Rev 314 | Rev 321 | 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" |
315 | 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; |
||
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; |
||
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 | |||
314 | killagreg | 106 | #ifdef FOLLOW_ME |
107 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
||
315 | killagreg | 108 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 109 | Point_t FollowMe; |
110 | #endif |
||
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; |
||
110 | killagreg | 116 | |
117 | // the rx buffer |
||
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; |
||
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; |
||
126 | |||
127 | |||
128 | |||
92 | killagreg | 129 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 130 | |
150 | killagreg | 131 | u8 text[200]; |
41 | ingob | 132 | |
133 | const u8 ANALOG_LABEL[32][16] = |
||
134 | { |
||
90 | killagreg | 135 | //1234567890123456 |
41 | ingob | 136 | "AngleNick ", //0 |
137 | "AngleRoll ", |
||
138 | "AccNick ", |
||
139 | "AccRoll ", |
||
214 | killagreg | 140 | "OperatingRadius ", |
200 | killagreg | 141 | "FC-Flags ", //5 |
95 | killagreg | 142 | "NC-Flags ", |
121 | killagreg | 143 | "NickServo ", |
144 | "RollServo ", |
||
41 | ingob | 145 | "GPS Data ", |
61 | holgerb | 146 | "CompassHeading ", //10 |
147 | "GyroHeading ", |
||
41 | ingob | 148 | "SPI Error ", |
149 | "SPI Okay ", |
||
189 | killagreg | 150 | "I2C Error ", |
41 | ingob | 151 | "I2C Okay ", //15 |
283 | holgerb | 152 | "*POI_INDEX ",// "Kalman_K ", |
41 | ingob | 153 | "ACC_Speed_N ", |
154 | "ACC_Speed_E ", |
||
148 | holgerb | 155 | "Speed_z ",// "GPS ACC ", |
300 | holgerb | 156 | "20 ",//20 |
41 | ingob | 157 | "N_Speed ", |
158 | "E_Speed ", |
||
300 | holgerb | 159 | "23 ", |
310 | holgerb | 160 | "Magnet X ", |
161 | "Magnet Y ",//25 |
||
162 | "Magnet Z ", |
||
41 | ingob | 163 | "Distance N ", |
164 | "Distance E ", |
||
165 | "GPS_Nick ", |
||
166 | "GPS_Roll ", //30 |
||
167 | "Used_Sats " |
||
168 | }; |
||
169 | |||
112 | killagreg | 170 | DebugOut_t DebugOut; |
171 | ExternControl_t ExternControl; |
||
172 | UART_VersionInfo_t UART_VersionInfo; |
||
173 | NaviData_t NaviData; |
||
174 | Data3D_t Data3D; |
||
175 | u16 Echo; // 2 bytes recieved will be sent back as echo |
||
41 | ingob | 176 | |
193 | killagreg | 177 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 178 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 179 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 180 | u32 UART1_NaviData_Interval = 0; // in ms |
181 | u32 UART1_Data3D_Timer = 0; |
||
182 | u32 UART1_Data3D_Interval = 0; // in ms |
||
193 | killagreg | 183 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 184 | u32 UART1_Display_Interval = 0; // in ms |
112 | killagreg | 185 | |
41 | ingob | 186 | /********************************************************/ |
187 | /* Initialization the UART1 */ |
||
188 | /********************************************************/ |
||
189 | void UART1_Init (void) |
||
190 | { |
||
191 | GPIO_InitTypeDef GPIO_InitStructure; |
||
192 | UART_InitTypeDef UART_InitStructure; |
||
193 | |||
153 | killagreg | 194 | // initialize txd buffer |
195 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
||
165 | killagreg | 196 | |
153 | killagreg | 197 | // initialize rxd buffer |
198 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
||
199 | |||
244 | killagreg | 200 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
201 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
||
153 | killagreg | 202 | |
41 | ingob | 203 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
204 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
||
205 | |||
206 | /*Configure UART1_Rx pin GPIO3.2*/ |
||
207 | GPIO_StructInit(&GPIO_InitStructure); |
||
208 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
||
209 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
||
210 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
196 | killagreg | 211 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 212 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
213 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
||
214 | |||
215 | /*Configure UART1_Tx pin GPIO3.3*/ |
||
216 | GPIO_StructInit(&GPIO_InitStructure); |
||
217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
||
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
220 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
||
221 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
||
222 | |||
223 | /* UART1 configured as follow: |
||
224 | - Word Length = 8 Bits |
||
225 | - One Stop Bit |
||
226 | - No parity |
||
227 | - BaudRate = 57600 baud |
