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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
275 | killagreg | 56 | #include <stdio.h> |
112 | killagreg | 57 | #include <string.h> |
41 | ingob | 58 | #include "91x_lib.h" |
136 | killagreg | 59 | #include "config.h" |
112 | killagreg | 60 | #include "main.h" |
41 | ingob | 61 | #include "uart1.h" |
111 | killagreg | 62 | #include "mkprotocol.h" |
112 | killagreg | 63 | #include "waypoints.h" |
64 | #include "gps.h" |
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119 | killagreg | 65 | #include "timer1.h" |
112 | killagreg | 66 | #include "uart0.h" |
67 | #include "uart1.h" |
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68 | #include "uart2.h" |
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69 | #include "menu.h" |
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275 | killagreg | 70 | #include "usb.h" |
111 | killagreg | 71 | |
201 | killagreg | 72 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
73 | u32 USB_AboTimeOut = 0; |
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111 | killagreg | 74 | |
275 | killagreg | 75 | u16 Echo; // 2 bytes recieved will be sent back as echo |
76 | |||
77 | // the primary rx fifo |
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78 | #define USB_RX_FIFO_LEN 512 |
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79 | u8 USB_rxfifobuffer[USB_RX_FIFO_LEN]; |
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80 | fifo_t USB_rx_fifo; |
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81 | |||
111 | killagreg | 82 | // the tx buffer |
83 | #define USB_TX_BUFFER_LEN 150 |
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84 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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85 | Buffer_t USB_tx_buffer; |
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86 | |||
87 | // the rx buffer |
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88 | #define USB_RX_BUFFER_LEN 150 |
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89 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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90 | Buffer_t USB_rx_buffer; |
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91 | |||
112 | killagreg | 92 | u8 USB_Request_VersionInfo = FALSE; |
93 | u8 USB_Request_SendFollowMe = FALSE; |
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94 | u8 USB_Request_ExternalControl= FALSE; |
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95 | u8 USB_Request_Display = FALSE; |
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96 | u8 USB_Request_Display1 = FALSE; |
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97 | u8 USB_Request_DebugData = FALSE; |
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98 | u8 USB_Request_DebugLabel = 255; |
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99 | u8 USB_Request_NaviData = FALSE; |
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100 | u8 USB_Request_ErrorMessage = FALSE; |
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101 | u8 USB_Request_Data3D = FALSE; |
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102 | u8 USB_Request_Echo = FALSE; |
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201 | killagreg | 103 | u8 USB_DisplayKeys = 0; |
275 | killagreg | 104 | u8 USB_DisplayLine = 0; |
112 | killagreg | 105 | u8 USB_ConfirmFrame = 0; |
106 | |||
107 | u32 USB_DebugData_Timer = 0; |
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108 | u32 USB_DebugData_Interval = 0; // in ms |
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109 | u32 USB_NaviData_Timer = 0; |
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110 | u32 USB_NaviData_Interval = 0; // in ms |
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275 | killagreg | 111 | u32 USB_Data3D_Timer = 0; |
201 | killagreg | 112 | u32 USB_Data3D_Interval = 0; // in ms |
113 | u32 USB_Display_Timer = 0; |
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114 | u32 USB_Display_Interval = 0; // in ms |
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112 | killagreg | 115 | |
1 | ingob | 116 | //----------------------------------------------------------------- |
117 | void USB_ConfigInit(void) |
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118 | { |
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41 | ingob | 119 | GPIO_InitTypeDef GPIO_InitStructure; |
275 | killagreg | 120 | |
110 | killagreg | 121 | UART1_PutString("\r\n USB init..."); |
41 | ingob | 122 | #ifdef MCLK96MHZ |
123 | //USB clock = MCLK/2 = 48MHz |
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124 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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125 | #else |
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126 | //USB clock = MCLK = 48MHz |
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127 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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128 | #endif |
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129 | //Enable USB clock |
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130 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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131 | SCU_AHBPeriphReset(__USB,DISABLE); |
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132 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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1 | ingob | 133 | |
41 | ingob | 134 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
135 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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136 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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1 | ingob | 137 | |
41 | ingob | 138 | // GPIO_DeInit(P0.1); |
139 | GPIO_StructInit(&GPIO_InitStructure); |
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140 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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141 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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142 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 143 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 144 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
145 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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1 | ingob | 146 | |
275 | killagreg | 147 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
