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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdio.h> |
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58 | #include <stdarg.h> |
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59 | #include <string.h> |
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60 | |||
61 | #include "91x_lib.h" |
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136 | killagreg | 62 | #include "config.h" |
41 | ingob | 63 | #include "menu.h" |
64 | #include "printf_P.h" |
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65 | #include "GPS.h" |
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66 | #include "i2c.h" |
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67 | #include "uart0.h" |
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68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
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41 | ingob | 73 | #include "main.h" |
74 | #include "waypoints.h" |
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110 | killagreg | 75 | #include "mkprotocol.h" |
153 | killagreg | 76 | #include "fifo.h" |
41 | ingob | 77 | |
78 | #define FALSE 0 |
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79 | #define TRUE 1 |
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80 | |||
92 | killagreg | 81 | |
110 | killagreg | 82 | u8 UART1_Request_VersionInfo = FALSE; |
83 | u8 UART1_Request_SendFollowMe = FALSE; |
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84 | u8 UART1_Request_ExternalControl= FALSE; |
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85 | u8 UART1_Request_Display = FALSE; |
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86 | u8 UART1_Request_Display1 = FALSE; |
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87 | u8 UART1_Request_DebugData = FALSE; |
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88 | u8 UART1_Request_DebugLabel = 255; |
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89 | u8 UART1_Request_NaviData = FALSE; |
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90 | u8 UART1_Request_ErrorMessage = FALSE; |
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91 | u8 UART1_Request_NewWaypoint = FALSE; |
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92 | u8 UART1_Request_ReadWaypoint = 255; |
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93 | u8 UART1_Request_Data3D = FALSE; |
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94 | u8 UART1_Request_Echo = FALSE; |
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112 | killagreg | 95 | u8 UART1_DisplayLine = 0; |
96 | u8 UART1_ConfirmFrame = 0; |
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41 | ingob | 97 | |
98 | UART_TypeDef *DebugUART = UART1; |
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99 | |||
153 | killagreg | 100 | // the primary rx fifo |
154 | killagreg | 101 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 102 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
103 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 104 | |
105 | // the rx buffer |
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106 | #define UART1_RX_BUFFER_LEN 150 |
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107 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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108 | Buffer_t UART1_rx_buffer; |
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109 | |||
153 | killagreg | 110 | // the tx buffer |
111 | #define UART1_TX_BUFFER_LEN 150 |
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112 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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113 | Buffer_t UART1_tx_buffer; |
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114 | |||
115 | |||
116 | |||
92 | killagreg | 117 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 118 | |
150 | killagreg | 119 | u8 text[200]; |
41 | ingob | 120 | |
121 | const u8 ANALOG_LABEL[32][16] = |
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122 | { |
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90 | killagreg | 123 | //1234567890123456 |
41 | ingob | 124 | "AngleNick ", //0 |
125 | "AngleRoll ", |
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126 | "AccNick ", |
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127 | "AccRoll ", |
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128 | " ", |
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75 | holgerb | 129 | "MK-Flags ", //5 |
95 | killagreg | 130 | "NC-Flags ", |
121 | killagreg | 131 | "NickServo ", |
132 | "RollServo ", |
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41 | ingob | 133 | "GPS Data ", |
61 | holgerb | 134 | "CompassHeading ", //10 |
135 | "GyroHeading ", |
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41 | ingob | 136 | "SPI Error ", |
137 | "SPI Okay ", |
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138 | "I2C Error ", |
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139 | "I2C Okay ", //15 |
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149 | killagreg | 140 | " ",// "Kalman_K ", |
41 | ingob | 141 | "ACC_Speed_N ", |
142 | "ACC_Speed_E ", |
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148 | holgerb | 143 | "Speed_z ",// "GPS ACC ", |
41 | ingob | 144 | " ",// "MAXDrift ", //20 |
145 | "N_Speed ", |
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146 | "E_Speed ", |
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99 | killagreg | 147 | "P-Part ", |
148 | "I-Part ", |
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149 | "D-Part ",//25 |
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150 | "PID-Part ", |
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41 | ingob | 151 | "Distance N ", |
152 | "Distance E ", |
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153 | "GPS_Nick ", |
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154 | "GPS_Roll ", //30 |
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155 | "Used_Sats " |
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156 | }; |
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157 | |||
112 | killagreg | 158 | DebugOut_t DebugOut; |
159 | ExternControl_t ExternControl; |
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160 | UART_VersionInfo_t UART_VersionInfo; |
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161 | NaviData_t NaviData; |
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162 | Waypoint_t FollowMe; |
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163 | Data3D_t Data3D; |
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164 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 165 | |
112 | killagreg | 166 | u32 UART1_DebugData_Timer; |
167 | u32 UART1_DebugData_Interval = 5000; // in ms |
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168 | u32 UART1_NaviData_Timer; |
