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Rev | Author | Line No. | Line |
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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
41 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdio.h> |
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58 | #include <stdarg.h> |
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59 | #include <string.h> |
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60 | |||
61 | #include "91x_lib.h" |
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251 | killagreg | 62 | #include "main.h" |
136 | killagreg | 63 | #include "config.h" |
41 | ingob | 64 | #include "menu.h" |
65 | #include "GPS.h" |
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66 | #include "i2c.h" |
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67 | #include "uart0.h" |
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68 | #include "uart1.h" |
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69 | #include "uart2.h" |
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119 | killagreg | 70 | #include "timer1.h" |
139 | killagreg | 71 | #include "timer2.h" |
72 | #include "analog.h" |
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243 | killagreg | 73 | #include "compass.h" |
41 | ingob | 74 | #include "waypoints.h" |
110 | killagreg | 75 | #include "mkprotocol.h" |
156 | killagreg | 76 | #include "params.h" |
153 | killagreg | 77 | #include "fifo.h" |
315 | killagreg | 78 | #include "debug.h" |
349 | ingob | 79 | #include "ftphelper.h" |
41 | ingob | 80 | |
81 | #define FALSE 0 |
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82 | #define TRUE 1 |
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83 | |||
351 | holgerb | 84 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
198 | killagreg | 85 | u32 UART1_AboTimeOut = 0; |
92 | killagreg | 86 | |
110 | killagreg | 87 | u8 UART1_Request_VersionInfo = FALSE; |
88 | u8 UART1_Request_ExternalControl= FALSE; |
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89 | u8 UART1_Request_Display = FALSE; |
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90 | u8 UART1_Request_Display1 = FALSE; |
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91 | u8 UART1_Request_DebugData = FALSE; |
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92 | u8 UART1_Request_DebugLabel = 255; |
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93 | u8 UART1_Request_NaviData = FALSE; |
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94 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 95 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 96 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 97 | u8 UART1_Request_Data3D = FALSE; |
98 | u8 UART1_Request_Echo = FALSE; |
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156 | killagreg | 99 | u8 UART1_Request_ParameterId = 0; |
158 | killagreg | 100 | u8 UART1_Request_Parameter = FALSE; |
201 | killagreg | 101 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 102 | u8 UART1_DisplayLine = 0; |
103 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 104 | u8 UART1_Request_FTP = FALSE; |
41 | ingob | 105 | |
349 | ingob | 106 | |
41 | ingob | 107 | UART_TypeDef *DebugUART = UART1; |
108 | |||
314 | killagreg | 109 | #ifdef FOLLOW_ME |
110 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 111 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 112 | Point_t FollowMe; |
113 | #endif |
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114 | |||
153 | killagreg | 115 | // the primary rx fifo |
247 | killagreg | 116 | #define UART1_RX_FIFO_LEN 512 |
153 | killagreg | 117 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
118 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 119 | |
120 | // the rx buffer |
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247 | killagreg | 121 | #define UART1_RX_BUFFER_LEN 150 |
110 | killagreg | 122 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
123 | Buffer_t UART1_rx_buffer; |
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124 | |||
153 | killagreg | 125 | // the tx buffer |
349 | ingob | 126 | #define UART1_TX_BUFFER_LEN 1024 |
153 | killagreg | 127 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
128 | Buffer_t UART1_tx_buffer; |
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129 | |||
92 | killagreg | 130 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 131 | |
150 | killagreg | 132 | u8 text[200]; |
41 | ingob | 133 | |
134 | const u8 ANALOG_LABEL[32][16] = |
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135 | { |
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90 | killagreg | 136 | //1234567890123456 |
41 | ingob | 137 | "AngleNick ", //0 |
138 | "AngleRoll ", |
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139 | "AccNick ", |
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140 | "AccRoll ", |
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214 | killagreg | 141 | "OperatingRadius ", |
200 | killagreg | 142 | "FC-Flags ", //5 |
95 | killagreg | 143 | "NC-Flags ", |
121 | killagreg | 144 | "NickServo ", |
145 | "RollServo ", |
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41 | ingob | 146 | "GPS Data ", |
61 | holgerb | 147 | "CompassHeading ", //10 |
148 | "GyroHeading ", |
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41 | ingob | 149 | "SPI Error ", |
150 | "SPI Okay ", |
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189 | killagreg | 151 | "I2C Error ", |
41 | ingob | 152 | "I2C Okay ", //15 |
339 | holgerb | 153 | "16 ", |
154 | "17 ", |