||
228 | - Hardware flow control Disabled |
||
229 | - Receive and transmit enabled |
||
230 | - Receive and transmit FIFOs are Disabled |
||
231 | */ |
||
232 | UART_StructInit(&UART_InitStructure); |
||
233 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
||
234 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
||
235 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
||
110 | killagreg | 236 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 237 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
238 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
||
239 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
||
240 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
||
139 | killagreg | 241 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 242 | |
243 | UART_DeInit(UART1); // reset uart 1 to default |
||
165 | killagreg | 244 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 245 | // enable uart 1 interrupts selective |
246 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
||
247 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
||
136 | killagreg | 248 | // configure the uart 1 interupt line |
249 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
||
244 | killagreg | 250 | // enable the uart 1 IRQ |
41 | ingob | 251 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 252 | |
41 | ingob | 253 | // initialize the debug timer |
110 | killagreg | 254 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
255 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
||
256 | |||
41 | ingob | 257 | // Fill Version Info Structure |
258 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
||
259 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
||
260 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
||
261 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
262 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
263 | |||
89 | killagreg | 264 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 265 | |
212 | killagreg | 266 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 267 | } |
268 | |||
269 | |||
270 | /****************************************************************/ |
||
271 | /* USART1 receiver ISR */ |
||
272 | /****************************************************************/ |
||
273 | void UART1_IRQHandler(void) |
||
274 | { |
||
275 | static u8 abortState = 0; |
||
276 | u8 c; |
||
277 | |||
195 | killagreg | 278 | IENABLE; |
279 | |||
41 | ingob | 280 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
281 | { |
||
153 | killagreg | 282 | // clear the pending bits! |
41 | ingob | 283 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
284 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
||
285 | // if debug UART is not UART1 |
||
286 | if (DebugUART != UART1) |
||
287 | { // forward received data to the debug UART tx buffer |
||
288 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
289 | { |
||
290 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
||
291 | c = UART_ReceiveData(UART1); |
||
292 | |||
293 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
||
294 | switch (abortState) |
||
295 | { |
||
165 | killagreg | 296 | case 0: |
139 | killagreg | 297 | if (c == 27) abortState++; |
41 | ingob | 298 | break; |
165 | killagreg | 299 | case 1: |
300 | if (c == 27) abortState++; |
||
139 | killagreg | 301 | else abortState = 0; |
41 | ingob | 302 | break; |
139 | killagreg | 303 | case 2: |
165 | killagreg | 304 | if (c == 0x55) abortState++; |
139 | killagreg | 305 | else abortState = 0; |
41 | ingob | 306 | break; |
139 | killagreg | 307 | case 3: |
308 | if (c == 0xAA) abortState++; |
||
309 | else abortState = 0; |
||
41 | ingob | 310 | break; |
165 | killagreg | 311 | case 4: |
139 | killagreg | 312 | if (c == 0x00) |
313 | { |
||
314 | if(DebugUART == UART0) |
||
315 | { |
||
245 | killagreg | 316 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 317 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 318 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 319 | } |
320 | DebugUART = UART1; |
||
165 | killagreg | 321 | } |
139 | killagreg | 322 | abortState = 0; |
323 | break; |
||
324 | } // end switch abort state |
||
136 | killagreg | 325 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 326 | if (DebugUART != UART1) |
327 | { |
||
328 | // wait for space in the tx buffer of the DebugUART |
||
329 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
141 | killagreg | 330 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 331 | UART_SendData(DebugUART, c); |
332 | } |
||
41 | ingob | 333 | } |
334 | } |
||
335 | else // DebugUART == UART1 (normal operation) |
||
336 | { |
||
