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Rev | Author | Line No. | Line |
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818 | holgerb | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Software Nutzungsbedingungen (english version: see below) |
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8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | // + Software LICENSING TERMS |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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56 | #include <stdio.h> |
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57 | #include <stdlib.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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62 | #include "main.h" |
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63 | #include "config.h" |
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64 | #include "menu.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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70 | #include "timer1.h" |
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71 | #include "timer2.h" |
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72 | #include "analog.h" |
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73 | #include "compass.h" |
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74 | #include "waypoints.h" |
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75 | #include "mkprotocol.h" |
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76 | #include "params.h" |
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77 | #include "fifo.h" |
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78 | #include "debug.h" |
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79 | #include "spi_slave.h" |
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80 | #include "ftphelper.h" |
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81 | #include "led.h" |
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82 | #include "fat16.h" |
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83 | #include "crc16.h" |
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84 | #include "eeprom.h" |
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85 | #include "triggerlog.h" |
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86 | |||
87 | #define LIC_CMD_READ_LICENSE 1 |
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88 | #define LIC_CMD_WRITE_LICENSE 2 |
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89 | #define LIC_CMD_ERASE_LICENSE 3 |
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90 | |||
91 | #define FALSE 0 |
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92 | #define TRUE 1 |
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93 | |||
94 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
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95 | u32 UART1_AboTimeOut = 0; |
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96 | |||
97 | NaviData_Volatile_t NaviData_Volatile; |
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98 | NaviData_WP_t NaviData_WP; |
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99 | NaviData_Deviation_t NaviData_Deviation; |
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100 | NaviData_Home_t NaviData_Home; |
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101 | NaviData_Target_t NaviData_Target; |
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102 | NaviData_Flags_t NaviData_Flags; |
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103 | NaviData_Tiny_t NaviData_Tiny; |
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104 | NaviData_FS_Pos_t NaviData_Failsafe; |
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105 | NaviData_Out_t NaviData_Out1Trigger; |
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106 | NaviData_t NaviData; |
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107 | |||
108 | u8 UART1_Request_VersionInfo = FALSE; |
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109 | u8 UART1_Request_ExternalControl= FALSE; |
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110 | u8 UART1_Request_Display = FALSE; |
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111 | u8 UART1_Request_Display1 = FALSE; |
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112 | u8 UART1_Request_DebugData = FALSE; |
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113 | u8 UART1_Request_DebugLabel = 255; |
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114 | u8 UART1_Request_NaviData = FALSE; |
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115 | u8 UART1_Request_ErrorMessage = FALSE; |
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116 | u8 UART1_Request_WritePoint = 0xFF; |
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117 | u8 UART1_Request_ReadPoint = 0; |
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118 | u8 UART1_Request_Data3D = FALSE; |
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119 | u8 UART1_Request_MotorData = FALSE; |
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120 | u8 UART1_Request_Echo = FALSE; |
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121 | u8 UART1_Request_ParameterId = 0; |
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122 | u8 UART1_Request_WPLStore = FALSE; |
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123 | u8 UART1_Request_Parameter = FALSE; |
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124 | u8 UART1_Request_SystemTime = FALSE; |
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125 | u8 UART1_DisplayKeys = 0; |
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126 | u8 UART1_DisplayLine = 0; |
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127 | u8 UART1_ConfirmFrame = 0; |
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128 | u8 UART1_Request_FTP = FALSE; |
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129 | u8 UART1_Request_LicenseString = FALSE; |
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130 | u8 UART1_Request_PPM_Channels = FALSE; |
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131 | u8 LastTransmittedFCStatusFlags2 = 0; |
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132 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
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133 | u8 Send_NMEA_RMC = FALSE; |
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134 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
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135 | u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
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136 | u16 UART1_BaudrateFallbackTimeout = 0; |
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137 | |||
138 | SerialChannel_t SerialChannel; |
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139 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
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140 | |||
141 | UART_TypeDef *DebugUART = UART1; |
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142 | |||
143 | #ifdef FOLLOW_ME |
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144 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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145 | u32 UART1_FollowMe_Timer = 0; |
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146 | Point_t FollowMe; |
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147 | #endif |
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148 | |||
149 | // the primary rx fifo |
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150 | #define UART1_RX_FIFO_LEN 1500 |
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151 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
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152 | fifo_t UART1_rx_fifo; |
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153 | |||
154 | // the rx buffer |
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155 | #define UART1_RX_BUFFER_LEN 1500 |
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156 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
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157 | Buffer_t UART1_rx_buffer; |
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158 | |||
159 | // the tx buffer |
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160 | //#define UART1_TX_BUFFER_LEN 1024 |
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161 | #define UART1_TX_BUFFER_LEN 1500 |
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162 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
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163 | Buffer_t UART1_tx_buffer; |
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164 | |||
165 | volatile u8 SerialLinkOkay = 0; |
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166 | |||
167 | u8 text[200]; |
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168 | u8 *LicensePtr = UART1_tbuffer; |
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169 | |||
170 | const u8 ANALOG_LABEL[32][16] = |
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171 | { |
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172 | //1234567890123456 |
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173 | "AngleNick ", //0 |
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174 | "AngleRoll ", |
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175 | "AccNick ", |
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176 | "AccRoll ", |
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177 | "Altitude [0.1m] ", |