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155 | "18 ", |
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357 | holgerb | 156 | "19 ", // SD-Card-time |
330 | holgerb | 157 | "EarthMagnet [%] ", //20 |
338 | holgerb | 158 | "Z_Speed ", |
159 | "N_Speed ", |
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160 | "E_Speed ", |
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310 | holgerb | 161 | "Magnet X ", |
338 | holgerb | 162 | "Magnet Y ", //25 |
310 | holgerb | 163 | "Magnet Z ", |
41 | ingob | 164 | "Distance N ", |
165 | "Distance E ", |
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166 | "GPS_Nick ", |
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167 | "GPS_Roll ", //30 |
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168 | "Used_Sats " |
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169 | }; |
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170 | |||
112 | killagreg | 171 | DebugOut_t DebugOut; |
172 | ExternControl_t ExternControl; |
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173 | UART_VersionInfo_t UART_VersionInfo; |
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174 | NaviData_t NaviData; |
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175 | Data3D_t Data3D; |
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176 | u16 Echo; // 2 bytes recieved will be sent back as echo |
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41 | ingob | 177 | |
193 | killagreg | 178 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 179 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 180 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 181 | u32 UART1_NaviData_Interval = 0; // in ms |
182 | u32 UART1_Data3D_Timer = 0; |
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183 | u32 UART1_Data3D_Interval = 0; // in ms |
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193 | killagreg | 184 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 185 | u32 UART1_Display_Interval = 0; // in ms |
112 | killagreg | 186 | |
41 | ingob | 187 | /********************************************************/ |
188 | /* Initialization the UART1 */ |
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189 | /********************************************************/ |
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190 | void UART1_Init (void) |
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191 | { |
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192 | GPIO_InitTypeDef GPIO_InitStructure; |
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193 | UART_InitTypeDef UART_InitStructure; |
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194 | |||
153 | killagreg | 195 | // initialize txd buffer |
196 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 197 | |
153 | killagreg | 198 | // initialize rxd buffer |
199 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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200 | |||
244 | killagreg | 201 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
202 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 203 | |
41 | ingob | 204 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
205 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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206 | |||
207 | /*Configure UART1_Rx pin GPIO3.2*/ |
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208 | GPIO_StructInit(&GPIO_InitStructure); |
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209 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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210 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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211 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 212 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 213 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
214 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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215 | |||
216 | /*Configure UART1_Tx pin GPIO3.3*/ |
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217 | GPIO_StructInit(&GPIO_InitStructure); |
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218 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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219 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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220 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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221 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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222 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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223 | |||
224 | /* UART1 configured as follow: |
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225 | - Word Length = 8 Bits |
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226 | - One Stop Bit |
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227 | - No parity |
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228 | - BaudRate = 57600 baud |
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229 | - Hardware flow control Disabled |
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230 | - Receive and transmit enabled |
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231 | - Receive and transmit FIFOs are Disabled |
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232 | */ |
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233 | UART_StructInit(&UART_InitStructure); |
