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Rev | Author | Line No. | Line |
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1 | 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 |
1 | 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 |
1 | 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 |
1 | 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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112 | killagreg | 57 | #include <string.h> |
41 | ingob | 58 | #include "91x_lib.h" |
136 | killagreg | 59 | #include "config.h" |
112 | killagreg | 60 | #include "main.h" |
41 | ingob | 61 | #include "uart1.h" |
62 | #include "usb.h" |
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111 | killagreg | 63 | #include "mkprotocol.h" |
112 | killagreg | 64 | #include "waypoints.h" |
65 | #include "gps.h" |
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119 | killagreg | 66 | #include "timer1.h" |
112 | killagreg | 67 | #include "uart0.h" |
68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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70 | #include "menu.h" |
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111 | killagreg | 71 | |
72 | |||
73 | // the tx buffer |
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74 | #define USB_TX_BUFFER_LEN 150 |
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75 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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76 | Buffer_t USB_tx_buffer; |
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77 | |||
78 | // the rx buffer |
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79 | #define USB_RX_BUFFER_LEN 150 |
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80 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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81 | Buffer_t USB_rx_buffer; |
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82 | |||
112 | killagreg | 83 | u8 USB_Request_VersionInfo = FALSE; |
84 | u8 USB_Request_SendFollowMe = FALSE; |
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85 | u8 USB_Request_ExternalControl= FALSE; |
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86 | u8 USB_Request_Display = FALSE; |
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87 | u8 USB_Request_Display1 = FALSE; |
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88 | u8 USB_Request_DebugData = FALSE; |
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89 | u8 USB_Request_DebugLabel = 255; |
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90 | u8 USB_Request_NaviData = FALSE; |
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91 | u8 USB_Request_ErrorMessage = FALSE; |
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92 | u8 USB_Request_NewWaypoint = FALSE; |
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93 | u8 USB_Request_ReadWaypoint = 255; |
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94 | u8 USB_Request_Data3D = FALSE; |
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95 | u8 USB_Request_Echo = FALSE; |
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111 | killagreg | 96 | |
112 | killagreg | 97 | u8 USB_DisplayLine = 0; |
98 | u8 USB_ConfirmFrame = 0; |
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99 | |||
100 | u32 USB_DebugData_Timer = 0; |
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101 | u32 USB_DebugData_Interval = 0; // in ms |
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102 | u32 USB_NaviData_Timer = 0; |
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103 | u32 USB_NaviData_Interval = 0; // in ms |
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104 | u32 USB_Data3D_Timer = 0; // in ms |
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105 | u32 USB_Data3D_Interval = 0; |
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106 | |||
1 | ingob | 107 | //----------------------------------------------------------------- |
108 | void USB_ConfigInit(void) |
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109 | { |
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41 | ingob | 110 | GPIO_InitTypeDef GPIO_InitStructure; |
1 | ingob | 111 | |
110 | killagreg | 112 | UART1_PutString("\r\n USB init..."); |
41 | ingob | 113 | #ifdef MCLK96MHZ |
114 | //USB clock = MCLK/2 = 48MHz |
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115 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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116 | #else |
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117 | //USB clock = MCLK = 48MHz |
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118 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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119 | #endif |
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120 | //Enable USB clock |
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121 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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122 | SCU_AHBPeriphReset(__USB,DISABLE); |
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123 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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1 | ingob | 124 | |
41 | ingob | 125 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
126 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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127 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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1 | ingob | 128 | |
41 | ingob | 129 | // GPIO_DeInit(P0.1); |
130 | GPIO_StructInit(&GPIO_InitStructure); |
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131 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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132 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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133 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 134 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 135 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
136 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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1 | ingob | 137 | |
112 | killagreg | 138 | // initialize txd buffer |
139 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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111 | killagreg | 140 | |
141 | // initialize rxd buffer |
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112 | killagreg | 142 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
111 | killagreg | 143 | |
41 | ingob | 144 | PowerOff(); |
145 | Virtual_Com_Port_Reset(); |
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1 | ingob | 146 | |
136 | killagreg | 147 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
41 | ingob | 148 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
1 | ingob | 149 | |
41 | ingob | 150 | USB_Init(); |
1 | ingob | 151 | |
110 | killagreg | 152 | UART1_PutString("ok"); |
1 | ingob | 153 | } |
154 | |||
112 | killagreg | 155 | |
156 | /**************************************************************/ |
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157 | /* Process incomming data from debug uart */ |
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158 | /**************************************************************/ |
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159 | void USB_ProcessRxData(void) |
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160 | { |
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161 | SerialMsg_t SerialMsg; |
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114 | killagreg | 162 | Waypoint_t * pWaypoint = NULL; |
112 | killagreg | 163 | // if data in the rxd buffer are not locked immediately return |
164 | if((USB_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
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165 | |||
190 | killagreg | 166 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
167 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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114 | killagreg | 168 | |
190 | killagreg | 169 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
170 | switch(SerialMsg.Address) // check for Slave Address |
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112 | killagreg | 171 | { |
172 | case NC_ADDRESS: // own Slave Address |
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190 | killagreg | 173 | switch(SerialMsg.CmdID) |
112 | killagreg | 174 | { |
175 | case 'e': // request for the text of the error status |
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176 | USB_Request_ErrorMessage = TRUE; |
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177 | break; |
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178 | |||
179 | case 's':// new target position |
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180 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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181 | BeepTime = 300; |
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182 | if(pWaypoint->Position.Status == NEWDATA) |
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183 | { |
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184 | WPList_Clear(); // empty WPList |
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185 | WPList_Append(pWaypoint); |
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186 | GPS_pWaypoint = WPList_Begin(); |
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187 | } |
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188 | break; |
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189 | /* |
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190 | case 'u': // redirect debug uart |
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191 | switch(SerialMsg.pData[0]) |
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192 | { |
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193 | case UART_FLIGHTCTRL: |
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194 | UART2_Init(); // initialize UART2 to FC pins |
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195 | DebugUART = UART2; |
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196 | break; |
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197 | case UART_MK3MAG: |
