Rev 280 | Rev 283 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
34 | // + this list of conditions and the following disclaimer. |
||
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
36 | // + from this software without specific prior written permission. |
||
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
||
38 | // + for non-commercial use (directly or indirectly) |
||
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
40 | // + with our written permission |
||
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
42 | // + clearly linked as origin |
||
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" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
57 | #include <stdio.h> |
||
58 | #include <stdarg.h> |
||
59 | #include <string.h> |
||
60 | |||
61 | #include "91x_lib.h" |
||
251 | killagreg | 62 | #include "main.h" |
136 | killagreg | 63 | #include "config.h" |
41 | ingob | 64 | #include "menu.h" |
65 | #include "GPS.h" |
||
66 | #include "i2c.h" |
||
67 | #include "uart0.h" |
||
68 | #include "uart1.h" |
||
69 | #include "uart2.h" |
||
119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
||
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" |
254 | killagreg | 78 | #include "debug.h" |
41 | ingob | 79 | |
80 | #define FALSE 0 |
||
81 | #define TRUE 1 |
||
82 | |||
198 | killagreg | 83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
84 | u32 UART1_AboTimeOut = 0; |
||
92 | killagreg | 85 | |
110 | killagreg | 86 | u8 UART1_Request_VersionInfo = FALSE; |
87 | u8 UART1_Request_ExternalControl= FALSE; |
||
88 | u8 UART1_Request_Display = FALSE; |
||
89 | u8 UART1_Request_Display1 = FALSE; |
||
90 | u8 UART1_Request_DebugData = FALSE; |
||
91 | u8 UART1_Request_DebugLabel = 255; |
||
92 | u8 UART1_Request_NaviData = FALSE; |
||
93 | u8 UART1_Request_ErrorMessage = FALSE; |
||
280 | killagreg | 94 | u8 UART1_Request_NewPoint = FALSE; |
95 | u8 UART1_Request_ReadPoint = 0; |
||
110 | killagreg | 96 | u8 UART1_Request_Data3D = FALSE; |
97 | u8 UART1_Request_Echo = FALSE; |
||
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; |
||
41 | ingob | 103 | |
104 | UART_TypeDef *DebugUART = UART1; |
||
105 | |||
153 | killagreg | 106 | // the primary rx fifo |
247 | killagreg | 107 | #define UART1_RX_FIFO_LEN 512 |
153 | killagreg | 108 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
109 | fifo_t UART1_rx_fifo; |
||
110 | killagreg | 110 | |
111 | // the rx buffer |
||
247 | killagreg | 112 | #define UART1_RX_BUFFER_LEN 150 |
110 | killagreg | 113 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
114 | Buffer_t UART1_rx_buffer; |
||
115 | |||
153 | killagreg | 116 | // the tx buffer |
247 | killagreg | 117 | #define UART1_TX_BUFFER_LEN 150 |
153 | killagreg | 118 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
119 | Buffer_t UART1_tx_buffer; |
||
120 | |||
121 | |||
122 | |||
92 | killagreg | 123 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 124 | |
150 | killagreg | 125 | u8 text[200]; |
41 | ingob | 126 | |
127 | const u8 ANALOG_LABEL[32][16] = |
||
128 | { |
||
90 | killagreg | 129 | //1234567890123456 |
41 | ingob | 130 | "AngleNick ", //0 |
131 | "AngleRoll ", |
||
132 | "AccNick ", |
||
133 | "AccRoll ", |
||
214 | killagreg | 134 | "OperatingRadius ", |
200 | killagreg | 135 | "FC-Flags ", //5 |
95 | killagreg | 136 | "NC-Flags ", |
121 | killagreg | 137 | "NickServo ", |
138 | "RollServo ", |
||
41 | ingob | 139 | "GPS Data ", |
61 | holgerb | 140 | "CompassHeading ", //10 |
141 | "GyroHeading ", |
||
41 | ingob | 142 | "SPI Error ", |
143 | "SPI Okay ", |
||
189 | killagreg | 144 | "I2C Error ", |
41 | ingob | 145 | "I2C Okay ", //15 |
281 | holgerb | 146 | "*POI_CAM_ANGLE ",// "Kalman_K ", |
41 | ingob | 147 | "ACC_Speed_N ", |
148 | "ACC_Speed_E ", |
||
148 | holgerb | 149 | "Speed_z ",// "GPS ACC ", |
281 | holgerb | 150 | "*POI_CALCULATE ",//20 |
41 | ingob | 151 | "N_Speed ", |
152 | "E_Speed ", |
||
281 | holgerb | 153 | "*POI_ALTITUDE ", |
154 | "*POI_DISTANCE ", |
||
155 | "*POI_ERR1 ",//25 |
||
156 | "*POI_ERR2 ", |
||
41 | ingob | 157 | "Distance N ", |
158 | "Distance E ", |
||
159 | "GPS_Nick ", |
||
160 | "GPS_Roll ", //30 |
||
161 | "Used_Sats " |
||
162 | }; |
||
163 | |||
112 | killagreg | 164 | DebugOut_t DebugOut; |
165 | ExternControl_t ExternControl; |
||
166 | UART_VersionInfo_t UART_VersionInfo; |
||
167 | NaviData_t NaviData; |
||
168 | Data3D_t Data3D; |
||
169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
||
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; |
||
176 | u32 UART1_Data3D_Interval = 0; // in ms |
||
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 */ |
||
182 | /********************************************************/ |
||
183 | void UART1_Init (void) |
||
184 | { |
||
185 | GPIO_InitTypeDef GPIO_InitStructure; |
||
186 | UART_InitTypeDef UART_InitStructure; |
