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Rev | Author | Line No. | Line |
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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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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
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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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
41 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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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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57 | #include <stdio.h> |
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58 | #include <stdarg.h> |
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59 | #include <string.h> |
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60 | |||
61 | #include "91x_lib.h" |
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136 | killagreg | 62 | #include "config.h" |
41 | ingob | 63 | #include "menu.h" |
64 | #include "printf_P.h" |
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65 | #include "GPS.h" |
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66 | #include "i2c.h" |
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67 | #include "uart0.h" |
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68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
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41 | ingob | 73 | #include "main.h" |
74 | #include "waypoints.h" |
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110 | killagreg | 75 | #include "mkprotocol.h" |
156 | killagreg | 76 | #include "params.h" |
153 | killagreg | 77 | #include "fifo.h" |
41 | ingob | 78 | |
79 | #define FALSE 0 |
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80 | #define TRUE 1 |
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81 | |||
92 | killagreg | 82 | |
110 | killagreg | 83 | u8 UART1_Request_VersionInfo = FALSE; |
84 | u8 UART1_Request_SendFollowMe = FALSE; |
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85 | u8 UART1_Request_ExternalControl= FALSE; |
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86 | u8 UART1_Request_Display = FALSE; |
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87 | u8 UART1_Request_Display1 = FALSE; |
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88 | u8 UART1_Request_DebugData = FALSE; |
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89 | u8 UART1_Request_DebugLabel = 255; |
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90 | u8 UART1_Request_NaviData = FALSE; |
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91 | u8 UART1_Request_ErrorMessage = FALSE; |
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92 | u8 UART1_Request_NewWaypoint = FALSE; |
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93 | u8 UART1_Request_ReadWaypoint = 255; |
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94 | u8 UART1_Request_Data3D = FALSE; |
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95 | u8 UART1_Request_Echo = FALSE; |
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156 | killagreg | 96 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 97 | u8 UART1_Request_Parameter = FALSE; |
112 | killagreg | 98 | u8 UART1_DisplayLine = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
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41 | ingob | 100 | |
101 | UART_TypeDef *DebugUART = UART1; |
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102 | |||
153 | killagreg | 103 | // the primary rx fifo |
154 | killagreg | 104 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
106 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 107 | |
108 | // the rx buffer |
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109 | #define UART1_RX_BUFFER_LEN 150 |
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110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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111 | Buffer_t UART1_rx_buffer; |
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112 | |||
153 | killagreg | 113 | // the tx buffer |
114 | #define UART1_TX_BUFFER_LEN 150 |
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115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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116 | Buffer_t UART1_tx_buffer; |
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117 | |||
118 | |||
119 | |||
92 | killagreg | 120 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 121 | |
150 | killagreg | 122 | u8 text[200]; |
41 | ingob | 123 | |
124 | const u8 ANALOG_LABEL[32][16] = |
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125 | { |
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90 | killagreg | 126 | //1234567890123456 |
41 | ingob | 127 | "AngleNick ", //0 |
128 | "AngleRoll ", |
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129 | "AccNick ", |
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130 | "AccRoll ", |
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131 | " ", |
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75 | holgerb | 132 | "MK-Flags ", //5 |
95 | killagreg | 133 | "NC-Flags ", |
121 | killagreg | 134 | "NickServo ", |
135 | "RollServo ", |
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41 | ingob | 136 | "GPS Data ", |
61 | holgerb | 137 | "CompassHeading ", //10 |
138 | "GyroHeading ", |
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41 | ingob | 139 | "SPI Error ", |
140 | "SPI Okay ", |
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189 | killagreg | 141 | "I2C Error ", |
41 | ingob | 142 | "I2C Okay ", //15 |
149 | killagreg | 143 | " ",// "Kalman_K ", |
41 | ingob | 144 | "ACC_Speed_N ", |
145 | "ACC_Speed_E ", |
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148 | holgerb | 146 | "Speed_z ",// "GPS ACC ", |
41 | ingob | 147 | " ",// "MAXDrift ", //20 |
148 | "N_Speed ", |
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149 | "E_Speed ", |
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99 | killagreg | 150 | "P-Part ", |
151 | "I-Part ", |
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152 | "D-Part ",//25 |
