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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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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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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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62 | #include "ramfunc.h" |
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63 | #include "menu.h" |
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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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70 | #include "timer.h" |
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71 | #include "usb.h" |
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72 | #include "main.h" |
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73 | #include "waypoints.h" |
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74 | #include "GPS.h" |
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75 | |||
76 | // slave addresses |
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77 | #define FC_ADDRESS 1 |
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78 | #define NC_ADDRESS 2 |
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79 | #define MK3MAG_ADDRESS 3 |
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80 | |||
81 | #define FALSE 0 |
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82 | #define TRUE 1 |
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83 | |||
92 | killagreg | 84 | typedef struct |
85 | { |
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86 | u8 SWMajor; |
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87 | u8 SWMinor; |
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88 | u8 ProtoMajor; |
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89 | u8 ProtoMinor; |
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90 | u8 SWPatch; |
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91 | u8 Reserved[5]; |
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92 | } __attribute__((packed)) UART_VersionInfo_t; |
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93 | |||
94 | |||
41 | ingob | 95 | u8 Request_SendFollowMe = FALSE; |
96 | u8 Request_VerInfo = FALSE; |
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97 | u8 Request_ExternalControl = FALSE; |
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98 | u8 Request_Display = FALSE; |
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99 | u8 Request_Display1 = FALSE; |
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100 | u8 Request_DebugData = FALSE; |
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101 | u8 Request_DebugLabel = 255; |
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102 | u8 Request_ChannelOnly = FALSE; |
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103 | u8 Request_NaviData = FALSE; |
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104 | u8 Request_ErrorMessage = FALSE; |
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105 | u8 Request_NewWaypoint = FALSE; |
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92 | killagreg | 106 | u8 Request_ReadWaypoint = 255; |
107 | u8 Request_Data3D = FALSE; |
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108 | u8 Request_Echo = FALSE; |
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41 | ingob | 109 | |
110 | u8 DisplayLine = 0; |
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111 | |||
112 | UART_TypeDef *DebugUART = UART1; |
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113 | |||
114 | volatile u8 txd_buffer[TXD_BUFFER_LEN]; |
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115 | volatile u8 rxd_buffer_locked = FALSE; |
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116 | volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
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117 | volatile u8 txd_complete = TRUE; |
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118 | volatile u8 ReceivedBytes = 0; |
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119 | volatile u8 CntCrcError = 0; |
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120 | volatile u8 *pRxData = NULL; |
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92 | killagreg | 121 | volatile u8 RxDataLen = 0; |
122 | volatile u8 SerialLinkOkay = 0; |
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41 | ingob | 123 | |
124 | u8 text[100]; |
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125 | |||
126 | u8 PcAccess = 100; |
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127 | u8 MotorTest[4] = {0,0,0,0}; |
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128 | u8 ConfirmFrame = 0; |
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129 | |||
130 | DebugOut_t DebugOut; |
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131 | ExternControl_t ExternControl; |
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132 | UART_VersionInfo_t UART_VersionInfo; |
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133 | NaviData_t NaviData; |
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134 | Waypoint_t FollowMe; |
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61 | holgerb | 135 | Data3D_t Data3D; |
92 | killagreg | 136 | u16 Echo; // 2 bytes recieved will be sent back as echo |
41 | ingob | 137 | |
138 | u32 DebugData_Timer; |
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75 | holgerb | 139 | u32 DebugData_Interval = 5000; // in ms |
41 | ingob | 140 | u32 NaviData_Timer; |
75 | holgerb | 141 | u32 NaviData_Interval = 5000; // in ms |
62 | killagreg | 142 | u32 Data3D_Timer = 0; // in ms |
143 | u32 Data3D_Interval = 0; |
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41 | ingob | 144 | |
145 | static u16 ptr_txd_buffer = 0; |
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146 | |||
147 | const u8 ANALOG_LABEL[32][16] = |
