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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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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
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 - |
489 | killagreg | 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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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470 | killagreg | 57 | #include <stdlib.h> |
41 | ingob | 58 | #include <stdarg.h> |
59 | #include <string.h> |
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60 | |||
61 | #include "91x_lib.h" |
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251 | killagreg | 62 | #include "main.h" |
136 | killagreg | 63 | #include "config.h" |
41 | ingob | 64 | #include "menu.h" |
65 | #include "GPS.h" |
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489 | killagreg | 66 | #include "i2c.h" |
41 | ingob | 67 | #include "uart0.h" |
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; |
494 | killagreg | 105 | u8 UART1_Request_WPLStore = FALSE; |
158 | killagreg | 106 | u8 UART1_Request_Parameter = FALSE; |
447 | holgerb | 107 | u8 UART1_Request_SystemTime = FALSE; |
201 | killagreg | 108 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 109 | u8 UART1_DisplayLine = 0; |
110 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 111 | u8 UART1_Request_FTP = FALSE; |
360 | holgerb | 112 | u8 LastTransmittedFCStatusFlags2 = 0; |
398 | holgerb | 113 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
466 | holgerb | 114 | u8 Send_NMEA_RMC = FALSE; |
41 | ingob | 115 | |
116 | UART_TypeDef *DebugUART = UART1; |
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117 | |||
314 | killagreg | 118 | #ifdef FOLLOW_ME |
119 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 120 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 121 | Point_t FollowMe; |
122 | #endif |
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123 | |||
153 | killagreg | 124 | // the primary rx fifo |
378 | holgerb | 125 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 126 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
127 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 128 | |
129 | // the rx buffer |
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378 | holgerb | 130 | #define UART1_RX_BUFFER_LEN 1024 |
110 | killagreg | 131 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
132 | Buffer_t UART1_rx_buffer; |
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133 | |||
153 | killagreg | 134 | // the tx buffer |
349 | ingob | 135 | #define UART1_TX_BUFFER_LEN 1024 |
153 | killagreg | 136 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
137 | Buffer_t UART1_tx_buffer; |
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138 | |||
92 | killagreg | 139 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 140 | |
150 | killagreg | 141 | u8 text[200]; |
41 | ingob | 142 | |
143 | const u8 ANALOG_LABEL[32][16] = |
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144 | { |
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90 | killagreg | 145 | //1234567890123456 |
41 | ingob | 146 | "AngleNick ", //0 |
147 | "AngleRoll ", |
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148 | "AccNick ", |
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149 | "AccRoll ", |
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214 | killagreg | 150 | "OperatingRadius ", |
200 | killagreg | 151 | "FC-Flags ", //5 |
95 | killagreg | 152 | "NC-Flags ", |
480 | holgerb | 153 | "Voltage [0,1V] ", |
154 | "Current [0,1A] ", |
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41 | ingob | 155 | "GPS Data ", |
61 | holgerb | 156 | "CompassHeading ", //10 |
157 | "GyroHeading ", |
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419 | holgerb | 158 | "SPI Error ", // achtung: muss auf 12 bleiben |
41 | ingob | 159 | "SPI Okay ", |
189 | killagreg | 160 | "I2C Error ", |
41 | ingob | 161 | "I2C Okay ", //15 |
339 | holgerb | 162 | "16 ", |
437 | holgerb | 163 | "17 ", |
164 | "18 ", |
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489 | killagreg | 165 | "19 ", // SD-Card-time |
330 | holgerb | 166 | "EarthMagnet [%] ", //20 |
456 | holgerb | 167 | "Ground Speed ", // "Z_Speed ", |
338 | holgerb | 168 | "N_Speed ", |
169 | "E_Speed ", |
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310 | holgerb | 170 | "Magnet X ", |
338 | holgerb | 171 | "Magnet Y ", //25 |
310 | holgerb | 172 | "Magnet Z ", |
41 | ingob | 173 | "Distance N ", |
174 | "Distance E ", |
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175 | "GPS_Nick ", |
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176 | "GPS_Roll ", //30 |
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177 | "Used_Sats " |
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178 | }; |
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179 | |||
495 | killagreg | 180 | typedef struct |
181 | { |
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182 | u8 Index; |
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183 | u8 Status; |
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184 | } __attribute__((packed)) WPL_Answer_t; |
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185 | WPL_Answer_t WPL_Answer; |
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186 | |||
112 | killagreg | 187 | DebugOut_t DebugOut; |
188 | ExternControl_t ExternControl; |
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189 | UART_VersionInfo_t UART_VersionInfo; |
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190 | NaviData_t NaviData; |
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191 | Data3D_t Data3D; |
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496 | killagreg | 192 | |
112 | killagreg | 193 | u16 Echo; // 2 bytes recieved will be sent back as echo |
41 | ingob | 194 | |
193 | killagreg | 195 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 196 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 197 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 198 | u32 UART1_NaviData_Interval = 0; // in ms |
199 | u32 UART1_Data3D_Timer = 0; |
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200 | u32 UART1_Data3D_Interval = 0; // in ms |
