Rev 134 | Rev 139 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
6 | // + Nur für den privaten Gebrauch |
||
7 | // + FOR NON COMMERCIAL USE ONLY |
||
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
29 | // + mit unserer Zustimmung zulässig |
||
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
34 | // + this list of conditions and the following disclaimer. |
||
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
36 | // + from this software without specific prior written permission. |
||
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
||
38 | // + for non-commercial use (directly or indirectly) |
||
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
40 | // + with our written permission |
||
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
42 | // + clearly linked as origin |
||
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
||
44 | // |
||
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
55 | // + POSSIBILITY OF SUCH DAMAGE. |
||
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
57 | #include <stdio.h> |
||
58 | #include <stdarg.h> |
||
59 | #include <string.h> |
||
60 | |||
61 | #include "91x_lib.h" |
||
136 | killagreg | 62 | #include "config.h" |
41 | ingob | 63 | #include "menu.h" |
64 | #include "printf_P.h" |
||
65 | #include "GPS.h" |
||
66 | #include "i2c.h" |
||
67 | #include "uart0.h" |
||
68 | #include "uart1.h" |
||
69 | #include "uart2.h" |
||
119 | killagreg | 70 | #include "timer1.h" |
41 | ingob | 71 | #include "main.h" |
72 | #include "waypoints.h" |
||
110 | killagreg | 73 | #include "mkprotocol.h" |
41 | ingob | 74 | |
75 | #define FALSE 0 |
||
76 | #define TRUE 1 |
||
77 | |||
92 | killagreg | 78 | |
110 | killagreg | 79 | u8 UART1_Request_VersionInfo = FALSE; |
80 | u8 UART1_Request_SendFollowMe = FALSE; |
||
81 | u8 UART1_Request_ExternalControl= FALSE; |
||
82 | u8 UART1_Request_Display = FALSE; |
||
83 | u8 UART1_Request_Display1 = FALSE; |
||
84 | u8 UART1_Request_DebugData = FALSE; |
||
85 | u8 UART1_Request_DebugLabel = 255; |
||
86 | u8 UART1_Request_NaviData = FALSE; |
||
87 | u8 UART1_Request_ErrorMessage = FALSE; |
||
88 | u8 UART1_Request_NewWaypoint = FALSE; |
||
89 | u8 UART1_Request_ReadWaypoint = 255; |
||
90 | u8 UART1_Request_Data3D = FALSE; |
||
91 | u8 UART1_Request_Echo = FALSE; |
||
112 | killagreg | 92 | u8 UART1_DisplayLine = 0; |
93 | u8 UART1_ConfirmFrame = 0; |
||
41 | ingob | 94 | |
95 | UART_TypeDef *DebugUART = UART1; |
||
96 | |||
110 | killagreg | 97 | // the tx buffer |
98 | #define UART1_TX_BUFFER_LEN 150 |
||
99 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
||
100 | Buffer_t UART1_tx_buffer; |
||
101 | |||
102 | // the rx buffer |
||
103 | #define UART1_RX_BUFFER_LEN 150 |
||
104 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
||
105 | Buffer_t UART1_rx_buffer; |
||
106 | |||
92 | killagreg | 107 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 108 | |
109 | u8 text[100]; |
||
110 | |||
111 | const u8 ANALOG_LABEL[32][16] = |
||
112 | { |
||
90 | killagreg | 113 | //1234567890123456 |
41 | ingob | 114 | "AngleNick ", //0 |
115 | "AngleRoll ", |
||
116 | "AccNick ", |
||
117 | "AccRoll ", |
||
118 | " ", |
||
75 | holgerb | 119 | "MK-Flags ", //5 |
95 | killagreg | 120 | "NC-Flags ", |
121 | killagreg | 121 | "NickServo ", |
122 | "RollServo ", |
||
41 | ingob | 123 | "GPS Data ", |
61 | holgerb | 124 | "CompassHeading ", //10 |
125 | "GyroHeading ", |
||
41 | ingob | 126 | "SPI Error ", |
127 | "SPI Okay ", |
||
128 | "I2C Error ", |
||
129 | "I2C Okay ", //15 |
||
130 | " ",// "FC_Kalman_K ", |
||
131 | "ACC_Speed_N ", |
||
132 | "ACC_Speed_E ", |
||
133 | " ",// "GPS ACC ", |
||
134 | " ",// "MAXDrift ", //20 |
||
135 | "N_Speed ", |
||
136 | "E_Speed ", |
||
99 | killagreg | 137 | "P-Part ", |
138 | "I-Part ", |
||
139 | "D-Part ",//25 |
||
140 | "PID-Part ", |
||
41 | ingob | 141 | "Distance N ", |
142 | "Distance E ", |
||
143 | "GPS_Nick ", |
||
144 | "GPS_Roll ", //30 |
||
145 | "Used_Sats " |
||
146 | }; |
||
147 | |||
112 | killagreg | 148 | DebugOut_t DebugOut; |
149 | ExternControl_t ExternControl; |
||
150 | UART_VersionInfo_t UART_VersionInfo; |
||
151 | NaviData_t NaviData; |
||
152 | Waypoint_t FollowMe; |
||
153 | Data3D_t Data3D; |
||
154 | u16 Echo; // 2 bytes recieved will be sent back as echo |
||
41 | ingob | 155 | |
112 | killagreg | 156 | u32 UART1_DebugData_Timer; |
157 | u32 UART1_DebugData_Interval = 5000; // in ms |
||
158 | u32 UART1_NaviData_Timer; |
||
159 | u32 UART1_NaviData_Interval = 5000; // in ms |
||
160 | u32 UART1_Data3D_Timer = 0; // in ms |
||
161 | u32 UART1_Data3D_Interval = 0; |
||
162 | |||
41 | ingob | 163 | /********************************************************/ |
164 | /* Initialization the UART1 */ |