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148 | { |
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90 | killagreg | 149 | //1234567890123456 |
41 | ingob | 150 | "AngleNick ", //0 |
151 | "AngleRoll ", |
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152 | "AccNick ", |
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153 | "AccRoll ", |
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154 | " ", |
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75 | holgerb | 155 | "MK-Flags ", //5 |
95 | killagreg | 156 | "NC-Flags ", |
41 | ingob | 157 | " ", |
158 | " ", |
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159 | "GPS Data ", |
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61 | holgerb | 160 | "CompassHeading ", //10 |
161 | "GyroHeading ", |
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41 | ingob | 162 | "SPI Error ", |
163 | "SPI Okay ", |
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164 | "I2C Error ", |
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165 | "I2C Okay ", //15 |
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166 | " ",// "FC_Kalman_K ", |
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167 | "ACC_Speed_N ", |
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168 | "ACC_Speed_E ", |
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169 | " ",// "GPS ACC ", |
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170 | " ",// "MAXDrift ", //20 |
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171 | "N_Speed ", |
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172 | "E_Speed ", |
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99 | killagreg | 173 | "P-Part ", |
174 | "I-Part ", |
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175 | "D-Part ",//25 |
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176 | "PID-Part ", |
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41 | ingob | 177 | "Distance N ", |
178 | "Distance E ", |
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179 | "GPS_Nick ", |
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180 | "GPS_Roll ", //30 |
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181 | "Used_Sats " |
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182 | }; |
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183 | |||
184 | |||
185 | /********************************************************/ |
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186 | /* Initialization the UART1 */ |
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187 | /********************************************************/ |
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188 | void UART1_Init (void) |
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189 | { |
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190 | GPIO_InitTypeDef GPIO_InitStructure; |
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191 | UART_InitTypeDef UART_InitStructure; |
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192 | |||
193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
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194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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195 | |||
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
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197 | GPIO_StructInit(&GPIO_InitStructure); |
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198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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204 | |||
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
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206 | GPIO_StructInit(&GPIO_InitStructure); |
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207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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212 | |||
213 | /* UART1 configured as follow: |
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214 | - Word Length = 8 Bits |
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215 | - One Stop Bit |
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216 | - No parity |
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217 | - BaudRate = 57600 baud |
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218 | - Hardware flow control Disabled |
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219 | - Receive and transmit enabled |
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220 | - Receive and transmit FIFOs are Disabled |
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221 | */ |
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222 | UART_StructInit(&UART_InitStructure); |
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223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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226 | UART_InitStructure.UART_BaudRate = BAUD_RATE; |
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227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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232 | |||
233 | UART_DeInit(UART1); // reset uart 1 to default |
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234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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235 | // enable uart 1 interrupts selective |
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236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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238 | // configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
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239 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
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240 | // enable the uart 1 IRQ |
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241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
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242 | // initialize the debug timer |
