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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" |
136 | killagreg | 62 | #include "config.h" |
41 | ingob | 63 | #include "menu.h" |
64 | #include "GPS.h" |
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65 | #include "i2c.h" |
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66 | #include "uart0.h" |
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67 | #include "uart1.h" |
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68 | #include "uart2.h" |
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119 | killagreg | 69 | #include "timer1.h" |
139 | killagreg | 70 | #include "timer2.h" |
71 | #include "analog.h" |
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243 | killagreg | 72 | #include "compass.h" |
41 | ingob | 73 | #include "waypoints.h" |
110 | killagreg | 74 | #include "mkprotocol.h" |
156 | killagreg | 75 | #include "params.h" |
153 | killagreg | 76 | #include "fifo.h" |
315 | killagreg | 77 | #include "debug.h" |
358 | holgerb | 78 | #include "spi_slave.h" |
349 | ingob | 79 | #include "ftphelper.h" |
378 | holgerb | 80 | #include "led.h" |
433 | ingob | 81 | #include "fat16.h" |
41 | ingob | 82 | |
433 | ingob | 83 | |
41 | ingob | 84 | #define FALSE 0 |
85 | #define TRUE 1 |
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86 | |||
351 | holgerb | 87 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
198 | killagreg | 88 | u32 UART1_AboTimeOut = 0; |
92 | killagreg | 89 | |
110 | killagreg | 90 | u8 UART1_Request_VersionInfo = FALSE; |
91 | u8 UART1_Request_ExternalControl= FALSE; |
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92 | u8 UART1_Request_Display = FALSE; |
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93 | u8 UART1_Request_Display1 = FALSE; |
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94 | u8 UART1_Request_DebugData = FALSE; |
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95 | u8 UART1_Request_DebugLabel = 255; |
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96 | u8 UART1_Request_NaviData = FALSE; |
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97 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 98 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 99 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 100 | u8 UART1_Request_Data3D = FALSE; |
358 | holgerb | 101 | u8 UART1_Request_MotorData = FALSE; |
110 | killagreg | 102 | u8 UART1_Request_Echo = FALSE; |
156 | killagreg | 103 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 104 | u8 UART1_Request_Parameter = FALSE; |
447 | holgerb | 105 | u8 UART1_Request_SystemTime = FALSE; |
201 | killagreg | 106 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 107 | u8 UART1_DisplayLine = 0; |
108 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 109 | u8 UART1_Request_FTP = FALSE; |
360 | holgerb | 110 | u8 LastTransmittedFCStatusFlags2 = 0; |
398 | holgerb | 111 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
41 | ingob | 112 | |
113 | UART_TypeDef *DebugUART = UART1; |
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114 | |||
314 | killagreg | 115 | #ifdef FOLLOW_ME |
116 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 117 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 118 | Point_t FollowMe; |
119 | #endif |
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120 | |||
153 | killagreg | 121 | // the primary rx fifo |
378 | holgerb | 122 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 123 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
124 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 125 | |
126 | // the rx buffer |
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378 | holgerb | 127 | #define UART1_RX_BUFFER_LEN 1024 |
110 | killagreg | 128 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
129 | Buffer_t UART1_rx_buffer; |
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130 | |||
153 | killagreg | 131 | // the tx buffer |
349 | ingob | 132 | #define UART1_TX_BUFFER_LEN 1024 |
153 | killagreg | 133 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
134 | Buffer_t UART1_tx_buffer; |
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135 | |||
92 | killagreg | 136 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 137 | |
150 | killagreg | 138 | u8 text[200]; |
41 | ingob | 139 | |
140 | const u8 ANALOG_LABEL[32][16] = |
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141 | { |
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90 | killagreg | 142 | //1234567890123456 |
41 | ingob | 143 | "AngleNick ", //0 |
144 | "AngleRoll ", |
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145 | "AccNick ", |
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146 | "AccRoll ", |
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214 | killagreg | 147 | "OperatingRadius ", |
200 | killagreg | 148 | "FC-Flags ", //5 |
95 | killagreg | 149 | "NC-Flags ", |
121 | killagreg | 150 | "NickServo ", |
151 | "RollServo ", |
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41 | ingob | 152 | "GPS Data ", |
61 | holgerb | 153 | "CompassHeading ", //10 |
154 | "GyroHeading ", |
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419 | holgerb | 155 | "SPI Error ", // achtung: muss auf 12 bleiben |
41 | ingob | 156 | "SPI Okay ", |
189 | killagreg | 157 | "I2C Error ", |
41 | ingob | 158 | "I2C Okay ", //15 |
339 | holgerb | 159 | "16 ", |
437 | holgerb | 160 | "17 ", |
161 | "18 ", |
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162 | "19 ", // SD-Card-time |
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330 | holgerb | 163 | "EarthMagnet [%] ", //20 |
456 | holgerb | 164 | "Ground Speed ", // "Z_Speed ", |
338 | holgerb | 165 | "N_Speed ", |
166 | "E_Speed ", |
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310 | holgerb | 167 | "Magnet X ", |