||
187 | |||
153 | killagreg | 188 | // initialize txd buffer |
189 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
||
165 | killagreg | 190 | |
153 | killagreg | 191 | // initialize rxd buffer |
192 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
||
193 | |||
244 | killagreg | 194 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
195 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
||
153 | killagreg | 196 | |
41 | ingob | 197 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
198 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
||
199 | |||
200 | /*Configure UART1_Rx pin GPIO3.2*/ |
||
201 | GPIO_StructInit(&GPIO_InitStructure); |
||
202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
||
203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
||
204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
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); |
||
208 | |||
209 | /*Configure UART1_Tx pin GPIO3.3*/ |
||
210 | GPIO_StructInit(&GPIO_InitStructure); |
||
211 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
212 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
||
213 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
214 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
||
215 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
||
216 | |||
217 | /* UART1 configured as follow: |
||
218 | - Word Length = 8 Bits |
||
219 | - One Stop Bit |
||
220 | - No parity |
||
221 | - BaudRate = 57600 baud |
||
222 | - Hardware flow control Disabled |
||
223 | - Receive and transmit enabled |
||
224 | - Receive and transmit FIFOs are Disabled |
||
225 | */ |
||
226 | UART_StructInit(&UART_InitStructure); |
||
227 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
||
228 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
||
229 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
||
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; |
||
233 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
||
234 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
||
139 | killagreg | 235 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 236 | |
237 | UART_DeInit(UART1); // reset uart 1 to default |
||
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); |
||
241 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
||
136 | killagreg | 242 | // configure the uart 1 interupt line |
243 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
||
244 | 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; |
||
250 | |||
41 | ingob | 251 | // Fill Version Info Structure |
252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
||
253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
||
254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
||
255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
257 | |||
89 | killagreg | 258 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 259 | |
212 | killagreg | 260 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 261 | } |
262 | |||
263 | |||
264 | /****************************************************************/ |
||
265 | /* USART1 receiver ISR */ |
||
266 | /****************************************************************/ |
||
267 | void UART1_IRQHandler(void) |
||
268 | { |
||
269 | static u8 abortState = 0; |
||
270 | u8 c; |
||
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 | { |
||
153 | killagreg | 276 | // clear the pending bits! |
41 | ingob | 277 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
278 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
||
279 | // if debug UART is not UART1 |
||
280 | if (DebugUART != UART1) |
||
281 | { // forward received data to the debug UART tx buffer |
||
282 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
283 | { |
||
284 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
||
285 | c = UART_ReceiveData(UART1); |
||
286 | |||
287 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
||
288 | switch (abortState) |
||
289 | { |
||
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++; |
||
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++; |
||
303 | else abortState = 0; |
||
41 | ingob | 304 | break; |
165 | killagreg | 305 | case 4: |
139 | killagreg | 306 | if (c == 0x00) |
307 | { |
||
308 | if(DebugUART == UART0) |
||
309 | { |
||
245 | killagreg | 310 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
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; |
||
165 | killagreg | 315 | } |
139 | killagreg | 316 | abortState = 0; |
317 | break; |
||
318 | } // end switch abort state |
||
136 | killagreg | 319 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 320 | if (DebugUART != UART1) |
321 | { |
||
322 | // wait for space in the tx buffer of the DebugUART |
||
323 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
141 | killagreg | 324 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 325 | UART_SendData(DebugUART, c); |