110 | killagreg | 337 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 338 | { // some byes in the hardware fifo |
153 | killagreg | 339 | // get byte from hardware fifo |
41 | ingob | 340 | c = UART_ReceiveData(UART1); |
153 | killagreg | 341 | // put into the software fifo |
342 | if(!fifo_put(&UART1_rx_fifo, c)) |
||
343 | { // fifo overflow |
||
155 | killagreg | 344 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 345 | } |
154 | killagreg | 346 | } // EOF while some byes in the hardware fifo |
41 | ingob | 347 | } // eof DebugUart = UART1 |
348 | } |
||
195 | killagreg | 349 | |
350 | IDISABLE; |
||
41 | ingob | 351 | } |
352 | |||
353 | /**************************************************************/ |
||
354 | /* Process incomming data from debug uart */ |
||
355 | /**************************************************************/ |
||
356 | void UART1_ProcessRxData(void) |
||
357 | { |
||
154 | killagreg | 358 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 359 | if(DebugUART != UART1) return; |
165 | killagreg | 360 | |
155 | killagreg | 361 | u8 c; |
362 | // if rx buffer is not locked |
||
363 | if(UART1_rx_buffer.Locked == FALSE) |
||
315 | killagreg | 364 | { |
244 | killagreg | 365 | //collect data from primary rx fifo |
155 | killagreg | 366 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 367 | { |
244 | killagreg | 368 | // break if complete frame is collected |
155 | killagreg | 369 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
370 | } |
||
371 | } |
||
372 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
373 | |||
280 | killagreg | 374 | Point_t * pPoint = NULL; |
153 | killagreg | 375 | SerialMsg_t SerialMsg; |
41 | ingob | 376 | |
190 | killagreg | 377 | // analyze header first |
378 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
194 | killagreg | 379 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 380 | { |
192 | killagreg | 381 | switch(SerialMsg.CmdID) |
382 | { |
||
231 | holgerb | 383 | // case 'v': // version |
192 | killagreg | 384 | case 'y': // serial poti values |
385 | case 'b': // extern control |
||
386 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
387 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
194 | killagreg | 388 | return; //end process rx data |
192 | killagreg | 389 | break; |
390 | } |
||
195 | killagreg | 391 | } |
190 | killagreg | 392 | |
393 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
394 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
395 | switch(SerialMsg.Address) // check for Slave Address |
||
396 | { |
||
41 | ingob | 397 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 398 | switch(SerialMsg.CmdID) |
41 | ingob | 399 | { |
101 | holgerb | 400 | case 'z': // connection checker |
110 | killagreg | 401 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
402 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 403 | break; |
404 | |||
41 | ingob | 405 | case 'e': // request for the text of the error status |
110 | killagreg | 406 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 407 | break; |
408 | |||
409 | case 's':// new target position |
||
280 | killagreg | 410 | pPoint = (Point_t*)SerialMsg.pData; |
411 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 412 | { |
315 | killagreg | 413 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 414 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 415 | PointList_SetAt(pPoint); |
315 | killagreg | 416 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 417 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 418 | if(GPS_pWaypoint != NULL) // if new WP exist |
419 | { // update WP hold time stamp immediately! |
||
420 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
||
421 | { |
||
422 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
423 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
424 | } |
||
425 | */ |
||
426 | } |
||
295 | killagreg | 427 | BeepTime = 50; |
41 | ingob | 428 | } |
429 | break; |
||
430 | |||
431 | case 'u': // redirect debug uart |
||
110 | killagreg | 432 | switch(SerialMsg.pData[0]) |
41 | ingob | 433 | { |
434 | case UART_FLIGHTCTRL: |
||
435 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 436 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 437 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 438 | DebugUART = UART2; |
439 | break; |
||
440 | case UART_MK3MAG: |
||
255 | killagreg | 441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 442 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
443 | GPSData.Status = INVALID; |
||
153 | killagreg | 444 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 445 | DebugUART = UART0; |
446 | break; |
||
447 | case UART_MKGPS: |
||
