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Rev | Author | Line No. | Line |
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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
41 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdio.h> |
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58 | #include <stdarg.h> |
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59 | #include <string.h> |
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60 | |||
61 | #include "91x_lib.h" |
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136 | killagreg | 62 | #include "config.h" |
41 | ingob | 63 | #include "menu.h" |
64 | #include "GPS.h" |
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65 | #include "i2c.h" |
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66 | #include "uart0.h" |
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67 | #include "uart1.h" |
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68 | #include "uart2.h" |
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119 | killagreg | 69 | #include "timer1.h" |
139 | killagreg | 70 | #include "timer2.h" |
71 | #include "analog.h" |
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41 | ingob | 72 | #include "main.h" |
73 | #include "waypoints.h" |
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110 | killagreg | 74 | #include "mkprotocol.h" |
156 | killagreg | 75 | #include "params.h" |
153 | killagreg | 76 | #include "fifo.h" |
41 | ingob | 77 | |
78 | #define FALSE 0 |
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79 | #define TRUE 1 |
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80 | |||
198 | killagreg | 81 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
82 | u32 UART1_AboTimeOut = 0; |
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92 | killagreg | 83 | |
110 | killagreg | 84 | u8 UART1_Request_VersionInfo = FALSE; |
85 | u8 UART1_Request_SendFollowMe = FALSE; |
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86 | u8 UART1_Request_ExternalControl= FALSE; |
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87 | u8 UART1_Request_Display = FALSE; |
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88 | u8 UART1_Request_Display1 = FALSE; |
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89 | u8 UART1_Request_DebugData = FALSE; |
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90 | u8 UART1_Request_DebugLabel = 255; |
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91 | u8 UART1_Request_NaviData = FALSE; |
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92 | u8 UART1_Request_ErrorMessage = FALSE; |
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93 | u8 UART1_Request_NewWaypoint = FALSE; |
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94 | u8 UART1_Request_ReadWaypoint = 255; |
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95 | u8 UART1_Request_Data3D = FALSE; |
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96 | u8 UART1_Request_Echo = FALSE; |
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156 | killagreg | 97 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 98 | u8 UART1_Request_Parameter = FALSE; |
201 | killagreg | 99 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 100 | u8 UART1_DisplayLine = 0; |
101 | u8 UART1_ConfirmFrame = 0; |
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41 | ingob | 102 | |
103 | UART_TypeDef *DebugUART = UART1; |
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104 | |||
153 | killagreg | 105 | // the primary rx fifo |
154 | killagreg | 106 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 107 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
108 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 109 | |
110 | // the rx buffer |
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111 | #define UART1_RX_BUFFER_LEN 150 |
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112 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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113 | Buffer_t UART1_rx_buffer; |
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114 | |||
153 | killagreg | 115 | // the tx buffer |
116 | #define UART1_TX_BUFFER_LEN 150 |
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117 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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118 | Buffer_t UART1_tx_buffer; |
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119 | |||
120 | |||
121 | |||
92 | killagreg | 122 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 123 | |
150 | killagreg | 124 | u8 text[200]; |
41 | ingob | 125 | |
126 | const u8 ANALOG_LABEL[32][16] = |
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127 | { |
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90 | killagreg | 128 | //1234567890123456 |
41 | ingob | 129 | "AngleNick ", //0 |
130 | "AngleRoll ", |
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131 | "AccNick ", |
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132 | "AccRoll ", |
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133 | " ", |
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200 | killagreg | 134 | "FC-Flags ", //5 |
95 | killagreg | 135 | "NC-Flags ", |
121 | killagreg | 136 | "NickServo ", |
137 | "RollServo ", |
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41 | ingob | 138 | "GPS Data ", |
61 | holgerb | 139 | "CompassHeading ", //10 |
140 | "GyroHeading ", |
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41 | ingob | 141 | "SPI Error ", |
142 | "SPI Okay ", |
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189 | killagreg | 143 | "I2C Error ", |
41 | ingob | 144 | "I2C Okay ", //15 |
149 | killagreg | 145 | " ",// "Kalman_K ", |
41 | ingob | 146 | "ACC_Speed_N ", |
147 | "ACC_Speed_E ", |
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148 | holgerb | 148 | "Speed_z ",// "GPS ACC ", |
41 | ingob | 149 | " ",// "MAXDrift ", //20 |
150 | "N_Speed ", |
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151 | "E_Speed ", |
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99 | killagreg | 152 | "P-Part ", |
