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| Rev 310 | Rev 314 | ||
|---|---|---|---|
| Line 101... | Line 101... | ||
| 101 | u8 UART1_DisplayLine = 0; |
101 | u8 UART1_DisplayLine = 0; |
| 102 | u8 UART1_ConfirmFrame = 0; |
102 | u8 UART1_ConfirmFrame = 0; |
| Line 103... | Line 103... | ||
| 103 | 103 | ||
| Line -... | Line 104... | ||
| - | 104 | UART_TypeDef *DebugUART = UART1; |
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| - | 105 | ||
| - | 106 | #ifdef FOLLOW_ME |
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| - | 107 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
|
| - | 108 | u8 UART1_FollowMe_Timer = 0; |
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| - | 109 | Point_t FollowMe; |
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| 104 | UART_TypeDef *DebugUART = UART1; |
110 | #endif |
| 105 | 111 | ||
| 106 | // the primary rx fifo |
112 | // the primary rx fifo |
| 107 | #define UART1_RX_FIFO_LEN 512 |
113 | #define UART1_RX_FIFO_LEN 512 |
| Line 577... | Line 583... | ||
| 577 | if (c == '\n') UART1_Putchar('\r'); |
583 | if (c == '\n') UART1_Putchar('\r'); |
| 578 | // wait until txd fifo is not full |
584 | // wait until txd fifo is not full |
| 579 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
585 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| 580 | // transmit byte |
586 | // transmit byte |
| 581 | UART_SendData(UART1, c); |
587 | UART_SendData(UART1, c); |
| - | 588 | #ifdef FOLLOW_ME |
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| - | 589 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
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| - | 590 | #endif |
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| 582 | return (0); |
591 | return (0); |
| 583 | } |
592 | } |
| Line 584... | Line 593... | ||
| 584 | 593 | ||
| 585 | /*****************************************************/ |
594 | /*****************************************************/ |
| Line 609... | Line 618... | ||
| 609 | // while there is some space in the tx fifo |
618 | // while there is some space in the tx fifo |
| 610 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
619 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| 611 | { |
620 | { |
| 612 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
621 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 613 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
622 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| - | 623 | #ifdef FOLLOW_ME |
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| - | 624 | if(TransmitAlsoToFC) |
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| - | 625 | { |
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| - | 626 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
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| - | 627 | } |
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| - | 628 | #endif |
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| 614 | // if terminating character or end of txd buffer reached |
629 | // if terminating character or end of txd buffer reached |
| 615 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
630 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| 616 | { |
631 | { |
| 617 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
632 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| - | 633 | #ifdef FOLLOW_ME |
|
| - | 634 | TransmitAlsoToFC = 0; |
|
| - | 635 | #endif |
|
| 618 | break; // end while loop |
636 | break; // end while loop |
| 619 | } |
637 | } |
| 620 | } |
638 | } |
| 621 | } |
639 | } |
| 622 | } |
640 | } |
| Line 740... | Line 758... | ||
| 740 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
758 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 741 | { |
759 | { |
| 742 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
760 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 743 | UART1_Request_ErrorMessage = FALSE; |
761 | UART1_Request_ErrorMessage = FALSE; |
| 744 | } |
762 | } |
| - | 763 | #ifdef FOLLOW_ME |
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| - | 764 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
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| - | 765 | { |
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| - | 766 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
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| - | 767 | { |
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| - | 768 | TransmitAlsoToFC = 1; |
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| - | 769 | // update FollowMe content |
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| - | 770 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
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| - | 771 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
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| - | 772 | FollowMe.Position.Status = NEWDATA; |
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| - | 773 | FollowMe.Position.Altitude = 1; |
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| - | 774 | // 0 -> no Orientation |
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| - | 775 | // 1-360 -> CompassCourse Setpoint |
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| - | 776 | // -1 -> points to WP1 -> itself |
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| - | 777 | FollowMe.Heading = -1; |
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| - | 778 | FollowMe.ToleranceRadius = 1; |
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| - | 779 | FollowMe.HoldTime = 60; |
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| - | 780 | FollowMe.Event_Flag = 1; |
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| - | 781 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
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| - | 782 | FollowMe.Type = POINT_TYPE_WP; |
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| - | 783 | FollowMe.WP_EventChannelValue = 100; // set servo value |
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| - | 784 | FollowMe.AltitudeRate = 0; // do not change height |
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| - | 785 | FollowMe.reserve[0] = 0; // reserve |
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| - | 786 | FollowMe.reserve[1] = 0; // reserve |
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| - | 787 | FollowMe.reserve[2] = 0; // reserve |
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| - | 788 | FollowMe.reserve[3] = 0; // reserve |
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| - | 789 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
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| - | 790 | } |
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| - | 791 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
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| - | 792 | } |
|
| - | 793 | #endif |
|
| 745 | #ifdef DEBUG // only include functions if DEBUG is defined |
794 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 746 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
795 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
| 747 | { |
796 | { |
| 748 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
797 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
| 749 | SendDebugOutput = 0; |
798 | SendDebugOutput = 0; |
| 750 | } |
799 | } |
| 751 | #endif |
800 | #endif |