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169 | u32 UART1_NaviData_Interval = 5000; // in ms |
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170 | u32 UART1_Data3D_Timer = 0; // in ms |
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171 | u32 UART1_Data3D_Interval = 0; |
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172 | |||
41 | ingob | 173 | /********************************************************/ |
174 | /* Initialization the UART1 */ |
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175 | /********************************************************/ |
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176 | void UART1_Init (void) |
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177 | { |
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178 | GPIO_InitTypeDef GPIO_InitStructure; |
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179 | UART_InitTypeDef UART_InitStructure; |
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180 | |||
153 | killagreg | 181 | // initialize txd buffer |
182 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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183 | |||
184 | // initialize rxd buffer |
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185 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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186 | |||
187 | // initialize the rx fifo |
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188 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
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189 | |||
41 | ingob | 190 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
191 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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192 | |||
193 | /*Configure UART1_Rx pin GPIO3.2*/ |
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194 | GPIO_StructInit(&GPIO_InitStructure); |
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195 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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196 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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197 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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198 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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199 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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200 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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201 | |||
202 | /*Configure UART1_Tx pin GPIO3.3*/ |
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203 | GPIO_StructInit(&GPIO_InitStructure); |
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204 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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205 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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206 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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207 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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208 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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209 | |||
210 | /* UART1 configured as follow: |
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211 | - Word Length = 8 Bits |
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212 | - One Stop Bit |
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213 | - No parity |
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214 | - BaudRate = 57600 baud |
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215 | - Hardware flow control Disabled |
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216 | - Receive and transmit enabled |
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217 | - Receive and transmit FIFOs are Disabled |
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218 | */ |
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219 | UART_StructInit(&UART_InitStructure); |
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220 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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221 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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222 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 223 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 224 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
225 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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226 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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227 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 228 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 229 | |
230 | UART_DeInit(UART1); // reset uart 1 to default |
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153 | killagreg | 231 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 232 | // enable uart 1 interrupts selective |
233 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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234 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 235 | // configure the uart 1 interupt line |
236 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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153 | killagreg | 237 | // enable the uart 1 IRQ |
41 | ingob | 238 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 239 | |
41 | ingob | 240 | // initialize the debug timer |
110 | killagreg | 241 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
242 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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243 | |||
41 | ingob | 244 | // Fill Version Info Structure |
245 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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246 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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247 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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248 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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249 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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250 | |||
89 | killagreg | 251 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 252 | |
110 | killagreg | 253 | UART1_PutString("\r\nUART1 init...ok"); |
41 | ingob | 254 | } |
255 | |||
256 | |||
257 | /****************************************************************/ |
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258 | /* USART1 receiver ISR */ |
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259 | /****************************************************************/ |
