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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
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57 | #include <stdarg.h> |
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58 | #include <string.h> |
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59 | |||
60 | #include "91x_lib.h" |
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251 | killagreg | 61 | #include "main.h" |
463 | holgerb | 62 | #include "math.h" |
136 | killagreg | 63 | #include "config.h" |
41 | ingob | 64 | #include "menu.h" |
65 | #include "GPS.h" |
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66 | #include "i2c.h" |
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67 | #include "uart0.h" |
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68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
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243 | killagreg | 73 | #include "compass.h" |
41 | ingob | 74 | #include "waypoints.h" |
110 | killagreg | 75 | #include "mkprotocol.h" |
156 | killagreg | 76 | #include "params.h" |
153 | killagreg | 77 | #include "fifo.h" |
315 | killagreg | 78 | #include "debug.h" |
358 | holgerb | 79 | #include "spi_slave.h" |
349 | ingob | 80 | #include "ftphelper.h" |
378 | holgerb | 81 | #include "led.h" |
433 | ingob | 82 | #include "fat16.h" |
41 | ingob | 83 | |
433 | ingob | 84 | |
41 | ingob | 85 | #define FALSE 0 |
86 | #define TRUE 1 |
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87 | |||
351 | holgerb | 88 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
198 | killagreg | 89 | u32 UART1_AboTimeOut = 0; |
92 | killagreg | 90 | |
110 | killagreg | 91 | u8 UART1_Request_VersionInfo = FALSE; |
92 | u8 UART1_Request_ExternalControl= FALSE; |
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93 | u8 UART1_Request_Display = FALSE; |
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94 | u8 UART1_Request_Display1 = FALSE; |
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95 | u8 UART1_Request_DebugData = FALSE; |
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96 | u8 UART1_Request_DebugLabel = 255; |
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97 | u8 UART1_Request_NaviData = FALSE; |
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98 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 99 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 100 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 101 | u8 UART1_Request_Data3D = FALSE; |
358 | holgerb | 102 | u8 UART1_Request_MotorData = FALSE; |
110 | killagreg | 103 | u8 UART1_Request_Echo = FALSE; |
156 | killagreg | 104 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 105 | u8 UART1_Request_Parameter = FALSE; |
447 | holgerb | 106 | u8 UART1_Request_SystemTime = FALSE; |
201 | killagreg | 107 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 108 | u8 UART1_DisplayLine = 0; |
109 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 110 | u8 UART1_Request_FTP = FALSE; |
360 | holgerb | 111 | u8 LastTransmittedFCStatusFlags2 = 0; |
398 | holgerb | 112 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
466 | holgerb | 113 | u8 Send_NMEA_RMC = FALSE; |
41 | ingob | 114 | |
115 | UART_TypeDef *DebugUART = UART1; |
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116 | |||
314 | killagreg | 117 | #ifdef FOLLOW_ME |
118 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 119 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 120 | Point_t FollowMe; |
121 | #endif |
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122 | |||
153 | killagreg | 123 | // the primary rx fifo |
378 | holgerb | 124 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 125 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
126 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 127 | |
128 | // the rx buffer |
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378 | holgerb | 129 | #define UART1_RX_BUFFER_LEN 1024 |
110 | killagreg | 130 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
131 | Buffer_t UART1_rx_buffer; |
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132 | |||
153 | killagreg | 133 | // the tx buffer |
349 | ingob | 134 | #define UART1_TX_BUFFER_LEN 1024 |
153 | killagreg | 135 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
136 | Buffer_t UART1_tx_buffer; |
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137 | |||
92 | killagreg | 138 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 139 | |
150 | killagreg | 140 | u8 text[200]; |
41 | ingob | 141 | |
142 | const u8 ANALOG_LABEL[32][16] = |
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143 | { |
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90 | killagreg | 144 | //1234567890123456 |
41 | ingob | 145 | "AngleNick ", //0 |
146 | "AngleRoll ", |
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147 | "AccNick ", |
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148 | "AccRoll ", |
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214 | killagreg | 149 | "OperatingRadius ", |
200 | killagreg | 150 | "FC-Flags ", //5 |
95 | killagreg | 151 | "NC-Flags ", |
121 | killagreg | 152 | "NickServo ", |
153 | "RollServo ", |
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41 | ingob | 154 | "GPS Data ", |
61 | holgerb | 155 | "CompassHeading ", //10 |
156 | "GyroHeading ", |
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419 | holgerb | 157 | "SPI Error ", // achtung: muss auf 12 bleiben |
41 | ingob | 158 | "SPI Okay ", |
189 | killagreg | 159 | "I2C Error ", |
41 | ingob | 160 | "I2C Okay ", //15 |
339 | holgerb | 161 | "16 ", |
437 | holgerb | 162 | "17 ", |
163 | "18 ", |
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164 | "19 ", // SD-Card-time |
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330 | holgerb | 165 | "EarthMagnet [%] ", //20 |
456 | holgerb | 166 | "Ground Speed ", // "Z_Speed ", |
338 | holgerb | 167 | "N_Speed ", |
168 | "E_Speed ", |
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310 | holgerb | 169 | "Magnet X ", |
338 | holgerb | 170 | "Magnet Y ", //25 |
310 | holgerb | 171 | "Magnet Z ", |
41 | ingob | 172 | "Distance N ", |
173 | "Distance E ", |
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174 | "GPS_Nick ", |
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175 | "GPS_Roll ", //30 |