255 | killagreg | 448 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 449 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 450 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 451 | GPSData.Status = INVALID; |
153 | killagreg | 452 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 453 | DebugUART = UART0; |
454 | break; |
||
153 | killagreg | 455 | default: |
456 | break; |
||
41 | ingob | 457 | } |
458 | break; |
||
459 | |||
295 | killagreg | 460 | case 'w':// Set point in list at index |
165 | killagreg | 461 | { |
280 | killagreg | 462 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 463 | |
280 | killagreg | 464 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 465 | { |
280 | killagreg | 466 | PointList_Clear(); |
467 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 468 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 469 | } |
227 | killagreg | 470 | else |
295 | killagreg | 471 | { // update WP in list at index |
472 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 473 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 474 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 475 | { |
476 | BeepTime = 500; |
||
165 | killagreg | 477 | } |
478 | } |
||
41 | ingob | 479 | } |
480 | break; |
||
481 | |||
92 | killagreg | 482 | case 'x':// Read Waypoint from List |
280 | killagreg | 483 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 484 | break; |
485 | |||
160 | holgerb | 486 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 487 | switch(SerialMsg.pData[0]) |
488 | { |
||
489 | case 0: // get |
||
490 | break; |
||
165 | killagreg | 491 | |
156 | killagreg | 492 | case 1: // set |
159 | killagreg | 493 | { |
494 | s16 value; |
||
495 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
496 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
497 | } |
||
156 | killagreg | 498 | break; |
499 | |||
500 | default: |
||
165 | killagreg | 501 | break; |
156 | killagreg | 502 | } |
503 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
504 | UART1_Request_Parameter = TRUE; |
||
505 | break; |
||
41 | ingob | 506 | default: |
507 | // unsupported command recieved |
||
508 | break; |
||
509 | } // case NC_ADDRESS |
||
65 | killagreg | 510 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 511 | |
512 | default: // and any other Slave Address |
||
513 | |||
190 | killagreg | 514 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 515 | { |
516 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 517 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
518 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 519 | break; |
193 | killagreg | 520 | /* |
41 | ingob | 521 | case 'b': // submit extern control |
121 | killagreg | 522 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 523 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 524 | break; |
195 | killagreg | 525 | */ |
41 | ingob | 526 | case 'd': // request for debug data; |
110 | killagreg | 527 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
528 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 529 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 530 | break; |
531 | |||
63 | killagreg | 532 | case 'c': // request for 3D data; |
110 | killagreg | 533 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
534 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 535 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 536 | break; |
275 | killagreg | 537 | |
41 | ingob | 538 | case 'h':// reqest for display line |
193 | killagreg | 539 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
540 | { |
||
541 | UART1_DisplayLine = 2; |
||
195 | killagreg | 542 | UART1_Display_Interval = 0; |
193 | killagreg | 543 | } |
544 | else |
||
545 | { |
||
201 | killagreg | 546 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 547 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
548 | UART1_DisplayLine = 4; |
||
198 | killagreg | 549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 550 | } |
110 | killagreg | 551 | UART1_Request_Display = TRUE; |
41 | ingob | 552 | break; |
553 | |||
554 | case 'l':// reqest for display columns |
||
110 | killagreg | 555 | MenuItem = SerialMsg.pData[0]; |
556 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 557 | break; |
64 | holgerb | 558 | |
559 | case 'o': // request for navigation information |
||
110 | killagreg | 560 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
561 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 562 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 563 | break; |
564 | |||
41 | ingob | 565 | case 'v': // request for version info |
110 | killagreg | 566 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 567 | break; |
568 | default: |
||
569 | // unsupported command recieved |