||
165 | /********************************************************/ |
||
166 | void UART1_Init (void) |
||
167 | { |
||
168 | GPIO_InitTypeDef GPIO_InitStructure; |
||
169 | UART_InitTypeDef UART_InitStructure; |
||
170 | |||
171 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
||
172 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
||
173 | |||
174 | /*Configure UART1_Rx pin GPIO3.2*/ |
||
175 | GPIO_StructInit(&GPIO_InitStructure); |
||
176 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
||
177 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
||
178 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
179 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
||
180 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
||
181 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
||
182 | |||
183 | /*Configure UART1_Tx pin GPIO3.3*/ |
||
184 | GPIO_StructInit(&GPIO_InitStructure); |
||
185 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
186 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
||
187 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
188 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
||
189 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
||
190 | |||
191 | /* UART1 configured as follow: |
||
192 | - Word Length = 8 Bits |
||
193 | - One Stop Bit |
||
194 | - No parity |
||
195 | - BaudRate = 57600 baud |
||
196 | - Hardware flow control Disabled |
||
197 | - Receive and transmit enabled |
||
198 | - Receive and transmit FIFOs are Disabled |
||
199 | */ |
||
200 | UART_StructInit(&UART_InitStructure); |
||
201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
||
202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
||
203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
||
110 | killagreg | 204 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 205 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
||
207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
||
208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
||
136 | killagreg | 209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_8; |
41 | ingob | 210 | |
211 | UART_DeInit(UART1); // reset uart 1 to default |
||
212 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
||
213 | // enable uart 1 interrupts selective |
||
214 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
||
215 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
||
136 | killagreg | 216 | // configure the uart 1 interupt line |
217 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
||
41 | ingob | 218 | // enable the uart 1 IRQ |
219 | VIC_ITCmd(UART1_ITLine, ENABLE); |
||
220 | // initialize the debug timer |
||
110 | killagreg | 221 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
222 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
||
223 | |||
224 | // initialize txd buffer |
||
112 | killagreg | 225 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
110 | killagreg | 226 | |
227 | // initialize rxd buffer |
||
112 | killagreg | 228 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
110 | killagreg | 229 | |
41 | ingob | 230 | // Fill Version Info Structure |
231 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
||
232 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
||
233 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
||
234 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
235 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
||
236 | |||
89 | killagreg | 237 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 238 | |
110 | killagreg | 239 | UART1_PutString("\r\nUART1 init...ok"); |
41 | ingob | 240 | } |
241 | |||
242 | |||
243 | /****************************************************************/ |
||
244 | /* USART1 receiver ISR */ |
||
245 | /****************************************************************/ |
||
246 | void UART1_IRQHandler(void) |
||
247 | { |
||
248 | static u8 abortState = 0; |
||
249 | u8 c; |
||
250 | |||
251 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
||
252 | { |
||
253 | // clear the pending bits |
||
254 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
||
255 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
||
256 | // if debug UART is not UART1 |
||
257 | if (DebugUART != UART1) |
||
258 | { // forward received data to the debug UART tx buffer |
||
259 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
260 | { |
||
261 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
||
262 | c = UART_ReceiveData(UART1); |
||
263 | |||
264 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
||
265 | switch (abortState) |
||
266 | { |
||
267 | case 0: if (c == 27) abortState++; |
||
268 | break; |
||
269 | case 1: if (c == 27) abortState++; else abortState = 0; |