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176 | "Used_Sats " |
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177 | }; |
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178 | |||
112 | killagreg | 179 | DebugOut_t DebugOut; |
180 | ExternControl_t ExternControl; |
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181 | UART_VersionInfo_t UART_VersionInfo; |
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182 | NaviData_t NaviData; |
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183 | Data3D_t Data3D; |
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184 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 185 | |
193 | killagreg | 186 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 187 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 188 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 189 | u32 UART1_NaviData_Interval = 0; // in ms |
190 | u32 UART1_Data3D_Timer = 0; |
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191 | u32 UART1_Data3D_Interval = 0; // in ms |
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358 | holgerb | 192 | u32 UART1_MotorData_Timer = 0; |
193 | u32 UART1_MotorData_Interval = 0; // in ms |
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193 | killagreg | 194 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 195 | u32 UART1_Display_Interval = 0; // in ms |
460 | holgerb | 196 | u32 NMEA_Timer = 0; |
197 | u32 NMEA_Interval = 500;// in ms |
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112 | killagreg | 198 | |
41 | ingob | 199 | /********************************************************/ |
200 | /* Initialization the UART1 */ |
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201 | /********************************************************/ |
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202 | void UART1_Init (void) |
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203 | { |
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204 | GPIO_InitTypeDef GPIO_InitStructure; |
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205 | UART_InitTypeDef UART_InitStructure; |
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206 | |||
153 | killagreg | 207 | // initialize txd buffer |
208 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 209 | |
153 | killagreg | 210 | // initialize rxd buffer |
211 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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212 | |||
244 | killagreg | 213 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
214 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 215 | |
41 | ingob | 216 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
217 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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218 | |||
219 | /*Configure UART1_Rx pin GPIO3.2*/ |
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220 | GPIO_StructInit(&GPIO_InitStructure); |
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221 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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222 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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223 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 224 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 225 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
226 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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227 | |||
228 | /*Configure UART1_Tx pin GPIO3.3*/ |
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229 | GPIO_StructInit(&GPIO_InitStructure); |
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230 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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231 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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232 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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233 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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234 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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235 | |||
236 | /* UART1 configured as follow: |
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237 | - Word Length = 8 Bits |
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238 | - One Stop Bit |
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239 | - No parity |
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240 | - BaudRate = 57600 baud |
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241 | - Hardware flow control Disabled |
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242 | - Receive and transmit enabled |
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243 | - Receive and transmit FIFOs are Disabled |
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244 | */ |
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245 | UART_StructInit(&UART_InitStructure); |
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246 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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247 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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248 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 249 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 250 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
251 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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252 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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253 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 254 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 255 | |
256 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 257 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 258 | // enable uart 1 interrupts selective |
259 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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260 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 261 | // configure the uart 1 interupt line |
262 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 263 | // enable the uart 1 IRQ |
