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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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251 | killagreg | 62 | #include "main.h" |
136 | killagreg | 63 | #include "config.h" |
41 | ingob | 64 | #include "menu.h" |
65 | #include "GPS.h" |
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66 | #include "i2c.h" |
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67 | #include "uart0.h" |
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68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
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243 | killagreg | 73 | #include "compass.h" |
41 | ingob | 74 | #include "waypoints.h" |
110 | killagreg | 75 | #include "mkprotocol.h" |
156 | killagreg | 76 | #include "params.h" |
153 | killagreg | 77 | #include "fifo.h" |
315 | killagreg | 78 | #include "debug.h" |
41 | ingob | 79 | |
80 | #define FALSE 0 |
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81 | #define TRUE 1 |
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82 | |||
198 | killagreg | 83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
84 | u32 UART1_AboTimeOut = 0; |
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92 | killagreg | 85 | |
110 | killagreg | 86 | u8 UART1_Request_VersionInfo = FALSE; |
87 | u8 UART1_Request_ExternalControl= FALSE; |
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88 | u8 UART1_Request_Display = FALSE; |
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89 | u8 UART1_Request_Display1 = FALSE; |
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90 | u8 UART1_Request_DebugData = FALSE; |
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91 | u8 UART1_Request_DebugLabel = 255; |
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92 | u8 UART1_Request_NaviData = FALSE; |
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93 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 94 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 95 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 96 | u8 UART1_Request_Data3D = FALSE; |
97 | u8 UART1_Request_Echo = FALSE; |
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156 | killagreg | 98 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 99 | u8 UART1_Request_Parameter = FALSE; |
201 | killagreg | 100 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 101 | u8 UART1_DisplayLine = 0; |
102 | u8 UART1_ConfirmFrame = 0; |
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41 | ingob | 103 | |
104 | UART_TypeDef *DebugUART = UART1; |
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105 | |||
314 | killagreg | 106 | #ifdef FOLLOW_ME |
107 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 108 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 109 | Point_t FollowMe; |
110 | #endif |
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111 | |||
153 | killagreg | 112 | // the primary rx fifo |
247 | killagreg | 113 | #define UART1_RX_FIFO_LEN 512 |
153 | killagreg | 114 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
115 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 116 | |
117 | // the rx buffer |
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247 | killagreg | 118 | #define UART1_RX_BUFFER_LEN 150 |
110 | killagreg | 119 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
120 | Buffer_t UART1_rx_buffer; |
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121 | |||
153 | killagreg | 122 | // the tx buffer |
247 | killagreg | 123 | #define UART1_TX_BUFFER_LEN 150 |
153 | killagreg | 124 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
125 | Buffer_t UART1_tx_buffer; |
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126 | |||
92 | killagreg | 127 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 128 | |
150 | killagreg | 129 | u8 text[200]; |
41 | ingob | 130 | |
131 | const u8 ANALOG_LABEL[32][16] = |
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132 | { |
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90 | killagreg | 133 | //1234567890123456 |
41 | ingob | 134 | "AngleNick ", //0 |
135 | "AngleRoll ", |
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136 | "AccNick ", |
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137 | "AccRoll ", |
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214 | killagreg | 138 | "OperatingRadius ", |
200 | killagreg | 139 | "FC-Flags ", //5 |
95 | killagreg | 140 | "NC-Flags ", |
121 | killagreg | 141 | "NickServo ", |
142 | "RollServo ", |
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41 | ingob | 143 | "GPS Data ", |
61 | holgerb | 144 | "CompassHeading ", //10 |
145 | "GyroHeading ", |
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41 | ingob | 146 | "SPI Error ", |
147 | "SPI Okay ", |
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189 | killagreg | 148 | "I2C Error ", |
41 | ingob | 149 | "I2C Okay ", //15 |
339 | holgerb | 150 | "16 ", |
151 | "17 ", |
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152 | "18 ", |
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153 | "19 ", |
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330 | holgerb | 154 | "EarthMagnet [%] ", //20 |
338 | holgerb | 155 | "Z_Speed ", |
156 | "N_Speed ", |
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157 | "E_Speed ", |
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310 | holgerb | 158 | "Magnet X ", |
338 | holgerb | 159 | "Magnet Y ", //25 |
310 | holgerb | 160 | "Magnet Z ", |
41 | ingob | 161 | "Distance N ", |
162 | "Distance E ", |
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163 | "GPS_Nick ", |
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164 | "GPS_Roll ", //30 |
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165 | "Used_Sats " |
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166 | }; |
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167 | |||
112 | killagreg | 168 | DebugOut_t DebugOut; |
169 | ExternControl_t ExternControl; |
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170 | UART_VersionInfo_t UART_VersionInfo; |
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171 | NaviData_t NaviData; |