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243 | DebugData_Timer = SetDelay(DebugData_Interval); |
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54 | killagreg | 244 | NaviData_Timer = SetDelay(NaviData_Interval)+500; |
41 | ingob | 245 | // unlock rxd_buffer |
246 | rxd_buffer_locked = FALSE; |
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247 | pRxData = NULL; |
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248 | RxDataLen = 0; |
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249 | // no bytes to send |
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250 | txd_complete = TRUE; |
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251 | // Fill Version Info Structure |
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252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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257 | |||
89 | killagreg | 258 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 259 | |
41 | ingob | 260 | SerialPutString("\r\nUART1 init...ok"); |
261 | } |
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262 | |||
263 | |||
264 | /****************************************************************/ |
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265 | /* USART1 receiver ISR */ |
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266 | /****************************************************************/ |
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267 | void UART1_IRQHandler(void) |
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268 | { |
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269 | static u16 crc; |
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270 | static u8 ptr_rxd_buffer = 0; |
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271 | static u8 crc1, crc2; |
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272 | static u8 abortState = 0; |
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273 | u8 c; |
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274 | |||
275 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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276 | { |
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277 | // clear the pending bits |
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278 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
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279 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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280 | // if debug UART is not UART1 |
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281 | if (DebugUART != UART1) |
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282 | { // forward received data to the debug UART tx buffer |
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283 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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284 | { |
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285 | // wait for space in the tx buffer of the DebugUART |
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286 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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287 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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288 | c = UART_ReceiveData(UART1); |
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289 | |||
290 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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291 | switch (abortState) |
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292 | { |
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293 | case 0: if (c == 27) abortState++; |
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294 | break; |
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295 | case 1: if (c == 27) abortState++; else abortState = 0; |
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296 | break; |
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297 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
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298 | break; |
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299 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
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300 | break; |
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301 | case 4: if (c == 0x00) |
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302 | { |
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303 | DebugUART = UART1; |
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304 | UART0_Connect_to_MKGPS(); |
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305 | } |
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306 | abortState = 0; |
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307 | break; |
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308 | } |
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309 | |||
310 | if (DebugUART != UART1) UART_SendData(DebugUART, c); |
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311 | } |
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312 | } |
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313 | else // DebugUART == UART1 (normal operation) |
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314 | { |
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315 | while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) && (!rxd_buffer_locked)) |
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316 | { // some byes in the fifo and rxd buffer not locked |
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317 | // get byte from fifo |
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318 | c = UART_ReceiveData(UART1); |
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319 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
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320 | { |