148 | fifo_init(&USB_rx_fifo, USB_rxfifobuffer, USB_RX_FIFO_LEN, NO_ITLine, USBLP_ITLine); |
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149 | |||
112 | killagreg | 150 | // initialize txd buffer |
151 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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275 | killagreg | 152 | |
111 | killagreg | 153 | // initialize rxd buffer |
112 | killagreg | 154 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
111 | killagreg | 155 | |
136 | killagreg | 156 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
378 | holgerb | 157 | //## VIC_ITCmd(USBLP_ITLine, ENABLE); |
275 | killagreg | 158 | |
41 | ingob | 159 | USB_Init(); |
275 | killagreg | 160 | |
161 | UART1_PutString("ok"); |
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1 | ingob | 162 | } |
163 | |||
112 | killagreg | 164 | |
165 | /**************************************************************/ |
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166 | /* Process incomming data from debug uart */ |
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167 | /**************************************************************/ |
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168 | void USB_ProcessRxData(void) |
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169 | { |
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275 | killagreg | 170 | u8 c; |
112 | killagreg | 171 | SerialMsg_t SerialMsg; |
280 | killagreg | 172 | |
112 | killagreg | 173 | // if data in the rxd buffer are not locked immediately return |
275 | killagreg | 174 | // if rx buffer is not locked |
175 | if(USB_rx_buffer.Locked == FALSE) |
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176 | { |
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177 | //collect data from primary rx fifo |
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178 | while(fifo_get(&USB_rx_fifo, &c)) |
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179 | { |
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180 | // break if complete frame has been collected |
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181 | if(MKProtocol_CollectSerialFrame(&USB_rx_buffer, c)) break; |
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182 | } |
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183 | } |
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184 | if(USB_rx_buffer.Locked == FALSE) return; |
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112 | killagreg | 185 | |
190 | killagreg | 186 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
187 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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114 | killagreg | 188 | |
190 | killagreg | 189 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
190 | switch(SerialMsg.Address) // check for Slave Address |
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112 | killagreg | 191 | { |
192 | case NC_ADDRESS: // own Slave Address |
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190 | killagreg | 193 | switch(SerialMsg.CmdID) |
112 | killagreg | 194 | { |
275 | killagreg | 195 | case 'z': // connection checker |
196 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
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197 | USB_Request_Echo = TRUE; |
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198 | break; |
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199 | |||
112 | killagreg | 200 | case 'e': // request for the text of the error status |
201 | USB_Request_ErrorMessage = TRUE; |
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202 | break; |
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203 | |||
204 | default: |
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205 | // unsupported command recieved |
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206 | break; |
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207 | } // case NC_ADDRESS |
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208 | // "break;" is missing here to fall thru to the common commands |
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209 | |||
210 | default: // and any other Slave Address |
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211 | |||
190 | killagreg | 212 | switch(SerialMsg.CmdID) // check CmdID |
112 | killagreg | 213 | { |
214 | case 'a':// request for the labels of the analog debug outputs |
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215 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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216 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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217 | break; |
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201 | killagreg | 218 | /* |
112 | killagreg | 219 | case 'b': // submit extern control |
220 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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221 | USB_ConfirmFrame = ExternControl.Frame; |
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222 | break; |
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201 | killagreg | 223 | */ |
112 | killagreg | 224 | case 'd': // request for debug data; |
225 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 226 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
201 | killagreg | 227 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 228 | break; |
229 | |||
230 | case 'c': // request for 3D data; |
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231 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 232 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
201 | killagreg | 233 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 234 | break; |
275 | killagreg | 235 | |
112 | killagreg | 236 | case 'h':// reqest for display line |
275 | killagreg | 237 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
238 | { |
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239 | USB_DisplayLine = 2; |
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240 | USB_Display_Interval = 0; |
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241 | } |
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242 | else |
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243 | { |
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244 | USB_DisplayKeys |= ~SerialMsg.pData[0]; |
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245 | USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