338 | holgerb | 168 | "Magnet Y ", //25 |
310 | holgerb | 169 | "Magnet Z ", |
41 | ingob | 170 | "Distance N ", |
171 | "Distance E ", |
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172 | "GPS_Nick ", |
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173 | "GPS_Roll ", //30 |
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174 | "Used_Sats " |
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175 | }; |
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176 | |||
112 | killagreg | 177 | DebugOut_t DebugOut; |
178 | ExternControl_t ExternControl; |
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179 | UART_VersionInfo_t UART_VersionInfo; |
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180 | NaviData_t NaviData; |
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181 | Data3D_t Data3D; |
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182 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 183 | |
193 | killagreg | 184 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 185 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 186 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 187 | u32 UART1_NaviData_Interval = 0; // in ms |
188 | u32 UART1_Data3D_Timer = 0; |
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189 | u32 UART1_Data3D_Interval = 0; // in ms |
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358 | holgerb | 190 | u32 UART1_MotorData_Timer = 0; |
191 | u32 UART1_MotorData_Interval = 0; // in ms |
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193 | killagreg | 192 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 193 | u32 UART1_Display_Interval = 0; // in ms |
460 | holgerb | 194 | u32 NMEA_Timer = 0; |
195 | u32 NMEA_Interval = 500;// in ms |
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112 | killagreg | 196 | |
41 | ingob | 197 | /********************************************************/ |
198 | /* Initialization the UART1 */ |
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199 | /********************************************************/ |
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200 | void UART1_Init (void) |
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201 | { |
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202 | GPIO_InitTypeDef GPIO_InitStructure; |
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203 | UART_InitTypeDef UART_InitStructure; |
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204 | |||
153 | killagreg | 205 | // initialize txd buffer |
206 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 207 | |
153 | killagreg | 208 | // initialize rxd buffer |
209 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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210 | |||
244 | killagreg | 211 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
212 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 213 | |
41 | ingob | 214 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
215 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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216 | |||
217 | /*Configure UART1_Rx pin GPIO3.2*/ |
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218 | GPIO_StructInit(&GPIO_InitStructure); |
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219 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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220 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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221 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 222 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 223 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
224 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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225 | |||
226 | /*Configure UART1_Tx pin GPIO3.3*/ |
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227 | GPIO_StructInit(&GPIO_InitStructure); |
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228 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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229 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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230 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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231 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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232 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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233 | |||
234 | /* UART1 configured as follow: |
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235 | - Word Length = 8 Bits |
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236 | - One Stop Bit |
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237 | - No parity |
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238 | - BaudRate = 57600 baud |
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239 | - Hardware flow control Disabled |
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240 | - Receive and transmit enabled |
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241 | - Receive and transmit FIFOs are Disabled |
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242 | */ |
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243 | UART_StructInit(&UART_InitStructure); |
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244 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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245 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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246 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 247 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 248 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