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234 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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235 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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236 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 237 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
41 | ingob | 238 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
239 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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240 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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241 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 242 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 243 | |
244 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 245 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 246 | // enable uart 1 interrupts selective |
247 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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248 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 249 | // configure the uart 1 interupt line |
250 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 251 | // enable the uart 1 IRQ |
41 | ingob | 252 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 253 | |
41 | ingob | 254 | // initialize the debug timer |
110 | killagreg | 255 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
256 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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257 | |||
41 | ingob | 258 | // Fill Version Info Structure |
259 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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260 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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261 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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262 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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263 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
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264 | |||
89 | killagreg | 265 | NaviData.Version = NAVIDATA_VERSION; |
92 | killagreg | 266 | |
212 | killagreg | 267 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 268 | } |
269 | |||
270 | |||
271 | /****************************************************************/ |
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272 | /* USART1 receiver ISR */ |
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273 | /****************************************************************/ |
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274 | void UART1_IRQHandler(void) |
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275 | { |
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276 | static u8 abortState = 0; |
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277 | u8 c; |
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278 | |||
195 | killagreg | 279 | IENABLE; |
280 | |||
41 | ingob | 281 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
282 | { |
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153 | killagreg | 283 | // clear the pending bits! |
41 | ingob | 284 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
285 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
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286 | // if debug UART is not UART1 |
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287 | if (DebugUART != UART1) |
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288 | { // forward received data to the debug UART tx buffer |
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289 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
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290 | { |
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291 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
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292 | c = UART_ReceiveData(UART1); |
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293 | |||
294 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
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295 | switch (abortState) |
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296 | { |
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165 | killagreg | 297 | case 0: |
139 | killagreg | 298 | if (c == 27) abortState++; |
41 | ingob | 299 | break; |
165 | killagreg | 300 | case 1: |
301 | if (c == 27) abortState++; |
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139 | killagreg | 302 | else abortState = 0; |
41 | ingob | 303 | break; |
139 | killagreg | 304 | case 2: |
165 | killagreg | 305 | if (c == 0x55) abortState++; |
139 | killagreg | 306 | else abortState = 0; |
41 | ingob | 307 | break; |
139 | killagreg | 308 | case 3: |
309 | if (c == 0xAA) abortState++; |
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310 | else abortState = 0; |
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41 | ingob | 311 | break; |
165 | killagreg | 312 | case 4: |
139 | killagreg | 313 | if (c == 0x00) |
314 | { |
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315 | if(DebugUART == UART0) |
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316 | { |
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245 | killagreg | 317 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 318 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 319 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 320 | } |
321 | DebugUART = UART1; |