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246 | USB_DisplayLine = 4; |
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247 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
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248 | } |
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112 | killagreg | 249 | USB_Request_Display = TRUE; |
250 | break; |
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251 | |||
252 | case 'l':// reqest for display columns |
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253 | MenuItem = SerialMsg.pData[0]; |
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254 | USB_Request_Display1 = TRUE; |
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255 | break; |
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256 | |||
257 | case 'o': // request for navigation information |
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258 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 259 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
201 | killagreg | 260 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 261 | break; |
262 | |||
263 | case 'v': // request for version info |
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264 | USB_Request_VersionInfo = TRUE; |
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265 | break; |
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266 | default: |
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267 | // unsupported command recieved |
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268 | break; |
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269 | } |
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270 | break; // default: |
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271 | } |
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272 | Buffer_Clear(&USB_rx_buffer); |
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273 | } |
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274 | |||
275 | |||
1 | ingob | 276 | //----------------------------------------------------------------- |
111 | killagreg | 277 | void USB_CableConfig(FunctionalState NewState) |
1 | ingob | 278 | { |
41 | ingob | 279 | if (NewState == ENABLE) |
280 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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281 | else |
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282 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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1 | ingob | 283 | } |
275 | killagreg | 284 | //----------------------------------------------------------------- |
285 | void USB_EnterLowPowerMode(void) |
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286 | { |
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287 | /* Set the device state to suspend */ |
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288 | bDeviceState = SUSPENDED; |
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289 | } |
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290 | //----------------------------------------------------------------- |
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291 | void USB_LeaveLowPowerMode(void) |
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292 | { |
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293 | DEVICE_INFO *pInfo = &Device_Info; |
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1 | ingob | 294 | |
275 | killagreg | 295 | /* Set the device state to the correct state */ |
296 | if (pInfo->Current_Configuration != 0) |
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297 | { |
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298 | /* Device configured */ |
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299 | bDeviceState = CONFIGURED; |
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300 | } |
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301 | else |
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302 | { |
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303 | bDeviceState = ATTACHED; |
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304 | } |
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305 | } |
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306 | |||
307 | |||
1 | ingob | 308 | //----------------------------------------------------------------- |
111 | killagreg | 309 | void USB_PutString(u8 *string) |
1 | ingob | 310 | { |
41 | ingob | 311 | u8 i = 0; |
312 | u16 timeout = 0; |
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275 | killagreg | 313 | |
111 | killagreg | 314 | while (string[i++] != 0){} // get string len |
41 | ingob | 315 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
111 | killagreg | 316 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
41 | ingob | 317 | SetEPTxCount(ENDP1,i); |
318 | SetEPTxValid(ENDP1); |
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275 | killagreg | 319 | } |
1 | ingob | 320 | |
321 | //----------------------------------------------------------------- |
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111 | killagreg | 322 | void USB_PutChar(u8 c) |
1 | ingob | 323 | { |
41 | ingob | 324 | u16 timeout = 0; |
325 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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111 | killagreg | 326 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
41 | ingob | 327 | SetEPTxCount(ENDP1,2); |
328 | SetEPTxValid(ENDP1); |
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329 | } |
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275 | killagreg | 330 | |
1 | ingob | 331 | //----------------------------------------------------------------- |
111 | killagreg | 332 | void USB_SendData(u8 *pdata, u16 count) |
1 | ingob | 333 | { |
41 | ingob | 334 | u8 i; |
335 | count++; |
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114 | killagreg | 336 | u16 timeout = 0; |
275 | killagreg | 337 | |
338 | for (i=0;i< (count/64)+1;i++) |
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41 | ingob | 339 | { |
275 | killagreg | 340 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
341 | if (i < (count/64)) |
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342 | { |
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111 | killagreg | 343 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
41 | ingob | 344 | SetEPTxCount(ENDP1,64); |
345 | } |
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275 | killagreg | 346 | else |
347 | { |
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111 | killagreg | 348 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