153 | "I-Part ", |
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154 | "D-Part ",//25 |
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155 | "PID-Part ", |
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41 | ingob | 156 | "Distance N ", |
157 | "Distance E ", |
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158 | "GPS_Nick ", |
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159 | "GPS_Roll ", //30 |
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160 | "Used_Sats " |
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161 | }; |
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162 | |||
112 | killagreg | 163 | DebugOut_t DebugOut; |
164 | ExternControl_t ExternControl; |
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165 | UART_VersionInfo_t UART_VersionInfo; |
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166 | NaviData_t NaviData; |
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167 | Waypoint_t FollowMe; |
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168 | Data3D_t Data3D; |
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169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 170 | |
193 | killagreg | 171 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 172 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 173 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 174 | u32 UART1_NaviData_Interval = 0; // in ms |
175 | u32 UART1_Data3D_Timer = 0; |
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176 | u32 UART1_Data3D_Interval = 0; // in ms |
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193 | killagreg | 177 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 178 | u32 UART1_Display_Interval = 0; // in ms |
112 | killagreg | 179 | |
41 | ingob | 180 | /********************************************************/ |
181 | /* Initialization the UART1 */ |
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182 | /********************************************************/ |
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183 | void UART1_Init (void) |
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184 | { |
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185 | GPIO_InitTypeDef GPIO_InitStructure; |
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186 | UART_InitTypeDef UART_InitStructure; |
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187 | |||
153 | killagreg | 188 | // initialize txd buffer |
189 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 190 | |
153 | killagreg | 191 | // initialize rxd buffer |
192 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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193 | |||
194 | // initialize the rx fifo |
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195 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
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196 | |||
41 | ingob | 197 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
198 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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199 | |||
200 | /*Configure UART1_Rx pin GPIO3.2*/ |
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201 | GPIO_StructInit(&GPIO_InitStructure); |
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202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 205 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 206 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
207 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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208 | |||
209 | /*Configure UART1_Tx pin GPIO3.3*/ |
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210 | GPIO_StructInit(&GPIO_InitStructure); |
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211 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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212 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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213 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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214 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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215 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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216 | |||
217 | /* UART1 configured as follow: |
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218 | - Word Length = 8 Bits |
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219 | - One Stop Bit |
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220 | - No parity |
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221 | - BaudRate = 57600 baud |
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222 | - Hardware flow control Disabled |
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223 | - Receive and transmit enabled |
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224 | - Receive and transmit FIFOs are Disabled |
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225 | */ |
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226 | UART_StructInit(&UART_InitStructure); |
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227 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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228 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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229 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 230 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 231 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
232 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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233 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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234 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 235 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 236 | |
237 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 238 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 239 | // enable uart 1 interrupts selective |