41 | ingob | 264 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 265 | |
41 | ingob | 266 | // initialize the debug timer |
110 | killagreg | 267 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
268 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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461 | holgerb | 269 | NMEA_Timer = SetDelay(14000); |
110 | killagreg | 270 | |
41 | ingob | 271 | // Fill Version Info Structure |
272 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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273 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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274 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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275 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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276 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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454 | holgerb | 277 | UART_VersionInfo.HWMajor = Version_HW; |
278 | UART_VersionInfo.reserved2 = 0; |
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279 | UART_VersionInfo.Flags = 0; |
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89 | killagreg | 280 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 281 | |
212 | killagreg | 282 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 283 | } |
284 | |||
285 | |||
286 | /****************************************************************/ |
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287 | /* USART1 receiver ISR */ |
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288 | /****************************************************************/ |
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289 | void UART1_IRQHandler(void) |
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290 | { |
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291 | static u8 abortState = 0; |
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292 | u8 c; |
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293 | |||
294 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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295 | { |
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153 | killagreg | 296 | // clear the pending bits! |
41 | ingob | 297 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
298 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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299 | // if debug UART is not UART1 |
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300 | if (DebugUART != UART1) |
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301 | { // forward received data to the debug UART tx buffer |
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302 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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303 | { |
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304 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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305 | c = UART_ReceiveData(UART1); |
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306 | |||
307 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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308 | switch (abortState) |
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309 | { |
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165 | killagreg | 310 | case 0: |
139 | killagreg | 311 | if (c == 27) abortState++; |
41 | ingob | 312 | break; |
165 | killagreg | 313 | case 1: |
314 | if (c == 27) abortState++; |
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139 | killagreg | 315 | else abortState = 0; |
41 | ingob | 316 | break; |
139 | killagreg | 317 | case 2: |
165 | killagreg | 318 | if (c == 0x55) abortState++; |
139 | killagreg | 319 | else abortState = 0; |
41 | ingob | 320 | break; |
139 | killagreg | 321 | case 3: |
322 | if (c == 0xAA) abortState++; |
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323 | else abortState = 0; |
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41 | ingob | 324 | break; |
165 | killagreg | 325 | case 4: |
139 | killagreg | 326 | if (c == 0x00) |
327 | { |
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328 | if(DebugUART == UART0) |
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329 | { |
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245 | killagreg | 330 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 331 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 332 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 333 | } |
334 | DebugUART = UART1; |
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165 | killagreg | 335 | } |
139 | killagreg | 336 | abortState = 0; |
337 | break; |
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338 | } // end switch abort state |
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136 | killagreg | 339 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 340 | if (DebugUART != UART1) |
341 | { |
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342 | // wait for space in the tx buffer of the DebugUART |
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343 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 344 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 345 | UART_SendData(DebugUART, c); |
346 | } |
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41 | ingob | 347 | } |
348 | } |
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349 | else // DebugUART == UART1 (normal operation) |
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350 | { |
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110 | killagreg | 351 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 352 | { // some byes in the hardware fifo |
153 | killagreg | 353 | // get byte from hardware fifo |
41 | ingob | 354 | c = UART_ReceiveData(UART1); |
153 | killagreg | 355 | // put into the software fifo |
356 | if(!fifo_put(&UART1_rx_fifo, c)) |
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357 | { // fifo overflow |
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155 | killagreg | 358 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 359 | } |
154 | killagreg | 360 | } // EOF while some byes in the hardware fifo |
41 | ingob | 361 | } // eof DebugUart = UART1 |