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178 | "FC-Flags ", //5 |
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179 | "NC-Flags ", |
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180 | "Voltage [0.1V] ", |
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181 | "Current [0.1A] ", |
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182 | "GPS Data ", |
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183 | "CompassHeading ", //10 |
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184 | "GyroHeading ", |
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185 | "SPI Error ", // achtung: muss auf 12 bleiben |
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186 | "Laser [cm] ",//"GPS CRC Error ", |
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187 | "I2C Error ", |
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188 | "I2C Okay ", //15 |
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189 | "16 ", |
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190 | "17 ", |
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191 | "18 ", |
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192 | "19 ", |
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193 | "EarthMagnet [%] ", //20 |
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194 | "Ground Speed ", // "Z_Speed ", |
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195 | "N_Speed ", |
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196 | "E_Speed ", |
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197 | "Magnet X ", |
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198 | "Magnet Y ", //25 |
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199 | "Magnet Z ", |
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200 | "Distance N ", |
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201 | "Distance E ", |
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202 | "-GPS_Nick ", |
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203 | "-GPS_Roll ", //30 |
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204 | "Used_Sats " |
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205 | }; |
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206 | |||
207 | typedef struct |
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208 | { |
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209 | u8 Index; |
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210 | u8 Status; |
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211 | } __attribute__((packed)) WPL_Answer_t; |
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212 | WPL_Answer_t WPL_Answer; |
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213 | |||
214 | DebugOut_t DebugOut; |
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215 | ExternControl_t ExternControl; |
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216 | UART_VersionInfo_t UART_VersionInfo; |
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217 | NaviData_t NaviData; |
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218 | Data3D_t Data3D; |
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219 | |||
220 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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221 | |||
222 | u32 UART1_DebugData_Timer = 0; |
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223 | u32 UART1_DebugData_Interval = 0; // in ms |
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224 | u32 UART1_NaviData_Timer = 0; |
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225 | u32 UART1_NaviData_Interval = 0; // in ms |
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226 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
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227 | u32 UART1_Data3D_Timer = 0; |
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228 | u32 UART1_Data3D_Interval = 0; // in ms |
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229 | u32 UART1_MotorData_Timer = 0; |
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230 | u32 UART1_MotorData_Interval = 0; // in ms |
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231 | u32 UART1_Display_Timer = 0; |
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232 | u32 UART1_Display_Interval = 0; // in ms |
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233 | u32 NMEA_Timer = 0; |
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234 | u32 NMEA_Interval = 0;// in ms |
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235 | |||
236 | u8 CalculateDebugLableCrc(void) |
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237 | { |
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238 | u16 i; |
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239 | u8 crc = 0; |
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240 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
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241 | return(crc); |
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242 | } |
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243 | |||
244 | /********************************************************/ |
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245 | /* Initialization the UART1 */ |
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246 | /********************************************************/ |
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247 | void UART1_Init (void) |
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248 | { |
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249 | GPIO_InitTypeDef GPIO_InitStructure; |
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250 | UART_InitTypeDef UART_InitStructure; |
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251 | |||
252 | // initialize txd buffer |
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253 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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254 | |||
255 | // initialize rxd buffer |
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256 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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257 | |||
258 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
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259 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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260 | |||
261 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
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262 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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263 | |||
264 | /*Configure UART1_Rx pin GPIO3.2*/ |
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265 | GPIO_StructInit(&GPIO_InitStructure); |
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266 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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267 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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268 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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269 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
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270 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
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271 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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272 | |||
273 | /*Configure UART1_Tx pin GPIO3.3*/ |
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274 | GPIO_StructInit(&GPIO_InitStructure); |
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275 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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276 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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277 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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278 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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279 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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280 | |||
281 | // Control of PORT3.7 (FC-UART) |
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282 | GPIO_StructInit(&GPIO_InitStructure); |
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283 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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284 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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285 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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286 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
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287 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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288 | DISABLE_FC_UART; |
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289 | |||
290 | /* UART1 configured as follow: |
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291 | - Word Length = 8 Bits |
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292 | - One Stop Bit |
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293 | - No parity |
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294 | - BaudRate = 57600 baud |
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295 | - Hardware flow control Disabled |
