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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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112 | killagreg | 57 | #include <string.h> |
41 | ingob | 58 | #include "91x_lib.h" |
112 | killagreg | 59 | #include "main.h" |
41 | ingob | 60 | #include "uart1.h" |
61 | #include "usb.h" |
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111 | killagreg | 62 | #include "mkprotocol.h" |
112 | killagreg | 63 | #include "waypoints.h" |
64 | #include "gps.h" |
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65 | #include "timer.h" |
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66 | #include "uart0.h" |
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67 | #include "uart1.h" |
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68 | #include "uart2.h" |
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69 | #include "menu.h" |
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111 | killagreg | 70 | |
71 | |||
72 | // the tx buffer |
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73 | #define USB_TX_BUFFER_LEN 150 |
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74 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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75 | Buffer_t USB_tx_buffer; |
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76 | |||
77 | // the rx buffer |
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78 | #define USB_RX_BUFFER_LEN 150 |
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79 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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80 | Buffer_t USB_rx_buffer; |
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81 | |||
112 | killagreg | 82 | u8 USB_Request_VersionInfo = FALSE; |
83 | u8 USB_Request_SendFollowMe = FALSE; |
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84 | u8 USB_Request_ExternalControl= FALSE; |
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85 | u8 USB_Request_Display = FALSE; |
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86 | u8 USB_Request_Display1 = FALSE; |
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87 | u8 USB_Request_DebugData = FALSE; |
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88 | u8 USB_Request_DebugLabel = 255; |
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89 | u8 USB_Request_NaviData = FALSE; |
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90 | u8 USB_Request_ErrorMessage = FALSE; |
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91 | u8 USB_Request_NewWaypoint = FALSE; |
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92 | u8 USB_Request_ReadWaypoint = 255; |
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93 | u8 USB_Request_Data3D = FALSE; |
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94 | u8 USB_Request_Echo = FALSE; |
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111 | killagreg | 95 | |
112 | killagreg | 96 | u8 USB_DisplayLine = 0; |
97 | u8 USB_ConfirmFrame = 0; |
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98 | |||
99 | u32 USB_DebugData_Timer = 0; |
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100 | u32 USB_DebugData_Interval = 0; // in ms |
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101 | u32 USB_NaviData_Timer = 0; |
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102 | u32 USB_NaviData_Interval = 0; // in ms |
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103 | u32 USB_Data3D_Timer = 0; // in ms |
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104 | u32 USB_Data3D_Interval = 0; |
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105 | |||
1 | ingob | 106 | //----------------------------------------------------------------- |
107 | void USB_ConfigInit(void) |
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108 | { |
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41 | ingob | 109 | GPIO_InitTypeDef GPIO_InitStructure; |
1 | ingob | 110 | |
110 | killagreg | 111 | UART1_PutString("\r\n USB init..."); |
41 | ingob | 112 | #ifdef MCLK96MHZ |
113 | //USB clock = MCLK/2 = 48MHz |
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114 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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115 | #else |
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116 | //USB clock = MCLK = 48MHz |
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117 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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118 | #endif |
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119 | //Enable USB clock |
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120 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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121 | SCU_AHBPeriphReset(__USB,DISABLE); |
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122 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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1 | ingob | 123 | |
41 | ingob | 124 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
125 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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126 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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1 | ingob | 127 | |
41 | ingob | 128 | // GPIO_DeInit(P0.1); |
129 | GPIO_StructInit(&GPIO_InitStructure); |
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130 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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131 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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132 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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133 | GPIO_InitStructure.GPIO_IPConnected=GPIO_IPConnected_Enable; |
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134 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
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135 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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1 | ingob | 136 | |
112 | killagreg | 137 | // initialize txd buffer |
138 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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111 | killagreg | 139 | |
140 | // initialize rxd buffer |
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112 | killagreg | 141 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
111 | killagreg | 142 | |
41 | ingob | 143 | PowerOff(); |
144 | Virtual_Com_Port_Reset(); |
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1 | ingob | 145 | |
41 | ingob | 146 | VIC_Config(USBLP_ITLine, VIC_IRQ, 2); |
147 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
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1 | ingob | 148 | |
41 | ingob | 149 | USB_Init(); |
1 | ingob | 150 | |
110 | killagreg | 151 | UART1_PutString("ok"); |
1 | ingob | 152 | } |
153 | |||
112 | killagreg | 154 | |
155 | /**************************************************************/ |
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156 | /* Process incomming data from debug uart */ |
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157 | /**************************************************************/ |
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158 | void USB_ProcessRxData(void) |
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159 | { |
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160 | SerialMsg_t SerialMsg; |
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114 | killagreg | 161 | Waypoint_t * pWaypoint = NULL; |
112 | killagreg | 162 | // if data in the rxd buffer are not locked immediately return |
163 | if((USB_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
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164 | |||
165 | MKProtocol_DecodeSerialFrame(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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114 | killagreg | 166 | |
112 | killagreg | 167 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
168 | switch(SerialMsg.Address) // check for Slave Address |
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169 | { |
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170 | case NC_ADDRESS: // own Slave Address |
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171 | switch(SerialMsg.CmdID) |
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172 | { |
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173 | case 'e': // request for the text of the error status |
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174 | USB_Request_ErrorMessage = TRUE; |
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175 | break; |
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176 | |||
177 | case 's':// new target position |
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178 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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179 | BeepTime = 300; |
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180 | if(pWaypoint->Position.Status == NEWDATA) |
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181 | { |
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182 | WPList_Clear(); // empty WPList |
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183 | WPList_Append(pWaypoint); |
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184 | GPS_pWaypoint = WPList_Begin(); |
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185 | } |
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186 | break; |
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187 | /* |
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188 | case 'u': // redirect debug uart |
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189 | switch(SerialMsg.pData[0]) |
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190 | { |
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191 | case UART_FLIGHTCTRL: |