362 | } |
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195 | killagreg | 363 | |
380 | holgerb | 364 | |
365 | |||
378 | holgerb | 366 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 367 | } |
368 | |||
369 | /**************************************************************/ |
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370 | /* Process incomming data from debug uart */ |
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371 | /**************************************************************/ |
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372 | void UART1_ProcessRxData(void) |
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373 | { |
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154 | killagreg | 374 | // return on forwarding uart or unlocked rx buffer |
380 | holgerb | 375 | u8 c; |
155 | killagreg | 376 | if(DebugUART != UART1) return; |
377 | // if rx buffer is not locked |
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378 | if(UART1_rx_buffer.Locked == FALSE) |
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315 | killagreg | 379 | { |
244 | killagreg | 380 | //collect data from primary rx fifo |
155 | killagreg | 381 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 382 | { |
244 | killagreg | 383 | // break if complete frame is collected |
155 | killagreg | 384 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
385 | } |
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386 | } |
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387 | if(UART1_rx_buffer.Locked == FALSE) return; |
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388 | |||
280 | killagreg | 389 | Point_t * pPoint = NULL; |
153 | killagreg | 390 | SerialMsg_t SerialMsg; |
41 | ingob | 391 | |
190 | killagreg | 392 | // analyze header first |
393 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
194 | killagreg | 394 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 395 | { |
192 | killagreg | 396 | switch(SerialMsg.CmdID) |
397 | { |
||
231 | holgerb | 398 | // case 'v': // version |
398 | holgerb | 399 | case 'b': // extern control |
400 | UART1_ExternalControlConfirmFrame = 1; |
||
192 | killagreg | 401 | case 'y': // serial poti values |
402 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
403 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
194 | killagreg | 404 | return; //end process rx data |
192 | killagreg | 405 | break; |
406 | } |
||
195 | killagreg | 407 | } |
190 | killagreg | 408 | |
409 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
410 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
411 | switch(SerialMsg.Address) // check for Slave Address |
||
412 | { |
||
41 | ingob | 413 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 414 | switch(SerialMsg.CmdID) |
41 | ingob | 415 | { |
447 | holgerb | 416 | case 't': // request for the GPS time |
417 | UART1_Request_SystemTime = TRUE; |
||
418 | break; |
||
419 | |||
349 | ingob | 420 | case 'f': // ftp command |
421 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
422 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
||
423 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
||
424 | break; |
||
425 | |||
101 | holgerb | 426 | case 'z': // connection checker |
110 | killagreg | 427 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
428 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 429 | break; |
430 | |||
41 | ingob | 431 | case 'e': // request for the text of the error status |
110 | killagreg | 432 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 433 | break; |
434 | |||
435 | case 's':// new target position |
||
280 | killagreg | 436 | pPoint = (Point_t*)SerialMsg.pData; |
437 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 438 | { |
315 | killagreg | 439 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 440 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 441 | PointList_SetAt(pPoint); |
315 | killagreg | 442 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 443 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 444 | if(GPS_pWaypoint != NULL) // if new WP exist |
445 | { // update WP hold time stamp immediately! |
||
451 | holgerb | 446 | EnableNewWpHeading(); |
302 | holgerb | 447 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
448 | { |
||
449 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
450 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
451 | } |
||
452 | */ |
||
453 | } |
||
295 | killagreg | 454 | BeepTime = 50; |
41 | ingob | 455 | } |
456 | break; |
||
457 | |||
458 | case 'u': // redirect debug uart |
||
110 | killagreg | 459 | switch(SerialMsg.pData[0]) |
41 | ingob | 460 | { |
461 | case UART_FLIGHTCTRL: |
||
462 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 463 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 464 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 465 | DebugUART = UART2; |
466 | break; |
||
467 | case UART_MK3MAG: |
||
255 | killagreg | 468 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 469 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
470 | GPSData.Status = INVALID; |
||
153 | killagreg | 471 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 472 | DebugUART = UART0; |
473 | break; |
||
474 | case UART_MKGPS: |
||
255 | killagreg | 475 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 476 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 477 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 478 | GPSData.Status = INVALID; |
153 | killagreg | 479 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 480 | DebugUART = UART0; |
481 | break; |
||
153 | killagreg | 482 | default: |
483 | break; |
||
41 | ingob | 484 | } |
485 | break; |
||
486 | |||
295 | killagreg | 487 | case 'w':// Set point in list at index |
165 | killagreg | 488 | { |
280 | killagreg | 489 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 490 | |
280 | killagreg | 491 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 492 | { |
280 | killagreg | 493 | PointList_Clear(); |
494 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 495 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 496 | } |
227 | killagreg | 497 | else |
295 | killagreg | 498 | { // update WP in list at index |
351 | holgerb | 499 | if(pPoint->Index > MaxNumberOfWaypoints) |
500 | { |
||