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296 | - Receive and transmit enabled |
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297 | - Receive and transmit FIFOs are Disabled |
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298 | */ |
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299 | UART_StructInit(&UART_InitStructure); |
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300 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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301 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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302 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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303 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
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304 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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305 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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306 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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307 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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308 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
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309 | |||
310 | UART_DeInit(UART1); // reset uart 1 to default |
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311 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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312 | // enable uart 1 interrupts selective |
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313 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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314 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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315 | // configure the uart 1 interupt line |
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316 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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317 | // enable the uart 1 IRQ |
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318 | VIC_ITCmd(UART1_ITLine, ENABLE); |
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319 | |||
320 | // initialize the debug timer |
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321 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
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322 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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323 | NMEA_Timer = SetDelay(14000); |
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324 | |||
325 | // Fill Version Info Structure |
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326 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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327 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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328 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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329 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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330 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
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331 | UART_VersionInfo.BL_Firmware = 255; |
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332 | UART_VersionInfo.Flags = 0; |
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333 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
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334 | NaviData.Version = NAVIDATA_VERSION; |
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335 | |||
336 | PPM_In[PPM_IN_MAX] = +127; |
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337 | PPM_In[PPM_IN_OFF] = -127; |
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338 | PPM_In[PPM_IN_MID] = 0; |
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339 | |||
340 | UART1_PutString("\r\n UART1 init...ok"); |
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341 | } |
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342 | |||
343 | /****************************************************************/ |
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344 | /* USART1 change baudrate */ |
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345 | /****************************************************************/ |
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346 | void UART1_Configure(u32 baudrate) |
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347 | { |
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348 | UART_InitTypeDef UART_InitStructure; |
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349 | |||
350 | UART_Cmd(UART1, DISABLE); |
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351 | |||
352 | UART_StructInit(&UART_InitStructure); |
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353 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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354 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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355 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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356 | UART_InitStructure.UART_BaudRate = baudrate; |
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357 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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358 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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359 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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360 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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361 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
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362 | |||
363 | UART_DeInit(UART1); // reset uart 1 to default |
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364 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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365 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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366 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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367 | } |
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368 | |||
369 | /****************************************************************/ |
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370 | /* USART1 receiver ISR */ |
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371 | /****************************************************************/ |
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372 | void UART1_IRQHandler(void) |
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373 | { |
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374 | static u8 abortState = 0; |
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375 | u8 c; |
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376 | |||
377 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
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378 | { |
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379 | // clear the pending bits! |
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380 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
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381 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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382 | // if debug UART is not UART1 |
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383 | if (DebugUART != UART1) |
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384 | { // forward received data to the debug UART tx buffer |
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385 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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386 | { |
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387 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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388 | c = UART_ReceiveData(UART1); |
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389 | |||
390 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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391 | switch (abortState) |
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392 | { |
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393 | case 0: |
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394 | if (c == 27) abortState++; |
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395 | break; |
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396 | case 1: |
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397 | if (c == 27) abortState++; |
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398 | else abortState = 0; |
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399 | break; |
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400 | case 2: |
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401 | if (c == 0x55) abortState++; |
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402 | else abortState = 0; |
||
403 | break; |
||
404 | case 3: |
||
405 | if (c == 0xAA) abortState++; |
||
406 | else abortState = 0; |
||
407 | break; |
||
408 | case 4: |