240 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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241 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 242 | // configure the uart 1 interupt line |
243 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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153 | killagreg | 244 | // enable the uart 1 IRQ |
41 | ingob | 245 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 246 | |
41 | ingob | 247 | // initialize the debug timer |
110 | killagreg | 248 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
249 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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250 | |||
41 | ingob | 251 | // Fill Version Info Structure |
252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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257 | |||
89 | killagreg | 258 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 259 | |
110 | killagreg | 260 | UART1_PutString("\r\nUART1 init...ok"); |
41 | ingob | 261 | } |
262 | |||
263 | |||
264 | /****************************************************************/ |
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265 | /* USART1 receiver ISR */ |
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266 | /****************************************************************/ |
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267 | void UART1_IRQHandler(void) |
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268 | { |
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269 | static u8 abortState = 0; |
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270 | u8 c; |
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271 | |||
195 | killagreg | 272 | IENABLE; |
273 | |||
41 | ingob | 274 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
275 | { |
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153 | killagreg | 276 | // clear the pending bits! |
41 | ingob | 277 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
278 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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279 | // if debug UART is not UART1 |
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280 | if (DebugUART != UART1) |
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281 | { // forward received data to the debug UART tx buffer |
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282 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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283 | { |
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284 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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285 | c = UART_ReceiveData(UART1); |
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286 | |||
287 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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288 | switch (abortState) |
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289 | { |
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165 | killagreg | 290 | case 0: |
139 | killagreg | 291 | if (c == 27) abortState++; |
41 | ingob | 292 | break; |
165 | killagreg | 293 | case 1: |
294 | if (c == 27) abortState++; |
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139 | killagreg | 295 | else abortState = 0; |
41 | ingob | 296 | break; |
139 | killagreg | 297 | case 2: |
165 | killagreg | 298 | if (c == 0x55) abortState++; |
139 | killagreg | 299 | else abortState = 0; |
41 | ingob | 300 | break; |
139 | killagreg | 301 | case 3: |
302 | if (c == 0xAA) abortState++; |
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303 | else abortState = 0; |
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41 | ingob | 304 | break; |
165 | killagreg | 305 | case 4: |
139 | killagreg | 306 | if (c == 0x00) |
307 | { |
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308 | if(DebugUART == UART0) |
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309 | { |
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310 | UART0_Connect_to_MKGPS(); |
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179 | killagreg | 311 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 312 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 313 | } |
314 | DebugUART = UART1; |
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165 | killagreg | 315 | } |
139 | killagreg | 316 | abortState = 0; |
317 | break; |
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318 | } // end switch abort state |
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136 | killagreg | 319 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 320 | if (DebugUART != UART1) |
321 | { |
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322 | // wait for space in the tx buffer of the DebugUART |
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323 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 324 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 325 | UART_SendData(DebugUART, c); |
326 | } |
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41 | ingob | 327 | } |
328 | } |
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329 | else // DebugUART == UART1 (normal operation) |
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330 | { |
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110 | killagreg | 331 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 332 | { // some byes in the hardware fifo |
153 | killagreg | 333 | // get byte from hardware fifo |
41 | ingob | 334 | c = UART_ReceiveData(UART1); |
153 | killagreg | 335 | // put into the software fifo |
336 | if(!fifo_put(&UART1_rx_fifo, c)) |
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337 | { // fifo overflow |
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155 | killagreg | 338 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 339 | } |
154 | killagreg | 340 | } // EOF while some byes in the hardware fifo |
41 | ingob | 341 | } // eof DebugUart = UART1 |
342 | } |
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195 | killagreg | 343 | |