501 | UART1_Request_WritePoint = 254; |
||
502 | pPoint->Index = MaxNumberOfWaypoints; |
||
503 | } |
||
504 | else |
||
505 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 506 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 507 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 508 | { |
509 | BeepTime = 500; |
||
165 | killagreg | 510 | } |
511 | } |
||
41 | ingob | 512 | } |
513 | break; |
||
514 | |||
92 | killagreg | 515 | case 'x':// Read Waypoint from List |
280 | killagreg | 516 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 517 | break; |
518 | |||
160 | holgerb | 519 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 520 | switch(SerialMsg.pData[0]) |
521 | { |
||
522 | case 0: // get |
||
523 | break; |
||
165 | killagreg | 524 | |
156 | killagreg | 525 | case 1: // set |
159 | killagreg | 526 | { |
527 | s16 value; |
||
528 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
529 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
530 | } |
||
156 | killagreg | 531 | break; |
532 | |||
533 | default: |
||
165 | killagreg | 534 | break; |
156 | killagreg | 535 | } |
536 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
537 | UART1_Request_Parameter = TRUE; |
||
538 | break; |
||
41 | ingob | 539 | default: |
540 | // unsupported command recieved |
||
541 | break; |
||
542 | } // case NC_ADDRESS |
||
65 | killagreg | 543 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 544 | |
545 | default: // and any other Slave Address |
||
546 | |||
190 | killagreg | 547 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 548 | { |
549 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 550 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
551 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 552 | break; |
193 | killagreg | 553 | /* |
41 | ingob | 554 | case 'b': // submit extern control |
121 | killagreg | 555 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 556 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 557 | break; |
195 | killagreg | 558 | */ |
41 | ingob | 559 | case 'd': // request for debug data; |
110 | killagreg | 560 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
561 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 562 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 563 | break; |
564 | |||
63 | killagreg | 565 | case 'c': // request for 3D data; |
110 | killagreg | 566 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
567 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 568 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 569 | break; |
275 | killagreg | 570 | |
358 | holgerb | 571 | case 'k': // request for Motor data; |
572 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
573 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
574 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
575 | break; |
||
576 | |||
41 | ingob | 577 | case 'h':// reqest for display line |
193 | killagreg | 578 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
579 | { |
||
580 | UART1_DisplayLine = 2; |
||
195 | killagreg | 581 | UART1_Display_Interval = 0; |
193 | killagreg | 582 | } |
583 | else |
||
584 | { |
||
201 | killagreg | 585 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 586 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
587 | UART1_DisplayLine = 4; |
||
198 | killagreg | 588 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 589 | } |
110 | killagreg | 590 | UART1_Request_Display = TRUE; |
41 | ingob | 591 | break; |
592 | |||
593 | case 'l':// reqest for display columns |
||
110 | killagreg | 594 | MenuItem = SerialMsg.pData[0]; |
595 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 596 | break; |
64 | holgerb | 597 | |
598 | case 'o': // request for navigation information |
||
110 | killagreg | 599 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
600 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 601 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 602 | break; |
603 | |||
41 | ingob | 604 | case 'v': // request for version info |
110 | killagreg | 605 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 606 | break; |
607 | default: |
||
608 | // unsupported command recieved |
||
609 | break; |
||
610 | } |
||
611 | break; // default: |
||
612 | } |
||
153 | killagreg | 613 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 614 | } |
615 | |||
616 | |||
617 | /*****************************************************/ |
||
618 | /* Send a character */ |
||
619 | /*****************************************************/ |
||
110 | killagreg | 620 | s16 UART1_Putchar(char c) |
41 | ingob | 621 | { |
362 | holgerb | 622 | u32 timeout = 10000; |
110 | killagreg | 623 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 624 | // wait until txd fifo is not full |
362 | holgerb | 625 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
41 | ingob | 626 | // transmit byte |
627 | UART_SendData(UART1, c); |
||
314 | killagreg | 628 | #ifdef FOLLOW_ME |
629 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
630 | #endif |
||
41 | ingob | 631 | return (0); |
632 | } |
||
633 | |||
634 | /*****************************************************/ |
||
635 | /* Send a string to the debug uart */ |
||
636 | /*****************************************************/ |
||
110 | killagreg | 637 | void UART1_PutString(u8 *s) |
41 | ingob | 638 | { |
639 | if(s == NULL) return; |
||
640 | while (*s != '\0' && DebugUART == UART1) |
||
641 | { |
||
110 | killagreg | 642 | UART1_Putchar(*s); |
41 | ingob | 643 | s ++; |
644 | } |
||
645 | } |
||
646 | |||
113 | killagreg | 647 | |
110 | killagreg | 648 | /**************************************************************/ |
649 | /* Transmit tx buffer via debug uart */ |
||
650 | /**************************************************************/ |
||
651 | void UART1_Transmit(void) |
||
652 | { |
||
653 | u8 tmp_tx; |
||
654 | if(DebugUART != UART1) return; |
||
655 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 656 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 657 | { |
113 | killagreg | 658 | // while there is some space in the tx fifo |
659 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 660 | { |
113 | killagreg | 661 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
662 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 663 | #ifdef FOLLOW_ME |