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172 | Data3D_t Data3D; |
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173 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 174 | |
193 | killagreg | 175 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 176 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 177 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 178 | u32 UART1_NaviData_Interval = 0; // in ms |
179 | u32 UART1_Data3D_Timer = 0; |
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180 | u32 UART1_Data3D_Interval = 0; // in ms |
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193 | killagreg | 181 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 182 | u32 UART1_Display_Interval = 0; // in ms |
112 | killagreg | 183 | |
41 | ingob | 184 | /********************************************************/ |
185 | /* Initialization the UART1 */ |
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186 | /********************************************************/ |
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187 | void UART1_Init (void) |
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188 | { |
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189 | GPIO_InitTypeDef GPIO_InitStructure; |
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190 | UART_InitTypeDef UART_InitStructure; |
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191 | |||
153 | killagreg | 192 | // initialize txd buffer |
193 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 194 | |
153 | killagreg | 195 | // initialize rxd buffer |
196 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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197 | |||
244 | killagreg | 198 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
199 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 200 | |
41 | ingob | 201 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
202 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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203 | |||
204 | /*Configure UART1_Rx pin GPIO3.2*/ |
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205 | GPIO_StructInit(&GPIO_InitStructure); |
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206 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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207 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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208 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 209 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 210 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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212 | |||
213 | /*Configure UART1_Tx pin GPIO3.3*/ |
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214 | GPIO_StructInit(&GPIO_InitStructure); |
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215 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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216 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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217 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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218 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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219 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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220 | |||
221 | /* UART1 configured as follow: |
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222 | - Word Length = 8 Bits |
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223 | - One Stop Bit |
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224 | - No parity |
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225 | - BaudRate = 57600 baud |
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226 | - Hardware flow control Disabled |
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227 | - Receive and transmit enabled |
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228 | - Receive and transmit FIFOs are Disabled |
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229 | */ |
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230 | UART_StructInit(&UART_InitStructure); |
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231 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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232 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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233 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 234 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 235 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
236 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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237 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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238 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 239 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 240 | |
241 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 242 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 243 | // enable uart 1 interrupts selective |
244 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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245 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 246 | // configure the uart 1 interupt line |
247 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 248 | // enable the uart 1 IRQ |
41 | ingob | 249 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 250 | |
41 | ingob | 251 | // initialize the debug timer |
110 | killagreg | 252 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
253 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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254 | |||
41 | ingob | 255 | // Fill Version Info Structure |
256 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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257 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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258 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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259 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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260 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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261 | |||