||
570 | break; |
||
571 | } |
||
572 | break; // default: |
||
573 | } |
||
153 | killagreg | 574 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 575 | } |
576 | |||
577 | |||
578 | /*****************************************************/ |
||
579 | /* Send a character */ |
||
580 | /*****************************************************/ |
||
110 | killagreg | 581 | s16 UART1_Putchar(char c) |
41 | ingob | 582 | { |
110 | killagreg | 583 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 584 | // wait until txd fifo is not full |
585 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
586 | // transmit byte |
||
587 | UART_SendData(UART1, c); |
||
314 | killagreg | 588 | #ifdef FOLLOW_ME |
589 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
590 | #endif |
||
41 | ingob | 591 | return (0); |
592 | } |
||
593 | |||
594 | /*****************************************************/ |
||
595 | /* Send a string to the debug uart */ |
||
596 | /*****************************************************/ |
||
110 | killagreg | 597 | void UART1_PutString(u8 *s) |
41 | ingob | 598 | { |
599 | if(s == NULL) return; |
||
600 | while (*s != '\0' && DebugUART == UART1) |
||
601 | { |
||
110 | killagreg | 602 | UART1_Putchar(*s); |
41 | ingob | 603 | s ++; |
604 | } |
||
605 | } |
||
606 | |||
113 | killagreg | 607 | |
110 | killagreg | 608 | /**************************************************************/ |
609 | /* Transmit tx buffer via debug uart */ |
||
610 | /**************************************************************/ |
||
611 | void UART1_Transmit(void) |
||
612 | { |
||
613 | u8 tmp_tx; |
||
614 | if(DebugUART != UART1) return; |
||
615 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 616 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 617 | { |
113 | killagreg | 618 | // while there is some space in the tx fifo |
619 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 620 | { |
113 | killagreg | 621 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
622 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 623 | #ifdef FOLLOW_ME |
315 | killagreg | 624 | if(TransmitAlsoToFC) |
625 | { |
||
314 | killagreg | 626 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
627 | } |
||
628 | #endif |
||
113 | killagreg | 629 | // if terminating character or end of txd buffer reached |
630 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
631 | { |
||
632 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 633 | #ifdef FOLLOW_ME |
634 | TransmitAlsoToFC = 0; |
||
635 | #endif |
||
113 | killagreg | 636 | break; // end while loop |
637 | } |
||
110 | killagreg | 638 | } |
639 | } |
||
640 | } |
||
41 | ingob | 641 | |
642 | /**************************************************************/ |
||
643 | /* Send the answers to incomming commands at the debug uart */ |
||
644 | /**************************************************************/ |
||
645 | void UART1_TransmitTxData(void) |
||
646 | { |
||
110 | killagreg | 647 | if(DebugUART != UART1) return; |
198 | killagreg | 648 | |
649 | if(CheckDelay(UART1_AboTimeOut)) |
||
650 | { |
||
651 | UART1_DebugData_Interval = 0; |
||
652 | UART1_NaviData_Interval = 0; |
||
653 | UART1_Data3D_Interval = 0; |
||
654 | UART1_Display_Interval = 0; |
||
655 | } |
||
656 | |||
110 | killagreg | 657 | UART1_Transmit(); // output pending bytes in tx buffer |
658 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 659 | |
156 | killagreg | 660 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 661 | { |
315 | killagreg | 662 | s16 ParamValue; |
299 | killagreg | 663 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 664 | 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 | 665 | UART1_Request_Parameter = FALSE; |
666 | } |
||
667 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
668 | { |
||
110 | killagreg | 669 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 670 | Echo = 0; // reset echo value |
110 | killagreg | 671 | UART1_Request_Echo = FALSE; |
92 | killagreg | 672 | } |
295 | killagreg | 673 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 674 | { |
295 | killagreg | 675 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
676 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 677 | } |
280 | killagreg | 678 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 679 | { |
280 | killagreg | 680 | u8 PointCount = PointList_GetCount(); |
681 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 682 | { |
280 | killagreg | 683 | 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 | 684 | } |
685 | else |
||
686 | { |
||
280 | killagreg | 687 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 688 | } |