249 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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250 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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251 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 252 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 253 | |
254 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 255 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 256 | // enable uart 1 interrupts selective |
257 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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258 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 259 | // configure the uart 1 interupt line |
260 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 261 | // enable the uart 1 IRQ |
41 | ingob | 262 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 263 | |
41 | ingob | 264 | // initialize the debug timer |
110 | killagreg | 265 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
266 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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460 | holgerb | 267 | NMEA_Timer = SetDelay(9000); |
110 | killagreg | 268 | |
41 | ingob | 269 | // Fill Version Info Structure |
270 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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271 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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272 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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273 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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274 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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454 | holgerb | 275 | UART_VersionInfo.HWMajor = Version_HW; |
276 | UART_VersionInfo.reserved2 = 0; |
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277 | UART_VersionInfo.Flags = 0; |
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89 | killagreg | 278 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 279 | |
212 | killagreg | 280 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 281 | } |
282 | |||
283 | |||
284 | /****************************************************************/ |
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285 | /* USART1 receiver ISR */ |
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286 | /****************************************************************/ |
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287 | void UART1_IRQHandler(void) |
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288 | { |
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289 | static u8 abortState = 0; |
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290 | u8 c; |
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291 | |||
292 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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293 | { |
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153 | killagreg | 294 | // clear the pending bits! |
41 | ingob | 295 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
296 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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297 | // if debug UART is not UART1 |
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298 | if (DebugUART != UART1) |
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299 | { // forward received data to the debug UART tx buffer |
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300 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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301 | { |
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302 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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303 | c = UART_ReceiveData(UART1); |
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304 | |||
305 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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306 | switch (abortState) |
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307 | { |
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165 | killagreg | 308 | case 0: |
139 | killagreg | 309 | if (c == 27) abortState++; |
41 | ingob | 310 | break; |
165 | killagreg | 311 | case 1: |
312 | if (c == 27) abortState++; |
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139 | killagreg | 313 | else abortState = 0; |
41 | ingob | 314 | break; |
139 | killagreg | 315 | case 2: |
165 | killagreg | 316 | if (c == 0x55) abortState++; |
139 | killagreg | 317 | else abortState = 0; |
41 | ingob | 318 | break; |
139 | killagreg | 319 | case 3: |
320 | if (c == 0xAA) abortState++; |
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321 | else abortState = 0; |
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41 | ingob | 322 | break; |
165 | killagreg | 323 | case 4: |
139 | killagreg | 324 | if (c == 0x00) |
325 | { |
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326 | if(DebugUART == UART0) |
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327 | { |
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245 | killagreg | 328 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 329 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 330 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 331 | } |
332 | DebugUART = UART1; |
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165 | killagreg | 333 | } |
139 | killagreg | 334 | abortState = 0; |
335 | break; |
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336 | } // end switch abort state |
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136 | killagreg | 337 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 338 | if (DebugUART != UART1) |