||
409 | if (c == 0x00) |
||
410 | { |
||
411 | if(DebugUART == UART0) |
||
412 | { |
||
413 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
||
414 | TIMER2_Init(); // enbable servo outputs |
||
415 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
||
416 | } |
||
417 | DebugUART = UART1; |
||
418 | DISABLE_FC_UART; |
||
419 | } |
||
420 | abortState = 0; |
||
421 | break; |
||
422 | } // end switch abort state |
||
423 | // if the Debug uart is not UART1, redirect input to the Debug UART |
||
424 | if (DebugUART != UART1) |
||
425 | { |
||
426 | // wait for space in the tx buffer of the DebugUART |
||
427 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
428 | // move byte to the tx fifo of the debug uart |
||
429 | UART_SendData(DebugUART, c); |
||
430 | } |
||
431 | } |
||
432 | } |
||
433 | else // DebugUART == UART1 (normal operation) |
||
434 | { |
||
435 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
436 | { // some byes in the hardware fifo |
||
437 | // get byte from hardware fifo |
||
438 | c = UART_ReceiveData(UART1); |
||
439 | // put into the software fifo |
||
440 | if(!fifo_put(&UART1_rx_fifo, c)) |
||
441 | { // fifo overflow |
||
442 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
||
443 | } |
||
444 | } // EOF while some byes in the hardware fifo |
||
445 | } // eof DebugUart = UART1 |
||
446 | } |
||
447 | |||
448 | |||
449 | |||
450 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
||
451 | } |
||
452 | |||
453 | /**************************************************************/ |
||
454 | /* Process incomming data from debug uart */ |
||
455 | /**************************************************************/ |
||
456 | void UART1_ProcessRxData(void) |
||
457 | { |
||
458 | // return on forwarding uart or unlocked rx buffer |
||
459 | u8 c; |
||
460 | if(DebugUART != UART1) return; |
||
461 | // if rx buffer is not locked |
||
462 | if(UART1_rx_buffer.Locked == FALSE) |
||
463 | { |
||
464 | //collect data from primary rx fifo |
||
465 | while(fifo_get(&UART1_rx_fifo, &c)) |
||
466 | { |
||
467 | // break if complete frame is collected |
||
468 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
||
469 | } |
||
470 | } |
||
471 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
472 | |||
473 | Point_t * pPoint = NULL; |
||
474 | SerialMsg_t SerialMsg; |
||
475 | |||
476 | // analyze header first |
||
477 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
478 | /* |
||
479 | if( SerialMsg.Address == FC_ADDRESS ) |
||
480 | { |
||
481 | switch(SerialMsg.CmdID) |
||
482 | { |
||
483 | // case 'b': // extern control |
||
484 | // UART1_ExternalControlConfirmFrame = 1; |
||
485 | // case 'y': // serial poti values |
||
486 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
487 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
488 | // return; //end process rx data |
||
489 | break; |
||
490 | } |
||
491 | } |
||
492 | */ |
||
493 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
||
494 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
495 | switch(SerialMsg.Address) // check for Slave Address |
||
496 | { |
||
497 | case NC_ADDRESS: // own Slave Address |
||
498 | switch(SerialMsg.CmdID) |
||
499 | { |
||
500 | case 't': // request for the GPS time |
||
501 | UART1_Request_SystemTime = TRUE; |
||
502 | break; |
||
503 | |||
504 | case 'm': // request for the license string |
||
505 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
||
506 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
||
507 | { |
||
508 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
||
509 | memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
||
510 | } |
||
511 | break; |
||
512 | case 'f': // ftp command |
||
513 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
514 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
||
515 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
||
516 | break; |
||
517 | |||
518 | case 'z': // connection checker |
||
519 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
||
520 | UART1_Request_Echo = TRUE; |
||
521 | break; |
||
522 | |||
523 | case 'e': // request for the text of the error status |
||
524 | UART1_Request_ErrorMessage = TRUE; |
||
525 | break; |
||
526 | |||
527 | case 's':// new target position |
||
528 | pPoint = (Point_t*)SerialMsg.pData; |
||
529 | if(pPoint->Position.Status == NEWDATA) |
||
530 | { |
||
531 | u32 start = 0; |
||
532 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
||
533 | //pPoint->Index = 1; // must be one after empty list |
||
534 | PointList_SetAt(pPoint); |
||
535 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
536 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
537 | if(pPoint->Index) start = pPoint->Index-1; |
||
538 | if(CurrentlyFlyingWaypoints) |
||
539 | { |
||
540 | GPS_pWaypoint = PointList_WPBegin(start); |
||
541 | NewWaypointsReceived = 0; // Only an update |
||
542 | } |
||
543 | BeepTime = 50; |
||
544 | } |
||
545 | else |
||
546 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
||
547 | { |
||
548 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
||
549 | { |
||
550 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
||
551 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
||
552 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
||
553 | } |
||
554 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
||
555 | { |
||
556 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
||
557 | SpeakHoTT = SPEAK_STARTING; |
||
558 | } |
||
559 | else |
||
560 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
||
561 | { |
||
562 | SimulationFlags = pPoint->Event_Flag; |
||
563 | SpeakHoTT = SPEAK_MK_OFF; |
||
564 | BeepTime = 50; |
||
565 | } |
||
566 | else |
||
567 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
||
568 | } |
||
569 | break; |
||
570 | case 'u': // redirect debug uart |
||
571 | switch(SerialMsg.pData[0]) |
||
572 | { |
||
573 | case UART_FLIGHTCTRL: |
||
574 | ENABLE_FC_UART; |
||
575 | UART2_Init(); // initialize UART2 to FC pins |
||
576 | fifo_purge(&UART1_rx_fifo); |
||
577 | TIMER2_Deinit(); // reduce irq load |
||
578 | DebugUART = UART2; |
||
579 | break; |
||
580 | case UART_MK3MAG: |
||
581 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
||
582 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
||
583 | GPSData.Status = INVALID; |
||
584 | fifo_purge(&UART1_rx_fifo); |
||
585 | DebugUART = UART0; |
||
586 | break; |
||
587 | case UART_MKGPS: |
||
588 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
||
589 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
||
590 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
||
591 | GPSData.Status = INVALID; |
||
592 | fifo_purge(&UART1_rx_fifo); |
||
593 | DebugUART = UART0; |
||
594 | break; |
||
595 | default: |
||
596 | break; |
||
597 | } |
||
598 | break; |
||
599 | |||
600 | case 'w':// Set point in list at index |
||
601 | { |
||
602 | pPoint = (Point_t*)SerialMsg.pData; |
||
603 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
604 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
||
605 | { |
||
606 | PointList_Clear(); |
||
607 | GPS_pWaypoint = PointList_WPBegin(0); |
||
608 | UART1_Request_WritePoint = 0; // return new point count |
||
609 | NewWaypointsReceived = 1; |
||
610 | } |
||
611 | else |
||
612 | { // update WP in list at index |
||
613 | if(pPoint->Index > MaxNumberOfWaypoints) |
||
614 | { |
||
615 | UART1_Request_WritePoint = 254; |
||
616 | pPoint->Index = MaxNumberOfWaypoints; |
||
617 | } |
||
618 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
619 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
620 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
||
621 | if(UART1_Request_WritePoint == pPoint->Index) |
||
622 | { |
||
623 | BeepTime = 500; |
||
624 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
625 | } |
||
626 | } |
||
627 | } |
||
628 | break; |
||
629 | |||
630 | case 'x':// Read Waypoint from List |
||
631 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
||
632 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
633 | break; |
||
634 | |||
635 | case 'i':// Store WP List to file |
||
636 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
||
637 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
||
638 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
||
639 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
||
640 | UART1_Request_WPLStore = TRUE; |
||
641 | break; |
||
642 | |||
643 | case 'j':// Set/Get NC-Parameter |
||
644 | switch(SerialMsg.pData[0]) |
||
645 | { |
||
646 | case 0: // get |
||
647 | break; |
||
648 | |||
649 | case 1: // set |
||
650 | { |
||
651 | s16 value; |
||
652 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
653 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
654 | } |
||
655 | break; |
||
656 | |||
657 | default: |
||
658 | break; |
||
659 | } |
||
660 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
661 | UART1_Request_Parameter = TRUE; |
||
662 | break; |
||
663 | default: |
||
664 | // unsupported command recieved |
||
665 | break; |
||
666 | } // case NC_ADDRESS |
||
667 | // "break;" is missing here to fall thru to the common commands |
||
668 | |||
669 | default: // and any other Slave Address |
||
670 | |||
671 | switch(SerialMsg.CmdID) // check CmdID |
||
672 | { |
||
673 | case 'a':// request for the labels of the analog debug outputs |
||
674 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
||
675 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