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260 | void UART1_IRQHandler(void) |
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261 | { |
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262 | static u8 abortState = 0; |
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263 | u8 c; |
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264 | |||
265 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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266 | { |
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153 | killagreg | 267 | // clear the pending bits! |
41 | ingob | 268 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
269 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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270 | // if debug UART is not UART1 |
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271 | if (DebugUART != UART1) |
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272 | { // forward received data to the debug UART tx buffer |
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273 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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274 | { |
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275 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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276 | c = UART_ReceiveData(UART1); |
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277 | |||
278 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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279 | switch (abortState) |
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280 | { |
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139 | killagreg | 281 | case 0: |
282 | if (c == 27) abortState++; |
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41 | ingob | 283 | break; |
139 | killagreg | 284 | case 1: |
285 | if (c == 27) abortState++; |
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286 | else abortState = 0; |
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41 | ingob | 287 | break; |
139 | killagreg | 288 | case 2: |
289 | if (c == 0x55) abortState++; |
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290 | else abortState = 0; |
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41 | ingob | 291 | break; |
139 | killagreg | 292 | case 3: |
293 | if (c == 0xAA) abortState++; |
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294 | else abortState = 0; |
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41 | ingob | 295 | break; |
139 | killagreg | 296 | case 4: |
297 | if (c == 0x00) |
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298 | { |
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299 | if(DebugUART == UART0) |
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300 | { |
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301 | UART0_Connect_to_MKGPS(); |
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144 | killagreg | 302 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 303 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 304 | } |
305 | DebugUART = UART1; |
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306 | } |
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307 | abortState = 0; |
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308 | break; |
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309 | } // end switch abort state |
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136 | killagreg | 310 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 311 | if (DebugUART != UART1) |
312 | { |
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313 | // wait for space in the tx buffer of the DebugUART |
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314 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 315 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 316 | UART_SendData(DebugUART, c); |
317 | } |
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41 | ingob | 318 | } |
319 | } |
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320 | else // DebugUART == UART1 (normal operation) |
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321 | { |
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110 | killagreg | 322 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 323 | { // some byes in the hardware fifo |
153 | killagreg | 324 | // get byte from hardware fifo |
41 | ingob | 325 | c = UART_ReceiveData(UART1); |
153 | killagreg | 326 | // put into the software fifo |
327 | if(!fifo_put(&UART1_rx_fifo, c)) |
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328 | { // fifo overflow |
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329 | fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
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330 | } |
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154 | killagreg | 331 | } // EOF while some byes in the hardware fifo |
332 | // if rx buffer is not locked |
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333 | if(UART1_rx_buffer.Locked == FALSE) |
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334 | { //collect data from primary rx fifo |
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335 | while(fifo_get(&UART1_rx_fifo, &c)) |
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336 | { // break if complete frame is collected |
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337 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
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338 | } |
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339 | } |
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41 | ingob | 340 | } // eof DebugUart = UART1 |
341 | } |
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342 | } |
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343 | |||
344 | /**************************************************************/ |
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345 | /* Process incomming data from debug uart */ |
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346 | /**************************************************************/ |
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347 | void UART1_ProcessRxData(void) |
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348 | { |
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154 | killagreg | 349 | // return on forwarding uart or unlocked rx buffer |
350 | if((DebugUART != UART1) || (UART1_rx_buffer.Locked == FALSE)) return; |
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153 | killagreg | 351 | |
41 | ingob | 352 | Waypoint_t * pWaypoint = NULL; |
153 | killagreg | 353 | SerialMsg_t SerialMsg; |
41 | ingob | 354 | |
110 | killagreg | 355 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
153 | killagreg | 356 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
357 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