||
270 | break; |
||
271 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
||
272 | break; |
||
273 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
||
274 | break; |
||
275 | case 4: if (c == 0x00) |
||
276 | { |
||
277 | DebugUART = UART1; |
||
278 | UART0_Connect_to_MKGPS(); |
||
279 | } |
||
280 | abortState = 0; |
||
281 | break; |
||
282 | } |
||
136 | killagreg | 283 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 284 | if (DebugUART != UART1) |
285 | { |
||
286 | // wait for space in the tx buffer of the DebugUART |
||
287 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
288 | // move byte to the tx fifi of the debug uart |
||
289 | UART_SendData(DebugUART, c); |
||
290 | } |
||
41 | ingob | 291 | } |
292 | } |
||
293 | else // DebugUART == UART1 (normal operation) |
||
294 | { |
||
110 | killagreg | 295 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
41 | ingob | 296 | { // some byes in the fifo and rxd buffer not locked |
297 | // get byte from fifo |
||
298 | c = UART_ReceiveData(UART1); |
||
110 | killagreg | 299 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
41 | ingob | 300 | } // some byes in the fifo and rxd buffer not locked |
301 | } // eof DebugUart = UART1 |
||
302 | } |
||
303 | } |
||
304 | |||
305 | /**************************************************************/ |
||
306 | /* Process incomming data from debug uart */ |
||
307 | /**************************************************************/ |
||
308 | void UART1_ProcessRxData(void) |
||
309 | { |
||
110 | killagreg | 310 | SerialMsg_t SerialMsg; |
41 | ingob | 311 | // if data in the rxd buffer are not locked immediately return |
110 | killagreg | 312 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
41 | ingob | 313 | Waypoint_t * pWaypoint = NULL; |
314 | |||
110 | killagreg | 315 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
316 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
317 | switch(SerialMsg.Address) // check for Slave Address |
||
41 | ingob | 318 | { |
319 | case NC_ADDRESS: // own Slave Address |
||
110 | killagreg | 320 | switch(SerialMsg.CmdID) |
41 | ingob | 321 | { |
101 | holgerb | 322 | case 'z': // connection checker |
110 | killagreg | 323 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
324 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 325 | break; |
326 | |||
41 | ingob | 327 | case 'e': // request for the text of the error status |
110 | killagreg | 328 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 329 | break; |
330 | |||
331 | case 's':// new target position |
||
110 | killagreg | 332 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 333 | BeepTime = 300; |
334 | if(pWaypoint->Position.Status == NEWDATA) |
||
335 | { |
||
336 | WPList_Clear(); // empty WPList |
||
337 | WPList_Append(pWaypoint); |
||
338 | GPS_pWaypoint = WPList_Begin(); |
||
339 | } |
||
340 | break; |
||
341 | |||
342 | case 'u': // redirect debug uart |
||
110 | killagreg | 343 | switch(SerialMsg.pData[0]) |
41 | ingob | 344 | { |
345 | case UART_FLIGHTCTRL: |
||
346 | UART2_Init(); // initialize UART2 to FC pins |
||
347 | DebugUART = UART2; |
||
348 | break; |
||
349 | case UART_MK3MAG: |
||
350 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
351 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
||
352 | GPSData.Status = INVALID; |
||
353 | DebugUART = UART0; |
||
354 | break; |
||
355 | case UART_MKGPS: |
||
356 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
||
357 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
||
358 | GPSData.Status = INVALID; |
||
359 | DebugUART = UART0; |
||
360 | break; |
||
361 | } |
||
362 | break; |
||
363 | |||
92 | killagreg | 364 | case 'w':// Append Waypoint to List |
110 | killagreg | 365 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 366 | if(pWaypoint->Position.Status == INVALID) |
367 | { // clear WP List |
||
368 | WPList_Clear(); |
||
369 | GPS_pWaypoint = WPList_Begin(); |
||
110 | killagreg | 370 | //UART1_PutString("\r\nClear WP List\r\n"); |
41 | ingob | 371 | } |
372 | else if (pWaypoint->Position.Status == NEWDATA) |
||
373 | { // app current WP to the list |
||
374 | WPList_Append(pWaypoint); |
||
375 | BeepTime = 500; |
||
110 | killagreg | 376 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
41 | ingob | 377 | } |
110 | killagreg | 378 | UART1_Request_NewWaypoint = TRUE; |
41 | ingob | 379 | break; |
380 | |||
92 | killagreg | 381 | case 'x':// Read Waypoint from List |
110 | killagreg | 382 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
92 | killagreg | 383 | break; |
384 | |||
41 | ingob | 385 | default: |
386 | // unsupported command recieved |
||
387 | break; |
||
388 | } // case NC_ADDRESS |