89 | killagreg | 262 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 263 | |
212 | killagreg | 264 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 265 | } |
266 | |||
267 | |||
268 | /****************************************************************/ |
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269 | /* USART1 receiver ISR */ |
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270 | /****************************************************************/ |
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271 | void UART1_IRQHandler(void) |
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272 | { |
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273 | static u8 abortState = 0; |
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274 | u8 c; |
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275 | |||
195 | killagreg | 276 | IENABLE; |
277 | |||
41 | ingob | 278 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
279 | { |
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153 | killagreg | 280 | // clear the pending bits! |
41 | ingob | 281 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
282 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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283 | // if debug UART is not UART1 |
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284 | if (DebugUART != UART1) |
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285 | { // forward received data to the debug UART tx buffer |
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286 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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287 | { |
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288 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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289 | c = UART_ReceiveData(UART1); |
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290 | |||
291 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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292 | switch (abortState) |
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293 | { |
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165 | killagreg | 294 | case 0: |
139 | killagreg | 295 | if (c == 27) abortState++; |
41 | ingob | 296 | break; |
165 | killagreg | 297 | case 1: |
298 | if (c == 27) abortState++; |
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139 | killagreg | 299 | else abortState = 0; |
41 | ingob | 300 | break; |
139 | killagreg | 301 | case 2: |
165 | killagreg | 302 | if (c == 0x55) abortState++; |
139 | killagreg | 303 | else abortState = 0; |
41 | ingob | 304 | break; |
139 | killagreg | 305 | case 3: |
306 | if (c == 0xAA) abortState++; |
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307 | else abortState = 0; |
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41 | ingob | 308 | break; |
165 | killagreg | 309 | case 4: |
139 | killagreg | 310 | if (c == 0x00) |
311 | { |
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312 | if(DebugUART == UART0) |
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313 | { |
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245 | killagreg | 314 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 315 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 316 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 317 | } |
318 | DebugUART = UART1; |
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165 | killagreg | 319 | } |
139 | killagreg | 320 | abortState = 0; |
321 | break; |
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322 | } // end switch abort state |
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136 | killagreg | 323 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 324 | if (DebugUART != UART1) |
325 | { |
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326 | // wait for space in the tx buffer of the DebugUART |
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327 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 328 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 329 | UART_SendData(DebugUART, c); |
330 | } |
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41 | ingob | 331 | } |
332 | } |
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333 | else // DebugUART == UART1 (normal operation) |
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334 | { |
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110 | killagreg | 335 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 336 | { // some byes in the hardware fifo |
153 | killagreg | 337 | // get byte from hardware fifo |
41 | ingob | 338 | c = UART_ReceiveData(UART1); |
153 | killagreg | 339 | // put into the software fifo |
340 | if(!fifo_put(&UART1_rx_fifo, c)) |
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341 | { // fifo overflow |
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155 | killagreg | 342 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 343 | } |
154 | killagreg | 344 | } // EOF while some byes in the hardware fifo |
41 | ingob | 345 | } // eof DebugUart = UART1 |
346 | } |
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195 | killagreg | 347 | |
348 | IDISABLE; |
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41 | ingob | 349 | } |
350 | |||
351 | /**************************************************************/ |
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352 | /* Process incomming data from debug uart */ |
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353 | /**************************************************************/ |
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354 | void UART1_ProcessRxData(void) |
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355 | { |
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154 | killagreg | 356 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 357 | if(DebugUART != UART1) return; |
165 | killagreg | 358 | |
155 | killagreg | 359 | u8 c; |
360 | // if rx buffer is not locked |