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153 | "PID-Part ", |
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41 | ingob | 154 | "Distance N ", |
155 | "Distance E ", |
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156 | "GPS_Nick ", |
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157 | "GPS_Roll ", //30 |
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158 | "Used_Sats " |
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159 | }; |
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160 | |||
112 | killagreg | 161 | DebugOut_t DebugOut; |
162 | ExternControl_t ExternControl; |
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163 | UART_VersionInfo_t UART_VersionInfo; |
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164 | NaviData_t NaviData; |
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165 | Waypoint_t FollowMe; |
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166 | Data3D_t Data3D; |
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167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 168 | |
193 | killagreg | 169 | u32 UART1_DebugData_Timer = 0; |
112 | killagreg | 170 | u32 UART1_DebugData_Interval = 5000; // in ms |
193 | killagreg | 171 | u32 UART1_NaviData_Timer = 0; |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
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173 | u32 UART1_Data3D_Timer = 0; // in ms |
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112 | killagreg | 174 | u32 UART1_Data3D_Interval = 0; |
193 | killagreg | 175 | u32 UART1_Display_Timer = 0; |
176 | u32 UART1_Display_Interval = 0; |
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112 | killagreg | 177 | |
41 | ingob | 178 | /********************************************************/ |
179 | /* Initialization the UART1 */ |
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180 | /********************************************************/ |
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181 | void UART1_Init (void) |
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182 | { |
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183 | GPIO_InitTypeDef GPIO_InitStructure; |
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184 | UART_InitTypeDef UART_InitStructure; |
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185 | |||
153 | killagreg | 186 | // initialize txd buffer |
187 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 188 | |
153 | killagreg | 189 | // initialize rxd buffer |
190 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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191 | |||
192 | // initialize the rx fifo |
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193 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
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194 | |||
41 | ingob | 195 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
196 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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197 | |||
198 | /*Configure UART1_Rx pin GPIO3.2*/ |
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199 | GPIO_StructInit(&GPIO_InitStructure); |
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200 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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201 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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202 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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203 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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204 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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205 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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206 | |||
207 | /*Configure UART1_Tx pin GPIO3.3*/ |
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208 | GPIO_StructInit(&GPIO_InitStructure); |
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209 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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210 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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211 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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212 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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213 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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214 | |||
215 | /* UART1 configured as follow: |
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216 | - Word Length = 8 Bits |
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217 | - One Stop Bit |
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218 | - No parity |
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219 | - BaudRate = 57600 baud |
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220 | - Hardware flow control Disabled |
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221 | - Receive and transmit enabled |
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222 | - Receive and transmit FIFOs are Disabled |
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223 | */ |
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224 | UART_StructInit(&UART_InitStructure); |
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225 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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226 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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227 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 228 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 229 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
230 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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231 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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232 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 233 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 234 | |
235 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 236 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 237 | // enable uart 1 interrupts selective |
238 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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239 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 240 | // configure the uart 1 interupt line |
241 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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153 | killagreg | 242 | // enable the uart 1 IRQ |
41 | ingob | 243 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 244 | |
41 | ingob | 245 | // initialize the debug timer |
110 | killagreg | 246 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
247 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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248 | |||
41 | ingob | 249 | // Fill Version Info Structure |
250 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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251 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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252 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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253 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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254 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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255 | |||
89 | killagreg | 256 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 257 | |
110 | killagreg | 258 | UART1_PutString("\r\nUART1 init...ok"); |
41 | ingob | 259 | } |
260 | |||
261 | |||
262 | /****************************************************************/ |
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263 | /* USART1 receiver ISR */ |
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264 | /****************************************************************/ |
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265 | void UART1_IRQHandler(void) |
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266 | { |
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267 | static u8 abortState = 0; |
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268 | u8 c; |
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269 | |||
270 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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271 | { |
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153 | killagreg | 272 | // clear the pending bits! |
41 | ingob | 273 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
274 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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275 | // if debug UART is not UART1 |
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276 | if (DebugUART != UART1) |
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277 | { // forward received data to the debug UART tx buffer |
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278 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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279 | { |
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280 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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281 | c = UART_ReceiveData(UART1); |
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282 | |||
283 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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284 | switch (abortState) |
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285 | { |
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165 | killagreg | 286 | case 0: |
139 | killagreg | 287 | if (c == 27) abortState++; |
41 | ingob | 288 | break; |
165 | killagreg | 289 | case 1: |
290 | if (c == 27) abortState++; |
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139 | killagreg | 291 | else abortState = 0; |
41 | ingob | 292 | break; |
139 | killagreg | 293 | case 2: |
165 | killagreg | 294 | if (c == 0x55) abortState++; |
139 | killagreg | 295 | else abortState = 0; |
41 | ingob | 296 | break; |
139 | killagreg | 297 | case 3: |
298 | if (c == 0xAA) abortState++; |
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299 | else abortState = 0; |
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41 | ingob | 300 | break; |
165 | killagreg | 301 | case 4: |
139 | killagreg | 302 | if (c == 0x00) |
303 | { |
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304 | if(DebugUART == UART0) |
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305 | { |
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306 | UART0_Connect_to_MKGPS(); |
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179 | killagreg | 307 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 308 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 309 | } |
310 | DebugUART = UART1; |
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165 | killagreg | 311 | } |
139 | killagreg | 312 | abortState = 0; |
313 | break; |
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314 | } // end switch abort state |
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136 | killagreg | 315 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 316 | if (DebugUART != UART1) |
317 | { |
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318 | // wait for space in the tx buffer of the DebugUART |
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319 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 320 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 321 | UART_SendData(DebugUART, c); |
322 | } |
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41 | ingob | 323 | } |
324 | } |
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325 | else // DebugUART == UART1 (normal operation) |
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326 | { |
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110 | killagreg | 327 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 328 | { // some byes in the hardware fifo |
153 | killagreg | 329 | // get byte from hardware fifo |
41 | ingob | 330 | c = UART_ReceiveData(UART1); |
153 | killagreg | 331 | // put into the software fifo |
332 | if(!fifo_put(&UART1_rx_fifo, c)) |
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333 | { // fifo overflow |
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155 | killagreg | 334 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 335 | } |
154 | killagreg | 336 | } // EOF while some byes in the hardware fifo |
41 | ingob | 337 | } // eof DebugUart = UART1 |
338 | } |
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339 | } |
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340 | |||
341 | /**************************************************************/ |
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342 | /* Process incomming data from debug uart */ |
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343 | /**************************************************************/ |
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344 | void UART1_ProcessRxData(void) |
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345 | { |
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154 | killagreg | 346 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 347 | if(DebugUART != UART1) return; |
165 | killagreg | 348 | |
155 | killagreg | 349 | u8 c; |
350 | // if rx buffer is not locked |
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351 | if(UART1_rx_buffer.Locked == FALSE) |
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165 | killagreg | 352 | { //collect data from primary rx fifo |
155 | killagreg | 353 | while(fifo_get(&UART1_rx_fifo, &c)) |
354 | { // break if complete frame is collected |
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355 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
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356 | } |
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357 | } |
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358 | if(UART1_rx_buffer.Locked == FALSE) return; |
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359 | |||
41 | ingob | 360 | Waypoint_t * pWaypoint = NULL; |
153 | killagreg | 361 | SerialMsg_t SerialMsg; |
41 | ingob | 362 | |
190 | killagreg | 363 | // analyze header first |
364 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
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365 | if( (SerialMsg.Address == FC_ADDRESS) && (SerialMsg.CmdID == 'y') ) |
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41 | ingob | 366 | { |
192 | killagreg | 367 | switch(SerialMsg.CmdID) |
368 | { |
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369 | case 'y': // serial poti values |
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370 | case 'b': // extern control |
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371 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
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372 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
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373 | return; |
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374 | break; |
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375 | } |
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190 | killagreg | 376 | } |
377 | |||
378 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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379 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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380 | switch(SerialMsg.Address) // check for Slave Address |
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381 | { |
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41 | ingob | 382 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 383 | switch(SerialMsg.CmdID) |
41 | ingob | 384 | { |
101 | holgerb | 385 | case 'z': // connection checker |
110 | killagreg | 386 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
387 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 388 | break; |
389 | |||
41 | ingob | 390 | case 'e': // request for the text of the error status |
110 | killagreg | 391 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 392 | break; |
393 | |||
394 | case 's':// new target position |
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110 | killagreg | 395 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 396 | BeepTime = 300; |
397 | if(pWaypoint->Position.Status == NEWDATA) |
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398 | { |
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399 | WPList_Clear(); // empty WPList |
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400 | WPList_Append(pWaypoint); |
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401 | GPS_pWaypoint = WPList_Begin(); |
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402 | } |
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403 | break; |
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404 | |||
405 | case 'u': // redirect debug uart |
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110 | killagreg | 406 | switch(SerialMsg.pData[0]) |
41 | ingob | 407 | { |
408 | case UART_FLIGHTCTRL: |
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409 | UART2_Init(); // initialize UART2 to FC pins |
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153 | killagreg | 410 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 411 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 412 | DebugUART = UART2; |
413 | break; |
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414 | case UART_MK3MAG: |
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415 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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416 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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417 | GPSData.Status = INVALID; |
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153 | killagreg | 418 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 419 | DebugUART = UART0; |
420 | break; |
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421 | case UART_MKGPS: |
||
422 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
179 | killagreg | 423 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
41 | ingob | 424 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
425 | GPSData.Status = INVALID; |
||
153 | killagreg | 426 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 427 | DebugUART = UART0; |
428 | break; |
||
153 | killagreg | 429 | default: |
430 | break; |
||
41 | ingob | 431 | } |
432 | break; |
||
433 | |||
92 | killagreg | 434 | case 'w':// Append Waypoint to List |
165 | killagreg | 435 | { |
436 | static u8 oldIndex = 0x00; |
||
437 | |||
438 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
||
439 | if(pWaypoint->Position.Status == INVALID) |
||
440 | { // clear WP List |
||
441 | WPList_Clear(); |
||
442 | oldIndex = 0x00; |
||
443 | GPS_pWaypoint = WPList_Begin(); |
||
444 | UART1_Request_NewWaypoint = TRUE; |
||
445 | } |
||
446 | else if (pWaypoint->Position.Status == NEWDATA) |
||
447 | { // app current WP to the list |
||
448 | if (pWaypoint->Index == oldIndex + 1) |
||
449 | { |
||
450 | WPList_Append(pWaypoint); |
||
451 | BeepTime = 500; |
||
452 | oldIndex = pWaypoint->Index; |
||
453 | UART1_Request_NewWaypoint = TRUE; |
||
454 | } |
||
455 | } |
||
41 | ingob | 456 | } |
457 | break; |
||
458 | |||
92 | killagreg | 459 | case 'x':// Read Waypoint from List |
110 | killagreg | 460 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
92 | killagreg | 461 | break; |
462 | |||
160 | holgerb | 463 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 464 | switch(SerialMsg.pData[0]) |
465 | { |
||
466 | case 0: // get |
||
467 | break; |
||
165 | killagreg | 468 | |
156 | killagreg | 469 | case 1: // set |
159 | killagreg | 470 | { |
471 | s16 value; |
||
472 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
473 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
474 | } |
||
156 | killagreg | 475 | break; |
476 | |||
477 | default: |
||
165 | killagreg | 478 | break; |
156 | killagreg | 479 | } |
480 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
481 | UART1_Request_Parameter = TRUE; |
||
482 | break; |
||
41 | ingob | 483 | default: |
484 | // unsupported command recieved |
||
485 | break; |
||
486 | } // case NC_ADDRESS |
||
65 | killagreg | 487 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 488 | |
489 | default: // and any other Slave Address |
||
490 | |||
190 | killagreg | 491 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 492 | { |
493 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 494 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
495 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 496 | break; |
193 | killagreg | 497 | /* |
41 | ingob | 498 | case 'b': // submit extern control |
121 | killagreg | 499 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 500 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 501 | break; |
193 | killagreg | 502 | */ |
41 | ingob | 503 | case 'd': // request for debug data; |
110 | killagreg | 504 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
505 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
41 | ingob | 506 | break; |
507 | |||
63 | killagreg | 508 | case 'c': // request for 3D data; |
110 | killagreg | 509 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
510 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
63 | killagreg | 511 | break; |
193 | killagreg | 512 | /* |
41 | ingob | 513 | case 'g':// request for external control data |
110 | killagreg | 514 | UART1_Request_ExternalControl = TRUE; |
41 | ingob | 515 | break; |
193 | killagreg | 516 | */ |
41 | ingob | 517 | case 'h':// reqest for display line |
193 | killagreg | 518 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
519 | { |
||
520 | UART1_DisplayLine = 2; |
||
521 | UART1_Display_Interval = 0; |
||
522 | } |
||
523 | else |
||
524 | { |
||
525 | RemoteKeys |= ~SerialMsg.pData[0]; |
||
526 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
||
527 | UART1_DisplayLine = 4; |
||
528 | } |
||
110 | killagreg | 529 | UART1_Request_Display = TRUE; |
41 | ingob | 530 | break; |
531 | |||
532 | case 'l':// reqest for display columns |
||
110 | killagreg | 533 | MenuItem = SerialMsg.pData[0]; |
534 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 535 | break; |
64 | holgerb | 536 | |
537 | case 'o': // request for navigation information |
||
110 | killagreg | 538 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
539 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
64 | holgerb | 540 | break; |
541 | |||
41 | ingob | 542 | case 'v': // request for version info |
110 | killagreg | 543 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 544 | break; |
545 | default: |
||
546 | // unsupported command recieved |
||
547 | break; |
||
548 | } |
||
549 | break; // default: |
||
550 | } |
||
153 | killagreg | 551 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 552 | } |
553 | |||
554 | |||
555 | /*****************************************************/ |
||
556 | /* Send a character */ |
||
557 | /*****************************************************/ |
||
110 | killagreg | 558 | s16 UART1_Putchar(char c) |
41 | ingob | 559 | { |
110 | killagreg | 560 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 561 | // wait until txd fifo is not full |
562 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
563 | // transmit byte |
||
564 | UART_SendData(UART1, c); |
||
565 | return (0); |
||
566 | } |
||
567 | |||
568 | /*****************************************************/ |
||
569 | /* Send a string to the debug uart */ |
||
570 | /*****************************************************/ |
||
110 | killagreg | 571 | void UART1_PutString(u8 *s) |
41 | ingob | 572 | { |
573 | if(s == NULL) return; |
||
574 | while (*s != '\0' && DebugUART == UART1) |
||
575 | { |
||
110 | killagreg | 576 | UART1_Putchar(*s); |
41 | ingob | 577 | s ++; |
578 | } |
||
579 | } |
||
580 | |||
113 | killagreg | 581 | |
110 | killagreg | 582 | /**************************************************************/ |
583 | /* Transmit tx buffer via debug uart */ |
||
584 | /**************************************************************/ |
||
585 | void UART1_Transmit(void) |
||
586 | { |
||
587 | u8 tmp_tx; |
||
588 | if(DebugUART != UART1) return; |
||
589 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 590 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 591 | { |
113 | killagreg | 592 | // while there is some space in the tx fifo |
593 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 594 | { |
113 | killagreg | 595 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
596 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
597 | // if terminating character or end of txd buffer reached |
||
598 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
599 | { |
||
600 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
601 | break; // end while loop |
||
602 | } |
||
110 | killagreg | 603 | } |
604 | } |
||
605 | } |
||
41 | ingob | 606 | |
607 | /**************************************************************/ |
||
608 | /* Send the answers to incomming commands at the debug uart */ |
||
609 | /**************************************************************/ |
||
610 | void UART1_TransmitTxData(void) |
||
611 | { |
||
110 | killagreg | 612 | if(DebugUART != UART1) return; |
613 | UART1_Transmit(); // output pending bytes in tx buffer |
||
614 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 615 | |
156 | killagreg | 616 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 617 | { |
156 | killagreg | 618 | s16 ParamValue; |
157 | killagreg | 619 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
158 | killagreg | 620 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
621 | //UART1_PutString(text); |
||
160 | holgerb | 622 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
156 | killagreg | 623 | UART1_Request_Parameter = FALSE; |
624 | } |
||
625 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
626 | { |
||
110 | killagreg | 627 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 628 | Echo = 0; // reset echo value |
110 | killagreg | 629 | UART1_Request_Echo = FALSE; |
92 | killagreg | 630 | } |
154 | killagreg | 631 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
632 | { |
||
633 | u8 WPNumber = WPList_GetCount(); |
||
634 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
635 | UART1_Request_NewWaypoint = FALSE; |
||
636 | } |
||
637 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
638 | { |
||
639 | u8 WPNumber = WPList_GetCount(); |
||
640 | if (UART1_Request_ReadWaypoint < WPNumber) |
||
641 | { |
||
642 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
643 | } |
||
644 | else |
||
645 | { |
||
646 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
647 | } |
||
648 | UART1_Request_ReadWaypoint = 0xFF; |
||
649 | } |
||
650 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
651 | { |
||
652 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
653 | UART1_Request_DebugLabel = 0xFF; |
||
654 | } |
||
151 | killagreg | 655 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 656 | { |
151 | killagreg | 657 | NaviData.Errorcode = ErrorCode; |
658 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
659 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
660 | UART1_Request_NaviData = FALSE; |
||
661 | } |
||
662 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
663 | { |
||
110 | killagreg | 664 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
665 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
666 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 667 | } |
151 | killagreg | 668 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 669 | { |
110 | killagreg | 670 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
671 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
672 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 673 | } |
193 | killagreg | 674 | /* |
153 | killagreg | 675 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
676 | { |
||
677 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
678 | UART1_ConfirmFrame = 0; |
||
679 | } |
||
193 | killagreg | 680 | */ |
681 | /* |
||
151 | killagreg | 682 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 683 | { |
110 | killagreg | 684 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
685 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 686 | } |
193 | killagreg | 687 | */ |
688 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
689 | { |
||
690 | if(UART1_DisplayLine > 3) |
||
691 | { |
||
692 | LCD_PrintMenu(); |
||
693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
694 | } |
||
695 | else |
||
696 | { |
||
697 | UART1_DisplayLine = 2; |
||
698 | sprintf(text,"!!! incompatible !!!"); |
||
699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
700 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
701 | } |
||
702 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 703 | UART1_Request_Display = FALSE; |
41 | ingob | 704 | } |
151 | killagreg | 705 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 706 | { |
707 | LCD_PrintMenu(); |
||
110 | killagreg | 708 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
709 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 710 | } |
151 | killagreg | 711 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 712 | { |
110 | killagreg | 713 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
714 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 715 | } |
151 | killagreg | 716 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 717 | { |
110 | killagreg | 718 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
719 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 720 | } |
151 | killagreg | 721 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
41 | ingob | 722 | { |
723 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
724 | FollowMe.Position.Status = NEWDATA; |
||
725 | FollowMe.Heading = -1; |
||
726 | FollowMe.ToleranceRadius = 1; |
||
727 | FollowMe.HoldTime = 60; |
||
728 | FollowMe.Event_Flag = 0; |
||
192 | killagreg | 729 | FollowMe.Index = 1; |
41 | ingob | 730 | FollowMe.reserve[0] = 0; // reserve |
731 | FollowMe.reserve[1] = 0; // reserve |
||
732 | FollowMe.reserve[2] = 0; // reserve |
||
733 | FollowMe.reserve[3] = 0; // reserve |
||
110 | killagreg | 734 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
735 | UART1_Request_SendFollowMe = FALSE; |
||
41 | ingob | 736 | } |
110 | killagreg | 737 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 738 | } |
739 |