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358 | holgerb | 201 | u32 UART1_MotorData_Timer = 0; |
202 | u32 UART1_MotorData_Interval = 0; // in ms |
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193 | killagreg | 203 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 204 | u32 UART1_Display_Interval = 0; // in ms |
460 | holgerb | 205 | u32 NMEA_Timer = 0; |
206 | u32 NMEA_Interval = 500;// in ms |
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112 | killagreg | 207 | |
41 | ingob | 208 | /********************************************************/ |
209 | /* Initialization the UART1 */ |
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210 | /********************************************************/ |
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211 | void UART1_Init (void) |
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212 | { |
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213 | GPIO_InitTypeDef GPIO_InitStructure; |
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214 | UART_InitTypeDef UART_InitStructure; |
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215 | |||
153 | killagreg | 216 | // initialize txd buffer |
217 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 218 | |
153 | killagreg | 219 | // initialize rxd buffer |
220 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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221 | |||
244 | killagreg | 222 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
223 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 224 | |
41 | ingob | 225 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
226 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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227 | |||
228 | /*Configure UART1_Rx pin GPIO3.2*/ |
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229 | GPIO_StructInit(&GPIO_InitStructure); |
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230 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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231 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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232 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 233 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 234 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
235 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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236 | |||
237 | /*Configure UART1_Tx pin GPIO3.3*/ |
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238 | GPIO_StructInit(&GPIO_InitStructure); |
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239 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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240 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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241 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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242 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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243 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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244 | |||
245 | /* UART1 configured as follow: |
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246 | - Word Length = 8 Bits |
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247 | - One Stop Bit |
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248 | - No parity |
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249 | - BaudRate = 57600 baud |
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250 | - Hardware flow control Disabled |
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251 | - Receive and transmit enabled |
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252 | - Receive and transmit FIFOs are Disabled |
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253 | */ |
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254 | UART_StructInit(&UART_InitStructure); |
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255 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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256 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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257 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 258 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
489 | killagreg | 259 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
41 | ingob | 260 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
487 | holgerb | 261 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
262 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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489 | killagreg | 263 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
41 | ingob | 264 | |
265 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 266 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 267 | // enable uart 1 interrupts selective |
268 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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269 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 270 | // configure the uart 1 interupt line |
271 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 272 | // enable the uart 1 IRQ |
41 | ingob | 273 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 274 | |
41 | ingob | 275 | // initialize the debug timer |
110 | killagreg | 276 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
277 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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461 | holgerb | 278 | NMEA_Timer = SetDelay(14000); |
110 | killagreg | 279 | |
41 | ingob | 280 | // Fill Version Info Structure |
281 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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282 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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283 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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284 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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285 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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489 | killagreg | 286 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