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321 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
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322 | crc = c; // init crc |
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323 | } |
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324 | #if 0 |
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325 | else if (ptr_rxd_buffer == 1) // handle address |
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326 | { |
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327 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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328 | crc += c; // update crc |
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329 | } |
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330 | #endif |
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331 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // rxd buffer not full |
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332 | { |
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333 | if (c != '\r') // no termination character received |
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334 | { |
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335 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
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336 | crc += c; // update crc |
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337 | } |
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338 | else // termination character received |
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339 | { |
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340 | // the last 2 bytes are no subject for checksum calculation |
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341 | // they are the checksum itself |
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342 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
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343 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
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344 | // calculate checksum from transmitted data |
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345 | crc %= 4096; |
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346 | crc1 = '=' + crc / 64; |
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347 | crc2 = '=' + crc % 64; |
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348 | // compare checksum to transmitted checksum bytes |
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349 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
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350 | { // checksum valid |
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351 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
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352 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
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353 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
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354 | // if 2nd byte is an 'R' start bootloader |
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355 | if(rxd_buffer[2] == 'R') |
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356 | { |
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357 | PowerOff(); |
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358 | VIC_DeInit(); |
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359 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
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360 | } |
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361 | } // eof checksum valid |
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362 | else |
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363 | { // checksum invalid |
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364 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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365 | } // eof checksum invalid |
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366 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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367 | } // eof termination character received |
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368 | } // rxd buffer not full |
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369 | else // rxd buffer overrun |
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370 | { |
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371 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
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372 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
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373 | } // eof rxd buffer overrrun |
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374 | } // some byes in the fifo and rxd buffer not locked |
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375 | } // eof DebugUart = UART1 |
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376 | } |
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377 | } |
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378 | |||
379 | /**************************************************************/ |
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380 | /* Transmit tx buffer via debug uart */ |
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381 | /**************************************************************/ |
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382 | void UART1_Transmit(void) |
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383 | { |
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384 | u8 tmp_tx; |
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385 | // if something has to be send and the txd fifo is not full |
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386 | if((!txd_complete) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