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192 | UART2_Init(); // initialize UART2 to FC pins |
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193 | DebugUART = UART2; |
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194 | break; |
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195 | case UART_MK3MAG: |
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196 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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197 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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198 | GPSData.Status = INVALID; |
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199 | DebugUART = UART0; |
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200 | break; |
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201 | case UART_MKGPS: |
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202 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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203 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
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204 | GPSData.Status = INVALID; |
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205 | DebugUART = UART0; |
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206 | break; |
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207 | } |
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208 | break; |
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209 | */ |
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210 | case 'w':// Append Waypoint to List |
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211 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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212 | if(pWaypoint->Position.Status == INVALID) |
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213 | { // clear WP List |
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214 | WPList_Clear(); |
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215 | GPS_pWaypoint = WPList_Begin(); |
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216 | //UART1_PutString("\r\nClear WP List\r\n"); |
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217 | } |
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218 | else if (pWaypoint->Position.Status == NEWDATA) |
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219 | { // app current WP to the list |
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220 | WPList_Append(pWaypoint); |
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221 | BeepTime = 500; |
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222 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
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223 | } |
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224 | USB_Request_NewWaypoint = TRUE; |
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225 | break; |
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226 | |||
227 | case 'x':// Read Waypoint from List |
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228 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
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229 | break; |
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230 | |||
231 | default: |
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232 | // unsupported command recieved |
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233 | break; |
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234 | } // case NC_ADDRESS |
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235 | // "break;" is missing here to fall thru to the common commands |
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236 | |||
237 | default: // and any other Slave Address |
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238 | |||
239 | switch(SerialMsg.CmdID) // check CmdID |
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240 | { |
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241 | case 'a':// request for the labels of the analog debug outputs |
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242 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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243 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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244 | break; |
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245 | |||
246 | case 'b': // submit extern control |
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247 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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248 | USB_ConfirmFrame = ExternControl.Frame; |
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249 | break; |
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250 | |||
251 | case 'd': // request for debug data; |
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252 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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253 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
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254 | break; |
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255 | |||
256 | case 'c': // request for 3D data; |
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257 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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258 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
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259 | break; |
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260 | |||
261 | case 'g':// request for external control data |
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262 | USB_Request_ExternalControl = TRUE; |
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263 | break; |
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264 | |||
265 | case 'h':// reqest for display line |
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266 | RemoteKeys |= SerialMsg.pData[0]; |
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267 | if(RemoteKeys != 0) USB_DisplayLine = 0; |
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268 | USB_Request_Display = TRUE; |
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269 | break; |
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270 | |||
271 | case 'l':// reqest for display columns |
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272 | MenuItem = SerialMsg.pData[0]; |
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273 | USB_Request_Display1 = TRUE; |
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274 | break; |
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275 | |||
276 | case 'o': // request for navigation information |
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277 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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278 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
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279 | break; |
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280 | |||
281 | case 'v': // request for version info |
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282 | USB_Request_VersionInfo = TRUE; |
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283 | break; |
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284 | default: |
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285 | // unsupported command recieved |
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286 | break; |
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287 | } |
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288 | break; // default: |
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289 | } |
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290 | Buffer_Clear(&USB_rx_buffer); |
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291 | } |
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292 | |||
293 | |||
1 | ingob | 294 | //----------------------------------------------------------------- |
111 | killagreg | 295 | void USB_CableConfig(FunctionalState NewState) |
1 | ingob | 296 | { |
41 | ingob | 297 | if (NewState == ENABLE) |
298 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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299 | else |
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300 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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1 | ingob | 301 | } |
302 | |||
303 | //----------------------------------------------------------------- |
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111 | killagreg | 304 | void USB_PutString(u8 *string) |
1 | ingob | 305 | { |
41 | ingob | 306 | u8 i = 0; |
307 | u16 timeout = 0; |
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308 | |||
111 | killagreg | 309 | while (string[i++] != 0){} // get string len |
41 | ingob | 310 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
111 | killagreg | 311 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
41 | ingob | 312 | SetEPTxCount(ENDP1,i); |
313 | SetEPTxValid(ENDP1); |
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1 | ingob | 314 | } |
315 | |||
316 | //----------------------------------------------------------------- |
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111 | killagreg | 317 | void USB_PutChar(u8 c) |
1 | ingob | 318 | { |
41 | ingob | 319 | u16 timeout = 0; |
320 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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111 | killagreg | 321 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
41 | ingob | 322 | SetEPTxCount(ENDP1,2); |
323 | SetEPTxValid(ENDP1); |
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324 | } |
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325 | |||
1 | ingob | 326 | //----------------------------------------------------------------- |
111 | killagreg | 327 | void USB_SendData(u8 *pdata, u16 count) |
1 | ingob | 328 | { |
41 | ingob | 329 | u8 i; |
330 | count++; |
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114 | killagreg | 331 | u16 timeout = 0; |
41 | ingob | 332 | |
333 | for (i=0;i< (count/64)+1;i++) |
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334 | { |
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114 | killagreg | 335 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
41 | ingob | 336 | if (i < (count/64)) |
337 | { |
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111 | killagreg | 338 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
41 | ingob | 339 | SetEPTxCount(ENDP1,64); |
340 | } |
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341 | else |
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342 | { |
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111 | killagreg | 343 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
41 | ingob | 344 | SetEPTxCount(ENDP1, count % 64); |
345 | } |
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346 | SetEPTxValid(ENDP1); |
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1 | ingob | 347 | } |
348 | } |
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349 | |||
112 | killagreg | 350 | /**************************************************************/ |
351 | /* Transmit tx buffer via usb */ |
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352 | /**************************************************************/ |
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353 | void USB_Transmit(void) |
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354 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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355 | // if something has to be send and the txd fifo is not full |
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114 | killagreg | 356 | u16 i; |
112 | killagreg | 357 | if(USB_tx_buffer.Locked == TRUE) |
358 | { |
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114 | killagreg | 359 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
360 | //if(_GetEPTxStatus(ENDP1) != EP_TX_VALID) // ready to send |
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112 | killagreg | 361 | { |
362 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
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363 | { |
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114 | killagreg | 364 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
112 | killagreg | 365 | if(i > 64) i = 64; // limit packet size to 64 bytes |
366 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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114 | killagreg | 367 | SetEPTxCount(ENDP1,i); |
368 | SetEPTxValid(ENDP1); |
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112 | killagreg | 369 | USB_tx_buffer.Position += i; |
370 | } |
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371 | } |
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372 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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373 | { |
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374 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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375 | } |
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376 | } |
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377 | } |
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378 | |||
379 | /**************************************************************/ |
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380 | /* Send the answers to incomming commands at the debug uart */ |
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381 | /**************************************************************/ |
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382 | void USB_TransmitTxData(void) |
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383 | { |
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384 | USB_Transmit(); // output pending bytes in tx buffer |
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385 | if((USB_tx_buffer.Locked == TRUE)) return; |
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386 | |||
387 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
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388 | { |
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389 | 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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390 | USB_Request_DebugLabel = 0xFF; |
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391 | } |
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392 | if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
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393 | { |
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394 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
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395 | USB_ConfirmFrame = 0; |
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396 | } |
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397 | if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
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398 | { |
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399 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
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400 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
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401 | USB_Request_DebugData = FALSE; |
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402 | } |
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403 | |||
404 | if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
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405 | { |
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406 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
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407 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
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408 | USB_Request_Data3D = FALSE; |
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409 | } |
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410 | |||
411 | if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
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412 | { |
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413 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
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414 | USB_Request_ExternalControl = FALSE; |
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415 | } |
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416 | if(USB_Request_Display && (USB_tx_buffer.Locked == FALSE)) |
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417 | { |
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418 | LCD_PrintMenu(); |
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419 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 2, &USB_DisplayLine, sizeof(USB_DisplayLine), (u8*)&DisplayBuff[USB_DisplayLine * 20], 20); |
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420 | USB_DisplayLine++; |
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421 | if(USB_DisplayLine >= 4) USB_DisplayLine = 0; |
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422 | USB_Request_Display = FALSE; |
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423 | } |
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424 | if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
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425 | { |
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426 | LCD_PrintMenu(); |
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427 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
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428 | USB_Request_Display1 = FALSE; |
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429 | } |
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430 | if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
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431 | { |
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432 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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433 | USB_Request_VersionInfo = FALSE; |
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434 | } |
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435 | if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
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436 | { |
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437 | NaviData.Errorcode = ErrorCode; |
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438 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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439 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
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440 | USB_Request_NaviData = FALSE; |
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441 | } |
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442 | if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
||
443 | { |
||
444 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
445 | USB_Request_ErrorMessage = FALSE; |
||
446 | } |
||
447 | if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
||
448 | { |
||
449 | u8 WPNumber = WPList_GetCount(); |
||
450 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
451 | USB_Request_NewWaypoint = FALSE; |
||
452 | } |
||
453 | if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
||
454 | { |
||
455 | u8 WPNumber = WPList_GetCount(); |
||
456 | if (USB_Request_ReadWaypoint < WPNumber) |
||
457 | { |
||
458 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
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459 | } |
||
460 | else |
||
461 | { |
||
462 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
463 | } |
||
464 | USB_Request_ReadWaypoint = 0xFF; |
||
465 | } |
||
466 | USB_Transmit(); // output pending bytes in tx buffer |
||
467 | } |