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41 | ingob | 358 | { |
359 | case NC_ADDRESS: // own Slave Address |
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153 | killagreg | 360 | switch(*(SerialMsg.pCmdID)) |
41 | ingob | 361 | { |
101 | holgerb | 362 | case 'z': // connection checker |
110 | killagreg | 363 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
364 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 365 | break; |
366 | |||
41 | ingob | 367 | case 'e': // request for the text of the error status |
110 | killagreg | 368 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 369 | break; |
370 | |||
371 | case 's':// new target position |
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110 | killagreg | 372 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 373 | BeepTime = 300; |
374 | if(pWaypoint->Position.Status == NEWDATA) |
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375 | { |
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376 | WPList_Clear(); // empty WPList |
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377 | WPList_Append(pWaypoint); |
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378 | GPS_pWaypoint = WPList_Begin(); |
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379 | } |
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380 | break; |
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381 | |||
382 | case 'u': // redirect debug uart |
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110 | killagreg | 383 | switch(SerialMsg.pData[0]) |
41 | ingob | 384 | { |
385 | case UART_FLIGHTCTRL: |
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386 | UART2_Init(); // initialize UART2 to FC pins |
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153 | killagreg | 387 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 388 | DebugUART = UART2; |
389 | break; |
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390 | case UART_MK3MAG: |
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391 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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392 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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393 | GPSData.Status = INVALID; |
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153 | killagreg | 394 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 395 | DebugUART = UART0; |
396 | break; |
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397 | case UART_MKGPS: |
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398 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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139 | killagreg | 399 | TIMER2_Deinit(); |
41 | ingob | 400 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
401 | GPSData.Status = INVALID; |
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153 | killagreg | 402 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 403 | DebugUART = UART0; |
404 | break; |
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153 | killagreg | 405 | default: |
406 | break; |
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41 | ingob | 407 | } |
408 | break; |
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409 | |||
92 | killagreg | 410 | case 'w':// Append Waypoint to List |
110 | killagreg | 411 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 412 | if(pWaypoint->Position.Status == INVALID) |
413 | { // clear WP List |
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414 | WPList_Clear(); |
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415 | GPS_pWaypoint = WPList_Begin(); |
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110 | killagreg | 416 | //UART1_PutString("\r\nClear WP List\r\n"); |
41 | ingob | 417 | } |
418 | else if (pWaypoint->Position.Status == NEWDATA) |
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419 | { // app current WP to the list |
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420 | WPList_Append(pWaypoint); |
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421 | BeepTime = 500; |
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110 | killagreg | 422 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
41 | ingob | 423 | } |
110 | killagreg | 424 | UART1_Request_NewWaypoint = TRUE; |
41 | ingob | 425 | break; |
426 | |||
92 | killagreg | 427 | case 'x':// Read Waypoint from List |
110 | killagreg | 428 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
92 | killagreg | 429 | break; |
430 | |||
41 | ingob | 431 | default: |
432 | // unsupported command recieved |
||
433 | break; |
||
434 | } // case NC_ADDRESS |
||
65 | killagreg | 435 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 436 | |
437 | default: // and any other Slave Address |
||
438 | |||
153 | killagreg | 439 | switch(*(SerialMsg.pCmdID)) // check CmdID |
41 | ingob | 440 | { |
441 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 442 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
443 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 444 | break; |
445 | |||
446 | case 'b': // submit extern control |
||
121 | killagreg | 447 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 448 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 449 | break; |
450 | |||
451 | case 'd': // request for debug data; |
||
110 | killagreg | 452 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
453 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
41 | ingob | 454 | break; |
455 | |||
63 | killagreg | 456 | case 'c': // request for 3D data; |
110 | killagreg | 457 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
458 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
63 | killagreg | 459 | break; |
460 | |||
41 | ingob | 461 | case 'g':// request for external control data |
110 | killagreg | 462 | UART1_Request_ExternalControl = TRUE; |
41 | ingob | 463 | break; |
464 | |||
465 | case 'h':// reqest for display line |
||
110 | killagreg | 466 | RemoteKeys |= SerialMsg.pData[0]; |
112 | killagreg | 467 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
110 | killagreg | 468 | UART1_Request_Display = TRUE; |
41 | ingob | 469 | break; |
470 | |||
471 | case 'l':// reqest for display columns |
||
110 | killagreg | 472 | MenuItem = SerialMsg.pData[0]; |
473 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 474 | break; |
64 | holgerb | 475 | |
476 | case 'o': // request for navigation information |
||
110 | killagreg | 477 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
478 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
64 | holgerb | 479 | break; |
480 | |||
41 | ingob | 481 | case 'v': // request for version info |
110 | killagreg | 482 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 483 | break; |
484 | default: |
||
485 | // unsupported command recieved |
||
486 | break; |
||
487 | } |
||
488 | break; // default: |
||