287 | UART_VersionInfo.reserved2 = 0; |
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454 | holgerb | 288 | UART_VersionInfo.Flags = 0; |
89 | killagreg | 289 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 290 | |
212 | killagreg | 291 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 292 | } |
293 | |||
294 | |||
295 | /****************************************************************/ |
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296 | /* USART1 receiver ISR */ |
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297 | /****************************************************************/ |
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298 | void UART1_IRQHandler(void) |
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299 | { |
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300 | static u8 abortState = 0; |
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301 | u8 c; |
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302 | |||
303 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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304 | { |
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153 | killagreg | 305 | // clear the pending bits! |
41 | ingob | 306 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
307 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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308 | // if debug UART is not UART1 |
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309 | if (DebugUART != UART1) |
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310 | { // forward received data to the debug UART tx buffer |
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311 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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312 | { |
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313 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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314 | c = UART_ReceiveData(UART1); |
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315 | |||
316 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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317 | switch (abortState) |
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318 | { |
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165 | killagreg | 319 | case 0: |
139 | killagreg | 320 | if (c == 27) abortState++; |
41 | ingob | 321 | break; |
165 | killagreg | 322 | case 1: |
323 | if (c == 27) abortState++; |
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139 | killagreg | 324 | else abortState = 0; |
41 | ingob | 325 | break; |
139 | killagreg | 326 | case 2: |
165 | killagreg | 327 | if (c == 0x55) abortState++; |
139 | killagreg | 328 | else abortState = 0; |
41 | ingob | 329 | break; |
139 | killagreg | 330 | case 3: |
331 | if (c == 0xAA) abortState++; |
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332 | else abortState = 0; |
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41 | ingob | 333 | break; |
165 | killagreg | 334 | case 4: |
139 | killagreg | 335 | if (c == 0x00) |
336 | { |
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337 | if(DebugUART == UART0) |
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338 | { |
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245 | killagreg | 339 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 340 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 341 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 342 | } |
343 | DebugUART = UART1; |
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165 | killagreg | 344 | } |
139 | killagreg | 345 | abortState = 0; |
346 | break; |
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347 | } // end switch abort state |
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136 | killagreg | 348 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 349 | if (DebugUART != UART1) |
350 | { |
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351 | // wait for space in the tx buffer of the DebugUART |
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352 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 353 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 354 | UART_SendData(DebugUART, c); |
355 | } |
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41 | ingob | 356 | } |
357 | } |
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358 | else // DebugUART == UART1 (normal operation) |
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359 | { |
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110 | killagreg | 360 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 361 | { // some byes in the hardware fifo |
153 | killagreg | 362 | // get byte from hardware fifo |
41 | ingob | 363 | c = UART_ReceiveData(UART1); |
153 | killagreg | 364 | // put into the software fifo |
365 | if(!fifo_put(&UART1_rx_fifo, c)) |
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366 | { // fifo overflow |
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155 | killagreg | 367 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 368 | } |
154 | killagreg | 369 | } // EOF while some byes in the hardware fifo |
41 | ingob | 370 | } // eof DebugUart = UART1 |
371 | } |
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195 | killagreg | 372 | |
380 | holgerb | 373 | |
374 | |||
378 | holgerb | 375 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 376 | } |
377 | |||
378 | /**************************************************************/ |
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379 | /* Process incomming data from debug uart */ |
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380 | /**************************************************************/ |
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381 | void UART1_ProcessRxData(void) |
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382 | { |
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154 | killagreg | 383 | // return on forwarding uart or unlocked rx buffer |
380 | holgerb | 384 | u8 c; |
155 | killagreg | 385 | if(DebugUART != UART1) return; |
386 | // if rx buffer is not locked |
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387 | if(UART1_rx_buffer.Locked == FALSE) |
||
315 | killagreg | 388 | { |