676 | break; |
||
677 | |||
678 | case 'b': // submit extern control |
||
679 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
||
680 | UART1_ConfirmFrame = ExternControl.Frame; |
||
681 | NewExternalControlFrame = 1; |
||
682 | break; |
||
683 | |||
684 | case 'y': // serial Channels |
||
685 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
||
686 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
||
687 | NewSerialChannelFrame = 1; |
||
688 | break; |
||
689 | |||
690 | case 'g':// request for the externalControl |
||
691 | UART1_Request_ExternalControl = TRUE; |
||
692 | break; |
||
693 | |||
694 | case 'p':// request for the PPM_In |
||
695 | UART1_Request_PPM_Channels = TRUE; |
||
696 | break; |
||
697 | |||
698 | case 'd': // request for debug data; |
||
699 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
700 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
701 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
702 | break; |
||
703 | |||
704 | case 'c': // request for 3D data; |
||
705 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
||
706 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
707 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
708 | break; |
||
709 | |||
710 | case 'k': // request for Motor data; |
||
711 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
712 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
713 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
714 | break; |
||
715 | |||
716 | case 'h':// reqest for display line |
||
717 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
||
718 | { |
||
719 | UART1_DisplayLine = 2; |
||
720 | UART1_Display_Interval = 0; |
||
721 | UART1_Request_Display = TRUE; |
||
722 | } |
||
723 | else |
||
724 | { |
||
725 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
||
726 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
||
727 | UART1_DisplayLine = 4; |
||
728 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
729 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
||
730 | } |
||
731 | break; |
||
732 | |||
733 | case 'l':// reqest for display columns |
||
734 | MenuItem = SerialMsg.pData[0]; |
||
735 | UART1_Request_Display1 = TRUE; |
||
736 | break; |
||
737 | |||
738 | case 'o': // request for navigation information |
||
739 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; // PC sends: 10 = 100ms |
||
740 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second |
||
741 | else UART1_NaviData_MaxBytes = 0; |
||
742 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
743 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
744 | if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
||
745 | break; |
||
746 | |||
747 | case 'v': // request for version info |
||
748 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
||
749 | else UART1_Request_VersionInfo = 2; |
||
750 | break; |
||
751 | default: |
||
752 | // unsupported command recieved |
||
753 | break; |
||
754 | } |
||
755 | break; // default: |
||
756 | } |
||
757 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
758 | } |
||
759 | |||
760 | |||
761 | /*****************************************************/ |
||
762 | /* Send a character */ |
||
763 | /*****************************************************/ |
||
764 | s16 UART1_Putchar(char c) |
||
765 | { |
||
766 | u32 timeout = 10000; |
||
767 | if(DebugUART != UART1) return(0); |
||
768 | if (c == '\n') UART1_Putchar('\r'); |
||
769 | // wait until txd fifo is not full |
||
770 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
||
771 | // transmit byte |
||
772 | UART_SendData(UART1, c); |
||
773 | #ifdef FOLLOW_ME |
||
774 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
775 | #endif |
||
776 | return (0); |
||
777 | } |
||
778 | |||
779 | /*****************************************************/ |
||
780 | /* Send a string to the debug uart */ |
||
781 | /*****************************************************/ |
||
782 | void UART1_PutString(u8 *s) |
||
783 | { |
||
784 | if(DebugUART != UART1) return; |
||
785 | if(s == NULL) return; |
||
786 | while (*s != '\0') |
||
787 | { |
||
788 | UART1_Putchar(*s); |
||
789 | s ++; |
||
790 | } |
||
791 | } |
||
792 | |||
793 | |||
794 | /**************************************************************/ |
||
795 | /* Transmit tx buffer via debug uart */ |
||
796 | /**************************************************************/ |
||
797 | void UART1_Transmit(void) |
||
798 | { |
||
799 | u8 tmp_tx; |
||
800 | if(DebugUART != UART1) return; |
||
801 | // if something has to be send and the txd fifo is not full |
||
802 | if(UART1_tx_buffer.Locked == TRUE) |
||
803 | { |
||
804 | // while there is some space in the tx fifo |
||
805 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
806 | { |
||
807 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
||
808 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
809 | #ifdef FOLLOW_ME |
||
810 | if(TransmitAlsoToFC) |
||
811 | { |
||
812 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
||
813 | } |
||
814 | #endif |
||
815 | // if terminating character or end of txd buffer reached |
||
816 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
817 | { |
||
818 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
819 | #ifdef FOLLOW_ME |
||
820 | TransmitAlsoToFC = 0; |
||
821 | #endif |
||
822 | break; // end while loop |
||
823 | } |
||
824 | } |
||
825 | } |
||
826 | } |
||
827 | |||
828 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
||
829 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
830 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
831 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
||
832 | |||
833 | void CreateNmeaGGA(void) |
||
834 | { |
||
835 | u8 array[200], i = 0, crc = 0, x; |
||
836 | s32 tmp1, tmp2; |
||
837 | |||
838 | i += sprintf(array, "$GPGGA,"); |
||
839 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
840 | if(SystemTime.Valid) |
||
841 | { |
||
842 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
||
843 | } |
||
844 | else |
||
845 | { |
||
846 | i += sprintf(&array[i], ","); |
||
847 | } |
||
848 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
849 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
850 | { |
||
851 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
852 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
||
853 | |||
854 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
||
855 | tmp1 *= 6; // in Minuten |
||
856 | tmp2 = tmp1 / 1000000L; |
||
857 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
||
858 | tmp2 = tmp1 % 1000000L; |
||
859 | tmp2 /= 100; // zwei Stellen zu viel |
||
860 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
861 | |||
862 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
863 | else i += sprintf(&array[i],"S,"); |
||
864 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
865 | |||
866 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
867 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
||
868 | |||
869 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
||
870 | tmp1 *= 6; // in Minuten |
||
871 | tmp2 = tmp1 / 1000000L; |
||
872 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
||
873 | tmp2 = tmp1 % 1000000L; |
||
874 | tmp2 /= 100; // zwei Stellen zu viel |
||
875 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
876 | |||
877 | |||
878 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
879 | else i += sprintf(&array[i],"W,"); |
||
880 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
881 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
882 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
||
883 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
884 | tmp1 = NaviData.Altimeter_5cm / 2; // in dm |
||
885 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
||
886 | i += sprintf(&array[i],",,,*"); |
||
887 | } |
||
888 | else |
||
889 | { |
||
890 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
891 | } |
||
892 | for(x = 1; x < i-1; x++) |
||
893 | { |
||
894 | crc ^= array[x]; |
||
895 | } |
||
896 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
897 | AddSerialData(&UART1_tx_buffer,array,i); |
||
898 | |||
899 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
900 | } |
||
901 | |||
902 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
903 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
||
904 | |||
905 | void CreateNmeaRMC(void) |
||
906 | { |
||
907 | u8 array[200], i = 0, crc = 0, x; |
||
908 | s16 tmp_int; |
||
909 | s32 tmp1, tmp2; |
||
910 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
911 | i += sprintf(array, "$GPRMC,"); |
||
912 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
913 | if(SystemTime.Valid) |
||
914 | { |
||
915 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
916 | } |
||
917 | else |
||
918 | { |
||
919 | i += sprintf(&array[i], ","); |
||
920 | } |
||
921 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
922 | { |
||
923 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
924 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
925 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
||
926 | |||
927 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
||
928 | tmp1 *= 6; // in Minuten |
||
929 | tmp2 = tmp1 / 1000000L; |
||
930 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
931 | tmp2 = tmp1 % 1000000L; |
||
932 | tmp2 /= 100; // zwei Stellen zu viel |
||
933 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