489 | } |
||
153 | killagreg | 490 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 491 | } |
492 | |||
493 | |||
494 | /*****************************************************/ |
||
495 | /* Send a character */ |
||
496 | /*****************************************************/ |
||
110 | killagreg | 497 | s16 UART1_Putchar(char c) |
41 | ingob | 498 | { |
110 | killagreg | 499 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 500 | // wait until txd fifo is not full |
501 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
502 | // transmit byte |
||
503 | UART_SendData(UART1, c); |
||
504 | return (0); |
||
505 | } |
||
506 | |||
507 | /*****************************************************/ |
||
508 | /* Send a string to the debug uart */ |
||
509 | /*****************************************************/ |
||
110 | killagreg | 510 | void UART1_PutString(u8 *s) |
41 | ingob | 511 | { |
512 | if(s == NULL) return; |
||
513 | while (*s != '\0' && DebugUART == UART1) |
||
514 | { |
||
110 | killagreg | 515 | UART1_Putchar(*s); |
41 | ingob | 516 | s ++; |
517 | } |
||
518 | } |
||
519 | |||
113 | killagreg | 520 | |
110 | killagreg | 521 | /**************************************************************/ |
522 | /* Transmit tx buffer via debug uart */ |
||
523 | /**************************************************************/ |
||
524 | void UART1_Transmit(void) |
||
525 | { |
||
526 | u8 tmp_tx; |
||
527 | if(DebugUART != UART1) return; |
||
528 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 529 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 530 | { |
113 | killagreg | 531 | // while there is some space in the tx fifo |
532 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 533 | { |
113 | killagreg | 534 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
535 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
536 | // if terminating character or end of txd buffer reached |
||
537 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
538 | { |
||
539 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
540 | break; // end while loop |
||
541 | } |
||
110 | killagreg | 542 | } |
543 | } |
||
544 | } |
||
41 | ingob | 545 | |
546 | /**************************************************************/ |
||
547 | /* Send the answers to incomming commands at the debug uart */ |
||
548 | /**************************************************************/ |
||
549 | void UART1_TransmitTxData(void) |
||
550 | { |
||
110 | killagreg | 551 | if(DebugUART != UART1) return; |
552 | UART1_Transmit(); // output pending bytes in tx buffer |
||
553 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 554 | |
110 | killagreg | 555 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 556 | { |
110 | killagreg | 557 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 558 | Echo = 0; // reset echo value |
110 | killagreg | 559 | UART1_Request_Echo = FALSE; |
92 | killagreg | 560 | } |
154 | killagreg | 561 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
562 | { |
||
563 | u8 WPNumber = WPList_GetCount(); |
||
564 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
565 | UART1_Request_NewWaypoint = FALSE; |
||
566 | } |
||
567 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
568 | { |
||
569 | u8 WPNumber = WPList_GetCount(); |
||
570 | if (UART1_Request_ReadWaypoint < WPNumber) |
||
571 | { |
||
572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
573 | } |
||
574 | else |
||
575 | { |
||
576 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
577 | } |
||
578 | UART1_Request_ReadWaypoint = 0xFF; |
||
579 | } |
||
580 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
581 | { |
||
582 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
583 | UART1_Request_DebugLabel = 0xFF; |
||
584 | } |
||
151 | killagreg | 585 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 586 | { |
151 | killagreg | 587 | NaviData.Errorcode = ErrorCode; |
588 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
589 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
590 | UART1_Request_NaviData = FALSE; |
||
591 | } |
||
592 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
593 | { |
||
110 | killagreg | 594 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
595 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
596 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 597 | } |
151 | killagreg | 598 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 599 | { |
110 | killagreg | 600 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
601 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
602 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 603 | } |
153 | killagreg | 604 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
605 | { |
||
606 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
607 | UART1_ConfirmFrame = 0; |
||
608 | } |
||
151 | killagreg | 609 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 610 | { |
110 | killagreg | 611 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
612 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 613 | } |
151 | killagreg | 614 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 615 | { |
616 | LCD_PrintMenu(); |
||
112 | killagreg | 617 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
618 | UART1_DisplayLine++; |
||
619 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
||
110 | killagreg | 620 | UART1_Request_Display = FALSE; |
41 | ingob | 621 | } |
151 | killagreg | 622 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 623 | { |
624 | LCD_PrintMenu(); |
||
110 | killagreg | 625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
626 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 627 | } |
151 | killagreg | 628 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 629 | { |
110 | killagreg | 630 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
631 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 632 | } |
151 | killagreg | 633 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 634 | { |
110 | killagreg | 635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
636 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 637 | } |
151 | killagreg | 638 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
41 | ingob | 639 | { |
640 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
641 | FollowMe.Position.Status = NEWDATA; |
||
642 | FollowMe.Heading = -1; |
||
643 | FollowMe.ToleranceRadius = 1; |
||
644 | FollowMe.HoldTime = 60; |
||
645 | FollowMe.Event_Flag = 0; |
||
646 | FollowMe.reserve[0] = 0; // reserve |
||
647 | FollowMe.reserve[1] = 0; // reserve |
||
648 | FollowMe.reserve[2] = 0; // reserve |
||
649 | FollowMe.reserve[3] = 0; // reserve |
||
110 | killagreg | 650 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
651 | UART1_Request_SendFollowMe = FALSE; |
||
41 | ingob | 652 | } |
110 | killagreg | 653 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 654 | } |
655 |