include "fifo.h" |
77 | #include "fifo.h" |
| Line 78... | Line 78... | ||
| 78 | 78 | ||
| 79 | #define FALSE 0 |
79 | #define FALSE 0 |
| Line -... | Line 80... | ||
| - | 80 | #define TRUE 1 |
|
| - | 81 | ||
| Line 80... | Line 82... | ||
| 80 | #define TRUE 1 |
82 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 81 | 83 | u32 UART1_AboTimeOut = 0; |
|
| 82 | 84 | ||
| 83 | u8 UART1_Request_VersionInfo = FALSE; |
85 | u8 UART1_Request_VersionInfo = FALSE; |
| Line 165... | Line 167... | ||
| 165 | Waypoint_t FollowMe; |
167 | Waypoint_t FollowMe; |
| 166 | Data3D_t Data3D; |
168 | Data3D_t Data3D; |
| 167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| Line 168... | Line 170... | ||
| 168 | 170 | ||
| 169 | u32 UART1_DebugData_Timer = 0; |
171 | u32 UART1_DebugData_Timer = 0; |
| 170 | u32 UART1_DebugData_Interval = 5000; // in ms |
172 | u32 UART1_DebugData_Interval = 0; // in ms |
| 171 | u32 UART1_NaviData_Timer = 0; |
173 | u32 UART1_NaviData_Timer = 0; |
| 172 | u32 UART1_NaviData_Interval = 5000; // in ms |
174 | u32 UART1_NaviData_Interval = 0; // in ms |
| 173 | u32 UART1_Data3D_Timer = 0; // in ms |
175 | u32 UART1_Data3D_Timer = 0; |
| 174 | u32 UART1_Data3D_Interval = 0; |
176 | u32 UART1_Data3D_Interval = 0; // in ms |
| 175 | u32 UART1_Display_Timer = 0; |
177 | u32 UART1_Display_Timer = 0; |
| Line 176... | Line 178... | ||
| 176 | u32 UART1_Display_Interval = 0; |
178 | u32 UART1_Display_Interval = 0; |
| 177 | 179 | ||
| Line 505... | Line 507... | ||
| 505 | break; |
507 | break; |
| 506 | */ |
508 | */ |
| 507 | case 'd': // request for debug data; |
509 | case 'd': // request for debug data; |
| 508 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
510 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 509 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
511 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| - | 512 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
| 510 | break; |
513 | break; |
| Line 511... | Line 514... | ||
| 511 | 514 | ||
| 512 | case 'c': // request for 3D data; |
515 | case 'c': // request for 3D data; |
| 513 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
516 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| - | 517 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
|
| 514 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
518 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 515 | break; |
519 | break; |
| 516 | /* |
520 | /* |
| 517 | case 'g':// request for external control data |
521 | case 'g':// request for external control data |
| 518 | UART1_Request_ExternalControl = TRUE; |
522 | UART1_Request_ExternalControl = TRUE; |
| Line 527... | Line 531... | ||
| 527 | else |
531 | else |
| 528 | { |
532 | { |
| 529 | RemoteKeys |= ~SerialMsg.pData[0]; |
533 | RemoteKeys |= ~SerialMsg.pData[0]; |
| 530 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
534 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
| 531 | UART1_DisplayLine = 4; |
535 | UART1_DisplayLine = 4; |
| - | 536 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
| 532 | } |
537 | } |
| 533 | UART1_Request_Display = TRUE; |
538 | UART1_Request_Display = TRUE; |
| 534 | break; |
539 | break; |
| Line 535... | Line 540... | ||
| 535 | 540 | ||
| Line 539... | Line 544... | ||
| 539 | break; |
544 | break; |
| Line 540... | Line 545... | ||
| 540 | 545 | ||
| 541 | case 'o': // request for navigation information |
546 | case 'o': // request for navigation information |
| 542 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
547 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| - | 548 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
|
| 543 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| Line 544... | Line 550... | ||
| 544 | break; |
550 | break; |
| 545 | 551 | ||
| 546 | case 'v': // request for version info |
552 | case 'v': // request for version info |
| Line 612... | Line 618... | ||
| 612 | /* Send the answers to incomming commands at the debug uart */ |
618 | /* Send the answers to incomming commands at the debug uart */ |
| 613 | /**************************************************************/ |
619 | /**************************************************************/ |
| 614 | void UART1_TransmitTxData(void) |
620 | void UART1_TransmitTxData(void) |
| 615 | { |
621 | { |
| 616 | if(DebugUART != UART1) return; |
622 | if(DebugUART != UART1) return; |
| - | 623 | ||
| - | 624 | if(CheckDelay(UART1_AboTimeOut)) |
|
| - | 625 | { |
|
| - | 626 | UART1_DebugData_Interval = 0; |
|
| - | 627 | UART1_NaviData_Interval = 0; |
|
| - | 628 | UART1_Data3D_Interval = 0; |
|
| - | 629 | UART1_Display_Interval = 0; |
|
| - | 630 | } |
|
| - | 631 | ||
| 617 | UART1_Transmit(); // output pending bytes in tx buffer |
632 | UART1_Transmit(); // output pending bytes in tx buffer |
| 618 | if((UART1_tx_buffer.Locked == TRUE)) return; |
633 | if((UART1_tx_buffer.Locked == TRUE)) return; |
| Line 619... | Line 634... | ||
| 619 | 634 | ||
| 620 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
635 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |