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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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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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110 | killagreg | 57 | #include <stdio.h> |
58 | #include <stdarg.h> |
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41 | ingob | 59 | #include "91x_lib.h" |
110 | killagreg | 60 | #include "main.h" |
49 | ingob | 61 | #include "uart0.h" |
41 | ingob | 62 | #include "uart1.h" |
110 | killagreg | 63 | #include "timer.h" |
41 | ingob | 64 | #include "ubx.h" |
110 | killagreg | 65 | #include "mkprotocol.h" |
41 | ingob | 66 | |
110 | killagreg | 67 | u8 UART0_Request_VersionInfo = FALSE; |
68 | u8 UART0_Request_NaviData = FALSE; |
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69 | u32 UART0_NaviData_Timer; |
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70 | u32 UART0_NaviData_Interval = 0; // in ms |
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41 | ingob | 71 | //------------------------------------------------------------------------------------ |
72 | // global variables |
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73 | |||
110 | killagreg | 74 | #define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
41 | ingob | 75 | // UART0 MUXER |
76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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110 | killagreg | 77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
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41 | ingob | 79 | |
110 | killagreg | 80 | // the tx buffer |
81 | #define UART0_TX_BUFFER_LEN 150 |
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82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
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83 | Buffer_t UART0_tx_buffer; |
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49 | ingob | 84 | |
110 | killagreg | 85 | // the rx buffer |
86 | #define UART0_RX_BUFFER_LEN 150 |
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87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
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88 | Buffer_t UART0_rx_buffer; |
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89 | |||
90 | |||
41 | ingob | 91 | //------------------------------------------------------------------------------------ |
92 | // functions |
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93 | |||
94 | /********************************************************/ |
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95 | /* Connect RXD & TXD to GPS */ |
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96 | /********************************************************/ |
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97 | void UART0_Connect_to_MKGPS(void) |
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98 | { |
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99 | GPIO_InitTypeDef GPIO_InitStructure; |
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100 | |||
101 | UART0_Muxer = UART0_UNDEF; |
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102 | |||
103 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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104 | // unmap UART0 from Compass |
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105 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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106 | GPIO_StructInit(&GPIO_InitStructure); |
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107 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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108 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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109 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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110 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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111 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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112 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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113 | // set port pin 5.0 (serial data to compass) to input |
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114 | GPIO_StructInit(&GPIO_InitStructure); |
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115 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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116 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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117 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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118 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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119 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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120 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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121 | // map UART0 to GPS |
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122 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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123 | GPIO_StructInit(&GPIO_InitStructure); |
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124 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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125 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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126 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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127 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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128 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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129 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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130 | // set port pin 6.7 (serial data to gps) to output |
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131 | GPIO_StructInit(&GPIO_InitStructure); |
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132 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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133 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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134 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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135 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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136 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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137 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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138 | |||
139 | UART0_Muxer = UART0_MKGPS; |
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140 | } |
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141 | |||
142 | /********************************************************/ |
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143 | /* Connect RXD & TXD to MK3MAG */ |
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144 | /********************************************************/ |
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145 | void UART0_Connect_to_MK3MAG(void) |
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146 | { |
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147 | GPIO_InitTypeDef GPIO_InitStructure; |
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148 | |||
149 | UART0_Muxer = UART0_UNDEF; |
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150 | |||
151 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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152 | // unmap UART0 from GPS |
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153 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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154 | GPIO_StructInit(&GPIO_InitStructure); |
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155 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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156 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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157 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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158 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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159 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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160 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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161 | // set port pin 6.7 (serial data to gps) to input |
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162 | GPIO_StructInit(&GPIO_InitStructure); |
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163 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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164 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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165 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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166 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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167 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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168 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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169 | |||
170 | // map UART0 to Compass |
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171 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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172 | GPIO_StructInit(&GPIO_InitStructure); |
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173 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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174 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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175 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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176 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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177 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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178 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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179 | // set port pin 5.0 (serial data to compass) to output |
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180 | GPIO_StructInit(&GPIO_InitStructure); |
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181 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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182 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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183 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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184 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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185 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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186 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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187 | |||
188 | UART0_Muxer = UART0_MK3MAG; |
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189 | } |
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190 | |||
191 | /********************************************************/ |
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192 | /* Initialize UART0 */ |
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193 | /********************************************************/ |
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194 | void UART0_Init(void) |
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195 | { |
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196 | UART_InitTypeDef UART_InitStructure; |
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197 | |||
110 | killagreg | 198 | UART1_PutString("\r\n UART0 init..."); |
41 | ingob | 199 | |
200 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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201 | |||
110 | killagreg | 202 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
41 | ingob | 203 | |
204 | /* UART0 configured as follow: |
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205 | - Word Length = 8 Bits |
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206 | - One Stop Bit |
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207 | - No parity |
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208 | - BaudRate = 57600 baud |
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209 | - Hardware flow control Disabled |
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210 | - Receive and transmit enabled |
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211 | - Receive and transmit FIFOs are Disabled |
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212 | */ |
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213 | UART_StructInit(&UART_InitStructure); |
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214 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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215 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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216 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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217 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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218 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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219 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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220 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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221 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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222 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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223 | |||
224 | UART_DeInit(UART0); // reset uart 0 to default |
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225 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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226 | |||
227 | // enable uart 0 interrupts selective |
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228 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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229 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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230 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
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231 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
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232 | // enable the uart 0 IRQ |
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233 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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234 | UART0_Connect_to_MKGPS(); |
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235 | |||
110 | killagreg | 236 | // initialize txd buffer |
112 | killagreg | 237 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
110 | killagreg | 238 | |
239 | // initialize rxd buffer |
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112 | killagreg | 240 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
49 | ingob | 241 | |
110 | killagreg | 242 | UART1_PutString("ok"); |
49 | ingob | 243 | } |
244 | |||
41 | ingob | 245 | /********************************************************/ |
246 | /* UART0 Interrupt Handler */ |
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247 | /********************************************************/ |
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248 | void UART0_IRQHandler(void) |
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249 | { |
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250 | u8 c; |
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251 | // if receive irq or receive timeout irq has occured |
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252 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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253 | { |
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254 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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255 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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256 | |||
257 | // if debug UART is UART0 |
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258 | if (DebugUART == UART0) |
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259 | { // forward received data to the UART1 tx buffer |
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260 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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261 | { |
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262 | // wait for space in the tx buffer of the UART1 |
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263 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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264 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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265 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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266 | } |
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267 | } |
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268 | else // UART0 is not the DebugUART (normal operation) |
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269 | { |
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270 | // repeat until no byte is in the RxFIFO |
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271 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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272 | { |
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273 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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274 | switch(UART0_Muxer) |
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275 | { |
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276 | case UART0_MKGPS: |
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277 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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110 | killagreg | 278 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
41 | ingob | 279 | break; |
280 | case UART0_MK3MAG: |
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281 | // ignore any byte send from MK3MAG |
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282 | break; |
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283 | case UART0_UNDEF: |
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284 | default: |
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285 | // ignore the byte from unknown source |
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286 | break; |
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287 | } // eof switch(UART0_Muxer) |
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288 | } // eof while |
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289 | } // eof UART0 is not the DebugUART |
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290 | } // eof receive irq or receive timeout irq |
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291 | } |
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110 | killagreg | 292 | |
293 | /**************************************************************/ |
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294 | /* Process incomming data from debug uart */ |
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295 | /**************************************************************/ |
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296 | void UART0_ProcessRxData(void) |
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297 | { |
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298 | SerialMsg_t SerialMsg; |
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299 | // if data in the rxd buffer are not locked immediately return |
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300 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
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301 | |||
302 | MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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303 | |||
304 | switch(SerialMsg.Address) // check for Slave Address |
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305 | { |
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306 | case NC_ADDRESS: // own Slave Address |
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307 | switch(SerialMsg.CmdID) |
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308 | { |
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309 | default: |
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310 | break; |
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311 | } // case NC_ADDRESS |
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312 | // "break;" is missing here to fall thru to the common commands |
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313 | |||
314 | default: // and any other Slave Address |
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315 | |||
316 | switch(SerialMsg.CmdID) // check CmdID |
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317 | { |
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318 | case 'o': // request for navigation information |
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319 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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320 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
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321 | break; |
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322 | |||
323 | case 'v': // request for version info |
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324 | UART0_Request_VersionInfo = TRUE; |
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325 | break; |
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326 | default: |
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327 | // unsupported command recieved |
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328 | break; |
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329 | } |
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330 | break; // default: |
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331 | } |
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112 | killagreg | 332 | Buffer_Clear(&UART0_rx_buffer); |
110 | killagreg | 333 | } |
334 | |||
335 | /**************************************************************/ |
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336 | /* Transmit tx buffer via uart0 */ |
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337 | /**************************************************************/ |
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338 | void UART0_Transmit(void) |
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339 | { |
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340 | u8 tmp_tx; |
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341 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
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342 | // if something has to be send and the txd fifo is not full |
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343 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
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344 | { |
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345 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
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346 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
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347 | // if terminating character or end of txd buffer reached |
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348 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
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349 | { |
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112 | killagreg | 350 | Buffer_Clear(&UART0_tx_buffer); |
110 | killagreg | 351 | } |
352 | } |
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353 | } |
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354 | |||
355 | |||
356 | /**************************************************************/ |
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357 | /* Send the answers to incomming commands at the uart0 */ |
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358 | /**************************************************************/ |
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359 | void UART0_TransmitTxData(void) |
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360 | { |
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361 | if(DebugUART == UART0) return; |
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362 | UART0_Transmit(); // output pending bytes in tx buffer |
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363 | if(UART0_tx_buffer.Locked == TRUE) return; |
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364 | |||
365 | if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
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366 | { |
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367 | NaviData.Errorcode = ErrorCode; |
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368 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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369 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
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370 | UART0_Request_NaviData = FALSE; |
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371 | } |
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372 | UART0_Transmit(); // output pending bytes in tx buffer |
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373 | } |