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165 | killagreg | 322 | } |
139 | killagreg | 323 | abortState = 0; |
324 | break; |
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325 | } // end switch abort state |
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136 | killagreg | 326 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 327 | if (DebugUART != UART1) |
328 | { |
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329 | // wait for space in the tx buffer of the DebugUART |
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330 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
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141 | killagreg | 331 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 332 | UART_SendData(DebugUART, c); |
333 | } |
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41 | ingob | 334 | } |
335 | } |
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336 | else // DebugUART == UART1 (normal operation) |
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337 | { |
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110 | killagreg | 338 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 339 | { // some byes in the hardware fifo |
153 | killagreg | 340 | // get byte from hardware fifo |
41 | ingob | 341 | c = UART_ReceiveData(UART1); |
153 | killagreg | 342 | // put into the software fifo |
343 | if(!fifo_put(&UART1_rx_fifo, c)) |
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344 | { // fifo overflow |
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155 | killagreg | 345 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 346 | } |
154 | killagreg | 347 | } // EOF while some byes in the hardware fifo |
41 | ingob | 348 | } // eof DebugUart = UART1 |
349 | } |
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195 | killagreg | 350 | |
351 | IDISABLE; |
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41 | ingob | 352 | } |
353 | |||
354 | /**************************************************************/ |
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355 | /* Process incomming data from debug uart */ |
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356 | /**************************************************************/ |
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357 | void UART1_ProcessRxData(void) |
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358 | { |
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154 | killagreg | 359 | // return on forwarding uart or unlocked rx buffer |
155 | killagreg | 360 | if(DebugUART != UART1) return; |
165 | killagreg | 361 | |
155 | killagreg | 362 | u8 c; |
363 | // if rx buffer is not locked |
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364 | if(UART1_rx_buffer.Locked == FALSE) |
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315 | killagreg | 365 | { |
244 | killagreg | 366 | //collect data from primary rx fifo |
155 | killagreg | 367 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 368 | { |
244 | killagreg | 369 | // break if complete frame is collected |
155 | killagreg | 370 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
371 | } |
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372 | } |
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373 | if(UART1_rx_buffer.Locked == FALSE) return; |
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374 | |||
280 | killagreg | 375 | Point_t * pPoint = NULL; |
153 | killagreg | 376 | SerialMsg_t SerialMsg; |
41 | ingob | 377 | |
190 | killagreg | 378 | // analyze header first |
379 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
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194 | killagreg | 380 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 381 | { |
192 | killagreg | 382 | switch(SerialMsg.CmdID) |
383 | { |
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231 | holgerb | 384 | // case 'v': // version |
192 | killagreg | 385 | case 'y': // serial poti values |
386 | case 'b': // extern control |
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387 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
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388 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
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194 | killagreg | 389 | return; //end process rx data |
192 | killagreg | 390 | break; |
391 | } |
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195 | killagreg | 392 | } |
190 | killagreg | 393 | |
394 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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395 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
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396 | switch(SerialMsg.Address) // check for Slave Address |
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397 | { |
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41 | ingob | 398 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 399 | switch(SerialMsg.CmdID) |
41 | ingob | 400 | { |
349 | ingob | 401 | |
402 | case 'f': // ftp command |
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403 | UART1_Request_FTP = SerialMsg.pData[0]; |
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404 | |||
405 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
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406 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
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407 | break; |
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408 | |||
101 | holgerb | 409 | case 'z': // connection checker |