280 | killagreg | 689 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 690 | } |
691 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
692 | { |
||
693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
694 | UART1_Request_DebugLabel = 0xFF; |
||
695 | } |
||
151 | killagreg | 696 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 697 | { |
151 | killagreg | 698 | NaviData.Errorcode = ErrorCode; |
699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
700 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
701 | UART1_Request_NaviData = FALSE; |
||
702 | } |
||
703 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
704 | { |
||
110 | killagreg | 705 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
706 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
707 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 708 | } |
151 | killagreg | 709 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 710 | { |
110 | killagreg | 711 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
712 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
713 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 714 | } |
193 | killagreg | 715 | /* |
153 | killagreg | 716 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
717 | { |
||
718 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
719 | UART1_ConfirmFrame = 0; |
||
720 | } |
||
193 | killagreg | 721 | */ |
722 | /* |
||
151 | killagreg | 723 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 724 | { |
110 | killagreg | 725 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
726 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 727 | } |
193 | killagreg | 728 | */ |
729 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 730 | { |
193 | killagreg | 731 | if(UART1_DisplayLine > 3) |
732 | { |
||
201 | killagreg | 733 | Menu_Update(UART1_DisplayKeys); |
734 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 735 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
736 | } |
||
737 | else |
||
738 | { |
||
739 | UART1_DisplayLine = 2; |
||
740 | sprintf(text,"!!! incompatible !!!"); |
||
741 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
742 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
743 | } |
||
744 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 745 | UART1_Request_Display = FALSE; |
41 | ingob | 746 | } |
151 | killagreg | 747 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 748 | { |
201 | killagreg | 749 | Menu_Update(0); |
110 | killagreg | 750 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
751 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 752 | } |
151 | killagreg | 753 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 754 | { |
110 | killagreg | 755 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
756 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 757 | } |
151 | killagreg | 758 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 759 | { |
110 | killagreg | 760 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
761 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 762 | } |
314 | killagreg | 763 | #ifdef FOLLOW_ME |
764 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
765 | { |
||
766 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 767 | { |
314 | killagreg | 768 | TransmitAlsoToFC = 1; |
769 | // update FollowMe content |
||
770 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
771 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
772 | FollowMe.Position.Status = NEWDATA; |
||
773 | FollowMe.Position.Altitude = 1; |
||
774 | // 0 -> no Orientation |
||
775 | // 1-360 -> CompassCourse Setpoint |
||
776 | // -1 -> points to WP1 -> itself |
||
777 | FollowMe.Heading = -1; |
||
778 | FollowMe.ToleranceRadius = 1; |
||
779 | FollowMe.HoldTime = 60; |
||
780 | FollowMe.Event_Flag = 1; |
||
781 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
782 | FollowMe.Type = POINT_TYPE_WP; |
||
783 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
784 | FollowMe.AltitudeRate = 0; // do not change height |
||
785 | FollowMe.reserve[0] = 0; // reserve |
||
786 | FollowMe.reserve[1] = 0; // reserve |
||
787 | FollowMe.reserve[2] = 0; // reserve |
||
788 | FollowMe.reserve[3] = 0; // reserve |
||
789 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
790 | } |
||
791 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
792 | } |
||
793 | #endif |
||
250 | ingob | 794 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 795 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 796 | { |
797 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
798 | SendDebugOutput = 0; |
||
799 | } |
||
315 | killagreg | 800 | #endif |
110 | killagreg | 801 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 802 | } |
803 |