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387 | { |
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388 | tmp_tx = txd_buffer[ptr_txd_buffer]; // read byte from txd buffer |
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389 | // if terminating character or end of txd buffer reached |
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390 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
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391 | { |
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392 | ptr_txd_buffer = 0; // reset txd buffer pointer |
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393 | txd_complete = TRUE;// set complete flag |
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394 | } |
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395 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
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396 | // set pointer to next byte |
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397 | ptr_txd_buffer++; |
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398 | } |
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399 | } |
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400 | |||
401 | /**************************************************************/ |
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402 | /* Add CRC and initiate transmission via debug uart */ |
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403 | /**************************************************************/ |
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404 | void AddCRC(u16 datalen) |
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405 | { |
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406 | u16 tmpCRC = 0, i; |
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407 | for(i = 0; i < datalen; i++) |
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408 | { |
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409 | tmpCRC += txd_buffer[i]; |
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410 | } |
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411 | tmpCRC %= 4096; |
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412 | txd_buffer[i++] = '=' + tmpCRC / 64; |
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413 | txd_buffer[i++] = '=' + tmpCRC % 64; |
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414 | txd_buffer[i++] = '\r'; |
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415 | |||
416 | ptr_txd_buffer = 0; |
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417 | txd_complete = FALSE; |
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49 | ingob | 418 | UART_SendData(UART1, txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
41 | ingob | 419 | } |
420 | |||
421 | |||
422 | |||
423 | /**************************************************************/ |
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424 | /* Code output data */ |
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425 | /**************************************************************/ |
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426 | void SendOutData(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
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427 | { |
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428 | va_list ap; |
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429 | |||
430 | u16 pt = 0; |
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431 | u8 a,b,c; |
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432 | u8 ptr = 0; |
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433 | |||
434 | u8* pdata = NULL; |
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435 | int len = 0; |
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436 | |||
437 | txd_buffer[pt++] = '#'; // Start character |
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438 | txd_buffer[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
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439 | txd_buffer[pt++] = cmd; // Command |
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440 | |||
441 | va_start(ap, numofbuffers); |
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442 | if(numofbuffers) |
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443 | { |
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444 | pdata = va_arg(ap, u8*); |
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445 | len = va_arg(ap, int); |
||
446 | ptr = 0; |
||
447 | numofbuffers--; |
||
448 | } |
||
449 | while(len) |
||
450 | { |
||
451 | if(len) |
||
452 | { |
||
453 | a = pdata[ptr++]; |
||
454 | len--; |
||
455 | if((!len) && numofbuffers) // try to jump to next buffer |
||
456 | { |
||
457 | pdata = va_arg(ap, u8*); |
||
458 | len = va_arg(ap, int); |
||
459 | ptr = 0; |
||
460 | numofbuffers--; |
||
461 | } |
||
462 | } |
||
463 | else a = 0; |
||
464 | if(len) |
||
465 | { |
||
466 | b = pdata[ptr++]; |
||
467 | len--; |
||
468 | if((!len) && numofbuffers) // try to jump to next buffer |
||
469 | { |
||
470 | pdata = va_arg(ap, u8*); |
||
471 | len = va_arg(ap, int); |
||
472 | ptr = 0; |
||
473 | numofbuffers--; |
||
474 | } |
||
475 | } |
||
476 | else b = 0; |
||
477 | if(len) |
||
478 | { |
||
479 | c = pdata[ptr++]; |
||
480 | len--; |
||
481 | if((!len) && numofbuffers) // try to jump to next buffer |
||
482 | { |
||
483 | pdata = va_arg(ap, u8*); |
||
484 | len = va_arg(ap, int); |
||
485 | ptr = 0; |
||
486 | numofbuffers--; |
||
487 | } |
||
488 | } |
||
489 | else c = 0; |
||
490 | txd_buffer[pt++] = '=' + (a >> 2); |
||
491 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
||
492 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
||
493 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
||
494 | } |
||
495 | va_end(ap); |
||
496 | AddCRC(pt); // add checksum after data block and initates the transmission |
||