934 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
||
935 | else i += sprintf(&array[i],"S,"); |
||
936 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
937 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
938 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
||
939 | |||
940 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
||
941 | tmp1 *= 6; // in Minuten |
||
942 | tmp2 = tmp1 / 1000000L; |
||
943 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
944 | tmp2 = tmp1 % 1000000L; |
||
945 | tmp2 /= 100; // zwei Stellen zu viel |
||
946 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
947 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
||
948 | else i += sprintf(&array[i],"W,"); |
||
949 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
950 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
||
951 | tmp_int *= 90; |
||
952 | tmp_int /= 463; |
||
953 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
||
954 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
955 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
956 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
957 | if(SystemTime.Valid) |
||
958 | { |
||
959 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
||
960 | } |
||
961 | else |
||
962 | { |
||
963 | i += sprintf(&array[i], ","); |
||
964 | } |
||
965 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
966 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
967 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
||
968 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
969 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
||
970 | else i += sprintf(&array[i], "A*"); |
||
971 | } |
||
972 | else // kein Satfix |
||
973 | { |
||
974 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
||
975 | } |
||
976 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
977 | // CRC |
||
978 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
979 | for(x=1; x<i-1; x++) |
||
980 | { |
||
981 | crc ^= array[x]; |
||
982 | } |
||
983 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
984 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
985 | AddSerialData(&UART1_tx_buffer,array,i); |
||
986 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
987 | /* |
||
988 | |||
989 | |||
990 | |||
991 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
||
992 | GPSData.NumOfSats = UbxSol.numSV; |
||
993 | GPSData.SatFix = UbxSol.GPSfix; |
||
994 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
995 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
996 | SetGPSTime(&SystemTime); // update system time |
||
997 | // NAV POSLLH |
||
998 | GPSData.Position.Status = INVALID; |
||
999 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
1000 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
1001 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
1002 | GPSData.Position.Status = NEWDATA; |
||
1003 | // NAV VELNED |
||
1004 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
1005 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
1006 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
1007 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
1008 | GPSData.Heading = UbxVelNed.Heading; |
||
1009 | SystemTime.Year = 0; |
||
1010 | SystemTime.Month = 0; |
||
1011 | SystemTime.Day = 0; |
||
1012 | SystemTime.Hour = 0; |
||
1013 | SystemTime.Min = 0; |
||
1014 | SystemTime.Sec = 0; |
||
1015 | SystemTime.mSec = 0; |
||
1016 | SystemTime.Valid = 0; |
||
1017 | |||
1018 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
||
1019 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
1020 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
1021 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
1022 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
1023 | |||
1024 | |||
1025 | |||
1026 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
1027 | i1 *= 100; |
||
1028 | i1 += i2 / 100000; |
||
1029 | i2 = i2 % 100000; |
||
1030 | i2 /= 10; |
||
1031 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
1032 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
1033 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
1034 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
1035 | break; |
||
1036 | case 1: |
||
1037 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
1038 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
1039 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
1040 | //----------------------------- |
||
1041 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
1042 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
1043 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
1044 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
1045 | |||
1046 | */ |
||
1047 | } |
||
1048 | |||
1049 | u16 SendTriggerPos(void) |
||
1050 | { |
||
1051 | u16 sent = 0; |
||
1052 | NaviData_Out1Trigger.Index = 18; |
||
1053 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
||
1054 | if(sent) Out1TriggerUpdateNewData = 0; |
||
1055 | // BeepTime = 50; // beep |
||
1056 | return(sent); |
||
1057 | } |
||
1058 | |||
1059 | |||
1060 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
||
1061 | { |
||
1062 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
||
1063 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0; |
||
1064 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
||
1065 | |||
1066 | if(clear) |
||
1067 | { |
||
1068 | state = 0; |
||
1069 | CRC_Home++; |
||
1070 | CRC_Target++; |
||
1071 | CRC_Flags++; |
||
1072 | CRC_Wp++; |
||
1073 | CRC_Fs++; |
||
1074 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
||
1075 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
||
1076 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
||
1077 | return(1); |
||
1078 | } |
||
1079 | while(!sent) |
||
1080 | { |
||
1081 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
||
1082 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1083 | |||
1084 | switch(state++) |
||
1085 | { |
||
1086 | case 0: |
||
1087 | case 6: |
||
1088 | case 5: |
||
1089 | // belegt 35 ASCII-Zeichen |
||
1090 | NaviData_Flags.Index = 11; |
||
1091 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1092 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1093 | NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1094 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1095 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1096 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
||
1097 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
||
1098 | NaviData_Flags.Errorcode = ErrorCode; |
||
1099 | NaviData_Flags.ReserveFlags = 0; |
||
1100 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
||
1101 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
||
1102 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
||
1103 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
1104 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
||
1105 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
||
1106 | { |
||
1107 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
||
1108 | CRC_Flags = crc_flags; |
||
1109 | count_flags = 11*2; |
||
1110 | } |
||
1111 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
||
1112 | break; |
||
1113 | case 1: |
||
1114 | case 7: |
||
1115 | // belegt 43 ASCII-Zeichen |
||
1116 | NaviData_Target.Index = 12; |
||
1117 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1118 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1119 | NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1120 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1121 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1122 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
||
1123 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
||
1124 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
||
1125 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
||
1126 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
||
1127 | if((crc_target != CRC_Target) || (--count_target == 0)) |
||
1128 | { |
||
1129 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
||
1130 | CRC_Target = crc_target; |
||
1131 | count_target = 10*2; |
||
1132 | } |
||
1133 | break; |
||
1134 | case 2: |
||
1135 | case 8: |
||
1136 | // belegt 31 ASCII-Zeichen |
||
1137 | NaviData_WP.Index = 15; |
||
1138 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1139 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1140 | NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1141 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1142 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1143 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
||
1144 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
||
1145 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
||
1146 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
||
1147 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
||
1148 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
||
1149 | { |
||
1150 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
||
1151 | CRC_Wp = crc_wp; |
||
1152 | count_wp = 12*2; |
||
1153 | } |
||
1154 | break; |
||
1155 | case 3: |
||
1156 | case 9: |
||
1157 | // 35 ASCII-Zeichen |
||
1158 | NaviData_Failsafe.Index = 17; |
||
1159 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1160 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1161 | NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1162 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1163 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1164 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