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361 | if(UART1_rx_buffer.Locked == FALSE) |
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315 | killagreg | 362 | { |
244 | killagreg | 363 | //collect data from primary rx fifo |
155 | killagreg | 364 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 365 | { |
244 | killagreg | 366 | // break if complete frame is collected |
155 | killagreg | 367 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
368 | } |
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369 | } |
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370 | if(UART1_rx_buffer.Locked == FALSE) return; |
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371 | |||
280 | killagreg | 372 | Point_t * pPoint = NULL; |
153 | killagreg | 373 | SerialMsg_t SerialMsg; |
41 | ingob | 374 | |
190 | killagreg | 375 | // analyze header first |
376 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
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194 | killagreg | 377 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 378 | { |
192 | killagreg | 379 | switch(SerialMsg.CmdID) |
380 | { |
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231 | holgerb | 381 | // case 'v': // version |
192 | killagreg | 382 | case 'y': // serial poti values |
383 | case 'b': // extern control |
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384 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
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385 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
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194 | killagreg | 386 | return; //end process rx data |
192 | killagreg | 387 | break; |
388 | } |
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195 | killagreg | 389 | } |
190 | killagreg | 390 | |
391 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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392 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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393 | switch(SerialMsg.Address) // check for Slave Address |
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394 | { |
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41 | ingob | 395 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 396 | switch(SerialMsg.CmdID) |
41 | ingob | 397 | { |
101 | holgerb | 398 | case 'z': // connection checker |
110 | killagreg | 399 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
400 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 401 | break; |
402 | |||
41 | ingob | 403 | case 'e': // request for the text of the error status |
110 | killagreg | 404 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 405 | break; |
406 | |||
407 | case 's':// new target position |
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280 | killagreg | 408 | pPoint = (Point_t*)SerialMsg.pData; |
409 | if(pPoint->Position.Status == NEWDATA) |
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41 | ingob | 410 | { |
315 | killagreg | 411 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 412 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 413 | PointList_SetAt(pPoint); |
315 | killagreg | 414 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 415 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 416 | if(GPS_pWaypoint != NULL) // if new WP exist |
417 | { // update WP hold time stamp immediately! |
||
418 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
||
419 | { |
||
420 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
421 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
422 | } |
||
423 | */ |
||
424 | } |
||
295 | killagreg | 425 | BeepTime = 50; |
41 | ingob | 426 | } |
427 | break; |
||
428 | |||
429 | case 'u': // redirect debug uart |
||
110 | killagreg | 430 | switch(SerialMsg.pData[0]) |
41 | ingob | 431 | { |
432 | case UART_FLIGHTCTRL: |
||
433 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 434 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 435 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 436 | DebugUART = UART2; |
437 | break; |
||
438 | case UART_MK3MAG: |
||
255 | killagreg | 439 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 440 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
441 | GPSData.Status = INVALID; |
||
153 | killagreg | 442 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 443 | DebugUART = UART0; |
444 | break; |
||
445 | case UART_MKGPS: |
||
255 | killagreg | 446 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 447 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 448 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 449 | GPSData.Status = INVALID; |
153 | killagreg | 450 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 451 | DebugUART = UART0; |
452 | break; |
||
153 | killagreg | 453 | default: |
454 | break; |
||
41 | ingob | 455 | } |
456 | break; |
||
457 | |||
295 | killagreg | 458 | case 'w':// Set point in list at index |
165 | killagreg | 459 | { |
280 | killagreg | 460 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 461 | |
280 | killagreg | 462 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 463 | { |
280 | killagreg | 464 | PointList_Clear(); |
465 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 466 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 467 | } |
227 | killagreg | 468 | else |
295 | killagreg | 469 | { // update WP in list at index |
470 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 471 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 472 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 473 | { |
474 | BeepTime = 500; |
||
165 | killagreg | 475 | } |
476 | } |
||
41 | ingob | 477 | } |
478 | break; |
||
479 | |||
92 | killagreg | 480 | case 'x':// Read Waypoint from List |
280 | killagreg | 481 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 482 | break; |
483 | |||
160 | holgerb | 484 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 485 | switch(SerialMsg.pData[0]) |
486 | { |
||
487 | case 0: // get |
||
488 | break; |
||
165 | killagreg | 489 | |
156 | killagreg | 490 | case 1: // set |
159 | killagreg | 491 | { |
492 | s16 value; |
||