339 | { |
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340 | // wait for space in the tx buffer of the DebugUART |
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341 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 342 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 343 | UART_SendData(DebugUART, c); |
344 | } |
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41 | ingob | 345 | } |
346 | } |
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347 | else // DebugUART == UART1 (normal operation) |
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348 | { |
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110 | killagreg | 349 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 350 | { // some byes in the hardware fifo |
153 | killagreg | 351 | // get byte from hardware fifo |
41 | ingob | 352 | c = UART_ReceiveData(UART1); |
153 | killagreg | 353 | // put into the software fifo |
354 | if(!fifo_put(&UART1_rx_fifo, c)) |
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355 | { // fifo overflow |
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155 | killagreg | 356 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 357 | } |
154 | killagreg | 358 | } // EOF while some byes in the hardware fifo |
41 | ingob | 359 | } // eof DebugUart = UART1 |
360 | } |
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195 | killagreg | 361 | |
380 | holgerb | 362 | |
363 | |||
378 | holgerb | 364 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 365 | } |
366 | |||
367 | /**************************************************************/ |
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368 | /* Process incomming data from debug uart */ |
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369 | /**************************************************************/ |
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370 | void UART1_ProcessRxData(void) |
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371 | { |
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154 | killagreg | 372 | // return on forwarding uart or unlocked rx buffer |
380 | holgerb | 373 | u8 c; |
155 | killagreg | 374 | if(DebugUART != UART1) return; |
375 | // if rx buffer is not locked |
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376 | if(UART1_rx_buffer.Locked == FALSE) |
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315 | killagreg | 377 | { |
244 | killagreg | 378 | //collect data from primary rx fifo |
155 | killagreg | 379 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 380 | { |
244 | killagreg | 381 | // break if complete frame is collected |
155 | killagreg | 382 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
383 | } |
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384 | } |
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385 | if(UART1_rx_buffer.Locked == FALSE) return; |
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386 | |||
280 | killagreg | 387 | Point_t * pPoint = NULL; |
153 | killagreg | 388 | SerialMsg_t SerialMsg; |
41 | ingob | 389 | |
190 | killagreg | 390 | // analyze header first |
391 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
194 | killagreg | 392 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 393 | { |
192 | killagreg | 394 | switch(SerialMsg.CmdID) |
395 | { |
||
231 | holgerb | 396 | // case 'v': // version |
398 | holgerb | 397 | case 'b': // extern control |
398 | UART1_ExternalControlConfirmFrame = 1; |
||
192 | killagreg | 399 | case 'y': // serial poti values |
400 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
401 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
194 | killagreg | 402 | return; //end process rx data |
192 | killagreg | 403 | break; |
404 | } |
||
195 | killagreg | 405 | } |
190 | killagreg | 406 | |
407 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
408 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
409 | switch(SerialMsg.Address) // check for Slave Address |
||
410 | { |
||
41 | ingob | 411 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 412 | switch(SerialMsg.CmdID) |
41 | ingob | 413 | { |
447 | holgerb | 414 | case 't': // request for the GPS time |
415 | UART1_Request_SystemTime = TRUE; |
||
416 | break; |
||
417 | |||
349 | ingob | 418 | case 'f': // ftp command |
419 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
420 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
||
421 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
||
422 | break; |
||
423 | |||
101 | holgerb | 424 | case 'z': // connection checker |
110 | killagreg | 425 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
426 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 427 | break; |
428 | |||
41 | ingob | 429 | case 'e': // request for the text of the error status |
110 | killagreg | 430 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 431 | break; |
432 | |||
433 | case 's':// new target position |
||
280 | killagreg | 434 | pPoint = (Point_t*)SerialMsg.pData; |
435 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 436 | { |
315 | killagreg | 437 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 438 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 439 | PointList_SetAt(pPoint); |
315 | killagreg | 440 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 441 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 442 | if(GPS_pWaypoint != NULL) // if new WP exist |
443 | { // update WP hold time stamp immediately! |
||
451 | holgerb | 444 | EnableNewWpHeading(); |
302 | holgerb | 445 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
446 | { |
||
447 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
448 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
449 | } |
||
450 | */ |
