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