493 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
494 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
495 | } |
||
156 | killagreg | 496 | break; |
497 | |||
498 | default: |
||
165 | killagreg | 499 | break; |
156 | killagreg | 500 | } |
501 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
502 | UART1_Request_Parameter = TRUE; |
||
503 | break; |
||
41 | ingob | 504 | default: |
505 | // unsupported command recieved |
||
506 | break; |
||
507 | } // case NC_ADDRESS |
||
65 | killagreg | 508 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 509 | |
510 | default: // and any other Slave Address |
||
511 | |||
190 | killagreg | 512 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 513 | { |
514 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 515 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
516 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 517 | break; |
193 | killagreg | 518 | /* |
41 | ingob | 519 | case 'b': // submit extern control |
121 | killagreg | 520 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 521 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 522 | break; |
195 | killagreg | 523 | */ |
41 | ingob | 524 | case 'd': // request for debug data; |
110 | killagreg | 525 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
526 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 527 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 528 | break; |
529 | |||
63 | killagreg | 530 | case 'c': // request for 3D data; |
110 | killagreg | 531 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
532 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 533 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 534 | break; |
275 | killagreg | 535 | |
41 | ingob | 536 | case 'h':// reqest for display line |
193 | killagreg | 537 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
538 | { |
||
539 | UART1_DisplayLine = 2; |
||
195 | killagreg | 540 | UART1_Display_Interval = 0; |
193 | killagreg | 541 | } |
542 | else |
||
543 | { |
||
201 | killagreg | 544 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 545 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
546 | UART1_DisplayLine = 4; |
||
198 | killagreg | 547 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 548 | } |
110 | killagreg | 549 | UART1_Request_Display = TRUE; |
41 | ingob | 550 | break; |
551 | |||
552 | case 'l':// reqest for display columns |
||
110 | killagreg | 553 | MenuItem = SerialMsg.pData[0]; |
554 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 555 | break; |
64 | holgerb | 556 | |
557 | case 'o': // request for navigation information |
||
110 | killagreg | 558 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
559 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 560 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 561 | break; |
562 | |||
41 | ingob | 563 | case 'v': // request for version info |
110 | killagreg | 564 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 565 | break; |
566 | default: |
||
567 | // unsupported command recieved |
||
568 | break; |
||
569 | } |
||
570 | break; // default: |
||
571 | } |
||
153 | killagreg | 572 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 573 | } |
574 | |||
575 | |||
576 | /*****************************************************/ |
||
577 | /* Send a character */ |
||
578 | /*****************************************************/ |
||
110 | killagreg | 579 | s16 UART1_Putchar(char c) |
41 | ingob | 580 | { |
110 | killagreg | 581 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 582 | // wait until txd fifo is not full |
583 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
584 | // transmit byte |
||
585 | UART_SendData(UART1, c); |
||
314 | killagreg | 586 | #ifdef FOLLOW_ME |
587 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
588 | #endif |
||
41 | ingob | 589 | return (0); |
590 | } |
||
591 | |||
592 | /*****************************************************/ |
||
593 | /* Send a string to the debug uart */ |
||
594 | /*****************************************************/ |
||
110 | killagreg | 595 | void UART1_PutString(u8 *s) |
41 | ingob | 596 | { |
597 | if(s == NULL) return; |
||
598 | while (*s != '\0' && DebugUART == UART1) |
||
599 | { |
||
110 | killagreg | 600 | UART1_Putchar(*s); |
41 | ingob | 601 | s ++; |
602 | } |
||
603 | } |
||
604 | |||
113 | killagreg | 605 | |
110 | killagreg | 606 | /**************************************************************/ |
607 | /* Transmit tx buffer via debug uart */ |
||
608 | /**************************************************************/ |
||
609 | void UART1_Transmit(void) |
||
610 | { |
||
611 | u8 tmp_tx; |
||
612 | if(DebugUART != UART1) return; |
||
613 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 614 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 615 | { |
113 | killagreg | 616 | // while there is some space in the tx fifo |
617 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 618 | { |
113 | killagreg | 619 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
620 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 621 | #ifdef FOLLOW_ME |
315 | killagreg | 622 | if(TransmitAlsoToFC) |
623 | { |
||
314 | killagreg | 624 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
625 | } |
||
626 | #endif |
||
113 | killagreg | 627 | // if terminating character or end of txd buffer reached |
628 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
629 | { |
||
630 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 631 | #ifdef FOLLOW_ME |
632 | TransmitAlsoToFC = 0; |
||
633 | #endif |
||
113 | killagreg | 634 | break; // end while loop |
635 | } |
||
110 | killagreg | 636 | } |
637 | } |
||
638 | } |
||
41 | ingob | 639 | |
640 | /**************************************************************/ |
||
641 | /* Send the answers to incomming commands at the debug uart */ |
||
642 | /**************************************************************/ |
||
643 | void UART1_TransmitTxData(void) |
||
644 | { |
||
110 | killagreg | 645 | if(DebugUART != UART1) return; |
198 | killagreg | 646 | |
647 | if(CheckDelay(UART1_AboTimeOut)) |
||
648 | { |
||
649 | UART1_DebugData_Interval = 0; |
||
650 | UART1_NaviData_Interval = 0; |
