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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" |
156 | killagreg | 76 | #include "params.h" |
153 | killagreg | 77 | #include "fifo.h" |
41 | ingob | 78 | |
79 | #define FALSE 0 |
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80 | #define TRUE 1 |
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81 | |||
92 | killagreg | 82 | |
110 | killagreg | 83 | u8 UART1_Request_VersionInfo = FALSE; |
84 | u8 UART1_Request_SendFollowMe = FALSE; |
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85 | u8 UART1_Request_ExternalControl= FALSE; |
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86 | u8 UART1_Request_Display = FALSE; |
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87 | u8 UART1_Request_Display1 = FALSE; |
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88 | u8 UART1_Request_DebugData = FALSE; |
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89 | u8 UART1_Request_DebugLabel = 255; |
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90 | u8 UART1_Request_NaviData = FALSE; |
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91 | u8 UART1_Request_ErrorMessage = FALSE; |
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92 | u8 UART1_Request_NewWaypoint = FALSE; |
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93 | u8 UART1_Request_ReadWaypoint = 255; |
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94 | u8 UART1_Request_Data3D = FALSE; |
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95 | u8 UART1_Request_Echo = FALSE; |
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156 | killagreg | 96 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 97 | u8 UART1_Request_Parameter = FALSE; |
112 | killagreg | 98 | u8 UART1_DisplayLine = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
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41 | ingob | 100 | |
101 | UART_TypeDef *DebugUART = UART1; |
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102 | |||
153 | killagreg | 103 | // the primary rx fifo |
154 | killagreg | 104 | #define UART1_RX_FIFO_LEN 1024 |
153 | killagreg | 105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
106 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 107 | |
108 | // the rx buffer |
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109 | #define UART1_RX_BUFFER_LEN 150 |
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110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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111 | Buffer_t UART1_rx_buffer; |
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112 | |||
153 | killagreg | 113 | // the tx buffer |
114 | #define UART1_TX_BUFFER_LEN 150 |
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115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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116 | Buffer_t UART1_tx_buffer; |
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117 | |||
118 | |||
119 | |||
92 | killagreg | 120 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 121 | |
150 | killagreg | 122 | u8 text[200]; |
41 | ingob | 123 | |
124 | const u8 ANALOG_LABEL[32][16] = |
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125 | { |
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90 | killagreg | 126 | //1234567890123456 |
41 | ingob | 127 | "AngleNick ", //0 |
128 | "AngleRoll ", |
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129 | "AccNick ", |
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130 | "AccRoll ", |
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131 | " ", |
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75 | holgerb | 132 | "MK-Flags ", //5 |
95 | killagreg | 133 | "NC-Flags ", |
121 | killagreg | 134 | "NickServo ", |
135 | "RollServo ", |
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41 | ingob | 136 | "GPS Data ", |
61 | holgerb | 137 | "CompassHeading ", //10 |
138 | "GyroHeading ", |
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41 | ingob | 139 | "SPI Error ", |
140 | "SPI Okay ", |
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141 | "I2C Error ", |
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142 | "I2C Okay ", //15 |
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149 | killagreg | 143 | " ",// "Kalman_K ", |
41 | ingob | 144 | "ACC_Speed_N ", |
145 | "ACC_Speed_E ", |
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148 | holgerb | 146 | "Speed_z ",// "GPS ACC ", |
41 | ingob | 147 | " ",// "MAXDrift ", //20 |
148 | "N_Speed ", |
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149 | "E_Speed ", |
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99 | killagreg | 150 | "P-Part ", |
151 | "I-Part ", |
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152 | "D-Part ",//25 |
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153 | "PID-Part ", |
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41 | ingob | 154 | "Distance N ", |
155 | "Distance E ", |
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156 | "GPS_Nick ", |
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157 | "GPS_Roll ", //30 |
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158 | "Used_Sats " |
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159 | }; |
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160 | |||
112 | killagreg | 161 | DebugOut_t DebugOut; |
162 | ExternControl_t ExternControl; |
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163 | UART_VersionInfo_t UART_VersionInfo; |
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164 | NaviData_t NaviData; |
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165 | Waypoint_t FollowMe; |
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166 | Data3D_t Data3D; |
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167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 168 | |
112 | killagreg | 169 | u32 UART1_DebugData_Timer; |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
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171 | u32 UART1_NaviData_Timer; |
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172 | u32 UART1_NaviData_Interval = 5000; // in ms |
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173 | u32 UART1_Data3D_Timer = 0; // in ms |
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174 | u32 UART1_Data3D_Interval = 0; |
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175 | |||
41 | ingob | 176 | /********************************************************/ |