244 | killagreg | 389 | //collect data from primary rx fifo |
155 | killagreg | 390 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 391 | { |
244 | killagreg | 392 | // break if complete frame is collected |
155 | killagreg | 393 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
394 | } |
||
395 | } |
||
396 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
397 | |||
280 | killagreg | 398 | Point_t * pPoint = NULL; |
153 | killagreg | 399 | SerialMsg_t SerialMsg; |
41 | ingob | 400 | |
190 | killagreg | 401 | // analyze header first |
402 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
194 | killagreg | 403 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 404 | { |
192 | killagreg | 405 | switch(SerialMsg.CmdID) |
406 | { |
||
231 | holgerb | 407 | // case 'v': // version |
398 | holgerb | 408 | case 'b': // extern control |
409 | UART1_ExternalControlConfirmFrame = 1; |
||
192 | killagreg | 410 | case 'y': // serial poti values |
411 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
412 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
194 | killagreg | 413 | return; //end process rx data |
192 | killagreg | 414 | break; |
415 | } |
||
195 | killagreg | 416 | } |
190 | killagreg | 417 | |
418 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
419 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
420 | switch(SerialMsg.Address) // check for Slave Address |
||
421 | { |
||
41 | ingob | 422 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 423 | switch(SerialMsg.CmdID) |
41 | ingob | 424 | { |
489 | killagreg | 425 | case 't': // request for the GPS time |
447 | holgerb | 426 | UART1_Request_SystemTime = TRUE; |
427 | break; |
||
428 | |||
349 | ingob | 429 | case 'f': // ftp command |
430 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
489 | killagreg | 431 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
349 | ingob | 432 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
433 | break; |
||
434 | |||
101 | holgerb | 435 | case 'z': // connection checker |
110 | killagreg | 436 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
437 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 438 | break; |
439 | |||
41 | ingob | 440 | case 'e': // request for the text of the error status |
110 | killagreg | 441 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 442 | break; |
443 | |||
444 | case 's':// new target position |
||
280 | killagreg | 445 | pPoint = (Point_t*)SerialMsg.pData; |
446 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 447 | { |
315 | killagreg | 448 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 449 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 450 | PointList_SetAt(pPoint); |
315 | killagreg | 451 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 452 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 453 | if(GPS_pWaypoint != NULL) // if new WP exist |
454 | { // update WP hold time stamp immediately! |
||
451 | holgerb | 455 | EnableNewWpHeading(); |
302 | holgerb | 456 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
457 | { |
||
458 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
459 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
460 | } |
||
461 | */ |
||
462 | } |
||
295 | killagreg | 463 | BeepTime = 50; |
41 | ingob | 464 | } |
465 | break; |
||
466 | |||
467 | case 'u': // redirect debug uart |
||
110 | killagreg | 468 | switch(SerialMsg.pData[0]) |
41 | ingob | 469 | { |
470 | case UART_FLIGHTCTRL: |
||
471 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 472 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 473 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 474 | DebugUART = UART2; |
475 | break; |
||
476 | case UART_MK3MAG: |
||
255 | killagreg | 477 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 478 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
479 | GPSData.Status = INVALID; |
||
153 | killagreg | 480 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 481 | DebugUART = UART0; |
482 | break; |
||
483 | case UART_MKGPS: |
||
255 | killagreg | 484 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 485 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 486 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 487 | GPSData.Status = INVALID; |
153 | killagreg | 488 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 489 | DebugUART = UART0; |
490 | break; |
||
153 | killagreg | 491 | default: |
492 | break; |
||
41 | ingob | 493 | } |
494 | break; |
||
495 | |||
295 | killagreg | 496 | case 'w':// Set point in list at index |
165 | killagreg | 497 | { |
280 | killagreg | 498 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 499 | |
280 | killagreg | 500 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 501 | { |
280 | killagreg | 502 | PointList_Clear(); |
503 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 504 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 505 | } |
227 | killagreg | 506 | else |
295 | killagreg | 507 | { // update WP in list at index |
489 | killagreg | 508 | if(pPoint->Index > MaxNumberOfWaypoints) |
490 | killagreg | 509 | { |
510 | UART1_Request_WritePoint = 254; |
||
511 | pPoint->Index = MaxNumberOfWaypoints; |
||
512 | } |
||
513 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 514 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 515 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 516 | { |
517 | BeepTime = 500; |
||
165 | killagreg | 518 | } |
519 | } |
||
41 | ingob | 520 | } |
521 | break; |
||
522 | |||
92 | killagreg | 523 | case 'x':// Read Waypoint from List |
280 | killagreg | 524 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 525 | break; |
526 | |||
494 | killagreg | 527 | case 'i':// Store WP List to file |
496 | killagreg | 528 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
529 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
||
497 | killagreg | 530 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
496 | killagreg | 531 | WPL_Answer.Status = PointList_SaveToFile(&WPL_Store); |
495 | killagreg | 532 | UART1_Request_WPLStore = TRUE; |
494 | killagreg | 533 | break; |
534 | |||
535 | |||
160 | holgerb | 536 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 537 | switch(SerialMsg.pData[0]) |
538 | { |
||
539 | case 0: // get |
||
540 | break; |
||
165 | killagreg | 541 | |