110 | killagreg | 410 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
411 | UART1_Request_Echo = TRUE; |
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92 | killagreg | 412 | break; |
413 | |||
41 | ingob | 414 | case 'e': // request for the text of the error status |
110 | killagreg | 415 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 416 | break; |
417 | |||
418 | case 's':// new target position |
||
280 | killagreg | 419 | pPoint = (Point_t*)SerialMsg.pData; |
420 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 421 | { |
315 | killagreg | 422 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 423 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 424 | PointList_SetAt(pPoint); |
315 | killagreg | 425 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 426 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
302 | holgerb | 427 | if(GPS_pWaypoint != NULL) // if new WP exist |
428 | { // update WP hold time stamp immediately! |
||
429 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
||
430 | { |
||
431 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
||
432 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
||
433 | } |
||
434 | */ |
||
435 | } |
||
295 | killagreg | 436 | BeepTime = 50; |
41 | ingob | 437 | } |
438 | break; |
||
439 | |||
440 | case 'u': // redirect debug uart |
||
110 | killagreg | 441 | switch(SerialMsg.pData[0]) |
41 | ingob | 442 | { |
443 | case UART_FLIGHTCTRL: |
||
444 | UART2_Init(); // initialize UART2 to FC pins |
||
153 | killagreg | 445 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 446 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 447 | DebugUART = UART2; |
448 | break; |
||
449 | case UART_MK3MAG: |
||
255 | killagreg | 450 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 451 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
452 | GPSData.Status = INVALID; |
||
153 | killagreg | 453 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 454 | DebugUART = UART0; |
455 | break; |
||
456 | case UART_MKGPS: |
||
255 | killagreg | 457 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 458 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 459 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 460 | GPSData.Status = INVALID; |
153 | killagreg | 461 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 462 | DebugUART = UART0; |
463 | break; |
||
153 | killagreg | 464 | default: |
465 | break; |
||
41 | ingob | 466 | } |
467 | break; |
||
468 | |||
295 | killagreg | 469 | case 'w':// Set point in list at index |
165 | killagreg | 470 | { |
280 | killagreg | 471 | pPoint = (Point_t*)SerialMsg.pData; |
224 | killagreg | 472 | |
280 | killagreg | 473 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 474 | { |
280 | killagreg | 475 | PointList_Clear(); |
476 | GPS_pWaypoint = PointList_WPBegin(); |
||
315 | killagreg | 477 | UART1_Request_WritePoint = 0; // return new point count |
165 | killagreg | 478 | } |
227 | killagreg | 479 | else |
295 | killagreg | 480 | { // update WP in list at index |
351 | holgerb | 481 | if(pPoint->Index > MaxNumberOfWaypoints) |
482 | { |
||
483 | UART1_Request_WritePoint = 254; |
||
484 | pPoint->Index = MaxNumberOfWaypoints; |
||
485 | } |
||
486 | else |
||
487 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 488 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
295 | killagreg | 489 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 490 | { |
491 | BeepTime = 500; |
||
165 | killagreg | 492 | } |
493 | } |
||
41 | ingob | 494 | } |
495 | break; |
||
496 | |||
92 | killagreg | 497 | case 'x':// Read Waypoint from List |
280 | killagreg | 498 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
92 | killagreg | 499 | break; |
500 | |||
160 | holgerb | 501 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 502 | switch(SerialMsg.pData[0]) |
503 | { |
||
504 | case 0: // get |
||
505 | break; |
||
165 | killagreg | 506 | |
156 | killagreg | 507 | case 1: // set |
159 | killagreg | 508 | { |
509 | s16 value; |
||
510 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
511 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
512 | } |
||
156 | killagreg | 513 | break; |
514 | |||
515 | default: |
||
165 | killagreg | 516 | break; |
156 | killagreg | 517 | } |
518 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
519 | UART1_Request_Parameter = TRUE; |
||
520 | break; |
||
41 | ingob | 521 | default: |
522 | // unsupported command recieved |
||
523 | break; |
||
524 | } // case NC_ADDRESS |
||
65 | killagreg | 525 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 526 | |
527 | default: // and any other Slave Address |
||
528 | |||
190 | killagreg | 529 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 530 | { |
531 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 532 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
533 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 534 | break; |
193 | killagreg | 535 | /* |
41 | ingob | 536 | case 'b': // submit extern control |
121 | killagreg | 537 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 538 | UART1_ConfirmFrame = ExternControl.Frame; |
41 | ingob | 539 | break; |
195 | killagreg | 540 | */ |
41 | ingob | 541 | case 'd': // request for debug data; |
110 | killagreg | 542 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
543 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 544 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 545 | break; |
546 | |||
63 | killagreg | 547 | case 'c': // request for 3D data; |