326 | } |
||
41 | ingob | 327 | } |
328 | } |
||
329 | else // DebugUART == UART1 (normal operation) |
||
330 | { |
||
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)) |
||
337 | { // fifo overflow |
||
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 | } |
||
195 | killagreg | 343 | |
344 | IDISABLE; |
||
41 | ingob | 345 | } |
346 | |||
347 | /**************************************************************/ |
||
348 | /* Process incomming data from debug uart */ |
||
349 | /**************************************************************/ |
||
350 | void UART1_ProcessRxData(void) |
||
351 | { |
||
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 |
||
357 | if(UART1_rx_buffer.Locked == FALSE) |
||
244 | killagreg | 358 | { |
359 | //collect data from primary rx fifo |
||
155 | killagreg | 360 | while(fifo_get(&UART1_rx_fifo, &c)) |
244 | killagreg | 361 | { |
362 | // break if complete frame is collected |
||
155 | killagreg | 363 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
364 | } |
||
365 | } |
||
366 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
367 | |||
280 | killagreg | 368 | Point_t * pPoint = NULL; |
153 | killagreg | 369 | SerialMsg_t SerialMsg; |
41 | ingob | 370 | |
190 | killagreg | 371 | // analyze header first |
372 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
194 | killagreg | 373 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 374 | { |
192 | killagreg | 375 | switch(SerialMsg.CmdID) |
376 | { |
||
231 | holgerb | 377 | // case 'v': // version |
192 | killagreg | 378 | case 'y': // serial poti values |
379 | case 'b': // extern control |
||
380 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
381 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
194 | killagreg | 382 | return; //end process rx data |
192 | killagreg | 383 | break; |
384 | } |
||
195 | killagreg | 385 | } |
190 | killagreg | 386 | |
387 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
388 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
389 | switch(SerialMsg.Address) // check for Slave Address |
||
390 | { |
||
41 | ingob | 391 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 392 | switch(SerialMsg.CmdID) |
41 | ingob | 393 | { |
101 | holgerb | 394 | case 'z': // connection checker |
110 | killagreg | 395 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
396 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 397 | break; |
398 | |||
41 | ingob | 399 | case 'e': // request for the text of the error status |
110 | killagreg | 400 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 401 | break; |
402 | |||
403 | case 's':// new target position |
||
280 | killagreg | 404 | pPoint = (Point_t*)SerialMsg.pData; |
41 | ingob | 405 | BeepTime = 300; |
280 | killagreg | 406 | if(pPoint->Position.Status == NEWDATA) |
41 | ingob | 407 | { |
280 | killagreg | 408 | PointList_Clear(); // empty List |
409 | pPoint->Index = 1; // must be one after empty list |
||
410 | PointList_Append(pPoint); |
||
411 | GPS_pWaypoint = PointList_WPBegin(); |
||
41 | ingob | 412 | } |
413 | break; |
||
414 | |||
415 | case 'u': // redirect debug uart |
||
110 | killagreg | 416 | switch(SerialMsg.pData[0]) |
41 | ingob | 417 | { |
418 | case UART_FLIGHTCTRL: |
||
419 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 420 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 421 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 422 | DebugUART = UART2; |
423 | break; |
||
424 | case UART_MK3MAG: |
||
255 | killagreg | 425 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 426 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
427 | GPSData.Status = INVALID; |
||
153 | killagreg | 428 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 429 | DebugUART = UART0; |
430 | break; |
||
431 | case UART_MKGPS: |
||
255 | killagreg | 432 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 433 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 434 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 435 | GPSData.Status = INVALID; |
153 | killagreg | 436 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 437 | DebugUART = UART0; |
438 | break; |
||
153 | killagreg | 439 | default: |
440 | break; |
||
41 | ingob | 441 | } |
442 | break; |
||
443 | |||
280 | killagreg | 444 | case 'w':// Append Point to List |
165 | killagreg | 445 | { |
280 | killagreg | 446 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 447 | |
280 | killagreg | 448 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 449 | { |
280 | killagreg | 450 | PointList_Clear(); |
451 | GPS_pWaypoint = PointList_WPBegin(); |
||
452 | UART1_Request_NewPoint = TRUE; // return new point count |
||
165 | killagreg | 453 | } |
227 | killagreg | 454 | else |
225 | killagreg | 455 | { // app current WP to the list |