156 | killagreg | 542 | case 1: // set |
159 | killagreg | 543 | { |
544 | s16 value; |
||
545 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
546 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
547 | } |
||
156 | killagreg | 548 | break; |
491 | killagreg | 549 | |
156 | killagreg | 550 | default: |
165 | killagreg | 551 | break; |
156 | killagreg | 552 | } |
553 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
554 | UART1_Request_Parameter = TRUE; |
||
555 | break; |
||
41 | ingob | 556 | default: |
557 | // unsupported command recieved |
||
558 | break; |
||
559 | } // case NC_ADDRESS |
||
65 | killagreg | 560 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 561 | |
562 | default: // and any other Slave Address |
||
563 | |||
190 | killagreg | 564 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 565 | { |
566 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 567 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
568 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 569 | break; |
193 | killagreg | 570 | /* |
41 | ingob | 571 | case 'b': // submit extern control |
121 | killagreg | 572 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 573 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 574 | break; |
195 | killagreg | 575 | */ |
41 | ingob | 576 | case 'd': // request for debug data; |
110 | killagreg | 577 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
578 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 579 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 580 | break; |
581 | |||
63 | killagreg | 582 | case 'c': // request for 3D data; |
110 | killagreg | 583 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
584 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 585 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 586 | break; |
275 | killagreg | 587 | |
358 | holgerb | 588 | case 'k': // request for Motor data; |
589 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
590 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
591 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
592 | break; |
||
593 | |||
41 | ingob | 594 | case 'h':// reqest for display line |
193 | killagreg | 595 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
596 | { |
||
597 | UART1_DisplayLine = 2; |
||
195 | killagreg | 598 | UART1_Display_Interval = 0; |
193 | killagreg | 599 | } |
600 | else |
||
601 | { |
||
201 | killagreg | 602 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 603 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
604 | UART1_DisplayLine = 4; |
||
198 | killagreg | 605 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 606 | } |
110 | killagreg | 607 | UART1_Request_Display = TRUE; |
41 | ingob | 608 | break; |
609 | |||
610 | case 'l':// reqest for display columns |
||
110 | killagreg | 611 | MenuItem = SerialMsg.pData[0]; |
612 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 613 | break; |
64 | holgerb | 614 | |
615 | case 'o': // request for navigation information |
||
110 | killagreg | 616 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
617 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 618 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 619 | break; |
620 | |||
41 | ingob | 621 | case 'v': // request for version info |
110 | killagreg | 622 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 623 | break; |
624 | default: |
||
625 | // unsupported command recieved |
||
626 | break; |
||
627 | } |
||
628 | break; // default: |
||
629 | } |
||
153 | killagreg | 630 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 631 | } |
632 | |||
633 | |||
634 | /*****************************************************/ |
||
635 | /* Send a character */ |
||
636 | /*****************************************************/ |
||
110 | killagreg | 637 | s16 UART1_Putchar(char c) |
41 | ingob | 638 | { |
362 | holgerb | 639 | u32 timeout = 10000; |
110 | killagreg | 640 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 641 | // wait until txd fifo is not full |
362 | holgerb | 642 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
41 | ingob | 643 | // transmit byte |
644 | UART_SendData(UART1, c); |
||
314 | killagreg | 645 | #ifdef FOLLOW_ME |
646 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
647 | #endif |
||
41 | ingob | 648 | return (0); |
649 | } |
||
650 | |||
651 | /*****************************************************/ |
||
652 | /* Send a string to the debug uart */ |
||
653 | /*****************************************************/ |
||
110 | killagreg | 654 | void UART1_PutString(u8 *s) |
41 | ingob | 655 | { |
656 | if(s == NULL) return; |
||
657 | while (*s != '\0' && DebugUART == UART1) |
||
658 | { |
||
110 | killagreg | 659 | UART1_Putchar(*s); |
41 | ingob | 660 | s ++; |
661 | } |
||
662 | } |
||
663 | |||
113 | killagreg | 664 | |
110 | killagreg | 665 | /**************************************************************/ |
666 | /* Transmit tx buffer via debug uart */ |
||
667 | /**************************************************************/ |
||
668 | void UART1_Transmit(void) |
||
669 | { |
||
670 | u8 tmp_tx; |
||
671 | if(DebugUART != UART1) return; |
||
672 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 673 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 674 | { |
113 | killagreg | 675 | // while there is some space in the tx fifo |
676 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 677 | { |
113 | killagreg | 678 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
679 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 680 | #ifdef FOLLOW_ME |
315 | killagreg | 681 | if(TransmitAlsoToFC) |
682 | { |
||
314 | killagreg | 683 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
684 | } |
||
685 | #endif |
||
113 | killagreg | 686 | // if terminating character or end of txd buffer reached |
461 | holgerb | 687 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
113 | killagreg | 688 | { |
689 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 690 | #ifdef FOLLOW_ME |
691 | TransmitAlsoToFC = 0; |
||
692 | #endif |
||
113 | killagreg | 693 | break; // end while loop |
694 | } |
||
110 | killagreg | 695 | } |
696 | } |
||
697 | } |
||
41 | ingob | 698 | |
460 | holgerb | 699 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
700 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