315 | killagreg | 664 | if(TransmitAlsoToFC) |
665 | { |
||
314 | killagreg | 666 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
667 | } |
||
668 | #endif |
||
113 | killagreg | 669 | // if terminating character or end of txd buffer reached |
461 | holgerb | 670 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
113 | killagreg | 671 | { |
672 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 673 | #ifdef FOLLOW_ME |
674 | TransmitAlsoToFC = 0; |
||
675 | #endif |
||
113 | killagreg | 676 | break; // end while loop |
677 | } |
||
110 | killagreg | 678 | } |
679 | } |
||
680 | } |
||
41 | ingob | 681 | |
460 | holgerb | 682 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
683 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
684 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
466 | holgerb | 685 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
460 | holgerb | 686 | void CreateNmeaGGA(void) |
687 | { |
||
466 | holgerb | 688 | unsigned char array[200], i = 0, crc = 0, x; |
460 | holgerb | 689 | long tmp1, tmp2; |
690 | i += sprintf(array, "$GPGGA,"); |
||
691 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
692 | if(SystemTime.Valid) |
||
693 | { |
||
694 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
||
695 | } |
||
696 | else |
||
697 | { |
||
698 | i += sprintf(&array[i], ","); |
||
699 | } |
||
700 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
701 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
702 | { |
||
703 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
704 | i += sprintf(&array[i],"%02d",tmp1); |
||
378 | holgerb | 705 | |
460 | holgerb | 706 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
707 | tmp1 *= 6; // in Minuten |
||
708 | tmp2 = tmp1 / 1000000L; |
||
709 | i += sprintf(&array[i],"%02d",tmp2); |
||
710 | tmp2 = tmp1 % 1000000L; |
||
711 | tmp2 /= 10; // eine Stelle zu viel |
||
712 | i += sprintf(&array[i],".%05d,",tmp2); |
||
713 | |||
714 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
715 | else i += sprintf(&array[i],"S,"); |
||
716 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
717 | |||
718 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
719 | i += sprintf(&array[i],"%03d",tmp1); |
||
720 | |||
721 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
||
722 | tmp1 *= 6; // in Minuten |
||
723 | tmp2 = tmp1 / 1000000L; |
||
724 | i += sprintf(&array[i],"%02d",tmp2); |
||
725 | tmp2 = tmp1 % 1000000L; |
||
726 | tmp2 /= 10; // eine Stelle zu viel |
||
727 | i += sprintf(&array[i],".%05d,",tmp2); |
||
728 | |||
729 | |||
730 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
731 | else i += sprintf(&array[i],"W,"); |
||
732 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
733 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
734 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
||
735 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
736 | tmp1 = NaviData.Altimeter / 2; // in dm |
||
737 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
||
738 | i += sprintf(&array[i],",,,*"); |
||
739 | } |
||
740 | else |
||
741 | { |
||
742 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
743 | } |
||
744 | for(x=1; x<i-1; x++) |
||
745 | { |
||
746 | crc ^= array[x]; |
||
747 | } |
||
461 | holgerb | 748 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
460 | holgerb | 749 | AddSerialData(&UART1_tx_buffer,array,i); |
750 | |||
751 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
466 | holgerb | 752 | } |
753 | |||
754 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
755 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
||
756 | |||
757 | void CreateNmeaRMC(void) |
||
758 | { |
||
759 | unsigned char array[200], i = 0, crc = 0, x; |
||
760 | int tmp_int; |
||
761 | long tmp1, tmp2; |
||
762 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
763 | i += sprintf(array, "$GPRMC,"); |
||
764 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
765 | if(SystemTime.Valid) |
||
766 | { |
||
767 | i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec); |
||
768 | } |
||
769 | else |
||
770 | { |
||
771 | i += sprintf(&array[i], ","); |
||
772 | } |
||
773 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
774 | { |
||
775 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
776 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
777 | i += sprintf(&array[i],"A,%02d",tmp1); // Status: A = Okay V = Warnung |
||
778 | |||
779 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
||
780 | tmp1 *= 6; // in Minuten |
||
781 | tmp2 = tmp1 / 1000000L; |
||
782 | i += sprintf(&array[i],"%02d",tmp2); |
||
783 | tmp2 = tmp1 % 1000000L; |
||
784 | tmp2 /= 10; // eine Stelle zu viel |
||
785 | i += sprintf(&array[i],".%05d,",tmp2); |
||
786 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
787 | else i += sprintf(&array[i],"S,"); |
||
788 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
789 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
790 | i += sprintf(&array[i],"%03d",tmp1); |
||
791 | |||
792 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
||
793 | tmp1 *= 6; // in Minuten |
||
794 | tmp2 = tmp1 / 1000000L; |
||
795 | i += sprintf(&array[i],"%02d",tmp2); |
||
796 | tmp2 = tmp1 % 1000000L; |
||
797 | tmp2 /= 10; // eine Stelle zu viel |
||
798 | i += sprintf(&array[i],".%05d,",tmp2); |
||
799 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
800 | else i += sprintf(&array[i],"W,"); |
||
801 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
802 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
||
803 | tmp_int *= 90; |
||
804 | tmp_int /= 463; |
||
805 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
||
806 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
807 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
808 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
809 | if(SystemTime.Valid) |
||
810 | { |
||
811 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
||
812 | } |
||
813 | else |
||
814 | { |
||
815 | i += sprintf(&array[i], ","); |
||
816 | } |
||
817 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
818 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
819 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
||
820 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
821 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