||
451 | } |
||
295 | killagreg | 452 | BeepTime = 50; |
41 | ingob | 453 | } |
454 | break; |
||
455 | |||
456 | case 'u': // redirect debug uart |
||
110 | killagreg | 457 | switch(SerialMsg.pData[0]) |
41 | ingob | 458 | { |
459 | case UART_FLIGHTCTRL: |
||
460 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 461 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 462 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 463 | DebugUART = UART2; |
464 | break; |
||
465 | case UART_MK3MAG: |
||
255 | killagreg | 466 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 467 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
468 | GPSData.Status = INVALID; |
||
153 | killagreg | 469 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 470 | DebugUART = UART0; |
471 | break; |
||
472 | case UART_MKGPS: |
||
255 | killagreg | 473 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 474 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 475 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 476 | GPSData.Status = INVALID; |
153 | killagreg | 477 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 478 | DebugUART = UART0; |
479 | break; |
||
153 | killagreg | 480 | default: |
481 | break; |
||
41 | ingob | 482 | } |
483 | break; |
||
484 | |||
295 | killagreg | 485 | case 'w':// Set point in list at index |
165 | killagreg | 486 | { |
280 | killagreg | 487 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 488 | |
280 | killagreg | 489 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 490 | { |
280 | killagreg | 491 | PointList_Clear(); |
492 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 493 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 494 | } |
227 | killagreg | 495 | else |
295 | killagreg | 496 | { // update WP in list at index |
351 | holgerb | 497 | if(pPoint->Index > MaxNumberOfWaypoints) |
498 | { |
||
499 | UART1_Request_WritePoint = 254; |
||
500 | pPoint->Index = MaxNumberOfWaypoints; |
||
501 | } |
||
502 | else |
||
503 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 504 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 505 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 506 | { |
507 | BeepTime = 500; |
||
165 | killagreg | 508 | } |
509 | } |
||
41 | ingob | 510 | } |
511 | break; |
||
512 | |||
92 | killagreg | 513 | case 'x':// Read Waypoint from List |
280 | killagreg | 514 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 515 | break; |
516 | |||
160 | holgerb | 517 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 518 | switch(SerialMsg.pData[0]) |
519 | { |
||
520 | case 0: // get |
||
521 | break; |
||
165 | killagreg | 522 | |
156 | killagreg | 523 | case 1: // set |
159 | killagreg | 524 | { |
525 | s16 value; |
||
526 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
527 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
528 | } |
||
156 | killagreg | 529 | break; |
530 | |||
531 | default: |
||
165 | killagreg | 532 | break; |
156 | killagreg | 533 | } |
534 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
535 | UART1_Request_Parameter = TRUE; |
||
536 | break; |
||
41 | ingob | 537 | default: |
538 | // unsupported command recieved |
||
539 | break; |
||
540 | } // case NC_ADDRESS |
||
65 | killagreg | 541 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 542 | |
543 | default: // and any other Slave Address |
||
544 | |||
190 | killagreg | 545 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 546 | { |
547 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 548 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
549 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 550 | break; |
193 | killagreg | 551 | /* |
41 | ingob | 552 | case 'b': // submit extern control |
121 | killagreg | 553 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 554 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 555 | break; |
195 | killagreg | 556 | */ |
41 | ingob | 557 | case 'd': // request for debug data; |
110 | killagreg | 558 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
559 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 560 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 561 | break; |
562 | |||
63 | killagreg | 563 | case 'c': // request for 3D data; |
110 | killagreg | 564 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
565 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 566 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 567 | break; |
275 | killagreg | 568 | |
358 | holgerb | 569 | case 'k': // request for Motor data; |
570 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
571 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
572 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
573 | break; |
||
574 | |||
41 | ingob | 575 | case 'h':// reqest for display line |
193 | killagreg | 576 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
577 | { |
||
578 | UART1_DisplayLine = 2; |
||
195 | killagreg | 579 | UART1_Display_Interval = 0; |
193 | killagreg | 580 | } |
581 | else |
||
582 | { |
||
201 | killagreg | 583 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 584 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
585 | UART1_DisplayLine = 4; |
||
198 | killagreg | 586 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 587 | } |
110 | killagreg | 588 | UART1_Request_Display = TRUE; |
41 | ingob | 589 | break; |
590 | |||
591 | case 'l':// reqest for display columns |
||
110 | killagreg | 592 | MenuItem = SerialMsg.pData[0]; |
593 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 594 | break; |
64 | holgerb | 595 | |
596 | case 'o': // request for navigation information |
||
110 | killagreg | 597 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
598 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 599 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 600 | break; |