||
1165 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
||
1166 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_FS_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
||
1167 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
||
1168 | { |
||
1169 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
||
1170 | CRC_Fs = crc_fs; |
||
1171 | count_fs = 20*2; |
||
1172 | } |
||
1173 | break; |
||
1174 | case 4: |
||
1175 | case 10: |
||
1176 | // belegt 43 ASCII-Zeichen |
||
1177 | NaviData_Home.Index = 13; |
||
1178 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1179 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1180 | NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1181 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1182 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1183 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
||
1184 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
||
1185 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
||
1186 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
||
1187 | // ++++++++++++++ |
||
1188 | // + Fix Type |
||
1189 | // ++++++++++++++ |
||
1190 | if(!(GPSData.Flags & FLAG_GPSFIXOK)) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_NONE; |
||
1191 | else |
||
1192 | if(GPSData.SatFix == SATFIX_2D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_2D; |
||
1193 | else |
||
1194 | if(GPSData.Flags & FLAG_DIFFSOLN) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_DGPS; |
||
1195 | else |
||
1196 | if(GPSData.SatFix == SATFIX_3D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_3D; |
||
1197 | // ++++++++++++++ |
||
1198 | if(BlitzSchuhConnected) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_HOTSHOE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_HOTSHOE; |
||
1199 | // ++++++++++++++ |
||
1200 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_BOAT_MODE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_BOAT_MODE; |
||
1201 | // ++++++++++++++ |
||
1202 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
||
1203 | if((crc_home != CRC_Home) || (--count_home == 0)) |
||
1204 | { |
||
1205 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
||
1206 | CRC_Home = crc_home; |
||
1207 | count_home = 25; |
||
1208 | } |
||
1209 | break; |
||
1210 | case 11: |
||
1211 | // belegt 39 ASCII-Zeichen |
||
1212 | NaviData_Deviation.Index = 14; |
||
1213 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1214 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1215 | NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1216 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1217 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1218 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
||
1219 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
||
1220 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
||
1221 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
||
1222 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
||
1223 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
||
1224 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
||
1225 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
||
1226 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
||
1227 | break; |
||
1228 | case 12: |
||
1229 | // belegt 43 ASCII-Zeichen |
||
1230 | NaviData_Volatile.Index = 16; |
||
1231 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1232 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1233 | NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1234 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1235 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1236 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
||
1237 | NaviData_Volatile.Current = NaviData.Current; |
||
1238 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
||
1239 | NaviData_Volatile.Variometer = NaviData.Variometer; |
||
1240 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
||
1241 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
||
1242 | NaviData_Volatile.Gas = NaviData.Gas; |
||
1243 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
||
1244 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
||
1245 | break; |
||
1246 | case 13: |
||
1247 | // belegt 27 ASCII-Zeichen |
||
1248 | NaviData_Tiny.Index = 10; |
||
1249 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1250 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1251 | NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1252 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1253 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1254 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
||
1255 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
||
1256 | { |
||
1257 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
||
1258 | count_tiny = 200; // just to make sure that it comes sometimes |
||
1259 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
||
1260 | } |
||
1261 | break; |
||
1262 | default: state = 0; |
||
1263 | break; |
||
1264 | } |
||
1265 | } |
||
1266 | pause = (sent * 1000) / MaxBytesPerSecond; |
||
1267 | |||
1268 | UART1_Request_NaviData = FALSE; |
||
1269 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
||
1270 | return(pause); |
||
1271 | // Clear at timeout: |
||
1272 | // NaviData_WP.WP_Eventchannel |
||
1273 | } |
||
1274 | |||
1275 | /**************************************************************/ |
||
1276 | /* Send the answers to incomming commands at the debug uart */ |
||
1277 | /**************************************************************/ |
||
1278 | void UART1_TransmitTxData(void) |
||
1279 | { |
||
1280 | static u8 motorindex1 = 255, motorindex2 = 0; |
||
1281 | if(DebugUART != UART1) return; |
||
1282 | |||
1283 | if(CheckDelay(UART1_AboTimeOut)) |
||
1284 | { |
||
1285 | UART1_DebugData_Interval = 0; |
||
1286 | UART1_NaviData_Interval = 0; |
||
1287 | UART1_NaviData_MaxBytes = 0; |
||
1288 | UART1_Data3D_Interval = 0; |
||
1289 | UART1_Display_Interval = 0; |
||
1290 | UART1_MotorData_Interval = 0; |
||
1291 | UART1_NaviData_Timer = SetDelay(500); |
||
1292 | UART1_AboTimeOut = SetDelay(100); |
||
1293 | TransmitNavigationData(0,1); // clear the CRC values |
||
1294 | } |
||
1295 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
||
1296 | //UART1_NaviData_MaxBytes = 150; |
||
1297 | /* |
||
1298 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
||
1299 | UART1_NaviData_Interval = 500; |
||
1300 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
||
1301 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
||
1302 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
||
1303 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
||
1304 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
||
1305 | */ |
||
1306 | UART1_Transmit(); // output pending bytes in tx buffer |
||
1307 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
1308 | |||
1309 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
||
1310 | { |
||
1311 | s16 ParamValue; |
||
1312 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
||
1313 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
||
1314 | UART1_Request_Parameter = FALSE; |
||
1315 | } |
||
1316 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
1317 | { |
||
1318 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
||
1319 | Echo = 0; // reset echo value |
||
1320 | UART1_Request_Echo = FALSE; |
||
1321 | } |
||
1322 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
||
1323 | { |
||
1324 | u8 errorcode = FTP_ERROR_NONE; |
||
1325 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
1326 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
1327 | |||
1328 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
1329 | else |
||
1330 | { |
||
1331 | u8 cmd = FTP_CMD_ERROR; |
||
1332 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
1333 | } |
||
1334 | |||
1335 | UART1_Request_FTP = FALSE; |
||
1336 | } |
||
1337 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
1338 | { |
||
1339 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
||
1340 | UART1_Request_WritePoint = 0xFF; |
||
1341 | } |
||
1342 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
||
1343 | { |
||
1344 | u8 PointCount = PointList_GetCount(); |
||
1345 | if (UART1_Request_ReadPoint <= PointCount) |
||
1346 | { |
||
1347 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
||
1348 | } |
||
1349 | else |
||
1350 | { |
||
1351 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
||
1352 | } |
||
1353 | UART1_Request_ReadPoint = 0; |
||
1354 | } |
||
1355 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
1356 | { |
||
1357 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
1358 | UART1_Request_DebugLabel = 0xFF; |
||
1359 | } |
||
1360 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
||
1361 | { |
||
1362 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
1363 | UART1_ExternalControlConfirmFrame = 0; |
||
1364 | } |
||
1365 | else |
||
1366 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
||
1367 | { |
||
1368 | //sent += |
||
1369 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1370 | } |
||
1371 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1372 | { |
||
1373 | u16 time = 0; |
||
1374 | //UART1_NaviData_MaxBytes = 250; |
||
1375 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
||
1376 | { |
||
1377 | NaviData.Errorcode = ErrorCode; |
||