497 | } |
||
498 | |||
499 | |||
500 | /**************************************************************/ |
||
501 | /* Decode data */ |
||
502 | /**************************************************************/ |
||
503 | void Decode64(void) |
||
504 | { |
||
505 | u8 a,b,c,d; |
||
506 | u8 x,y,z; |
||
507 | u8 ptrIn = 3; // start with first data byte in rx buffer |
||
508 | u8 ptrOut = 3; |
||
509 | u8 len = ReceivedBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
||
510 | while(len) |
||
511 | { |
||
512 | a = rxd_buffer[ptrIn++] - '='; |
||
513 | b = rxd_buffer[ptrIn++] - '='; |
||
514 | c = rxd_buffer[ptrIn++] - '='; |
||
515 | d = rxd_buffer[ptrIn++] - '='; |
||
516 | //if(ptrIn > ReceivedBytes - 3) break; |
||
517 | |||
518 | x = (a << 2) | (b >> 4); |
||
519 | y = ((b & 0x0f) << 4) | (c >> 2); |
||
520 | z = ((c & 0x03) << 6) | d; |
||
521 | |||
522 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
||
523 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
||
524 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
||
525 | } |
||
526 | pRxData = &rxd_buffer[3]; |
||
527 | RxDataLen = ptrOut - 3; |
||
528 | } |
||
529 | |||
530 | /**************************************************************/ |
||
531 | /* Process incomming data from debug uart */ |
||
532 | /**************************************************************/ |
||
533 | void UART1_ProcessRxData(void) |
||
534 | { |
||
535 | // if data in the rxd buffer are not locked immediately return |
||
536 | if((!rxd_buffer_locked) || (DebugUART != UART1) ) return; |
||
537 | Waypoint_t * pWaypoint = NULL; |
||
538 | |||
539 | |||
540 | |||
541 | PcAccess = 255; |
||
542 | Decode64(); // decode data block in rxd buffer |
||
543 | switch(rxd_buffer[1] - 'a') // check for Slave Address |
||
544 | { |
||
545 | case NC_ADDRESS: // own Slave Address |
||
546 | |||
547 | switch(rxd_buffer[2]) |
||
548 | { |
||
92 | killagreg | 549 | case 'z': // connection checker |
96 | killagreg | 550 | memcpy(&Echo, (u8*)pRxData, sizeof(Echo)); // copy echo pattern |
92 | killagreg | 551 | SerialLinkOkay = 250; // reset SerialTimeout |
552 | Request_Echo = TRUE; |
||
553 | break; |
||
554 | |||
41 | ingob | 555 | case 'e': // request for the text of the error status |
556 | Request_ErrorMessage = TRUE; |
||
557 | break; |
||
558 | |||
559 | case 's':// new target position |
||
560 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
||
561 | BeepTime = 300; |
||
562 | if(pWaypoint->Position.Status == NEWDATA) |
||
563 | { |
||
564 | WPList_Clear(); // empty WPList |
||
565 | WPList_Append(pWaypoint); |
||
566 | GPS_pWaypoint = WPList_Begin(); |
||
567 | } |
||
568 | break; |
||
569 | |||
570 | case 'u': // redirect debug uart |
||
571 | switch(pRxData[0]) |
||
572 | { |
||
573 | case UART_FLIGHTCTRL: |
||
574 | UART2_Init(); // initialize UART2 to FC pins |
||
575 | DebugUART = UART2; |
||
576 | break; |
||
577 | case UART_MK3MAG: |
||
578 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
579 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
||
580 | GPSData.Status = INVALID; |
||
581 | DebugUART = UART0; |
||
582 | break; |
||
583 | case UART_MKGPS: |
||
584 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
585 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
||
586 | GPSData.Status = INVALID; |
||
587 | DebugUART = UART0; |
||
588 | break; |
||
589 | } |
||
590 | break; |
||
591 | |||
92 | killagreg | 592 | case 'w':// Append Waypoint to List |
41 | ingob | 593 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
594 | if(pWaypoint->Position.Status == INVALID) |
||
595 | { // clear WP List |
||
596 | WPList_Clear(); |
||
597 | GPS_pWaypoint = WPList_Begin(); |
||
598 | //SerialPutString("\r\nClear WP List\r\n"); |
||
599 | } |
||
600 | else if (pWaypoint->Position.Status == NEWDATA) |
||
601 | { // app current WP to the list |
||
602 | WPList_Append(pWaypoint); |
||
603 | BeepTime = 500; |
||
604 | //SerialPutString("\r\nAdd WP to List\r\n"); |
||
605 | } |
||
606 | Request_NewWaypoint = TRUE; |
||
607 | break; |
||
608 | |||
92 | killagreg | 609 | case 'x':// Read Waypoint from List |
610 | Request_ReadWaypoint = pRxData[0]; |
||
611 | break; |
||
612 | |||
41 | ingob | 613 | default: |
614 | // unsupported command recieved |
||
615 | break; |
||
616 | } // case NC_ADDRESS |
||
65 | killagreg | 617 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 618 | |
619 | default: // and any other Slave Address |
||
620 | |||
621 | switch(rxd_buffer[2]) // check CmdID |
||
622 | { |
||
623 | case 'a':// request for the labels of the analog debug outputs |
||
624 | Request_DebugLabel = pRxData[0]; |
||
625 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
||
626 | break; |
||
627 | |||
628 | case 'b': // submit extern control |
||
629 | memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
||
630 | ConfirmFrame = ExternControl.Frame; |
||
631 | break; |
||
632 | |||
633 | case 'd': // request for debug data; |
||
634 | DebugData_Interval = (u32) pRxData[0] * 10; |
||
635 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
||
636 | break; |
||
637 | |||
63 | killagreg | 638 | case 'c': // request for 3D data; |
639 | Data3D_Interval = (u32) pRxData[0] * 10; |
||
640 | if(Data3D_Interval > 0) Request_Data3D = TRUE; |
||
641 | break; |
||
642 | |||
41 | ingob | 643 | case 'g':// request for external control data |
644 | Request_ExternalControl = TRUE; |
||
645 | break; |
||
646 | |||
647 | case 'h':// reqest for display line |
||
648 | RemoteKeys |= pRxData[0]; |
||
649 | if(RemoteKeys != 0) DisplayLine = 0; |
||
650 | Request_Display = TRUE; |
||
651 | break; |
||
652 | |||
653 | case 'l':// reqest for display columns |
||
654 | MenuItem = pRxData[0]; |
||
655 | Request_Display1 = TRUE; |
||
656 | break; |
||
64 | holgerb | 657 | |
658 | case 'o': // request for navigation information |
||
659 | NaviData_Interval = (u32) pRxData[0] * 10; |
||