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198 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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199 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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200 | GPSData.Status = INVALID; |
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201 | DebugUART = UART0; |
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202 | break; |
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203 | case UART_MKGPS: |
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204 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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205 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
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206 | GPSData.Status = INVALID; |
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207 | DebugUART = UART0; |
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208 | break; |
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209 | } |
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210 | break; |
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211 | */ |
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212 | case 'w':// Append Waypoint to List |
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213 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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214 | if(pWaypoint->Position.Status == INVALID) |
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215 | { // clear WP List |
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216 | WPList_Clear(); |
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217 | GPS_pWaypoint = WPList_Begin(); |
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218 | //UART1_PutString("\r\nClear WP List\r\n"); |
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219 | } |
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220 | else if (pWaypoint->Position.Status == NEWDATA) |
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221 | { // app current WP to the list |
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222 | WPList_Append(pWaypoint); |
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223 | BeepTime = 500; |
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224 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
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225 | } |
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226 | USB_Request_NewWaypoint = TRUE; |
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227 | break; |
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228 | |||
229 | case 'x':// Read Waypoint from List |
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230 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
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231 | break; |
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232 | |||
233 | default: |
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234 | // unsupported command recieved |
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235 | break; |
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236 | } // case NC_ADDRESS |
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237 | // "break;" is missing here to fall thru to the common commands |
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238 | |||
239 | default: // and any other Slave Address |
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240 | |||
190 | killagreg | 241 | switch(SerialMsg.CmdID) // check CmdID |
112 | killagreg | 242 | { |
243 | case 'a':// request for the labels of the analog debug outputs |
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244 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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245 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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246 | break; |
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247 | |||
248 | case 'b': // submit extern control |
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249 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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250 | USB_ConfirmFrame = ExternControl.Frame; |
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251 | break; |
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252 | |||
253 | case 'd': // request for debug data; |
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254 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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255 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
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256 | break; |
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257 | |||
258 | case 'c': // request for 3D data; |
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259 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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260 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
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261 | break; |
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262 | |||
263 | case 'g':// request for external control data |
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264 | USB_Request_ExternalControl = TRUE; |
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265 | break; |
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266 | |||
267 | case 'h':// reqest for display line |
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268 | RemoteKeys |= SerialMsg.pData[0]; |
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269 | if(RemoteKeys != 0) USB_DisplayLine = 0; |
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270 | USB_Request_Display = TRUE; |
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271 | break; |
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272 | |||
273 | case 'l':// reqest for display columns |
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274 | MenuItem = SerialMsg.pData[0]; |
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275 | USB_Request_Display1 = TRUE; |
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276 | break; |
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277 | |||
278 | case 'o': // request for navigation information |
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279 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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280 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
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281 | break; |
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282 | |||
283 | case 'v': // request for version info |
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284 | USB_Request_VersionInfo = TRUE; |
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285 | break; |
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286 | default: |
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287 | // unsupported command recieved |
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288 | break; |
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289 | } |
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290 | break; // default: |
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291 | } |
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292 | Buffer_Clear(&USB_rx_buffer); |
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293 | } |
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294 | |||
295 | |||
1 | ingob | 296 | //----------------------------------------------------------------- |
111 | killagreg | 297 | void USB_CableConfig(FunctionalState NewState) |
1 | ingob | 298 | { |
41 | ingob | 299 | if (NewState == ENABLE) |
300 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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301 | else |
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302 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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1 | ingob | 303 | } |
304 | |||
305 | //----------------------------------------------------------------- |
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111 | killagreg | 306 | void USB_PutString(u8 *string) |
1 | ingob | 307 | { |
41 | ingob | 308 | u8 i = 0; |
309 | u16 timeout = 0; |
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310 | |||
111 | killagreg | 311 | while (string[i++] != 0){} // get string len |
41 | ingob | 312 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
111 | killagreg | 313 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
41 | ingob | 314 | SetEPTxCount(ENDP1,i); |
315 | SetEPTxValid(ENDP1); |
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1 | ingob | 316 | } |
317 | |||
318 | //----------------------------------------------------------------- |
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111 | killagreg | 319 | void USB_PutChar(u8 c) |
1 | ingob | 320 | { |
41 | ingob | 321 | u16 timeout = 0; |
322 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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111 | killagreg | 323 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
41 | ingob | 324 | SetEPTxCount(ENDP1,2); |
325 | SetEPTxValid(ENDP1); |
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326 | } |
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327 | |||
1 | ingob | 328 | //----------------------------------------------------------------- |
111 | killagreg | 329 | void USB_SendData(u8 *pdata, u16 count) |
1 | ingob | 330 | { |
41 | ingob | 331 | u8 i; |
332 | count++; |
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114 | killagreg | 333 | u16 timeout = 0; |
41 | ingob | 334 | |
335 | for (i=0;i< (count/64)+1;i++) |
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336 | { |
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114 | killagreg | 337 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
41 | ingob | 338 | if (i < (count/64)) |
339 | { |
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111 | killagreg | 340 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
41 | ingob | 341 | SetEPTxCount(ENDP1,64); |
342 | } |
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343 | else |
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344 | { |
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111 | killagreg | 345 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