||
822 | else i += sprintf(&array[i], "A,"); |
||
823 | } |
||
824 | else // kein Satfix |
||
825 | { |
||
826 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
||
827 | } |
||
828 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
829 | // CRC |
||
830 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
831 | for(x=1; x<i-1; x++) |
||
832 | { |
||
833 | crc ^= array[x]; |
||
834 | } |
||
835 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
836 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
837 | AddSerialData(&UART1_tx_buffer,array,i); |
||
838 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
460 | holgerb | 839 | /* |
840 | |||
841 | |||
842 | |||
843 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
||
844 | GPSData.NumOfSats = UbxSol.numSV; |
||
845 | GPSData.SatFix = UbxSol.GPSfix; |
||
846 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
847 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
848 | SetGPSTime(&SystemTime); // update system time |
||
849 | // NAV POSLLH |
||
850 | GPSData.Position.Status = INVALID; |
||
851 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
852 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
853 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
854 | GPSData.Position.Status = NEWDATA; |
||
855 | // NAV VELNED |
||
856 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
857 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
858 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
859 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
860 | GPSData.Heading = UbxVelNed.Heading; |
||
861 | SystemTime.Year = 0; |
||
862 | SystemTime.Month = 0; |
||
863 | SystemTime.Day = 0; |
||
864 | SystemTime.Hour = 0; |
||
865 | SystemTime.Min = 0; |
||
866 | SystemTime.Sec = 0; |
||
867 | SystemTime.mSec = 0; |
||
868 | SystemTime.Valid = 0; |
||
869 | |||
870 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
||
871 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
872 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
873 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
874 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
875 | |||
876 | |||
877 | |||
878 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
879 | i1 *= 100; |
||
880 | i1 += i2 / 100000; |
||
881 | i2 = i2 % 100000; |
||
882 | i2 /= 10; |
||
883 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
884 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
885 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
886 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
887 | break; |
||
888 | case 1: |
||
889 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
890 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
891 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
892 | //----------------------------- |
||
893 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
894 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
895 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
896 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
897 | |||
898 | */ |
||
899 | } |
||
900 | |||
901 | |||
41 | ingob | 902 | /**************************************************************/ |
903 | /* Send the answers to incomming commands at the debug uart */ |
||
904 | /**************************************************************/ |
||
905 | void UART1_TransmitTxData(void) |
||
906 | { |
||
358 | holgerb | 907 | static u8 motorindex1 = 255, motorindex2 = 0; |
110 | killagreg | 908 | if(DebugUART != UART1) return; |
198 | killagreg | 909 | |
910 | if(CheckDelay(UART1_AboTimeOut)) |
||
911 | { |
||
912 | UART1_DebugData_Interval = 0; |
||
913 | UART1_NaviData_Interval = 0; |
||
914 | UART1_Data3D_Interval = 0; |
||
915 | UART1_Display_Interval = 0; |
||
378 | holgerb | 916 | UART1_MotorData_Interval = 0; |
198 | killagreg | 917 | } |
918 | |||
110 | killagreg | 919 | UART1_Transmit(); // output pending bytes in tx buffer |
920 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 921 | |
156 | killagreg | 922 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 923 | { |
315 | killagreg | 924 | s16 ParamValue; |
299 | killagreg | 925 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 926 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
156 | killagreg | 927 | UART1_Request_Parameter = FALSE; |
928 | } |
||
929 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
930 | { |
||
110 | killagreg | 931 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 932 | Echo = 0; // reset echo value |
110 | killagreg | 933 | UART1_Request_Echo = FALSE; |
92 | killagreg | 934 | } |
349 | ingob | 935 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
936 | { |
||
433 | ingob | 937 | u8 errorcode = FTP_ERROR_NONE; |
938 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
939 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
940 | |||
941 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
942 | else |
||
943 | { |
||
944 | u8 cmd = FTP_CMD_ERROR; |
||
945 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
946 | } |
||
947 | |||
349 | ingob | 948 | UART1_Request_FTP = FALSE; |
949 | } |
||
295 | killagreg | 950 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 951 | { |
295 | killagreg | 952 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
953 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 954 | } |
280 | killagreg | 955 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 956 | { |
280 | killagreg | 957 | u8 PointCount = PointList_GetCount(); |
958 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 959 | { |
280 | killagreg | 960 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
154 | killagreg | 961 | } |
962 | else |
||
963 | { |
||
280 | killagreg | 964 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 965 | } |
280 | killagreg | 966 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 967 | } |
968 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
969 | { |
||
970 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
971 | UART1_Request_DebugLabel = 0xFF; |
||
972 | } |
||
398 | holgerb | 973 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
974 | { |
||
975 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
976 | UART1_ExternalControlConfirmFrame = 0; |
||
977 | } |
||