344 | IDISABLE; |
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41 | ingob | 345 | } |
346 | |||
347 | /**************************************************************/ |
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348 | /* Process incomming data from debug uart */ |
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349 | /**************************************************************/ |
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350 | void UART1_ProcessRxData(void) |
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351 | { |
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154 | killagreg | 352 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 353 | if(DebugUART != UART1) return; |
165 | killagreg | 354 | |
155 | killagreg | 355 | u8 c; |
356 | // if rx buffer is not locked |
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357 | if(UART1_rx_buffer.Locked == FALSE) |
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165 | killagreg | 358 | { //collect data from primary rx fifo |
155 | killagreg | 359 | while(fifo_get(&UART1_rx_fifo, &c)) |
360 | { // break if complete frame is collected |
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361 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
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362 | } |
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363 | } |
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364 | if(UART1_rx_buffer.Locked == FALSE) return; |
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365 | |||
41 | ingob | 366 | Waypoint_t * pWaypoint = NULL; |
153 | killagreg | 367 | SerialMsg_t SerialMsg; |
41 | ingob | 368 | |
190 | killagreg | 369 | // analyze header first |
370 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
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194 | killagreg | 371 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 372 | { |
192 | killagreg | 373 | switch(SerialMsg.CmdID) |
374 | { |
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375 | case 'y': // serial poti values |
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376 | case 'b': // extern control |
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377 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
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378 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
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194 | killagreg | 379 | return; //end process rx data |
192 | killagreg | 380 | break; |
381 | } |
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195 | killagreg | 382 | } |
190 | killagreg | 383 | |
384 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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385 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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386 | switch(SerialMsg.Address) // check for Slave Address |
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387 | { |
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41 | ingob | 388 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 389 | switch(SerialMsg.CmdID) |
41 | ingob | 390 | { |
101 | holgerb | 391 | case 'z': // connection checker |
110 | killagreg | 392 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
393 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 394 | break; |
395 | |||
41 | ingob | 396 | case 'e': // request for the text of the error status |
110 | killagreg | 397 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 398 | break; |
399 | |||
400 | case 's':// new target position |
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110 | killagreg | 401 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 402 | BeepTime = 300; |
403 | if(pWaypoint->Position.Status == NEWDATA) |
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404 | { |
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405 | WPList_Clear(); // empty WPList |
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406 | WPList_Append(pWaypoint); |
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407 | GPS_pWaypoint = WPList_Begin(); |
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408 | } |
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409 | break; |
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410 | |||
411 | case 'u': // redirect debug uart |
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110 | killagreg | 412 | switch(SerialMsg.pData[0]) |
41 | ingob | 413 | { |
414 | case UART_FLIGHTCTRL: |
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415 | UART2_Init(); // initialize UART2 to FC pins |
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153 | killagreg | 416 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 417 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 418 | DebugUART = UART2; |
419 | break; |
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420 | case UART_MK3MAG: |
||
199 | killagreg | 421 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 422 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
423 | GPSData.Status = INVALID; |
||
153 | killagreg | 424 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 425 | DebugUART = UART0; |
426 | break; |
||
427 | case UART_MKGPS: |
||
199 | killagreg | 428 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 429 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
41 | ingob | 430 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
431 | GPSData.Status = INVALID; |
||
153 | killagreg | 432 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 433 | DebugUART = UART0; |
434 | break; |
||
153 | killagreg | 435 | default: |
436 | break; |
||
41 | ingob | 437 | } |
438 | break; |
||
439 | |||
92 | killagreg | 440 | case 'w':// Append Waypoint to List |
165 | killagreg | 441 | { |
442 | static u8 oldIndex = 0x00; |
||
443 | |||
444 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
||
445 | if(pWaypoint->Position.Status == INVALID) |
||
446 | { // clear WP List |
||
447 | WPList_Clear(); |
||
448 | oldIndex = 0x00; |