177 | /* Initialization the UART1 */ |
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178 | /********************************************************/ |
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179 | void UART1_Init (void) |
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180 | { |
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181 | GPIO_InitTypeDef GPIO_InitStructure; |
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182 | UART_InitTypeDef UART_InitStructure; |
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183 | |||
153 | killagreg | 184 | // initialize txd buffer |
185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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186 | |||
187 | // initialize rxd buffer |
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188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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189 | |||
190 | // initialize the rx fifo |
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191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
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192 | |||
41 | ingob | 193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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195 | |||
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
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197 | GPIO_StructInit(&GPIO_InitStructure); |
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198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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204 | |||
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
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206 | GPIO_StructInit(&GPIO_InitStructure); |
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207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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212 | |||
213 | /* UART1 configured as follow: |
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214 | - Word Length = 8 Bits |
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215 | - One Stop Bit |
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216 | - No parity |
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217 | - BaudRate = 57600 baud |
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218 | - Hardware flow control Disabled |
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219 | - Receive and transmit enabled |
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220 | - Receive and transmit FIFOs are Disabled |
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221 | */ |
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222 | UART_StructInit(&UART_InitStructure); |
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223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 232 | |
233 | UART_DeInit(UART1); // reset uart 1 to default |
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153 | killagreg | 234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 235 | // enable uart 1 interrupts selective |
236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 238 | // configure the uart 1 interupt line |
239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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153 | killagreg | 240 | // enable the uart 1 IRQ |
41 | ingob | 241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 242 | |
41 | ingob | 243 | // initialize the debug timer |
110 | killagreg | 244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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246 | |||
41 | ingob | 247 | // Fill Version Info Structure |
248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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253 | |||
89 | killagreg | 254 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 255 | |
110 | killagreg | 256 | UART1_PutString("\r\nUART1 init...ok"); |
41 | ingob | 257 | } |
258 | |||
259 | |||
260 | /****************************************************************/ |
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261 | /* USART1 receiver ISR */ |
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262 | /****************************************************************/ |
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263 | void UART1_IRQHandler(void) |
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264 | { |
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265 | static u8 abortState = 0; |
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266 | u8 c; |
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267 | |||
268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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269 | { |
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153 | killagreg | 270 | // clear the pending bits! |
41 | ingob | 271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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273 | // if debug UART is not UART1 |
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274 | if (DebugUART != UART1) |
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275 | { // forward received data to the debug UART tx buffer |
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276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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277 | { |
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278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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279 | c = UART_ReceiveData(UART1); |
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280 | |||
281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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282 | switch (abortState) |
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283 | { |
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139 | killagreg | 284 | case 0: |
285 | if (c == 27) abortState++; |
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41 | ingob | 286 | break; |
139 | killagreg | 287 | case 1: |
288 | if (c == 27) abortState++; |
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289 | else abortState = 0; |
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41 | ingob | 290 | break; |
139 | killagreg | 291 | case 2: |
292 | if (c == 0x55) abortState++; |
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293 | else abortState = 0; |
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41 | ingob | 294 | break; |
139 | killagreg | 295 | case 3: |