110 | killagreg | 548 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
549 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 550 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 551 | break; |
275 | killagreg | 552 | |
41 | ingob | 553 | case 'h':// reqest for display line |
193 | killagreg | 554 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
555 | { |
||
556 | UART1_DisplayLine = 2; |
||
195 | killagreg | 557 | UART1_Display_Interval = 0; |
193 | killagreg | 558 | } |
559 | else |
||
560 | { |
||
201 | killagreg | 561 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 562 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
563 | UART1_DisplayLine = 4; |
||
198 | killagreg | 564 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
193 | killagreg | 565 | } |
110 | killagreg | 566 | UART1_Request_Display = TRUE; |
41 | ingob | 567 | break; |
568 | |||
569 | case 'l':// reqest for display columns |
||
110 | killagreg | 570 | MenuItem = SerialMsg.pData[0]; |
571 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 572 | break; |
64 | holgerb | 573 | |
574 | case 'o': // request for navigation information |
||
110 | killagreg | 575 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
576 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
||
198 | killagreg | 577 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
64 | holgerb | 578 | break; |
579 | |||
41 | ingob | 580 | case 'v': // request for version info |
110 | killagreg | 581 | UART1_Request_VersionInfo = TRUE; |
41 | ingob | 582 | break; |
583 | default: |
||
584 | // unsupported command recieved |
||
585 | break; |
||
586 | } |
||
587 | break; // default: |
||
588 | } |
||
153 | killagreg | 589 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 590 | } |
591 | |||
592 | |||
593 | /*****************************************************/ |
||
594 | /* Send a character */ |
||
595 | /*****************************************************/ |
||
110 | killagreg | 596 | s16 UART1_Putchar(char c) |
41 | ingob | 597 | { |
110 | killagreg | 598 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 599 | // wait until txd fifo is not full |
600 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
||
601 | // transmit byte |
||
602 | UART_SendData(UART1, c); |
||
314 | killagreg | 603 | #ifdef FOLLOW_ME |
604 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
605 | #endif |
||
41 | ingob | 606 | return (0); |
607 | } |
||
608 | |||
609 | /*****************************************************/ |
||
610 | /* Send a string to the debug uart */ |
||
611 | /*****************************************************/ |
||
110 | killagreg | 612 | void UART1_PutString(u8 *s) |
41 | ingob | 613 | { |
614 | if(s == NULL) return; |
||
615 | while (*s != '\0' && DebugUART == UART1) |
||
616 | { |
||
110 | killagreg | 617 | UART1_Putchar(*s); |
41 | ingob | 618 | s ++; |
619 | } |
||
620 | } |
||
621 | |||
113 | killagreg | 622 | |
110 | killagreg | 623 | /**************************************************************/ |
624 | /* Transmit tx buffer via debug uart */ |
||
625 | /**************************************************************/ |
||
626 | void UART1_Transmit(void) |
||
627 | { |
||
628 | u8 tmp_tx; |
||
629 | if(DebugUART != UART1) return; |
||
630 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 631 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 632 | { |
113 | killagreg | 633 | // while there is some space in the tx fifo |
634 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 635 | { |
113 | killagreg | 636 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
637 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 638 | #ifdef FOLLOW_ME |
315 | killagreg | 639 | if(TransmitAlsoToFC) |
640 | { |
||
314 | killagreg | 641 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
642 | } |
||
643 | #endif |
||
113 | killagreg | 644 | // if terminating character or end of txd buffer reached |
645 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
||
646 | { |
||
647 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 648 | #ifdef FOLLOW_ME |
649 | TransmitAlsoToFC = 0; |
||
650 | #endif |
||
113 | killagreg | 651 | break; // end while loop |
652 | } |
||
110 | killagreg | 653 | } |
654 | } |
||
655 | } |
||
41 | ingob | 656 | |
657 | /**************************************************************/ |
||
658 | /* Send the answers to incomming commands at the debug uart */ |
||
659 | /**************************************************************/ |
||
660 | void UART1_TransmitTxData(void) |
||
661 | { |
||
110 | killagreg | 662 | if(DebugUART != UART1) return; |
198 | killagreg | 663 | |
664 | if(CheckDelay(UART1_AboTimeOut)) |
||
665 | { |
||
666 | UART1_DebugData_Interval = 0; |
||
667 | UART1_NaviData_Interval = 0; |
||
668 | UART1_Data3D_Interval = 0; |
||
669 | UART1_Display_Interval = 0; |
||
670 | } |
||
671 | |||
110 | killagreg | 672 | UART1_Transmit(); // output pending bytes in tx buffer |
673 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 674 | |
156 | killagreg | 675 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 676 | { |
315 | killagreg | 677 | s16 ParamValue; |
299 | killagreg | 678 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
156 | killagreg | 680 | UART1_Request_Parameter = FALSE; |
681 | } |
||
682 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
683 | { |
||
110 | killagreg | 684 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 685 | Echo = 0; // reset echo value |
110 | killagreg | 686 | UART1_Request_Echo = FALSE; |
92 | killagreg | 687 | } |
349 | ingob | 688 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