||
449 | GPS_pWaypoint = WPList_Begin(); |
||
450 | UART1_Request_NewWaypoint = TRUE; |
||
451 | } |
||
452 | else if (pWaypoint->Position.Status == NEWDATA) |
||
453 | { // app current WP to the list |
||
454 | if (pWaypoint->Index == oldIndex + 1) |
||
455 | { |
||
456 | WPList_Append(pWaypoint); |
||
457 | BeepTime = 500; |
||
458 | oldIndex = pWaypoint->Index; |
||
459 | UART1_Request_NewWaypoint = TRUE; |
||
460 | } |
||
461 | } |
||
41 | ingob | 462 | } |
463 | break; |
||
464 | |||
92 | killagreg | 465 | case 'x':// Read Waypoint from List |
110 | killagreg | 466 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
92 | killagreg | 467 | break; |
468 | |||
160 | holgerb | 469 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 470 | switch(SerialMsg.pData[0]) |
471 | { |
||
472 | case 0: // get |
||
473 | break; |
||
165 | killagreg | 474 | |
156 | killagreg | 475 | case 1: // set |
159 | killagreg | 476 | { |
477 | s16 value; |
||
478 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
479 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
480 | } |
||
156 | killagreg | 481 | break; |
482 | |||
483 | default: |
||
165 | killagreg | 484 | break; |
156 | killagreg | 485 | } |
486 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
487 | UART1_Request_Parameter = TRUE; |
||
488 | break; |
||
41 | ingob | 489 | default: |
490 | // unsupported command recieved |
||
491 | break; |
||
492 | } // case NC_ADDRESS |
||
65 | killagreg | 493 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 494 | |
495 | default: // and any other Slave Address |
||
496 | |||
190 | killagreg | 497 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 498 | { |
499 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 500 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
501 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 502 | break; |
193 | killagreg | 503 | /* |
41 | ingob | 504 | case 'b': // submit extern control |
121 | killagreg | 505 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 506 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 507 | break; |
195 | killagreg | 508 | */ |
41 | ingob | 509 | case 'd': // request for debug data; |
110 | killagreg | 510 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
511 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 512 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 513 | break; |
514 | |||
63 | killagreg | 515 | case 'c': // request for 3D data; |
110 | killagreg | 516 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
517 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 518 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 519 | break; |
193 | killagreg | 520 | /* |
41 | ingob | 521 | case 'g':// request for external control data |
110 | killagreg | 522 | UART1_Request_ExternalControl = TRUE; |
41 | ingob | 523 | break; |
193 | killagreg | 524 | */ |
41 | ingob | 525 | case 'h':// reqest for display line |
193 | killagreg | 526 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
527 | { |
||
528 | UART1_DisplayLine = 2; |
||
195 | killagreg | 529 | UART1_Display_Interval = 0; |
193 | killagreg | 530 | } |
531 | else |
||
532 | { |
||
201 | killagreg | 533 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 534 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
535 | UART1_DisplayLine = 4; |
||
198 | killagreg | 536 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 537 | } |
110 | killagreg | 538 | UART1_Request_Display = TRUE; |
41 | ingob | 539 | break; |
540 | |||
541 | case 'l':// reqest for display columns |
||
110 | killagreg | 542 | MenuItem = SerialMsg.pData[0]; |
543 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 544 | break; |
64 | holgerb | 545 | |
546 | case 'o': // request for navigation information |
||
110 | killagreg | 547 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
548 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 550 | break; |
551 | |||
41 | ingob | 552 | case 'v': // request for version info |
110 | killagreg | 553 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 554 | break; |
555 | default: |
||
556 | // unsupported command recieved |
||
557 | break; |
||
558 | } |
||
559 | break; // default: |
||
560 | } |
||
153 | killagreg | 561 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 562 | } |
563 | |||
564 | |||
565 | /*****************************************************/ |
||
566 | /* Send a character */ |
||
567 | /*****************************************************/ |
||
110 | killagreg | 568 | s16 UART1_Putchar(char c) |
41 | ingob | 569 | { |
110 | killagreg | 570 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 571 | // wait until txd fifo is not full |
572 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
573 | // transmit byte |
||
574 | UART_SendData(UART1, c); |
||
575 | return (0); |
||
576 | } |
||
577 | |||
578 | /*****************************************************/ |
||
579 | /* Send a string to the debug uart */ |
||
580 | /*****************************************************/ |
||
110 | killagreg | 581 | void UART1_PutString(u8 *s) |
41 | ingob | 582 | { |
583 | if(s == NULL) return; |
||
584 | while (*s != '\0' && DebugUART == UART1) |
||
585 | { |
||
110 | killagreg | 586 | UART1_Putchar(*s); |
41 | ingob | 587 | s ++; |
588 | } |
||
589 | } |
||
590 | |||
113 | killagreg | 591 | |
110 | killagreg | 592 | /**************************************************************/ |
593 | /* Transmit tx buffer via debug uart */ |
||
594 | /**************************************************************/ |
||
595 | void UART1_Transmit(void) |
||
596 | { |
||
597 | u8 tmp_tx; |
||
598 | if(DebugUART != UART1) return; |
||
599 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 600 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 601 | { |
113 | killagreg | 602 | // while there is some space in the tx fifo |
603 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 604 | { |
113 | killagreg | 605 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
606 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