701 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
466 | holgerb | 702 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
460 | holgerb | 703 | void CreateNmeaGGA(void) |
704 | { |
||
489 | killagreg | 705 | u8 array[200], i = 0, crc = 0, x; |
706 | s32 tmp1, tmp2; |
||
378 | holgerb | 707 | |
489 | killagreg | 708 | i += sprintf(array, "$GPGGA,"); |
709 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
710 | if(SystemTime.Valid) |
||
711 | { |
||
712 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
||
713 | } |
||
714 | else |
||
715 | { |
||
716 | i += sprintf(&array[i], ","); |
||
717 | } |
||
718 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
719 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
720 | { |
||
721 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
722 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
||
460 | holgerb | 723 | |
489 | killagreg | 724 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
725 | tmp1 *= 6; // in Minuten |
||
726 | tmp2 = tmp1 / 1000000L; |
||
727 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
728 | tmp2 = tmp1 % 1000000L; |
||
729 | tmp2 /= 10; // eine Stelle zu viel |
||
730 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
||
460 | holgerb | 731 | |
489 | killagreg | 732 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
733 | else i += sprintf(&array[i],"S,"); |
||
734 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
460 | holgerb | 735 | |
489 | killagreg | 736 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
737 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
||
460 | holgerb | 738 | |
489 | killagreg | 739 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
740 | tmp1 *= 6; // in Minuten |
||
741 | tmp2 = tmp1 / 1000000L; |
||
742 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
743 | tmp2 = tmp1 % 1000000L; |
||
744 | tmp2 /= 10; // eine Stelle zu viel |
||
745 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
||
460 | holgerb | 746 | |
747 | |||
489 | killagreg | 748 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
749 | else i += sprintf(&array[i],"W,"); |
||
750 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
751 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
752 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
||
753 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
754 | tmp1 = NaviData.Altimeter / 2; // in dm |
||
755 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
||
756 | i += sprintf(&array[i],",,,*"); |
||
757 | } |
||
758 | else |
||
759 | { |
||
760 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
761 | } |
||
762 | for(x = 1; x < i-1; x++) |
||
763 | { |
||
764 | crc ^= array[x]; |
||
765 | } |
||
766 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
767 | AddSerialData(&UART1_tx_buffer,array,i); |
||
768 | |||
769 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
466 | holgerb | 770 | } |
771 | |||
772 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
773 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
||
774 | |||
775 | void CreateNmeaRMC(void) |
||
776 | { |
||
489 | killagreg | 777 | u8 array[200], i = 0, crc = 0, x; |
778 | s16 tmp_int; |
||
779 | s32 tmp1, tmp2; |
||
780 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
781 | i += sprintf(array, "$GPRMC,"); |
||
782 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
783 | if(SystemTime.Valid) |
||
784 | { |
||
785 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
786 | } |
||
787 | else |
||
788 | { |
||
789 | i += sprintf(&array[i], ","); |
||
790 | } |
||
791 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
792 | { |
||
793 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
794 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
795 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
||
483 | holgerb | 796 | |
489 | killagreg | 797 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
798 | tmp1 *= 6; // in Minuten |
||
799 | tmp2 = tmp1 / 1000000L; |
||
800 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
801 | tmp2 = tmp1 % 1000000L; |
||
802 | tmp2 /= 10; // eine Stelle zu viel |
||
803 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
||
804 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
805 | else i += sprintf(&array[i],"S,"); |
||
806 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
807 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
808 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
||
483 | holgerb | 809 | |
489 | killagreg | 810 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
811 | tmp1 *= 6; // in Minuten |
||
812 | tmp2 = tmp1 / 1000000L; |
||
813 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
814 | tmp2 = tmp1 % 1000000L; |
||
815 | tmp2 /= 10; // eine Stelle zu viel |
||
816 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
||
817 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
818 | else i += sprintf(&array[i],"W,"); |
||
819 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
820 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
||
821 | tmp_int *= 90; |
||
822 | tmp_int /= 463; |
||
823 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
||
824 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
825 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
826 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
827 | if(SystemTime.Valid) |
||
828 | { |
||
829 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
||
830 | } |
||
831 | else |
||
832 | { |
||
833 | i += sprintf(&array[i], ","); |
||
834 | } |
||
835 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
836 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
837 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
||
838 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
839 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
||
840 | else i += sprintf(&array[i], "A,"); |
||
841 | } |
||
842 | else // kein Satfix |
||
843 | { |
||
844 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
||
845 | } |
||
846 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
847 | // CRC |
||
848 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
849 | for(x=1; x<i-1; x++) |
||
850 | { |
||
851 | crc ^= array[x]; |
||
852 | } |
||
853 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