660 | if(NaviData_Interval > 0) Request_NaviData = TRUE; |
||
661 | break; |
||
662 | |||
41 | ingob | 663 | case 'v': // request for version info |
664 | Request_VerInfo = TRUE; |
||
665 | break; |
||
666 | default: |
||
667 | // unsupported command recieved |
||
668 | break; |
||
669 | } |
||
670 | break; // default: |
||
671 | } |
||
672 | // unlock the rxd buffer after processing |
||
673 | pRxData = NULL; |
||
674 | RxDataLen = 0; |
||
675 | rxd_buffer_locked = FALSE; |
||
676 | } |
||
677 | |||
678 | |||
679 | /*****************************************************/ |
||
680 | /* Send a character */ |
||
681 | /*****************************************************/ |
||
682 | s16 uart_putchar (char c) |
||
683 | { |
||
684 | if (c == '\n') uart_putchar('\r'); |
||
685 | // wait until txd fifo is not full |
||
686 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
687 | // transmit byte |
||
688 | UART_SendData(UART1, c); |
||
689 | return (0); |
||
690 | } |
||
691 | |||
692 | /*****************************************************/ |
||
693 | /* Send a string to the debug uart */ |
||
694 | /*****************************************************/ |
||
695 | void SerialPutString(u8 *s) |
||
696 | { |
||
697 | if(s == NULL) return; |
||
698 | while (*s != '\0' && DebugUART == UART1) |
||
699 | { |
||
700 | uart_putchar(*s); |
||
701 | s ++; |
||
702 | } |
||
703 | } |
||
704 | |||
705 | |||
706 | |||
707 | /**************************************************************/ |
||
708 | /* Send the answers to incomming commands at the debug uart */ |
||
709 | /**************************************************************/ |
||
710 | void UART1_TransmitTxData(void) |
||
711 | { |
||
712 | if(!txd_complete || (DebugUART != UART1) ) return; |
||
713 | |||
92 | killagreg | 714 | if(Request_Echo && txd_complete) |
715 | { |
||
716 | SendOutData('Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
||
717 | Echo = 0; // reset echo value |
||
718 | Request_Echo = FALSE; |
||
719 | } |
||
41 | ingob | 720 | if(Request_DebugLabel != 0xFF) |
721 | { |
||
722 | SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16); |
||
723 | Request_DebugLabel = 0xFF; |
||
724 | } |
||
725 | if(ConfirmFrame && txd_complete) |
||
726 | { |
||
727 | SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
||
728 | ConfirmFrame = 0; |
||
729 | } |
||
62 | killagreg | 730 | if( (( (DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
41 | ingob | 731 | { |
732 | SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
||
733 | DebugData_Timer = SetDelay(DebugData_Interval); |
||
734 | Request_DebugData = FALSE; |
||
735 | } |
||
61 | holgerb | 736 | |
62 | killagreg | 737 | if((( (Data3D_Interval > 0) && CheckDelay(Data3D_Timer) ) || Request_Data3D) && txd_complete) |
61 | holgerb | 738 | { |
739 | SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
||
62 | killagreg | 740 | Data3D_Timer = SetDelay(Data3D_Interval); |
741 | Request_Data3D = FALSE; |
||
61 | holgerb | 742 | } |
743 | |||
41 | ingob | 744 | if(Request_ExternalControl && txd_complete) |
745 | { |
||
746 | SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
||
747 | Request_ExternalControl = FALSE; |
||
748 | } |
||
749 | if(Request_Display && txd_complete) |
||
750 | { |
||
751 | LCD_PrintMenu(); |
||
752 | SendOutData('H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
||
753 | DisplayLine++; |
||
754 | if(DisplayLine >= 4) DisplayLine = 0; |
||
755 | Request_Display = FALSE; |
||
756 | } |
||
757 | if(Request_Display1 && txd_complete) |
||
758 | { |
||
759 | LCD_PrintMenu(); |
||
760 | SendOutData('L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
761 | Request_Display1 = FALSE; |
||
762 | } |
||
763 | if(Request_VerInfo && txd_complete) |
||
764 | { |
||
765 | SendOutData('V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
766 | Request_VerInfo = FALSE; |
||
767 | } |
||
768 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
||
769 | { |
||
770 | NaviData.Errorcode = ErrorCode; |
||
65 | killagreg | 771 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
772 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
41 | ingob | 773 | NaviData_Timer = SetDelay(NaviData_Interval); |
774 | Request_NaviData = FALSE; |
||
775 | } |
||
776 | if(Request_ErrorMessage && txd_complete) |
||
777 | { |
||
778 | SendOutData('E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
779 | Request_ErrorMessage = FALSE; |
||
780 | } |
||
781 | if(Request_SendFollowMe && txd_complete && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
||
782 | { |
||
783 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
784 | FollowMe.Position.Status = NEWDATA; |
||
785 | FollowMe.Heading = -1; |
||
786 | FollowMe.ToleranceRadius = 1; |
||
787 | FollowMe.HoldTime = 60; |
||
788 | FollowMe.Event_Flag = 0; |
||
789 | FollowMe.reserve[0] = 0; // reserve |
||
790 | FollowMe.reserve[1] = 0; // reserve |
||
791 | FollowMe.reserve[2] = 0; // reserve |
||
792 | FollowMe.reserve[3] = 0; // reserve |
||
793 | SendOutData('s', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
794 | Request_SendFollowMe = FALSE; |
||
795 | } |
||
796 | |||
797 | if(Request_NewWaypoint && txd_complete) |
||
798 | { |
||
799 | u8 WPNumber = WPList_GetCount(); |
||
65 | killagreg | 800 | SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
41 | ingob | 801 | Request_NewWaypoint = FALSE; |
802 | } |
||
803 | |||
92 | killagreg | 804 | if((Request_ReadWaypoint != 0xFF) && txd_complete) |
805 | { |
||
806 | u8 WPNumber = WPList_GetCount(); |
||
807 | if (Request_ReadWaypoint < WPNumber) |
||
808 | { |
||
809 | SendOutData('X', NC_ADDRESS, 3, &WPNumber, 1, &Request_ReadWaypoint, 1, WPList_GetAt(Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
810 | } |
||
811 | else |
||
812 | { |
||
813 | SendOutData('X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
814 | } |
||
815 | Request_ReadWaypoint = 0xFF; |
||
816 | } |
||
817 | |||
41 | ingob | 818 | } |
819 |