689 | { |
||
690 | CheckFTPCommand(UART1_Request_FTP); |
||
691 | UART1_Request_FTP = FALSE; |
||
692 | } |
||
295 | killagreg | 693 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 694 | { |
295 | killagreg | 695 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
696 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 697 | } |
280 | killagreg | 698 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 699 | { |
280 | killagreg | 700 | u8 PointCount = PointList_GetCount(); |
701 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 702 | { |
280 | killagreg | 703 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
154 | killagreg | 704 | } |
705 | else |
||
706 | { |
||
280 | killagreg | 707 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 708 | } |
280 | killagreg | 709 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 710 | } |
711 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
712 | { |
||
713 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
714 | UART1_Request_DebugLabel = 0xFF; |
||
715 | } |
||
151 | killagreg | 716 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 717 | { |
151 | killagreg | 718 | NaviData.Errorcode = ErrorCode; |
719 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
720 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
||
721 | UART1_Request_NaviData = FALSE; |
||
722 | } |
||
723 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
724 | { |
||
110 | killagreg | 725 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
726 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
727 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 728 | } |
151 | killagreg | 729 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 730 | { |
110 | killagreg | 731 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
732 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
733 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 734 | } |
193 | killagreg | 735 | /* |
153 | killagreg | 736 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
737 | { |
||
738 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
739 | UART1_ConfirmFrame = 0; |
||
740 | } |
||
193 | killagreg | 741 | */ |
742 | /* |
||
151 | killagreg | 743 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 744 | { |
110 | killagreg | 745 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
746 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 747 | } |
193 | killagreg | 748 | */ |
749 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
||
195 | killagreg | 750 | { |
193 | killagreg | 751 | if(UART1_DisplayLine > 3) |
752 | { |
||
201 | killagreg | 753 | Menu_Update(UART1_DisplayKeys); |
754 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 755 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
756 | } |
||
757 | else |
||
758 | { |
||
759 | UART1_DisplayLine = 2; |
||
760 | sprintf(text,"!!! incompatible !!!"); |
||
761 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
762 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
763 | } |
||
764 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 765 | UART1_Request_Display = FALSE; |
41 | ingob | 766 | } |
151 | killagreg | 767 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 768 | { |
201 | killagreg | 769 | Menu_Update(0); |
110 | killagreg | 770 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
771 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 772 | } |
151 | killagreg | 773 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 774 | { |
110 | killagreg | 775 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
776 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 777 | } |
151 | killagreg | 778 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 779 | { |
110 | killagreg | 780 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
781 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 782 | } |
314 | killagreg | 783 | #ifdef FOLLOW_ME |
784 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
785 | { |
||
786 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 787 | { |
314 | killagreg | 788 | TransmitAlsoToFC = 1; |
789 | // update FollowMe content |
||
790 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
791 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
792 | FollowMe.Position.Status = NEWDATA; |
||
793 | FollowMe.Position.Altitude = 1; |
||
794 | // 0 -> no Orientation |
||
795 | // 1-360 -> CompassCourse Setpoint |
||
796 | // -1 -> points to WP1 -> itself |
||
797 | FollowMe.Heading = -1; |
||
798 | FollowMe.ToleranceRadius = 1; |
||
799 | FollowMe.HoldTime = 60; |
||
800 | FollowMe.Event_Flag = 1; |
||
801 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
802 | FollowMe.Type = POINT_TYPE_WP; |
||
803 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
804 | FollowMe.AltitudeRate = 0; // do not change height |
||
805 | FollowMe.reserve[0] = 0; // reserve |
||
806 | FollowMe.reserve[1] = 0; // reserve |
||
807 | FollowMe.reserve[2] = 0; // reserve |
||
808 | FollowMe.reserve[3] = 0; // reserve |
||
809 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
||
810 | } |
||
811 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
812 | } |
||
813 | #endif |
||
250 | ingob | 814 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 815 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 816 | { |
817 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
818 | SendDebugOutput = 0; |
||
819 | } |
||
315 | killagreg | 820 | #endif |
110 | killagreg | 821 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 822 | } |
823 |