41 | ingob | 346 | SetEPTxCount(ENDP1, count % 64); |
347 | } |
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348 | SetEPTxValid(ENDP1); |
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1 | ingob | 349 | } |
350 | } |
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351 | |||
112 | killagreg | 352 | /**************************************************************/ |
353 | /* Transmit tx buffer via usb */ |
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354 | /**************************************************************/ |
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355 | void USB_Transmit(void) |
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356 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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357 | // if something has to be send and the txd fifo is not full |
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114 | killagreg | 358 | u16 i; |
112 | killagreg | 359 | if(USB_tx_buffer.Locked == TRUE) |
360 | { |
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114 | killagreg | 361 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
362 | //if(_GetEPTxStatus(ENDP1) != EP_TX_VALID) // ready to send |
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112 | killagreg | 363 | { |
364 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
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365 | { |
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114 | killagreg | 366 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
112 | killagreg | 367 | if(i > 64) i = 64; // limit packet size to 64 bytes |
368 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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114 | killagreg | 369 | SetEPTxCount(ENDP1,i); |
370 | SetEPTxValid(ENDP1); |
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112 | killagreg | 371 | USB_tx_buffer.Position += i; |
372 | } |
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373 | } |
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374 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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375 | { |
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376 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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377 | } |
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378 | } |
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379 | } |
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380 | |||
381 | /**************************************************************/ |
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382 | /* Send the answers to incomming commands at the debug uart */ |
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383 | /**************************************************************/ |
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384 | void USB_TransmitTxData(void) |
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385 | { |
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386 | USB_Transmit(); // output pending bytes in tx buffer |
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387 | if((USB_tx_buffer.Locked == TRUE)) return; |
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388 | |||
389 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
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390 | { |
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391 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
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392 | USB_Request_DebugLabel = 0xFF; |
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393 | } |
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394 | if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
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395 | { |
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396 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
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397 | USB_ConfirmFrame = 0; |
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398 | } |
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399 | if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
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400 | { |
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401 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
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402 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
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403 | USB_Request_DebugData = FALSE; |
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404 | } |
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405 | |||
406 | if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
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407 | { |
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408 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
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409 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
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410 | USB_Request_Data3D = FALSE; |
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411 | } |
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412 | |||
413 | if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
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414 | { |
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415 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
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416 | USB_Request_ExternalControl = FALSE; |
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417 | } |
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418 | if(USB_Request_Display && (USB_tx_buffer.Locked == FALSE)) |
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419 | { |
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420 | LCD_PrintMenu(); |
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421 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 2, &USB_DisplayLine, sizeof(USB_DisplayLine), (u8*)&DisplayBuff[USB_DisplayLine * 20], 20); |
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422 | USB_DisplayLine++; |
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423 | if(USB_DisplayLine >= 4) USB_DisplayLine = 0; |
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424 | USB_Request_Display = FALSE; |
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425 | } |
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426 | if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
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427 | { |
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428 | LCD_PrintMenu(); |
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429 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
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430 | USB_Request_Display1 = FALSE; |
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431 | } |
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432 | if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
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433 | { |
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434 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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435 | USB_Request_VersionInfo = FALSE; |
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436 | } |
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437 | if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
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438 | { |
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439 | NaviData.Errorcode = ErrorCode; |
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440 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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441 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
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442 | USB_Request_NaviData = FALSE; |
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443 | } |
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444 | if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
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445 | { |
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446 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
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447 | USB_Request_ErrorMessage = FALSE; |
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448 | } |
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449 | if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
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450 | { |
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451 | u8 WPNumber = WPList_GetCount(); |
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452 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
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453 | USB_Request_NewWaypoint = FALSE; |
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454 | } |
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455 | if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
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456 | { |
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457 | u8 WPNumber = WPList_GetCount(); |
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458 | if (USB_Request_ReadWaypoint < WPNumber) |
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459 | { |
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460 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
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461 | } |
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462 | else |
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463 | { |
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464 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
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465 | } |
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466 | USB_Request_ReadWaypoint = 0xFF; |
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467 | } |
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468 | USB_Transmit(); // output pending bytes in tx buffer |
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469 | } |