296 | if (c == 0xAA) abortState++; |
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297 | else abortState = 0; |
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41 | ingob | 298 | break; |
139 | killagreg | 299 | case 4: |
300 | if (c == 0x00) |
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301 | { |
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302 | if(DebugUART == UART0) |
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303 | { |
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304 | UART0_Connect_to_MKGPS(); |
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144 | killagreg | 305 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 307 | } |
308 | DebugUART = UART1; |
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309 | } |
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310 | abortState = 0; |
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311 | break; |
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312 | } // end switch abort state |
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136 | killagreg | 313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 314 | if (DebugUART != UART1) |
315 | { |
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316 | // wait for space in the tx buffer of the DebugUART |
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317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 318 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 319 | UART_SendData(DebugUART, c); |
320 | } |
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41 | ingob | 321 | } |
322 | } |
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323 | else // DebugUART == UART1 (normal operation) |
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324 | { |
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110 | killagreg | 325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 326 | { // some byes in the hardware fifo |
153 | killagreg | 327 | // get byte from hardware fifo |
41 | ingob | 328 | c = UART_ReceiveData(UART1); |
153 | killagreg | 329 | // put into the software fifo |
330 | if(!fifo_put(&UART1_rx_fifo, c)) |
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331 | { // fifo overflow |
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155 | killagreg | 332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 333 | } |
154 | killagreg | 334 | } // EOF while some byes in the hardware fifo |
41 | ingob | 335 | } // eof DebugUart = UART1 |
336 | } |
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337 | } |
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338 | |||
339 | /**************************************************************/ |
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340 | /* Process incomming data from debug uart */ |
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341 | /**************************************************************/ |
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342 | void UART1_ProcessRxData(void) |
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343 | { |
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154 | killagreg | 344 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 345 | if(DebugUART != UART1) return; |
153 | killagreg | 346 | |
155 | killagreg | 347 | u8 c; |
348 | // if rx buffer is not locked |
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349 | if(UART1_rx_buffer.Locked == FALSE) |
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350 | { //collect data from primary rx fifo |
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351 | while(fifo_get(&UART1_rx_fifo, &c)) |
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352 | { // break if complete frame is collected |
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353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
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354 | } |
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355 | } |
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356 | if(UART1_rx_buffer.Locked == FALSE) return; |
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357 | |||
41 | ingob | 358 | Waypoint_t * pWaypoint = NULL; |
153 | killagreg | 359 | SerialMsg_t SerialMsg; |
41 | ingob | 360 | |
110 | killagreg | 361 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
153 | killagreg | 362 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
363 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
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41 | ingob | 364 | { |
365 | case NC_ADDRESS: // own Slave Address |
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153 | killagreg | 366 | switch(*(SerialMsg.pCmdID)) |
41 | ingob | 367 | { |
101 | holgerb | 368 | case 'z': // connection checker |
110 | killagreg | 369 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
370 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 371 | break; |
372 | |||
41 | ingob | 373 | case 'e': // request for the text of the error status |
110 | killagreg | 374 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 375 | break; |
376 | |||
377 | case 's':// new target position |
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110 | killagreg | 378 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 379 | BeepTime = 300; |
380 | if(pWaypoint->Position.Status == NEWDATA) |
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381 | { |
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382 | WPList_Clear(); // empty WPList |
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383 | WPList_Append(pWaypoint); |
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384 | GPS_pWaypoint = WPList_Begin(); |
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385 | } |
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386 | break; |
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387 | |||
388 | case 'u': // redirect debug uart |
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110 | killagreg | 389 | switch(SerialMsg.pData[0]) |
41 | ingob | 390 | { |
391 | case UART_FLIGHTCTRL: |
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392 | UART2_Init(); // initialize UART2 to FC pins |
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153 | killagreg | 393 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 394 | DebugUART = UART2; |
395 | break; |
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396 | case UART_MK3MAG: |