601 | |||
41 | ingob | 602 | case 'v': // request for version info |
110 | killagreg | 603 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 604 | break; |
605 | default: |
||
606 | // unsupported command recieved |
||
607 | break; |
||
608 | } |
||
609 | break; // default: |
||
610 | } |
||
153 | killagreg | 611 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 612 | } |
613 | |||
614 | |||
615 | /*****************************************************/ |
||
616 | /* Send a character */ |
||
617 | /*****************************************************/ |
||
110 | killagreg | 618 | s16 UART1_Putchar(char c) |
41 | ingob | 619 | { |
362 | holgerb | 620 | u32 timeout = 10000; |
110 | killagreg | 621 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 622 | // wait until txd fifo is not full |
362 | holgerb | 623 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
41 | ingob | 624 | // transmit byte |
625 | UART_SendData(UART1, c); |
||
314 | killagreg | 626 | #ifdef FOLLOW_ME |
627 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
628 | #endif |
||
41 | ingob | 629 | return (0); |
630 | } |
||
631 | |||
632 | /*****************************************************/ |
||
633 | /* Send a string to the debug uart */ |
||
634 | /*****************************************************/ |
||
110 | killagreg | 635 | void UART1_PutString(u8 *s) |
41 | ingob | 636 | { |
637 | if(s == NULL) return; |
||
638 | while (*s != '\0' && DebugUART == UART1) |
||
639 | { |
||
110 | killagreg | 640 | UART1_Putchar(*s); |
41 | ingob | 641 | s ++; |
642 | } |
||
643 | } |
||
644 | |||
113 | killagreg | 645 | |
110 | killagreg | 646 | /**************************************************************/ |
647 | /* Transmit tx buffer via debug uart */ |
||
648 | /**************************************************************/ |
||
649 | void UART1_Transmit(void) |
||
650 | { |
||
651 | u8 tmp_tx; |
||
652 | if(DebugUART != UART1) return; |
||
653 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 654 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 655 | { |
113 | killagreg | 656 | // while there is some space in the tx fifo |
657 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 658 | { |
113 | killagreg | 659 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
660 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 661 | #ifdef FOLLOW_ME |
315 | killagreg | 662 | if(TransmitAlsoToFC) |
663 | { |
||
314 | killagreg | 664 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
665 | } |
||
666 | #endif |
||
113 | killagreg | 667 | // if terminating character or end of txd buffer reached |
668 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
669 | { |
||
670 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 671 | #ifdef FOLLOW_ME |
672 | TransmitAlsoToFC = 0; |
||
673 | #endif |
||
113 | killagreg | 674 | break; // end while loop |
675 | } |
||
110 | killagreg | 676 | } |
677 | } |
||
678 | } |
||
41 | ingob | 679 | |
460 | holgerb | 680 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
681 | //$GPGGA,090527.40,5317.15615,N,00729.08295,E,1,04,2.26,-2.6,M,45.5,M,,* |
||
682 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
683 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
684 | void CreateNmeaGGA(void) |
||
685 | { |
||
686 | unsigned char array[100], i = 0, crc = 0, x; |
||
687 | long tmp1, tmp2; |
||
688 | i += sprintf(array, "$GPGGA,"); |
||
689 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
690 | if(SystemTime.Valid) |
||
691 | { |
||
692 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
||
693 | } |
||
694 | else |
||
695 | { |
||
696 | i += sprintf(&array[i], ","); |
||
697 | } |
||
698 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
699 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
700 | { |
||
701 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
702 | i += sprintf(&array[i],"%02d",tmp1); |
||
378 | holgerb | 703 | |
460 | holgerb | 704 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
705 | tmp1 *= 6; // in Minuten |
||
706 | tmp2 = tmp1 / 1000000L; |
||
707 | i += sprintf(&array[i],"%02d",tmp2); |
||
708 | tmp2 = tmp1 % 1000000L; |
||
709 | tmp2 /= 10; // eine Stelle zu viel |
||
710 | i += sprintf(&array[i],".%05d,",tmp2); |
||
711 | |||
712 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
713 | else i += sprintf(&array[i],"S,"); |
||
714 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
715 | |||
716 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
717 | i += sprintf(&array[i],"%03d",tmp1); |
||
718 | |||
719 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
||
720 | tmp1 *= 6; // in Minuten |
||
721 | tmp2 = tmp1 / 1000000L; |
||
722 | i += sprintf(&array[i],"%02d",tmp2); |
||
723 | tmp2 = tmp1 % 1000000L; |
||
724 | tmp2 /= 10; // eine Stelle zu viel |
||
725 | i += sprintf(&array[i],".%05d,",tmp2); |
||
726 | |||
727 | |||
728 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
729 | else i += sprintf(&array[i],"W,"); |
||
730 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
731 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
732 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
||
733 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
734 | tmp1 = NaviData.Altimeter / 2; // in dm |
||
735 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
||
736 | i += sprintf(&array[i],",,,*"); |
||
737 | } |
||
738 | else |
||
739 | { |
||
740 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
741 | } |
||
742 | for(x=1; x<i-1; x++) |
||
743 | { |
||
744 | crc ^= array[x]; |
||
745 | } |
||
746 | i += sprintf(&array[i], "%02x\n\r",crc); |
||
747 | AddSerialData(&UART1_tx_buffer,array,i); |
||
748 | |||
749 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
750 | /* |
||