||
651 | UART1_Data3D_Interval = 0; |
||
652 | UART1_Display_Interval = 0; |
||
653 | } |
||
654 | |||
110 | killagreg | 655 | UART1_Transmit(); // output pending bytes in tx buffer |
656 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 657 | |
156 | killagreg | 658 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 659 | { |
315 | killagreg | 660 | s16 ParamValue; |
299 | killagreg | 661 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 662 | 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 | 663 | UART1_Request_Parameter = FALSE; |
664 | } |
||
665 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
666 | { |
||
110 | killagreg | 667 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 668 | Echo = 0; // reset echo value |
110 | killagreg | 669 | UART1_Request_Echo = FALSE; |
92 | killagreg | 670 | } |
295 | killagreg | 671 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 672 | { |
295 | killagreg | 673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
674 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 675 | } |
280 | killagreg | 676 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 677 | { |
280 | killagreg | 678 | u8 PointCount = PointList_GetCount(); |
679 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 680 | { |
280 | killagreg | 681 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
154 | killagreg | 682 | } |
683 | else |
||
684 | { |
||
280 | killagreg | 685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 686 | } |
280 | killagreg | 687 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 688 | } |
689 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
690 | { |
||
691 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
692 | UART1_Request_DebugLabel = 0xFF; |
||
693 | } |
||
151 | killagreg | 694 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 695 | { |
151 | killagreg | 696 | NaviData.Errorcode = ErrorCode; |
697 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
698 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
699 | UART1_Request_NaviData = FALSE; |
||
700 | } |
||
701 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
702 | { |
||
110 | killagreg | 703 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
704 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
705 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 706 | } |
151 | killagreg | 707 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 708 | { |
110 | killagreg | 709 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
710 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
711 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 712 | } |
193 | killagreg | 713 | /* |
153 | killagreg | 714 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
715 | { |
||
716 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
717 | UART1_ConfirmFrame = 0; |
||
718 | } |
||
193 | killagreg | 719 | */ |
720 | /* |
||
151 | killagreg | 721 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 722 | { |
110 | killagreg | 723 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
724 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 725 | } |
193 | killagreg | 726 | */ |
727 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 728 | { |
193 | killagreg | 729 | if(UART1_DisplayLine > 3) |
730 | { |
||
201 | killagreg | 731 | Menu_Update(UART1_DisplayKeys); |
732 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
734 | } |
||
735 | else |
||
736 | { |
||
737 | UART1_DisplayLine = 2; |
||
738 | sprintf(text,"!!! incompatible !!!"); |
||
739 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
740 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
741 | } |
||
742 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 743 | UART1_Request_Display = FALSE; |
41 | ingob | 744 | } |
151 | killagreg | 745 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 746 | { |
201 | killagreg | 747 | Menu_Update(0); |
110 | killagreg | 748 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
749 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 750 | } |
151 | killagreg | 751 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 752 | { |
110 | killagreg | 753 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
754 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 755 | } |
151 | killagreg | 756 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 757 | { |
110 | killagreg | 758 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
759 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 760 | } |
314 | killagreg | 761 | #ifdef FOLLOW_ME |
762 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
763 | { |
||
764 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 765 | { |
314 | killagreg | 766 | TransmitAlsoToFC = 1; |
767 | // update FollowMe content |
||
768 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
769 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
770 | FollowMe.Position.Status = NEWDATA; |
||
771 | FollowMe.Position.Altitude = 1; |
||
772 | // 0 -> no Orientation |
||
773 | // 1-360 -> CompassCourse Setpoint |
||
774 | // -1 -> points to WP1 -> itself |
||
775 | FollowMe.Heading = -1; |
||
776 | FollowMe.ToleranceRadius = 1; |
||
777 | FollowMe.HoldTime = 60; |
||
778 | FollowMe.Event_Flag = 1; |
||
779 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
780 | FollowMe.Type = POINT_TYPE_WP; |
||
781 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
782 | FollowMe.AltitudeRate = 0; // do not change height |
||
783 | FollowMe.reserve[0] = 0; // reserve |
||
784 | FollowMe.reserve[1] = 0; // reserve |
||
785 | FollowMe.reserve[2] = 0; // reserve |
||
786 | FollowMe.reserve[3] = 0; // reserve |
||
787 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
788 | } |
||
789 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
790 | } |
||
791 | #endif |
||
250 | ingob | 792 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 793 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 794 | { |
795 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
796 | SendDebugOutput = 0; |
||
797 | } |
||
315 | killagreg | 798 | #endif |
110 | killagreg | 799 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 800 | } |
801 |