151 | killagreg | 978 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 979 | { |
151 | killagreg | 980 | NaviData.Errorcode = ErrorCode; |
378 | holgerb | 981 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
151 | killagreg | 982 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
983 | UART1_Request_NaviData = FALSE; |
||
360 | holgerb | 984 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
151 | killagreg | 985 | } |
986 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
987 | { |
||
110 | killagreg | 988 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
989 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
990 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 991 | } |
151 | killagreg | 992 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 993 | { |
358 | holgerb | 994 | Data3D.StickNick = FC.StickNick; |
995 | Data3D.StickRoll = FC.StickRoll; |
||
996 | Data3D.StickYaw = FC.StickYaw; |
||
997 | Data3D.StickGas = FC.StickGas; |
||
110 | killagreg | 998 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
999 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
1000 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 1001 | } |
358 | holgerb | 1002 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1003 | { |
||
1004 | do |
||
1005 | { |
||
1006 | motorindex1++; |
||
1007 | motorindex1%=12; |
||
1008 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
1009 | if(motorindex1 == motorindex2) break; |
||
1010 | } |
||
1011 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
1012 | |||
1013 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
1014 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
1015 | UART1_Request_MotorData = FALSE; |
||
1016 | } |
||
460 | holgerb | 1017 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1018 | { |
||
1019 | CreateNmeaGGA(); |
||
466 | holgerb | 1020 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
460 | holgerb | 1021 | NMEA_Timer = SetDelay(NMEA_Interval); |
1022 | } |
||
466 | holgerb | 1023 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1024 | { |
||
1025 | CreateNmeaRMC(); |
||
1026 | Send_NMEA_RMC = FALSE; |
||
1027 | } |
||
460 | holgerb | 1028 | |
193 | killagreg | 1029 | /* |
153 | killagreg | 1030 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1031 | { |
||
1032 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
1033 | UART1_ConfirmFrame = 0; |
||
1034 | } |
||
193 | killagreg | 1035 | */ |
1036 | /* |
||
151 | killagreg | 1037 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1038 | { |
110 | killagreg | 1039 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1040 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 1041 | } |
193 | killagreg | 1042 | */ |
1043 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 1044 | { |
193 | killagreg | 1045 | if(UART1_DisplayLine > 3) |
1046 | { |
||
201 | killagreg | 1047 | Menu_Update(UART1_DisplayKeys); |
1048 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 1049 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1050 | } |
||
1051 | else |
||
1052 | { |
||
1053 | UART1_DisplayLine = 2; |
||
1054 | sprintf(text,"!!! incompatible !!!"); |
||
1055 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
1056 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
1057 | } |
||
1058 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 1059 | UART1_Request_Display = FALSE; |
41 | ingob | 1060 | } |
151 | killagreg | 1061 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1062 | { |
201 | killagreg | 1063 | Menu_Update(0); |
110 | killagreg | 1064 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1065 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 1066 | } |
151 | killagreg | 1067 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1068 | { |
110 | killagreg | 1069 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1070 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 1071 | } |
447 | holgerb | 1072 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1073 | { |
||
1074 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
1075 | UART1_Request_SystemTime = FALSE; |
||
1076 | } |
||
151 | killagreg | 1077 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1078 | { |
110 | killagreg | 1079 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1080 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 1081 | } |
314 | killagreg | 1082 | #ifdef FOLLOW_ME |
1083 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
1084 | { |
||
1085 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 1086 | { |
314 | killagreg | 1087 | TransmitAlsoToFC = 1; |
1088 | // update FollowMe content |
||
1089 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
1090 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
1091 | FollowMe.Position.Status = NEWDATA; |
||
1092 | FollowMe.Position.Altitude = 1; |
||
1093 | // 0 -> no Orientation |
||
1094 | // 1-360 -> CompassCourse Setpoint |
||
1095 | // -1 -> points to WP1 -> itself |
||
1096 | FollowMe.Heading = -1; |
||
1097 | FollowMe.ToleranceRadius = 1; |
||
1098 | FollowMe.HoldTime = 60; |
||
1099 | FollowMe.Event_Flag = 1; |
||
1100 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1101 | FollowMe.Type = POINT_TYPE_WP; |
||
1102 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1103 | FollowMe.AltitudeRate = 0; // do not change height |
||
403 | holgerb | 1104 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1105 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1106 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1107 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1108 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1109 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
314 | killagreg | 1110 | FollowMe.reserve[0] = 0; // reserve |
1111 | FollowMe.reserve[1] = 0; // reserve |
||
1112 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
1113 | } |
||
1114 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1115 | } |
||
1116 | #endif |
||
250 | ingob | 1117 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 1118 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 1119 | { |
1120 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1121 | SendDebugOutput = 0; |
||
1122 | } |
||
315 | killagreg | 1123 | #endif |
110 | killagreg | 1124 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 1125 | } |
1126 |