854 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
855 | AddSerialData(&UART1_tx_buffer,array,i); |
||
856 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
857 | /* |
||
460 | holgerb | 858 | |
859 | |||
860 | |||
489 | killagreg | 861 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
862 | GPSData.NumOfSats = UbxSol.numSV; |
||
863 | GPSData.SatFix = UbxSol.GPSfix; |
||
864 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
865 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
866 | SetGPSTime(&SystemTime); // update system time |
||
867 | // NAV POSLLH |
||
868 | GPSData.Position.Status = INVALID; |
||
869 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
870 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
871 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
872 | GPSData.Position.Status = NEWDATA; |
||
873 | // NAV VELNED |
||
874 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
875 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
876 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
877 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
878 | GPSData.Heading = UbxVelNed.Heading; |
||
879 | SystemTime.Year = 0; |
||
880 | SystemTime.Month = 0; |
||
881 | SystemTime.Day = 0; |
||
882 | SystemTime.Hour = 0; |
||
883 | SystemTime.Min = 0; |
||
884 | SystemTime.Sec = 0; |
||
885 | SystemTime.mSec = 0; |
||
886 | SystemTime.Valid = 0; |
||
460 | holgerb | 887 | |
489 | killagreg | 888 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
889 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
890 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
891 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
892 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
460 | holgerb | 893 | |
489 | killagreg | 894 | |
895 | |||
896 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
897 | i1 *= 100; |
||
898 | i1 += i2 / 100000; |
||
899 | i2 = i2 % 100000; |
||
900 | i2 /= 10; |
||
901 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
902 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
903 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
904 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
905 | break; |
||
906 | case 1: |
||
907 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
908 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
909 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
910 | //----------------------------- |
||
911 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
912 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
913 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
914 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
915 | |||
460 | holgerb | 916 | */ |
917 | } |
||
918 | |||
919 | |||
41 | ingob | 920 | /**************************************************************/ |
921 | /* Send the answers to incomming commands at the debug uart */ |
||
922 | /**************************************************************/ |
||
923 | void UART1_TransmitTxData(void) |
||
924 | { |
||
358 | holgerb | 925 | static u8 motorindex1 = 255, motorindex2 = 0; |
110 | killagreg | 926 | if(DebugUART != UART1) return; |
198 | killagreg | 927 | |
928 | if(CheckDelay(UART1_AboTimeOut)) |
||
929 | { |
||
930 | UART1_DebugData_Interval = 0; |
||
931 | UART1_NaviData_Interval = 0; |
||
932 | UART1_Data3D_Interval = 0; |
||
933 | UART1_Display_Interval = 0; |
||
378 | holgerb | 934 | UART1_MotorData_Interval = 0; |
198 | killagreg | 935 | } |
936 | |||
110 | killagreg | 937 | UART1_Transmit(); // output pending bytes in tx buffer |
938 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 939 | |
156 | killagreg | 940 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 941 | { |
315 | killagreg | 942 | s16 ParamValue; |
299 | killagreg | 943 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 944 | 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 | 945 | UART1_Request_Parameter = FALSE; |
946 | } |
||
947 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
948 | { |
||
110 | killagreg | 949 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 950 | Echo = 0; // reset echo value |
110 | killagreg | 951 | UART1_Request_Echo = FALSE; |
92 | killagreg | 952 | } |
349 | ingob | 953 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
954 | { |
||
433 | ingob | 955 | u8 errorcode = FTP_ERROR_NONE; |
956 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
957 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
958 | |||
959 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
489 | killagreg | 960 | else |
433 | ingob | 961 | { |
962 | u8 cmd = FTP_CMD_ERROR; |
||
963 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
964 | } |
||
965 | |||
349 | ingob | 966 | UART1_Request_FTP = FALSE; |
967 | } |
||
295 | killagreg | 968 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 969 | { |
295 | killagreg | 970 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
971 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 972 | } |
280 | killagreg | 973 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 974 | { |
280 | killagreg | 975 | u8 PointCount = PointList_GetCount(); |
976 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 977 | { |
280 | killagreg | 978 | 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 | 979 | } |
980 | else |
||
981 | { |
||
280 | killagreg | 982 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 983 | } |
280 | killagreg | 984 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 985 | } |
986 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
987 | { |
||
988 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
989 | UART1_Request_DebugLabel = 0xFF; |
||
990 | } |
||
398 | holgerb | 991 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
992 | { |
||
993 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
994 | UART1_ExternalControlConfirmFrame = 0; |
||
995 | } |
||
151 | killagreg | 996 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 997 | { |
151 | killagreg | 998 | NaviData.Errorcode = ErrorCode; |
378 | holgerb | 999 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
151 | killagreg | 1000 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1001 | UART1_Request_NaviData = FALSE; |
||
360 | holgerb | 1002 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