41 | ingob | 349 | SetEPTxCount(ENDP1, count % 64); |
350 | } |
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351 | SetEPTxValid(ENDP1); |
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1 | ingob | 352 | } |
275 | killagreg | 353 | } |
1 | ingob | 354 | |
112 | killagreg | 355 | /**************************************************************/ |
356 | /* Transmit tx buffer via usb */ |
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357 | /**************************************************************/ |
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358 | void USB_Transmit(void) |
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359 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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360 | // if something has to be send and the txd fifo is not full |
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275 | killagreg | 361 | |
112 | killagreg | 362 | if(USB_tx_buffer.Locked == TRUE) |
363 | { |
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114 | killagreg | 364 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
112 | killagreg | 365 | { |
275 | killagreg | 366 | u16 i; |
112 | killagreg | 367 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
368 | { |
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114 | killagreg | 369 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
112 | killagreg | 370 | if(i > 64) i = 64; // limit packet size to 64 bytes |
371 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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114 | killagreg | 372 | SetEPTxCount(ENDP1,i); |
275 | killagreg | 373 | SetEPTxValid(ENDP1); |
112 | killagreg | 374 | USB_tx_buffer.Position += i; |
375 | } |
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376 | } |
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377 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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378 | { |
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379 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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380 | } |
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381 | } |
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382 | } |
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383 | |||
384 | /**************************************************************/ |
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385 | /* Send the answers to incomming commands at the debug uart */ |
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386 | /**************************************************************/ |
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387 | void USB_TransmitTxData(void) |
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388 | { |
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389 | USB_Transmit(); // output pending bytes in tx buffer |
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390 | if((USB_tx_buffer.Locked == TRUE)) return; |
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391 | |||
201 | killagreg | 392 | if(CheckDelay(USB_AboTimeOut)) |
393 | { |
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394 | USB_DebugData_Interval = 0; |
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395 | USB_NaviData_Interval = 0; |
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396 | USB_Data3D_Interval = 0; |
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397 | USB_Display_Interval = 0; |
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398 | } |
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399 | |||
112 | killagreg | 400 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
401 | { |
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402 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
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403 | USB_Request_DebugLabel = 0xFF; |
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404 | } |
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201 | killagreg | 405 | else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 406 | { |
407 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
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408 | USB_ConfirmFrame = 0; |
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409 | } |
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201 | killagreg | 410 | else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 411 | { |
412 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
||
413 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
||
414 | USB_Request_DebugData = FALSE; |
||
415 | } |
||
201 | killagreg | 416 | else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 417 | { |
418 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
||
419 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
||
420 | USB_Request_Data3D = FALSE; |
||
421 | } |
||
201 | killagreg | 422 | else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 423 | { |
424 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
||
425 | USB_Request_ExternalControl = FALSE; |
||
426 | } |
||
201 | killagreg | 427 | else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 428 | { |
201 | killagreg | 429 | Menu_Update(USB_DisplayKeys); |
430 | USB_DisplayKeys = 0; |
||
431 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
112 | killagreg | 432 | USB_Request_Display = FALSE; |
433 | } |
||
201 | killagreg | 434 | else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 435 | { |
201 | killagreg | 436 | Menu_Update(0); |
112 | killagreg | 437 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
438 | USB_Request_Display1 = FALSE; |
||
439 | } |
||
201 | killagreg | 440 | else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 441 | { |
442 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
443 | USB_Request_VersionInfo = FALSE; |
||
444 | } |
||
201 | killagreg | 445 | else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 446 | { |
447 | NaviData.Errorcode = ErrorCode; |
||
448 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
449 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
||
450 | USB_Request_NaviData = FALSE; |
||
451 | } |
||
201 | killagreg | 452 | else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 453 | { |
454 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
455 | USB_Request_ErrorMessage = FALSE; |
||
456 | } |
||
457 | USB_Transmit(); // output pending bytes in tx buffer |
||
458 | } |