751 | |||
752 | |||
753 | |||
754 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
||
755 | GPSData.NumOfSats = UbxSol.numSV; |
||
756 | GPSData.SatFix = UbxSol.GPSfix; |
||
757 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
758 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
759 | SetGPSTime(&SystemTime); // update system time |
||
760 | // NAV POSLLH |
||
761 | GPSData.Position.Status = INVALID; |
||
762 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
763 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
764 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
765 | GPSData.Position.Status = NEWDATA; |
||
766 | // NAV VELNED |
||
767 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
768 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
769 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
770 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
771 | GPSData.Heading = UbxVelNed.Heading; |
||
772 | SystemTime.Year = 0; |
||
773 | SystemTime.Month = 0; |
||
774 | SystemTime.Day = 0; |
||
775 | SystemTime.Hour = 0; |
||
776 | SystemTime.Min = 0; |
||
777 | SystemTime.Sec = 0; |
||
778 | SystemTime.mSec = 0; |
||
779 | SystemTime.Valid = 0; |
||
780 | |||
781 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
||
782 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
783 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
784 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
785 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
786 | |||
787 | |||
788 | |||
789 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
790 | i1 *= 100; |
||
791 | i1 += i2 / 100000; |
||
792 | i2 = i2 % 100000; |
||
793 | i2 /= 10; |
||
794 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
795 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
796 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
797 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
798 | break; |
||
799 | case 1: |
||
800 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
801 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
802 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
803 | //----------------------------- |
||
804 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
805 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
806 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
807 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
808 | |||
809 | */ |
||
810 | } |
||
811 | |||
812 | |||
41 | ingob | 813 | /**************************************************************/ |
814 | /* Send the answers to incomming commands at the debug uart */ |
||
815 | /**************************************************************/ |
||
816 | void UART1_TransmitTxData(void) |
||
817 | { |
||
358 | holgerb | 818 | static u8 motorindex1 = 255, motorindex2 = 0; |
110 | killagreg | 819 | if(DebugUART != UART1) return; |
198 | killagreg | 820 | |
821 | if(CheckDelay(UART1_AboTimeOut)) |
||
822 | { |
||
823 | UART1_DebugData_Interval = 0; |
||
824 | UART1_NaviData_Interval = 0; |
||
825 | UART1_Data3D_Interval = 0; |
||
826 | UART1_Display_Interval = 0; |
||
378 | holgerb | 827 | UART1_MotorData_Interval = 0; |
198 | killagreg | 828 | } |
829 | |||
110 | killagreg | 830 | UART1_Transmit(); // output pending bytes in tx buffer |
831 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 832 | |
156 | killagreg | 833 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 834 | { |
315 | killagreg | 835 | s16 ParamValue; |
299 | killagreg | 836 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 837 | 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 | 838 | UART1_Request_Parameter = FALSE; |
839 | } |
||
840 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
841 | { |
||
110 | killagreg | 842 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 843 | Echo = 0; // reset echo value |
110 | killagreg | 844 | UART1_Request_Echo = FALSE; |
92 | killagreg | 845 | } |
349 | ingob | 846 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
847 | { |
||
433 | ingob | 848 | u8 errorcode = FTP_ERROR_NONE; |
849 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
850 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
851 | |||
852 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
853 | else |
||
854 | { |
||
855 | u8 cmd = FTP_CMD_ERROR; |
||
856 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
857 | } |
||
858 | |||
349 | ingob | 859 | UART1_Request_FTP = FALSE; |
860 | } |
||
295 | killagreg | 861 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 862 | { |
295 | killagreg | 863 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
864 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 865 | } |
280 | killagreg | 866 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 867 | { |
280 | killagreg | 868 | u8 PointCount = PointList_GetCount(); |
869 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 870 | { |
280 | killagreg | 871 | 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 | 872 | } |
873 | else |
||
874 | { |
||
280 | killagreg | 875 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 876 | } |
280 | killagreg | 877 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 878 | } |
879 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
880 | { |
||
881 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
882 | UART1_Request_DebugLabel = 0xFF; |
||
883 | } |
||
398 | holgerb | 884 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
885 | { |
||
886 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
887 | UART1_ExternalControlConfirmFrame = 0; |
||
888 | } |
||
151 | killagreg | 889 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 890 | { |
151 | killagreg | 891 | NaviData.Errorcode = ErrorCode; |
378 | holgerb | 892 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