||
65 | killagreg | 389 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 390 | |
391 | default: // and any other Slave Address |
||
392 | |||
110 | killagreg | 393 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 394 | { |
395 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 396 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
397 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 398 | break; |
399 | |||
400 | case 'b': // submit extern control |
||
121 | killagreg | 401 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 402 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 403 | break; |
404 | |||
405 | case 'd': // request for debug data; |
||
110 | killagreg | 406 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
407 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
41 | ingob | 408 | break; |
409 | |||
63 | killagreg | 410 | case 'c': // request for 3D data; |
110 | killagreg | 411 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
412 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
63 | killagreg | 413 | break; |
414 | |||
41 | ingob | 415 | case 'g':// request for external control data |
110 | killagreg | 416 | UART1_Request_ExternalControl = TRUE; |
41 | ingob | 417 | break; |
418 | |||
419 | case 'h':// reqest for display line |
||
110 | killagreg | 420 | RemoteKeys |= SerialMsg.pData[0]; |
112 | killagreg | 421 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
110 | killagreg | 422 | UART1_Request_Display = TRUE; |
41 | ingob | 423 | break; |
424 | |||
425 | case 'l':// reqest for display columns |
||
110 | killagreg | 426 | MenuItem = SerialMsg.pData[0]; |
427 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 428 | break; |
64 | holgerb | 429 | |
430 | case 'o': // request for navigation information |
||
110 | killagreg | 431 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
432 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
64 | holgerb | 433 | break; |
434 | |||
41 | ingob | 435 | case 'v': // request for version info |
110 | killagreg | 436 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 437 | break; |
438 | default: |
||
439 | // unsupported command recieved |
||
440 | break; |
||
441 | } |
||
442 | break; // default: |
||
443 | } |
||
112 | killagreg | 444 | Buffer_Clear(&UART1_rx_buffer); |
41 | ingob | 445 | } |
446 | |||
447 | |||
448 | /*****************************************************/ |
||
449 | /* Send a character */ |
||
450 | /*****************************************************/ |
||
110 | killagreg | 451 | s16 UART1_Putchar(char c) |
41 | ingob | 452 | { |
110 | killagreg | 453 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 454 | // wait until txd fifo is not full |
455 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
456 | // transmit byte |
||
457 | UART_SendData(UART1, c); |
||
458 | return (0); |
||
459 | } |
||
460 | |||
461 | /*****************************************************/ |
||
462 | /* Send a string to the debug uart */ |
||
463 | /*****************************************************/ |
||
110 | killagreg | 464 | void UART1_PutString(u8 *s) |
41 | ingob | 465 | { |
466 | if(s == NULL) return; |
||
467 | while (*s != '\0' && DebugUART == UART1) |
||
468 | { |
||
110 | killagreg | 469 | UART1_Putchar(*s); |
41 | ingob | 470 | s ++; |
471 | } |
||
472 | } |
||
473 | |||
113 | killagreg | 474 | |
110 | killagreg | 475 | /**************************************************************/ |
476 | /* Transmit tx buffer via debug uart */ |
||
477 | /**************************************************************/ |
||
478 | void UART1_Transmit(void) |
||
479 | { |
||
480 | u8 tmp_tx; |
||
481 | if(DebugUART != UART1) return; |
||
482 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 483 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 484 | { |
113 | killagreg | 485 | // while there is some space in the tx fifo |
486 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 487 | { |
113 | killagreg | 488 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
489 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
490 | // if terminating character or end of txd buffer reached |
||
491 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
492 | { |
||
493 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
494 | break; // end while loop |
||
495 | } |
||
110 | killagreg | 496 | } |
497 | } |
||
498 | } |
||
41 | ingob | 499 | |
500 | /**************************************************************/ |
||
501 | /* Send the answers to incomming commands at the debug uart */ |
||
502 | /**************************************************************/ |
||
503 | void UART1_TransmitTxData(void) |
||
504 | { |
||