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397 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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398 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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399 | GPSData.Status = INVALID; |
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153 | killagreg | 400 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 401 | DebugUART = UART0; |
402 | break; |
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403 | case UART_MKGPS: |
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404 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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139 | killagreg | 405 | TIMER2_Deinit(); |
41 | ingob | 406 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
407 | GPSData.Status = INVALID; |
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153 | killagreg | 408 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 409 | DebugUART = UART0; |
410 | break; |
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153 | killagreg | 411 | default: |
412 | break; |
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41 | ingob | 413 | } |
414 | break; |
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415 | |||
92 | killagreg | 416 | case 'w':// Append Waypoint to List |
162 | ingob | 417 | { |
418 | static u8 oldIndex = 0x00; |
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419 | |||
110 | killagreg | 420 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
41 | ingob | 421 | if(pWaypoint->Position.Status == INVALID) |
422 | { // clear WP List |
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423 | WPList_Clear(); |
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162 | ingob | 424 | oldIndex = 0x00; |
41 | ingob | 425 | GPS_pWaypoint = WPList_Begin(); |
110 | killagreg | 426 | //UART1_PutString("\r\nClear WP List\r\n"); |
162 | ingob | 427 | UART1_Request_NewWaypoint = TRUE; |
41 | ingob | 428 | } |
429 | else if (pWaypoint->Position.Status == NEWDATA) |
||
430 | { // app current WP to the list |
||
163 | ingob | 431 | sprintf(text, "\r\nAdd WP: Index= %d, oldIndex = %d\r\n", pWaypoint->Index, oldIndex); |
432 | UART1_PutString(text); |
||
433 | |||
434 | if (pWaypoint->Index == oldIndex + 1) |
||
162 | ingob | 435 | { |
436 | WPList_Append(pWaypoint); |
||
437 | BeepTime = 500; |
||
438 | oldIndex = pWaypoint->Index; |
||
439 | UART1_Request_NewWaypoint = TRUE; |
||
440 | } |
||
441 | |||
163 | ingob | 442 | |
41 | ingob | 443 | } |
162 | ingob | 444 | } |
41 | ingob | 445 | break; |
446 | |||
92 | killagreg | 447 | case 'x':// Read Waypoint from List |
110 | killagreg | 448 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
92 | killagreg | 449 | break; |
450 | |||
160 | holgerb | 451 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 452 | switch(SerialMsg.pData[0]) |
453 | { |
||
454 | case 0: // get |
||
455 | break; |
||
456 | |||
457 | case 1: // set |
||
159 | killagreg | 458 | { |
459 | s16 value; |
||
460 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
461 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
462 | } |
||
156 | killagreg | 463 | break; |
464 | |||
465 | default: |
||
466 | break; |
||
467 | } |
||
468 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
469 | UART1_Request_Parameter = TRUE; |
||
470 | break; |
||
41 | ingob | 471 | default: |
472 | // unsupported command recieved |
||
473 | break; |
||
474 | } // case NC_ADDRESS |
||
65 | killagreg | 475 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 476 | |
477 | default: // and any other Slave Address |
||
478 | |||
153 | killagreg | 479 | switch(*(SerialMsg.pCmdID)) // check CmdID |
41 | ingob | 480 | { |
481 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 482 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
483 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 484 | break; |
485 | |||
486 | case 'b': // submit extern control |
||
121 | killagreg | 487 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 488 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 489 | break; |
490 | |||
491 | case 'd': // request for debug data; |
||
110 | killagreg | 492 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
493 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
41 | ingob | 494 | break; |
495 | |||
63 | killagreg | 496 | case 'c': // request for 3D data; |
110 | killagreg | 497 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
498 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
63 | killagreg | 499 | break; |
500 | |||
41 | ingob | 501 | case 'g':// request for external control data |
110 | killagreg | 502 | UART1_Request_ExternalControl = TRUE; |
41 | ingob | 503 | break; |
504 | |||
505 | case 'h':// reqest for display line |
||
110 | killagreg | 506 | RemoteKeys |= SerialMsg.pData[0]; |
112 | killagreg | 507 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
110 | killagreg | 508 | UART1_Request_Display = TRUE; |
41 | ingob | 509 | break; |
510 | |||
511 | case 'l':// reqest for display columns |
||
110 | killagreg | 512 | MenuItem = SerialMsg.pData[0]; |
513 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 514 | break; |
64 | holgerb | 515 | |
516 | case 'o': // request for navigation information |
||
110 | killagreg | 517 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
518 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
64 | holgerb | 519 | break; |
520 | |||
41 | ingob | 521 | case 'v': // request for version info |
110 | killagreg | 522 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 523 | break; |
524 | default: |
||
525 | // unsupported command recieved |
||
526 | break; |
||
527 | } |
||
528 | break; // default: |
||
529 | } |
||
153 | killagreg | 530 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 531 | } |
532 | |||
533 | |||
534 | /*****************************************************/ |
||
535 | /* Send a character */ |
||
536 | /*****************************************************/ |
||
110 | killagreg | 537 | s16 UART1_Putchar(char c) |
41 | ingob | 538 | { |
110 | killagreg | 539 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 540 | // wait until txd fifo is not full |
541 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
542 | // transmit byte |
||
543 | UART_SendData(UART1, c); |
||
544 | return (0); |
||
545 | } |
||
546 | |||
547 | /*****************************************************/ |
||
548 | /* Send a string to the debug uart */ |
||
549 | /*****************************************************/ |
||