151 | killagreg | 1003 | } |
1004 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1005 | { |
||
110 | killagreg | 1006 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1007 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
1008 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 1009 | } |
151 | killagreg | 1010 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 1011 | { |
358 | holgerb | 1012 | Data3D.StickNick = FC.StickNick; |
1013 | Data3D.StickRoll = FC.StickRoll; |
||
1014 | Data3D.StickYaw = FC.StickYaw; |
||
1015 | Data3D.StickGas = FC.StickGas; |
||
110 | killagreg | 1016 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1017 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
1018 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 1019 | } |
358 | holgerb | 1020 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1021 | { |
||
1022 | do |
||
1023 | { |
||
1024 | motorindex1++; |
||
1025 | motorindex1%=12; |
||
1026 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
1027 | if(motorindex1 == motorindex2) break; |
||
1028 | } |
||
1029 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
1030 | |||
1031 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
1032 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
1033 | UART1_Request_MotorData = FALSE; |
||
1034 | } |
||
494 | killagreg | 1035 | else if(UART1_Request_WPLStore) |
1036 | { |
||
495 | killagreg | 1037 | /* |
1038 | s8 txt[50]; |
||
1039 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
||
1040 | UART1_PutString(txt); |
||
1041 | */ |
||
1042 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
||
494 | killagreg | 1043 | UART1_Request_WPLStore = FALSE; |
1044 | } |
||
460 | holgerb | 1045 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1046 | { |
||
1047 | CreateNmeaGGA(); |
||
466 | holgerb | 1048 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
460 | holgerb | 1049 | NMEA_Timer = SetDelay(NMEA_Interval); |
1050 | } |
||
466 | holgerb | 1051 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1052 | { |
||
1053 | CreateNmeaRMC(); |
||
1054 | Send_NMEA_RMC = FALSE; |
||
1055 | } |
||
460 | holgerb | 1056 | |
193 | killagreg | 1057 | /* |
153 | killagreg | 1058 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1059 | { |
||
1060 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
1061 | UART1_ConfirmFrame = 0; |
||
1062 | } |
||
193 | killagreg | 1063 | */ |
1064 | /* |
||
151 | killagreg | 1065 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1066 | { |
110 | killagreg | 1067 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1068 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 1069 | } |
193 | killagreg | 1070 | */ |
1071 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 1072 | { |
193 | killagreg | 1073 | if(UART1_DisplayLine > 3) |
1074 | { |
||
201 | killagreg | 1075 | Menu_Update(UART1_DisplayKeys); |
1076 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 1077 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1078 | } |
||
1079 | else |
||
1080 | { |
||
1081 | UART1_DisplayLine = 2; |
||
1082 | sprintf(text,"!!! incompatible !!!"); |
||
1083 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
1084 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
1085 | } |
||
1086 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 1087 | UART1_Request_Display = FALSE; |
41 | ingob | 1088 | } |
151 | killagreg | 1089 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1090 | { |
201 | killagreg | 1091 | Menu_Update(0); |
110 | killagreg | 1092 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1093 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 1094 | } |
151 | killagreg | 1095 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1096 | { |
110 | killagreg | 1097 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1098 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 1099 | } |
447 | holgerb | 1100 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1101 | { |
||
1102 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
1103 | UART1_Request_SystemTime = FALSE; |
||
1104 | } |
||
151 | killagreg | 1105 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1106 | { |
110 | killagreg | 1107 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1108 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 1109 | } |
314 | killagreg | 1110 | #ifdef FOLLOW_ME |
1111 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
1112 | { |
||
1113 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 1114 | { |
314 | killagreg | 1115 | TransmitAlsoToFC = 1; |
1116 | // update FollowMe content |
||
1117 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
1118 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
1119 | FollowMe.Position.Status = NEWDATA; |
||
1120 | FollowMe.Position.Altitude = 1; |
||
1121 | // 0 -> no Orientation |
||
1122 | // 1-360 -> CompassCourse Setpoint |
||
1123 | // -1 -> points to WP1 -> itself |
||
1124 | FollowMe.Heading = -1; |
||
1125 | FollowMe.ToleranceRadius = 1; |
||
1126 | FollowMe.HoldTime = 60; |
||
1127 | FollowMe.Event_Flag = 1; |
||
1128 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1129 | FollowMe.Type = POINT_TYPE_WP; |
||
1130 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1131 | FollowMe.AltitudeRate = 0; // do not change height |
||
403 | holgerb | 1132 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1133 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1134 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1135 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1136 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1137 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
314 | killagreg | 1138 | FollowMe.reserve[0] = 0; // reserve |
1139 | FollowMe.reserve[1] = 0; // reserve |
||
1140 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
1141 | } |
||
1142 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1143 | } |
||
1144 | #endif |
||
250 | ingob | 1145 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 1146 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 1147 | { |
1148 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1149 | SendDebugOutput = 0; |
||
1150 | } |
||
315 | killagreg | 1151 | #endif |
110 | killagreg | 1152 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 1153 | } |
1154 |