151 | killagreg | 893 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
894 | UART1_Request_NaviData = FALSE; |
||
360 | holgerb | 895 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
151 | killagreg | 896 | } |
897 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
898 | { |
||
110 | killagreg | 899 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
900 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
901 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 902 | } |
151 | killagreg | 903 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 904 | { |
358 | holgerb | 905 | Data3D.StickNick = FC.StickNick; |
906 | Data3D.StickRoll = FC.StickRoll; |
||
907 | Data3D.StickYaw = FC.StickYaw; |
||
908 | Data3D.StickGas = FC.StickGas; |
||
110 | killagreg | 909 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
910 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
911 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 912 | } |
358 | holgerb | 913 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
914 | { |
||
915 | do |
||
916 | { |
||
917 | motorindex1++; |
||
918 | motorindex1%=12; |
||
919 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
920 | if(motorindex1 == motorindex2) break; |
||
921 | } |
||
922 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
923 | |||
924 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
925 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
926 | UART1_Request_MotorData = FALSE; |
||
927 | } |
||
460 | holgerb | 928 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
929 | { |
||
930 | CreateNmeaGGA(); |
||
931 | NMEA_Timer = SetDelay(NMEA_Interval); |
||
932 | } |
||
933 | |||
193 | killagreg | 934 | /* |
153 | killagreg | 935 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
936 | { |
||
937 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
938 | UART1_ConfirmFrame = 0; |
||
939 | } |
||
193 | killagreg | 940 | */ |
941 | /* |
||
151 | killagreg | 942 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 943 | { |
110 | killagreg | 944 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
945 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 946 | } |
193 | killagreg | 947 | */ |
948 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 949 | { |
193 | killagreg | 950 | if(UART1_DisplayLine > 3) |
951 | { |
||
201 | killagreg | 952 | Menu_Update(UART1_DisplayKeys); |
953 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 954 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
955 | } |
||
956 | else |
||
957 | { |
||
958 | UART1_DisplayLine = 2; |
||
959 | sprintf(text,"!!! incompatible !!!"); |
||
960 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
961 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
962 | } |
||
963 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 964 | UART1_Request_Display = FALSE; |
41 | ingob | 965 | } |
151 | killagreg | 966 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 967 | { |
201 | killagreg | 968 | Menu_Update(0); |
110 | killagreg | 969 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
970 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 971 | } |
151 | killagreg | 972 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 973 | { |
110 | killagreg | 974 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
975 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 976 | } |
447 | holgerb | 977 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
978 | { |
||
979 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
980 | UART1_Request_SystemTime = FALSE; |
||
981 | } |
||
151 | killagreg | 982 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 983 | { |
110 | killagreg | 984 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
985 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 986 | } |
314 | killagreg | 987 | #ifdef FOLLOW_ME |
988 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
989 | { |
||
990 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 991 | { |
314 | killagreg | 992 | TransmitAlsoToFC = 1; |
993 | // update FollowMe content |
||
994 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
995 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
996 | FollowMe.Position.Status = NEWDATA; |
||
997 | FollowMe.Position.Altitude = 1; |
||
998 | // 0 -> no Orientation |
||
999 | // 1-360 -> CompassCourse Setpoint |
||
1000 | // -1 -> points to WP1 -> itself |
||
1001 | FollowMe.Heading = -1; |
||
1002 | FollowMe.ToleranceRadius = 1; |
||
1003 | FollowMe.HoldTime = 60; |
||
1004 | FollowMe.Event_Flag = 1; |
||
1005 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1006 | FollowMe.Type = POINT_TYPE_WP; |
||
1007 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1008 | FollowMe.AltitudeRate = 0; // do not change height |
||
403 | holgerb | 1009 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1010 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1011 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1012 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1013 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1014 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
314 | killagreg | 1015 | FollowMe.reserve[0] = 0; // reserve |
1016 | FollowMe.reserve[1] = 0; // reserve |
||
1017 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
1018 | } |
||
1019 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1020 | } |
||
1021 | #endif |
||
250 | ingob | 1022 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 1023 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 1024 | { |
1025 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1026 | SendDebugOutput = 0; |
||
1027 | } |
||
315 | killagreg | 1028 | #endif |
110 | killagreg | 1029 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 1030 | } |
1031 |