110 | killagreg | 505 | if(DebugUART != UART1) return; |
506 | UART1_Transmit(); // output pending bytes in tx buffer |
||
507 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 508 | |
110 | killagreg | 509 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 510 | { |
110 | killagreg | 511 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 512 | Echo = 0; // reset echo value |
110 | killagreg | 513 | UART1_Request_Echo = FALSE; |
92 | killagreg | 514 | } |
110 | killagreg | 515 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 516 | { |
110 | killagreg | 517 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
518 | UART1_Request_DebugLabel = 0xFF; |
||
41 | ingob | 519 | } |
112 | killagreg | 520 | if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 521 | { |
112 | killagreg | 522 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
523 | UART1_ConfirmFrame = 0; |
||
41 | ingob | 524 | } |
110 | killagreg | 525 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 526 | { |
110 | killagreg | 527 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
528 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
529 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 530 | } |
61 | holgerb | 531 | |
110 | killagreg | 532 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 533 | { |
110 | killagreg | 534 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
535 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
536 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 537 | } |
538 | |||
110 | killagreg | 539 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 540 | { |
110 | killagreg | 541 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
542 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 543 | } |
110 | killagreg | 544 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 545 | { |
546 | LCD_PrintMenu(); |
||
112 | killagreg | 547 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
548 | UART1_DisplayLine++; |
||
549 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
||
110 | killagreg | 550 | UART1_Request_Display = FALSE; |
41 | ingob | 551 | } |
110 | killagreg | 552 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 553 | { |
554 | LCD_PrintMenu(); |
||
110 | killagreg | 555 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
556 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 557 | } |
110 | killagreg | 558 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 559 | { |
110 | killagreg | 560 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
561 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 562 | } |
110 | killagreg | 563 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 564 | { |
565 | NaviData.Errorcode = ErrorCode; |
||
110 | killagreg | 566 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
567 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
568 | UART1_Request_NaviData = FALSE; |
||
41 | ingob | 569 | } |
110 | killagreg | 570 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 571 | { |
110 | killagreg | 572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
573 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 574 | } |
110 | killagreg | 575 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
41 | ingob | 576 | { |
577 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
578 | FollowMe.Position.Status = NEWDATA; |
||
579 | FollowMe.Heading = -1; |
||
580 | FollowMe.ToleranceRadius = 1; |
||
581 | FollowMe.HoldTime = 60; |
||
582 | FollowMe.Event_Flag = 0; |
||
583 | FollowMe.reserve[0] = 0; // reserve |
||
584 | FollowMe.reserve[1] = 0; // reserve |
||
585 | FollowMe.reserve[2] = 0; // reserve |
||
586 | FollowMe.reserve[3] = 0; // reserve |
||
110 | killagreg | 587 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
588 | UART1_Request_SendFollowMe = FALSE; |
||
41 | ingob | 589 | } |
110 | killagreg | 590 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 591 | { |
592 | u8 WPNumber = WPList_GetCount(); |
||
110 | killagreg | 593 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
594 | UART1_Request_NewWaypoint = FALSE; |
||
41 | ingob | 595 | } |
110 | killagreg | 596 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 597 | { |
598 | u8 WPNumber = WPList_GetCount(); |
||
110 | killagreg | 599 | if (UART1_Request_ReadWaypoint < WPNumber) |
92 | killagreg | 600 | { |
110 | killagreg | 601 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
92 | killagreg | 602 | } |
603 | else |
||
604 | { |
||
110 | killagreg | 605 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
92 | killagreg | 606 | } |
110 | killagreg | 607 | UART1_Request_ReadWaypoint = 0xFF; |
92 | killagreg | 608 | } |
110 | killagreg | 609 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 610 | } |
611 |