280 | killagreg | 456 | if(PointList_Append(pPoint)) |
225 | killagreg | 457 | { |
458 | BeepTime = 500; |
||
280 | killagreg | 459 | UART1_Request_NewPoint = TRUE; // return new WP number |
165 | killagreg | 460 | } |
461 | } |
||
41 | ingob | 462 | } |
463 | break; |
||
464 | |||
92 | killagreg | 465 | case 'x':// Read Waypoint from List |
280 | killagreg | 466 | UART1_Request_ReadPoint = 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; |
275 | killagreg | 520 | |
41 | ingob | 521 | case 'h':// reqest for display line |
193 | killagreg | 522 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
523 | { |
||
524 | UART1_DisplayLine = 2; |
||
195 | killagreg | 525 | UART1_Display_Interval = 0; |
193 | killagreg | 526 | } |
527 | else |
||
528 | { |
||
201 | killagreg | 529 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 530 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
531 | UART1_DisplayLine = 4; |
||
198 | killagreg | 532 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 533 | } |
110 | killagreg | 534 | UART1_Request_Display = TRUE; |
41 | ingob | 535 | break; |
536 | |||
537 | case 'l':// reqest for display columns |
||
110 | killagreg | 538 | MenuItem = SerialMsg.pData[0]; |
539 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 540 | break; |
64 | holgerb | 541 | |
542 | case 'o': // request for navigation information |
||
110 | killagreg | 543 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
544 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 545 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 546 | break; |
547 | |||
41 | ingob | 548 | case 'v': // request for version info |
110 | killagreg | 549 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 550 | break; |
551 | default: |
||
552 | // unsupported command recieved |
||
553 | break; |
||
554 | } |
||
555 | break; // default: |
||
556 | } |
||
153 | killagreg | 557 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 558 | } |
559 | |||
560 | |||
561 | /*****************************************************/ |
||
562 | /* Send a character */ |
||
563 | /*****************************************************/ |
||
110 | killagreg | 564 | s16 UART1_Putchar(char c) |
41 | ingob | 565 | { |
110 | killagreg | 566 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 567 | // wait until txd fifo is not full |
568 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
569 | // transmit byte |
||
570 | UART_SendData(UART1, c); |
||
571 | return (0); |
||
572 | } |
||
573 | |||
574 | /*****************************************************/ |
||
575 | /* Send a string to the debug uart */ |
||
576 | /*****************************************************/ |
||
110 | killagreg | 577 | void UART1_PutString(u8 *s) |
41 | ingob | 578 | { |
579 | if(s == NULL) return; |
||
580 | while (*s != '\0' && DebugUART == UART1) |
||
581 | { |
||
110 | killagreg | 582 | UART1_Putchar(*s); |
41 | ingob | 583 | s ++; |
584 | } |
||
585 | } |
||
586 | |||
113 | killagreg | 587 | |
110 | killagreg | 588 | /**************************************************************/ |
589 | /* Transmit tx buffer via debug uart */ |
||
590 | /**************************************************************/ |
||
591 | void UART1_Transmit(void) |
||
592 | { |
||
593 | u8 tmp_tx; |
||
594 | if(DebugUART != UART1) return; |
||
595 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 596 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 597 | { |
113 | killagreg | 598 | // while there is some space in the tx fifo |
599 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 600 | { |
113 | killagreg | 601 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
602 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
603 | // if terminating character or end of txd buffer reached |
||
604 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
605 | { |
||
606 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
607 | break; // end while loop |
||
608 | } |
||
110 | killagreg | 609 | } |
610 | } |
||
611 | } |
||
41 | ingob | 612 | |
613 | /**************************************************************/ |
||
614 | /* Send the answers to incomming commands at the debug uart */ |
||
615 | /**************************************************************/ |
||
616 | void UART1_TransmitTxData(void) |
||
617 | { |
||
110 | killagreg | 618 | if(DebugUART != UART1) return; |
198 | killagreg | 619 | |
620 | if(CheckDelay(UART1_AboTimeOut)) |
||
621 | { |
||
622 | UART1_DebugData_Interval = 0; |
||
623 | UART1_NaviData_Interval = 0; |
||
624 | UART1_Data3D_Interval = 0; |
||
625 | UART1_Display_Interval = 0; |
||
626 | } |
||
627 | |||
110 | killagreg | 628 | UART1_Transmit(); // output pending bytes in tx buffer |
629 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 630 | |
156 | killagreg | 631 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 632 | { |