607 | // if terminating character or end of txd buffer reached |
||
608 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
609 | { |
||
610 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
611 | break; // end while loop |
||
612 | } |
||
110 | killagreg | 613 | } |
614 | } |
||
615 | } |
||
41 | ingob | 616 | |
617 | /**************************************************************/ |
||
618 | /* Send the answers to incomming commands at the debug uart */ |
||
619 | /**************************************************************/ |
||
620 | void UART1_TransmitTxData(void) |
||
621 | { |
||
110 | killagreg | 622 | if(DebugUART != UART1) return; |
198 | killagreg | 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 | |||
110 | killagreg | 632 | UART1_Transmit(); // output pending bytes in tx buffer |
633 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 634 | |
156 | killagreg | 635 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 636 | { |
156 | killagreg | 637 | s16 ParamValue; |
157 | killagreg | 638 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
158 | killagreg | 639 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
640 | //UART1_PutString(text); |
||
160 | holgerb | 641 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
156 | killagreg | 642 | UART1_Request_Parameter = FALSE; |
643 | } |
||
644 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
645 | { |
||
110 | killagreg | 646 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 647 | Echo = 0; // reset echo value |
110 | killagreg | 648 | UART1_Request_Echo = FALSE; |
92 | killagreg | 649 | } |
154 | killagreg | 650 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
651 | { |
||
652 | u8 WPNumber = WPList_GetCount(); |
||
653 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
654 | UART1_Request_NewWaypoint = FALSE; |
||
655 | } |
||
656 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
657 | { |
||
658 | u8 WPNumber = WPList_GetCount(); |
||
659 | if (UART1_Request_ReadWaypoint < WPNumber) |
||
660 | { |
||
661 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
662 | } |
||
663 | else |
||
664 | { |
||
665 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
666 | } |
||
667 | UART1_Request_ReadWaypoint = 0xFF; |
||
668 | } |
||
669 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
670 | { |
||
671 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
672 | UART1_Request_DebugLabel = 0xFF; |
||
673 | } |
||
151 | killagreg | 674 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 675 | { |
151 | killagreg | 676 | NaviData.Errorcode = ErrorCode; |
677 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
678 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
679 | UART1_Request_NaviData = FALSE; |
||
680 | } |
||
681 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
682 | { |
||
110 | killagreg | 683 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
684 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
685 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 686 | } |
151 | killagreg | 687 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 688 | { |
110 | killagreg | 689 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
690 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
691 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 692 | } |
193 | killagreg | 693 | /* |
153 | killagreg | 694 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
695 | { |
||
696 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
697 | UART1_ConfirmFrame = 0; |
||
698 | } |
||
193 | killagreg | 699 | */ |
700 | /* |
||
151 | killagreg | 701 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 702 | { |
110 | killagreg | 703 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
704 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 705 | } |
193 | killagreg | 706 | */ |
707 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 708 | { |
193 | killagreg | 709 | if(UART1_DisplayLine > 3) |
710 | { |
||
201 | killagreg | 711 | Menu_Update(UART1_DisplayKeys); |
712 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 713 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
714 | } |
||
715 | else |
||
716 | { |
||
717 | UART1_DisplayLine = 2; |
||
718 | sprintf(text,"!!! incompatible !!!"); |
||
719 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
720 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
721 | } |
||
722 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 723 | UART1_Request_Display = FALSE; |
41 | ingob | 724 | } |
151 | killagreg | 725 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 726 | { |
201 | killagreg | 727 | Menu_Update(0); |
110 | killagreg | 728 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
729 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 730 | } |
151 | killagreg | 731 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 732 | { |
110 | killagreg | 733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
734 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 735 | } |
151 | killagreg | 736 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 737 | { |
110 | killagreg | 738 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
739 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 740 | } |
151 | killagreg | 741 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
41 | ingob | 742 | { |
743 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
744 | FollowMe.Position.Status = NEWDATA; |
||
745 | FollowMe.Heading = -1; |
||
746 | FollowMe.ToleranceRadius = 1; |
||
747 | FollowMe.HoldTime = 60; |
||
748 | FollowMe.Event_Flag = 0; |
||
192 | killagreg | 749 | FollowMe.Index = 1; |
41 | ingob | 750 | FollowMe.reserve[0] = 0; // reserve |
751 | FollowMe.reserve[1] = 0; // reserve |
||
752 | FollowMe.reserve[2] = 0; // reserve |
||
753 | FollowMe.reserve[3] = 0; // reserve |
||
110 | killagreg | 754 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
755 | UART1_Request_SendFollowMe = FALSE; |
||
41 | ingob | 756 | } |
110 | killagreg | 757 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 758 | } |
759 |