110 | killagreg | 550 | void UART1_PutString(u8 *s) |
41 | ingob | 551 | { |
552 | if(s == NULL) return; |
||
553 | while (*s != '\0' && DebugUART == UART1) |
||
554 | { |
||
110 | killagreg | 555 | UART1_Putchar(*s); |
41 | ingob | 556 | s ++; |
557 | } |
||
558 | } |
||
559 | |||
113 | killagreg | 560 | |
110 | killagreg | 561 | /**************************************************************/ |
562 | /* Transmit tx buffer via debug uart */ |
||
563 | /**************************************************************/ |
||
564 | void UART1_Transmit(void) |
||
565 | { |
||
566 | u8 tmp_tx; |
||
567 | if(DebugUART != UART1) return; |
||
568 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 569 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 570 | { |
113 | killagreg | 571 | // while there is some space in the tx fifo |
572 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 573 | { |
113 | killagreg | 574 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
575 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
576 | // if terminating character or end of txd buffer reached |
||
577 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
578 | { |
||
579 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
580 | break; // end while loop |
||
581 | } |
||
110 | killagreg | 582 | } |
583 | } |
||
584 | } |
||
41 | ingob | 585 | |
586 | /**************************************************************/ |
||
587 | /* Send the answers to incomming commands at the debug uart */ |
||
588 | /**************************************************************/ |
||
589 | void UART1_TransmitTxData(void) |
||
590 | { |
||
110 | killagreg | 591 | if(DebugUART != UART1) return; |
592 | UART1_Transmit(); // output pending bytes in tx buffer |
||
593 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 594 | |
156 | killagreg | 595 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 596 | { |
156 | killagreg | 597 | s16 ParamValue; |
157 | killagreg | 598 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
158 | killagreg | 599 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
600 | //UART1_PutString(text); |
||
160 | holgerb | 601 | 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 | 602 | UART1_Request_Parameter = FALSE; |
603 | } |
||
604 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
605 | { |
||
110 | killagreg | 606 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 607 | Echo = 0; // reset echo value |
110 | killagreg | 608 | UART1_Request_Echo = FALSE; |
92 | killagreg | 609 | } |
154 | killagreg | 610 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
611 | { |
||
612 | u8 WPNumber = WPList_GetCount(); |
||
613 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
614 | UART1_Request_NewWaypoint = FALSE; |
||
615 | } |
||
616 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
617 | { |
||
618 | u8 WPNumber = WPList_GetCount(); |
||
619 | if (UART1_Request_ReadWaypoint < WPNumber) |
||
620 | { |
||
621 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
622 | } |
||
623 | else |
||
624 | { |
||
625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
626 | } |
||
627 | UART1_Request_ReadWaypoint = 0xFF; |
||
628 | } |
||
629 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
630 | { |
||
631 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
632 | UART1_Request_DebugLabel = 0xFF; |
||
633 | } |
||
151 | killagreg | 634 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 635 | { |
151 | killagreg | 636 | NaviData.Errorcode = ErrorCode; |
637 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
638 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
639 | UART1_Request_NaviData = FALSE; |
||
640 | } |
||
641 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
642 | { |
||
110 | killagreg | 643 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
644 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
645 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 646 | } |
151 | killagreg | 647 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 648 | { |
110 | killagreg | 649 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
650 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
651 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 652 | } |
153 | killagreg | 653 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
654 | { |
||
655 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
656 | UART1_ConfirmFrame = 0; |
||
657 | } |
||
151 | killagreg | 658 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 659 | { |
110 | killagreg | 660 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
661 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 662 | } |
151 | killagreg | 663 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 664 | { |
665 | LCD_PrintMenu(); |
||
112 | killagreg | 666 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
667 | UART1_DisplayLine++; |
||
668 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
||
110 | killagreg | 669 | UART1_Request_Display = FALSE; |
41 | ingob | 670 | } |
151 | killagreg | 671 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 672 | { |
673 | LCD_PrintMenu(); |
||
110 | killagreg | 674 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
675 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 676 | } |
151 | killagreg | 677 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 678 | { |
110 | killagreg | 679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
680 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 681 | } |
151 | killagreg | 682 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 683 | { |
110 | killagreg | 684 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
685 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 686 | } |
151 | killagreg | 687 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
41 | ingob | 688 | { |
689 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
||
690 | FollowMe.Position.Status = NEWDATA; |
||
691 | FollowMe.Heading = -1; |
||
692 | FollowMe.ToleranceRadius = 1; |
||
693 | FollowMe.HoldTime = 60; |
||
694 | FollowMe.Event_Flag = 0; |
||
695 | FollowMe.reserve[0] = 0; // reserve |
||
696 | FollowMe.reserve[1] = 0; // reserve |
||
697 | FollowMe.reserve[2] = 0; // reserve |
||
698 | FollowMe.reserve[3] = 0; // reserve |
||
110 | killagreg | 699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
700 | UART1_Request_SendFollowMe = FALSE; |
||
41 | ingob | 701 | } |
110 | killagreg | 702 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 703 | } |
704 |