156 | killagreg | 633 | s16 ParamValue; |
157 | killagreg | 634 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
158 | killagreg | 635 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
636 | //UART1_PutString(text); |
||
160 | holgerb | 637 | 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 | 638 | UART1_Request_Parameter = FALSE; |
639 | } |
||
640 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
641 | { |
||
110 | killagreg | 642 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 643 | Echo = 0; // reset echo value |
110 | killagreg | 644 | UART1_Request_Echo = FALSE; |
92 | killagreg | 645 | } |
280 | killagreg | 646 | else if(UART1_Request_NewPoint && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 647 | { |
280 | killagreg | 648 | u8 PointCount = PointList_GetCount(); |
649 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
||
650 | UART1_Request_NewPoint = FALSE; |
||
154 | killagreg | 651 | } |
280 | killagreg | 652 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 653 | { |
280 | killagreg | 654 | u8 PointCount = PointList_GetCount(); |
655 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 656 | { |
280 | killagreg | 657 | 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 | 658 | } |
659 | else |
||
660 | { |
||
280 | killagreg | 661 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 662 | } |
280 | killagreg | 663 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 664 | } |
665 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
666 | { |
||
667 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
668 | UART1_Request_DebugLabel = 0xFF; |
||
669 | } |
||
151 | killagreg | 670 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 671 | { |
151 | killagreg | 672 | NaviData.Errorcode = ErrorCode; |
673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
674 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
675 | UART1_Request_NaviData = FALSE; |
||
676 | } |
||
677 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
678 | { |
||
110 | killagreg | 679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
680 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
681 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 682 | } |
151 | killagreg | 683 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 684 | { |
110 | killagreg | 685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
686 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
687 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 688 | } |
193 | killagreg | 689 | /* |
153 | killagreg | 690 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
691 | { |
||
692 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
693 | UART1_ConfirmFrame = 0; |
||
694 | } |
||
193 | killagreg | 695 | */ |
696 | /* |
||
151 | killagreg | 697 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 698 | { |
110 | killagreg | 699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
700 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 701 | } |
193 | killagreg | 702 | */ |
703 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 704 | { |
193 | killagreg | 705 | if(UART1_DisplayLine > 3) |
706 | { |
||
201 | killagreg | 707 | Menu_Update(UART1_DisplayKeys); |
708 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 709 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
710 | } |
||
711 | else |
||
712 | { |
||
713 | UART1_DisplayLine = 2; |
||
714 | sprintf(text,"!!! incompatible !!!"); |
||
715 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
716 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
717 | } |
||
718 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 719 | UART1_Request_Display = FALSE; |
41 | ingob | 720 | } |
151 | killagreg | 721 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 722 | { |
201 | killagreg | 723 | Menu_Update(0); |
110 | killagreg | 724 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
725 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 726 | } |
151 | killagreg | 727 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 728 | { |
110 | killagreg | 729 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
730 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 731 | } |
151 | killagreg | 732 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 733 | { |
110 | killagreg | 734 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
735 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 736 | } |
250 | ingob | 737 | #ifdef DEBUG // only include functions if DEBUG is defined |
254 | killagreg | 738 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
739 | { |
||
740 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
741 | SendDebugOutput = 0; |
||
742 | } |
||
250 | ingob | 743 | #endif |
110 | killagreg | 744 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 745 | } |
746 |