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| Rev 362 | Rev 378 | ||
|---|---|---|---|
| Line 75... | Line 75... | ||
| 75 | #include "params.h" |
75 | #include "params.h" |
| 76 | #include "fifo.h" |
76 | #include "fifo.h" |
| 77 | #include "debug.h" |
77 | #include "debug.h" |
| 78 | #include "spi_slave.h" |
78 | #include "spi_slave.h" |
| 79 | #include "ftphelper.h" |
79 | #include "ftphelper.h" |
| - | 80 | #include "led.h" |
|
| Line 80... | Line 81... | ||
| 80 | 81 | ||
| 81 | #define FALSE 0 |
82 | #define FALSE 0 |
| Line 82... | Line 83... | ||
| 82 | #define TRUE 1 |
83 | #define TRUE 1 |
| Line 112... | Line 113... | ||
| 112 | u32 UART1_FollowMe_Timer = 0; |
113 | u32 UART1_FollowMe_Timer = 0; |
| 113 | Point_t FollowMe; |
114 | Point_t FollowMe; |
| 114 | #endif |
115 | #endif |
| Line 115... | Line 116... | ||
| 115 | 116 | ||
| 116 | // the primary rx fifo |
117 | // the primary rx fifo |
| 117 | #define UART1_RX_FIFO_LEN 512 |
118 | #define UART1_RX_FIFO_LEN 1024 |
| 118 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
119 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| Line 119... | Line 120... | ||
| 119 | fifo_t UART1_rx_fifo; |
120 | fifo_t UART1_rx_fifo; |
| 120 | 121 | ||
| 121 | // the rx buffer |
122 | // the rx buffer |
| 122 | #define UART1_RX_BUFFER_LEN 150 |
123 | #define UART1_RX_BUFFER_LEN 1024 |
| Line 123... | Line 124... | ||
| 123 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
124 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| 124 | Buffer_t UART1_rx_buffer; |
125 | Buffer_t UART1_rx_buffer; |
| Line 350... | Line 351... | ||
| 350 | } // EOF while some byes in the hardware fifo |
351 | } // EOF while some byes in the hardware fifo |
| 351 | } // eof DebugUart = UART1 |
352 | } // eof DebugUart = UART1 |
| 352 | } |
353 | } |
| Line 353... | Line 354... | ||
| 353 | 354 | ||
| - | 355 | IDISABLE; |
|
| 354 | IDISABLE; |
356 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
| Line 355... | Line 357... | ||
| 355 | } |
357 | } |
| 356 | 358 | ||
| 357 | /**************************************************************/ |
359 | /**************************************************************/ |
| 358 | /* Process incomming data from debug uart */ |
360 | /* Process incomming data from debug uart */ |
| 359 | /**************************************************************/ |
361 | /**************************************************************/ |
| 360 | void UART1_ProcessRxData(void) |
362 | void UART1_ProcessRxData(void) |
| 361 | { |
363 | { |
| 362 | // return on forwarding uart or unlocked rx buffer |
- | |
| 363 | if(DebugUART != UART1) return; |
364 | // return on forwarding uart or unlocked rx buffer |
| 364 | 365 | if(DebugUART != UART1) return; |
|
| 365 | u8 c; |
366 | u8 c; |
| 366 | // if rx buffer is not locked |
367 | // if rx buffer is not locked |
| 367 | if(UART1_rx_buffer.Locked == FALSE) |
368 | if(UART1_rx_buffer.Locked == FALSE) |
| Line 662... | Line 663... | ||
| 662 | } |
663 | } |
| 663 | } |
664 | } |
| 664 | } |
665 | } |
| 665 | } |
666 | } |
| Line -... | Line 667... | ||
| - | 667 | ||
| 666 | 668 | ||
| 667 | /**************************************************************/ |
669 | /**************************************************************/ |
| 668 | /* Send the answers to incomming commands at the debug uart */ |
670 | /* Send the answers to incomming commands at the debug uart */ |
| 669 | /**************************************************************/ |
671 | /**************************************************************/ |
| 670 | void UART1_TransmitTxData(void) |
672 | void UART1_TransmitTxData(void) |
| Line 676... | Line 678... | ||
| 676 | { |
678 | { |
| 677 | UART1_DebugData_Interval = 0; |
679 | UART1_DebugData_Interval = 0; |
| 678 | UART1_NaviData_Interval = 0; |
680 | UART1_NaviData_Interval = 0; |
| 679 | UART1_Data3D_Interval = 0; |
681 | UART1_Data3D_Interval = 0; |
| 680 | UART1_Display_Interval = 0; |
682 | UART1_Display_Interval = 0; |
| - | 683 | UART1_MotorData_Interval = 0; |
|
| 681 | } |
684 | } |
| Line 682... | Line 685... | ||
| 682 | 685 | ||
| 683 | UART1_Transmit(); // output pending bytes in tx buffer |
686 | UART1_Transmit(); // output pending bytes in tx buffer |
| Line 725... | Line 728... | ||
| 725 | UART1_Request_DebugLabel = 0xFF; |
728 | UART1_Request_DebugLabel = 0xFF; |
| 726 | } |
729 | } |
| 727 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
730 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 728 | { |
731 | { |
| 729 | NaviData.Errorcode = ErrorCode; |
732 | NaviData.Errorcode = ErrorCode; |
| 730 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
| 731 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
734 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| 732 | UART1_Request_NaviData = FALSE; |
735 | UART1_Request_NaviData = FALSE; |
| 733 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
736 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
| 734 | } |
737 | } |
| 735 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
738 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |