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Rev | Author | Line No. | Line |
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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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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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275 | killagreg | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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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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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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275 | killagreg | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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275 | killagreg | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | 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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275 | killagreg | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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275 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
275 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
275 | killagreg | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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 |
1 | 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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275 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
275 | killagreg | 57 | #include <stdio.h> |
112 | killagreg | 58 | #include <string.h> |
41 | ingob | 59 | #include "91x_lib.h" |
136 | killagreg | 60 | #include "config.h" |
112 | killagreg | 61 | #include "main.h" |
41 | ingob | 62 | #include "uart1.h" |
111 | killagreg | 63 | #include "mkprotocol.h" |
112 | killagreg | 64 | #include "waypoints.h" |
65 | #include "gps.h" |
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119 | killagreg | 66 | #include "timer1.h" |
112 | killagreg | 67 | #include "uart0.h" |
68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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70 | #include "menu.h" |
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275 | killagreg | 71 | #include "usb.h" |
111 | killagreg | 72 | |
201 | killagreg | 73 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
74 | u32 USB_AboTimeOut = 0; |
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111 | killagreg | 75 | |
275 | killagreg | 76 | u16 Echo; // 2 bytes recieved will be sent back as echo |
77 | |||
78 | // the primary rx fifo |
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79 | #define USB_RX_FIFO_LEN 512 |
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80 | u8 USB_rxfifobuffer[USB_RX_FIFO_LEN]; |
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81 | fifo_t USB_rx_fifo; |
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82 | |||
111 | killagreg | 83 | // the tx buffer |
84 | #define USB_TX_BUFFER_LEN 150 |
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85 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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86 | Buffer_t USB_tx_buffer; |
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87 | |||
88 | // the rx buffer |
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89 | #define USB_RX_BUFFER_LEN 150 |
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90 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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91 | Buffer_t USB_rx_buffer; |
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92 | |||
112 | killagreg | 93 | u8 USB_Request_VersionInfo = FALSE; |
94 | u8 USB_Request_SendFollowMe = FALSE; |
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95 | u8 USB_Request_ExternalControl= FALSE; |
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96 | u8 USB_Request_Display = FALSE; |
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97 | u8 USB_Request_Display1 = FALSE; |
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98 | u8 USB_Request_DebugData = FALSE; |
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99 | u8 USB_Request_DebugLabel = 255; |
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100 | u8 USB_Request_NaviData = FALSE; |
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101 | u8 USB_Request_ErrorMessage = FALSE; |
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102 | u8 USB_Request_NewWaypoint = FALSE; |
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103 | u8 USB_Request_ReadWaypoint = 255; |
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104 | u8 USB_Request_Data3D = FALSE; |
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105 | u8 USB_Request_Echo = FALSE; |
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201 | killagreg | 106 | u8 USB_DisplayKeys = 0; |
275 | killagreg | 107 | u8 USB_DisplayLine = 0; |
112 | killagreg | 108 | u8 USB_ConfirmFrame = 0; |
109 | |||
110 | u32 USB_DebugData_Timer = 0; |
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111 | u32 USB_DebugData_Interval = 0; // in ms |
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112 | u32 USB_NaviData_Timer = 0; |
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113 | u32 USB_NaviData_Interval = 0; // in ms |
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275 | killagreg | 114 | u32 USB_Data3D_Timer = 0; |
201 | killagreg | 115 | u32 USB_Data3D_Interval = 0; // in ms |
116 | u32 USB_Display_Timer = 0; |
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117 | u32 USB_Display_Interval = 0; // in ms |
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112 | killagreg | 118 | |
1 | ingob | 119 | //----------------------------------------------------------------- |
120 | void USB_ConfigInit(void) |
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121 | { |
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41 | ingob | 122 | GPIO_InitTypeDef GPIO_InitStructure; |
275 | killagreg | 123 | |
110 | killagreg | 124 | UART1_PutString("\r\n USB init..."); |
41 | ingob | 125 | #ifdef MCLK96MHZ |
126 | //USB clock = MCLK/2 = 48MHz |
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127 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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128 | #else |
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129 | //USB clock = MCLK = 48MHz |
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130 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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131 | #endif |
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132 | //Enable USB clock |
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133 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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134 | SCU_AHBPeriphReset(__USB,DISABLE); |
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135 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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1 | ingob | 136 | |
41 | ingob | 137 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
138 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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139 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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1 | ingob | 140 | |
41 | ingob | 141 | // GPIO_DeInit(P0.1); |
142 | GPIO_StructInit(&GPIO_InitStructure); |
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143 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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144 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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145 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 146 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 147 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
148 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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1 | ingob | 149 | |
275 | killagreg | 150 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
151 | fifo_init(&USB_rx_fifo, USB_rxfifobuffer, USB_RX_FIFO_LEN, NO_ITLine, USBLP_ITLine); |
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152 | |||
112 | killagreg | 153 | // initialize txd buffer |
154 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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275 | killagreg | 155 | |
111 | killagreg | 156 | // initialize rxd buffer |
112 | killagreg | 157 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
111 | killagreg | 158 | |
136 | killagreg | 159 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
41 | ingob | 160 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
275 | killagreg | 161 | |
41 | ingob | 162 | USB_Init(); |
275 | killagreg | 163 | |
164 | UART1_PutString("ok"); |
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1 | ingob | 165 | } |
166 | |||
112 | killagreg | 167 | |
168 | /**************************************************************/ |
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169 | /* Process incomming data from debug uart */ |
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170 | /**************************************************************/ |
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171 | void USB_ProcessRxData(void) |
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172 | { |
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275 | killagreg | 173 | u8 c; |
112 | killagreg | 174 | SerialMsg_t SerialMsg; |
114 | killagreg | 175 | Waypoint_t * pWaypoint = NULL; |
112 | killagreg | 176 | // if data in the rxd buffer are not locked immediately return |
275 | killagreg | 177 | // if rx buffer is not locked |
178 | if(USB_rx_buffer.Locked == FALSE) |
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179 | { |
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180 | //collect data from primary rx fifo |
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181 | while(fifo_get(&USB_rx_fifo, &c)) |
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182 | { |
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183 | // break if complete frame has been collected |
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184 | if(MKProtocol_CollectSerialFrame(&USB_rx_buffer, c)) break; |
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185 | } |
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186 | } |
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187 | if(USB_rx_buffer.Locked == FALSE) return; |
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112 | killagreg | 188 | |
190 | killagreg | 189 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
190 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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114 | killagreg | 191 | |
190 | killagreg | 192 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
193 | switch(SerialMsg.Address) // check for Slave Address |
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112 | killagreg | 194 | { |
195 | case NC_ADDRESS: // own Slave Address |
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190 | killagreg | 196 | switch(SerialMsg.CmdID) |
112 | killagreg | 197 | { |
275 | killagreg | 198 | case 'z': // connection checker |
199 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
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200 | USB_Request_Echo = TRUE; |
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201 | break; |
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202 | |||
112 | killagreg | 203 | case 'e': // request for the text of the error status |
204 | USB_Request_ErrorMessage = TRUE; |
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205 | break; |
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206 | |||
207 | case 's':// new target position |
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208 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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209 | BeepTime = 300; |
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210 | if(pWaypoint->Position.Status == NEWDATA) |
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211 | { |
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212 | WPList_Clear(); // empty WPList |
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213 | WPList_Append(pWaypoint); |
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214 | GPS_pWaypoint = WPList_Begin(); |
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215 | } |
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216 | break; |
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275 | killagreg | 217 | |
218 | case 'w':// Append Waypoint to List |
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112 | killagreg | 219 | { |
275 | killagreg | 220 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
221 | |||
222 | if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0)) |
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223 | { |
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224 | WPList_Clear(); |
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225 | GPS_pWaypoint = WPList_Begin(); |
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226 | USB_Request_NewWaypoint = TRUE; // return new WP number |
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227 | } |
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228 | else |
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229 | { // app current WP to the list |
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230 | if (pWaypoint->Index == (WPList_GetCount() + 1)) |
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231 | { |
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232 | WPList_Append(pWaypoint); |
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233 | BeepTime = 500; |
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234 | USB_Request_NewWaypoint = TRUE; // return new WP number |
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235 | } |
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236 | } |
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112 | killagreg | 237 | } |
238 | break; |
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239 | |||
240 | case 'x':// Read Waypoint from List |
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241 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
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242 | break; |
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243 | |||
244 | default: |
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245 | // unsupported command recieved |
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246 | break; |
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247 | } // case NC_ADDRESS |
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248 | // "break;" is missing here to fall thru to the common commands |
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249 | |||
250 | default: // and any other Slave Address |
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251 | |||
190 | killagreg | 252 | switch(SerialMsg.CmdID) // check CmdID |
112 | killagreg | 253 | { |
254 | case 'a':// request for the labels of the analog debug outputs |
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255 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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256 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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257 | break; |
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201 | killagreg | 258 | /* |
112 | killagreg | 259 | case 'b': // submit extern control |
260 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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261 | USB_ConfirmFrame = ExternControl.Frame; |
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262 | break; |
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201 | killagreg | 263 | */ |
112 | killagreg | 264 | case 'd': // request for debug data; |
265 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 266 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
201 | killagreg | 267 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 268 | break; |
269 | |||
270 | case 'c': // request for 3D data; |
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271 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 272 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
201 | killagreg | 273 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 274 | break; |
275 | killagreg | 275 | |
112 | killagreg | 276 | case 'h':// reqest for display line |
275 | killagreg | 277 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
278 | { |
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279 | USB_DisplayLine = 2; |
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280 | USB_Display_Interval = 0; |
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281 | } |
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282 | else |
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283 | { |
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284 | USB_DisplayKeys |= ~SerialMsg.pData[0]; |
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285 | USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
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286 | USB_DisplayLine = 4; |
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287 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
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288 | } |
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112 | killagreg | 289 | USB_Request_Display = TRUE; |
290 | break; |
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291 | |||
292 | case 'l':// reqest for display columns |
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293 | MenuItem = SerialMsg.pData[0]; |
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294 | USB_Request_Display1 = TRUE; |
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295 | break; |
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296 | |||
297 | case 'o': // request for navigation information |
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298 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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275 | killagreg | 299 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
201 | killagreg | 300 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
112 | killagreg | 301 | break; |
302 | |||
303 | case 'v': // request for version info |
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304 | USB_Request_VersionInfo = TRUE; |
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305 | break; |
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306 | default: |
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307 | // unsupported command recieved |
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308 | break; |
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309 | } |
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310 | break; // default: |
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311 | } |
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312 | Buffer_Clear(&USB_rx_buffer); |
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313 | } |
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314 | |||
315 | |||
1 | ingob | 316 | //----------------------------------------------------------------- |
111 | killagreg | 317 | void USB_CableConfig(FunctionalState NewState) |
1 | ingob | 318 | { |
41 | ingob | 319 | if (NewState == ENABLE) |
320 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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321 | else |
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322 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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1 | ingob | 323 | } |
275 | killagreg | 324 | //----------------------------------------------------------------- |
325 | void USB_EnterLowPowerMode(void) |
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326 | { |
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327 | /* Set the device state to suspend */ |
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328 | bDeviceState = SUSPENDED; |
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329 | } |
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330 | //----------------------------------------------------------------- |
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331 | void USB_LeaveLowPowerMode(void) |
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332 | { |
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333 | DEVICE_INFO *pInfo = &Device_Info; |
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1 | ingob | 334 | |
275 | killagreg | 335 | /* Set the device state to the correct state */ |
336 | if (pInfo->Current_Configuration != 0) |
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337 | { |
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338 | /* Device configured */ |
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339 | bDeviceState = CONFIGURED; |
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340 | } |
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341 | else |
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342 | { |
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343 | bDeviceState = ATTACHED; |
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344 | } |
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345 | } |
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346 | |||
347 | |||
1 | ingob | 348 | //----------------------------------------------------------------- |
111 | killagreg | 349 | void USB_PutString(u8 *string) |
1 | ingob | 350 | { |
41 | ingob | 351 | u8 i = 0; |
352 | u16 timeout = 0; |
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275 | killagreg | 353 | |
111 | killagreg | 354 | while (string[i++] != 0){} // get string len |
41 | ingob | 355 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
111 | killagreg | 356 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
41 | ingob | 357 | SetEPTxCount(ENDP1,i); |
358 | SetEPTxValid(ENDP1); |
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275 | killagreg | 359 | } |
1 | ingob | 360 | |
361 | //----------------------------------------------------------------- |
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111 | killagreg | 362 | void USB_PutChar(u8 c) |
1 | ingob | 363 | { |
41 | ingob | 364 | u16 timeout = 0; |
365 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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111 | killagreg | 366 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
41 | ingob | 367 | SetEPTxCount(ENDP1,2); |
368 | SetEPTxValid(ENDP1); |
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369 | } |
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275 | killagreg | 370 | |
1 | ingob | 371 | //----------------------------------------------------------------- |
111 | killagreg | 372 | void USB_SendData(u8 *pdata, u16 count) |
1 | ingob | 373 | { |
41 | ingob | 374 | u8 i; |
375 | count++; |
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114 | killagreg | 376 | u16 timeout = 0; |
275 | killagreg | 377 | |
378 | for (i=0;i< (count/64)+1;i++) |
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41 | ingob | 379 | { |
275 | killagreg | 380 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
381 | if (i < (count/64)) |
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382 | { |
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111 | killagreg | 383 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
41 | ingob | 384 | SetEPTxCount(ENDP1,64); |
385 | } |
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275 | killagreg | 386 | else |
387 | { |
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111 | killagreg | 388 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
41 | ingob | 389 | SetEPTxCount(ENDP1, count % 64); |
390 | } |
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391 | SetEPTxValid(ENDP1); |
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1 | ingob | 392 | } |
275 | killagreg | 393 | } |
1 | ingob | 394 | |
112 | killagreg | 395 | /**************************************************************/ |
396 | /* Transmit tx buffer via usb */ |
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397 | /**************************************************************/ |
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398 | void USB_Transmit(void) |
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399 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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400 | // if something has to be send and the txd fifo is not full |
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275 | killagreg | 401 | |
112 | killagreg | 402 | if(USB_tx_buffer.Locked == TRUE) |
403 | { |
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114 | killagreg | 404 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
112 | killagreg | 405 | { |
275 | killagreg | 406 | u16 i; |
112 | killagreg | 407 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
408 | { |
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114 | killagreg | 409 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
112 | killagreg | 410 | if(i > 64) i = 64; // limit packet size to 64 bytes |
411 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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114 | killagreg | 412 | SetEPTxCount(ENDP1,i); |
275 | killagreg | 413 | SetEPTxValid(ENDP1); |
112 | killagreg | 414 | USB_tx_buffer.Position += i; |
415 | } |
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416 | } |
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417 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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418 | { |
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419 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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420 | } |
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421 | } |
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422 | } |
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423 | |||
424 | /**************************************************************/ |
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425 | /* Send the answers to incomming commands at the debug uart */ |
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426 | /**************************************************************/ |
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427 | void USB_TransmitTxData(void) |
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428 | { |
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429 | USB_Transmit(); // output pending bytes in tx buffer |
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430 | if((USB_tx_buffer.Locked == TRUE)) return; |
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431 | |||
201 | killagreg | 432 | if(CheckDelay(USB_AboTimeOut)) |
433 | { |
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434 | USB_DebugData_Interval = 0; |
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435 | USB_NaviData_Interval = 0; |
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436 | USB_Data3D_Interval = 0; |
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437 | USB_Display_Interval = 0; |
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438 | } |
||
439 | |||
112 | killagreg | 440 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
441 | { |
||
442 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
||
443 | USB_Request_DebugLabel = 0xFF; |
||
444 | } |
||
201 | killagreg | 445 | else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 446 | { |
447 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
||
448 | USB_ConfirmFrame = 0; |
||
449 | } |
||
201 | killagreg | 450 | else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 451 | { |
452 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
||
453 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
||
454 | USB_Request_DebugData = FALSE; |
||
455 | } |
||
201 | killagreg | 456 | else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 457 | { |
458 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
||
459 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
||
460 | USB_Request_Data3D = FALSE; |
||
461 | } |
||
201 | killagreg | 462 | else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 463 | { |
464 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
||
465 | USB_Request_ExternalControl = FALSE; |
||
466 | } |
||
201 | killagreg | 467 | else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 468 | { |
201 | killagreg | 469 | Menu_Update(USB_DisplayKeys); |
470 | USB_DisplayKeys = 0; |
||
471 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
112 | killagreg | 472 | USB_Request_Display = FALSE; |
473 | } |
||
201 | killagreg | 474 | else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 475 | { |
201 | killagreg | 476 | Menu_Update(0); |
112 | killagreg | 477 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
478 | USB_Request_Display1 = FALSE; |
||
479 | } |
||
201 | killagreg | 480 | else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 481 | { |
482 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
483 | USB_Request_VersionInfo = FALSE; |
||
484 | } |
||
201 | killagreg | 485 | else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 486 | { |
487 | NaviData.Errorcode = ErrorCode; |
||
488 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
489 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
||
490 | USB_Request_NaviData = FALSE; |
||
491 | } |
||
201 | killagreg | 492 | else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 493 | { |
494 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
495 | USB_Request_ErrorMessage = FALSE; |
||
496 | } |
||
201 | killagreg | 497 | else if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 498 | { |
499 | u8 WPNumber = WPList_GetCount(); |
||
500 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
501 | USB_Request_NewWaypoint = FALSE; |
||
502 | } |
||
201 | killagreg | 503 | else if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
112 | killagreg | 504 | { |
505 | u8 WPNumber = WPList_GetCount(); |
||
506 | if (USB_Request_ReadWaypoint < WPNumber) |
||
507 | { |
||
508 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
509 | } |
||
510 | else |
||
511 | { |
||
512 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
513 | } |
||
514 | USB_Request_ReadWaypoint = 0xFF; |
||
515 | } |
||
516 | USB_Transmit(); // output pending bytes in tx buffer |
||
517 | } |