1378 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
||
1379 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
||
1380 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
1381 | } |
||
1382 | else |
||
1383 | if(CheckDelay(UART1_NaviData_Timer)) |
||
1384 | { |
||
1385 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
||
1386 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
||
1387 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
||
1388 | // Wert = 200 -> Sekunden laufen flüssig |
||
1389 | // Wert >= 250 -> optimal |
||
1390 | //UART1_NaviData_MaxBytes = 45; |
||
1391 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
||
1392 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
||
1393 | UART1_NaviData_Timer = SetDelay(time); |
||
1394 | } |
||
1395 | UART1_Request_NaviData = FALSE; |
||
1396 | } |
||
1397 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1398 | { |
||
1399 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
||
1400 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
1401 | UART1_Request_DebugData = FALSE; |
||
1402 | } |
||
1403 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
||
1404 | { |
||
1405 | Data3D.StickNick = FC.StickNick; |
||
1406 | Data3D.StickRoll = FC.StickRoll; |
||
1407 | Data3D.StickYaw = FC.StickYaw; |
||
1408 | Data3D.StickGas = FC.StickGas; |
||
1409 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
||
1410 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
1411 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
1412 | Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m |
||
1413 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
||
1414 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
1415 | UART1_Request_Data3D = FALSE; |
||
1416 | } |
||
1417 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1418 | { |
||
1419 | do |
||
1420 | { |
||
1421 | motorindex1++; |
||
1422 | motorindex1%=12; |
||
1423 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
1424 | if(motorindex1 == motorindex2) break; |
||
1425 | } |
||
1426 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
1427 | |||
1428 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
1429 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
1430 | UART1_Request_MotorData = FALSE; |
||
1431 | } |
||
1432 | else if(UART1_Request_WPLStore) |
||
1433 | { |
||
1434 | /* |
||
1435 | s8 txt[50]; |
||
1436 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
||
1437 | UART1_PutString(txt); |
||
1438 | */ |
||
1439 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
||
1440 | UART1_Request_WPLStore = FALSE; |
||
1441 | } |
||
1442 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
||
1443 | { |
||
1444 | CreateNmeaGGA(); |
||
1445 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
||
1446 | NMEA_Timer = SetDelay(NMEA_Interval); |
||
1447 | } |
||
1448 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
||
1449 | { |
||
1450 | CreateNmeaRMC(); |
||
1451 | Send_NMEA_RMC = FALSE; |
||
1452 | } |
||
1453 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
||
1454 | { |
||
1455 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
1456 | UART1_ConfirmFrame = 0; |
||
1457 | } |
||
1458 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
||
1459 | { |
||
1460 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
||
1461 | UART1_Request_ExternalControl = FALSE; |
||
1462 | } |
||
1463 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
1464 | { |
||
1465 | if(UART1_DisplayLine > 3) |
||
1466 | { |
||
1467 | Menu_Update(UART1_DisplayKeys); |
||
1468 | UART1_DisplayKeys = 0; |
||
1469 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
1470 | } |
||
1471 | else |
||
1472 | { |
||
1473 | UART1_DisplayLine = 2; |
||
1474 | sprintf(text,"!!! incompatible !!!"); |
||
1475 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
1476 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
1477 | } |
||
1478 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
1479 | UART1_Request_Display = FALSE; |
||
1480 | } |
||
1481 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
||
1482 | { |
||
1483 | Menu_Update(0); |
||
1484 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
||
1485 | UART1_Request_Display1 = FALSE; |
||
1486 | } |
||
1487 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
||
1488 | { |
||
1489 | UART_VersionInfo_t version_tmp; |
||
1490 | version_tmp.SWMajor = FC_Version.Major; |
||
1491 | version_tmp.SWMinor = FC_Version.Minor; |
||
1492 | version_tmp.SWPatch = FC_Version.Patch; |
||
1493 | version_tmp.HWMajor = FC_Version.Hardware; |
||
1494 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
||
1495 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
||
1496 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
||
1497 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
||
1498 | version_tmp.Flags = 0; |
||
1499 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
||
1500 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
||
1501 | UART1_Request_VersionInfo = FALSE; |
||
1502 | } |
||
1503 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
||
1504 | { |
||
1505 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
1506 | UART1_Request_VersionInfo = FALSE; |
||
1507 | } |
||
1508 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
||
1509 | { |
||
1510 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
1511 | UART1_Request_SystemTime = FALSE; |
||
1512 | } |
||
1513 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
||
1514 | { |
||
1515 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
1516 | UART1_Request_ErrorMessage = FALSE; |
||
1517 | } |
||
1518 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
||
1519 | { |
||
1520 | s16 ppm_tmp[MAX_RC_IN], i; |
||
1521 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
||
1522 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
||
1523 | UART1_Request_PPM_Channels = FALSE; |
||
1524 | } |
||
1525 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
||
1526 | { |
||
1527 | u8 result = 1, cmd = 0; |
||
1528 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
||
1529 | { |
||
1530 | result = LIC_CMD_READ_LICENSE; |
||
1531 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
||
1532 | } |
||
1533 | else |
||
1534 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
||
1535 | { |
||
1536 | result = LIC_CMD_ERASE_LICENSE; |
||
1537 | DeleteLicenseInEEPROM(); |
||
1538 | CheckLicense(GET_LICENSE); |
||
1539 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
||
1540 | } |
||
1541 | else |
||
1542 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
||
1543 | { |
||
1544 | cmd = LIC_CMD_WRITE_LICENSE; |
||
1545 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
||
1546 | { |
||
1547 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
||
1548 | result = 1; |
||
1549 | } |
||
1550 | else //new license is NOT okay |
||
1551 | { |
||
1552 | ClearLicenseText(); |
||
1553 | result = 0; |
||
1554 | CheckLicense(GET_LICENSE); // fetch a license if available |
||
1555 | } |
||
1556 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
||
1557 | } |
||
1558 | UART1_Request_LicenseString = 0; |
||
1559 | } |
||
1560 | #ifdef FOLLOW_ME |
||
1561 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
1562 | { |
||
1563 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
1564 | { |
||
1565 | TransmitAlsoToFC = 1; |
||
1566 | // update FollowMe content |
||
1567 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
1568 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
1569 | FollowMe.Position.Status = NEWDATA; |
||
1570 | FollowMe.Position.Altitude = 1; |
||
1571 | // 0 -> no Orientation |
||
1572 | // 1-360 -> CompassCourse Setpoint |
||
1573 | // -1 -> points to WP1 -> itself |
||
1574 | FollowMe.Heading = -1; |
||
1575 | FollowMe.ToleranceRadius = 1; |
||
1576 | FollowMe.HoldTime = 60; |
||
1577 | FollowMe.Event_Flag = 1; |
||
1578 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1579 | FollowMe.Type = POINT_TYPE_WP; |
||
1580 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1581 | FollowMe.AltitudeRate = 0; // do not change height |
||
1582 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
||
1583 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1584 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1585 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1586 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1587 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
1588 | FollowMe.reserve[0] = 0; // reserve |
||
1589 | FollowMe.reserve[1] = 0; // reserve |
||
1590 | /* |
||
1591 | { |
||
1592 | static u32 distance; |
||
1593 | distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
||
1594 | |||
1595 | GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
||
1596 | FollowMe.Heading = (s16)GyroCompassCorrected/10; |
||
1597 | FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1598 | FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
||
1599 | } |
||
1600 | */ |
||
1601 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
1602 | } |
||
1603 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1604 | } |
||
1605 | #endif |
||
1606 | #ifdef DEBUG // only include functions if DEBUG is defined |
||
1607 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
||
1608 | { |
||
1609 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1610 | SendDebugOutput = 0; |
||
1611 | } |
||
1612 | #endif |
||
1613 | UART1_Transmit(); // output pending bytes in tx buffer |
||
1614 | } |
||
1615 |